Methods and systems for detecting weather conditions including fog using vehicle onboard sensors
First Claim
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1. A method comprising:
- receiving laser data collected from scans of an environment of a vehicle, wherein the laser data includes a plurality of laser data points;
associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment by;
for a first scan of the environment, associating, by the computing device, the laser data points of the plurality of laser data points with the one or more objects in the environment;
for a second scan of the environment, determining laser data points that match to the one or more objects based on a location of an object represented by the laser data points;
determining laser data points that are unassociated with the one or more objects in the environment based on a lack of a match to the one or more objects in the first scan;
comparing the laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog; and
based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
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Abstract
Methods and systems for detecting weather conditions including fog using vehicle onboard sensors are provided. An example method includes receiving laser data collected from scans of an environment of a vehicle, and associating, by a computing device, laser data points of with one or more objects in the environment. The method also includes comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog, and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
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Citations
18 Claims
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1. A method comprising:
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receiving laser data collected from scans of an environment of a vehicle, wherein the laser data includes a plurality of laser data points; associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment by; for a first scan of the environment, associating, by the computing device, the laser data points of the plurality of laser data points with the one or more objects in the environment; for a second scan of the environment, determining laser data points that match to the one or more objects based on a location of an object represented by the laser data points; determining laser data points that are unassociated with the one or more objects in the environment based on a lack of a match to the one or more objects in the first scan; comparing the laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog; and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A non-transitory computer readable storage medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:
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receiving laser data collected from scans of an environment of a vehicle, wherein the laser data includes a plurality of laser data points; associating laser data points of the plurality of laser data points with one or more objects in the environment; receiving additional data collected for the environment of the vehicle from one or more additional sensors, wherein the additional data is indicative of a presence of one or more objects in the environment of the vehicle; determining laser data points of the plurality of laser data points that are associated with the one or more objects in the environment indicated by the additional data; and comparing laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog; and based on the comparison and on laser data points being unassociated with the one or more objects in the environment indicated by the additional data, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog.
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16. A system, comprising:
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at least one processor; and data storage comprising instructions executable by the at least one processor to cause the system to perform functions comprising; receiving laser data collected from scans of an environment of a vehicle, wherein the laser data includes a plurality of laser data points; associating laser data points of the plurality of laser data points with one or more objects in the environment by; for a first scan of the environment, associating the laser data points of the plurality of laser data points with the one or more objects in the environment; for a second scan of the environment, determining laser data points that match to the one or more objects based on a location of an object represented by the laser data points; determining laser data points that are unassociated with the one or more objects in the environment based on a lack of a match to the one or more objects in the first scan; comparing the laser data points that are unassociated with the one or more objects in the environment with stored laser data points representative of a pattern due to fog; and based on the comparison, identifying by the computing device an indication that a weather condition of the environment of the vehicle includes fog. - View Dependent Claims (17, 18)
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Specification