Lidar Sensor Window Configuration For Improved Data Integrity
First Claim
1. A method for controlling a vehicle in an autonomous driving mode, the method comprising:
- receiving, by one or more processors, sensor data generated by a sensor and identifying distances from the sensor to an object in an external environment of the sensor, the sensor having a housing including a first sensor window and a second sensor window, the first sensor window having a first external surface property and the second sensor window having a second external surface property different from the first external surface property;
determining, by the one or more processors, that a surface of the first sensor window includes an optical interferant based on a comparison between a first portion of the sensor data from the first sensor window corresponding to the object and a second portion of the sensor data from the second sensor window corresponding to the object; and
when the comparison indicates that the surface of the first sensor window includes the optical interferant, controlling, by the one or more processors, the vehicle in an autonomous driving mode based on the comparison.
1 Assignment
0 Petitions
Accused Products
Abstract
The disclosure relates to determining whether an optical interferent is located on a sensor window and providing a way to identify and discard erroneous sensor data. An example system includes a housing, having a first sensor window and a second sensor window, a laser light source, and an optical sensor. The first window has a first property for deflecting water, and the second window has a second property for deflecting water different from the first property. The source is configured to generate a beam of light through the first window. One or more processors are configured to receive sensor data from the optical sensor and determine that an optical interferent is located on a surface of at least one of the first window and the sensor window based on a comparison between sensor data corresponding to the first window and sensor data corresponding to the second window.
-
Citations
20 Claims
-
1. A method for controlling a vehicle in an autonomous driving mode, the method comprising:
-
receiving, by one or more processors, sensor data generated by a sensor and identifying distances from the sensor to an object in an external environment of the sensor, the sensor having a housing including a first sensor window and a second sensor window, the first sensor window having a first external surface property and the second sensor window having a second external surface property different from the first external surface property; determining, by the one or more processors, that a surface of the first sensor window includes an optical interferant based on a comparison between a first portion of the sensor data from the first sensor window corresponding to the object and a second portion of the sensor data from the second sensor window corresponding to the object; and when the comparison indicates that the surface of the first sensor window includes the optical interferant, controlling, by the one or more processors, the vehicle in an autonomous driving mode based on the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
-
Specification