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Cross-validating sensors of an autonomous vehicle

  • US 9,221,396 B1
  • Filed: 09/27/2012
  • Issued: 12/29/2015
  • Est. Priority Date: 09/27/2012
  • Status: Expired due to Fees
First Claim
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1. An apparatus comprising:

  • a first sensor configured to detect a vehicle in a driving environment;

    a second sensor configured to detect the vehicle in the driving environment;

    memory that stores;

    detailed map information for the driving environment;

    first sensor parameters for determining whether the vehicle is present in a first image of the driving environment;

    second sensor parameters for determining whether the vehicle is present in a second image of the driving environment; and

    a failure count threshold identifying an action to be performed when the failure count threshold is exceeded; and

    one or more processors in communication with the memory, the first sensor and the second sensor, the one or more processors being configured to;

    receive first sensor information from the first sensor, the first sensor information being used to produce the first image;

    receive second sensor information from the second sensor, the second sensor information being used to produce the second image;

    determine whether the vehicle is in both the first image and the second image;

    determine a deviation value by comparing the first image with the second image when it is determined that the vehicle is present in the first image and the second image; and

    compare the determined deviation value with a deviation threshold to determine whether the first or second sensor has a problem detecting the vehicle, wherein the comparison of the determined deviation value with the deviation threshold causes the failure count threshold to be exceeded; and

    when the failure count threshold is exceeded, perform the action identified by the failure count threshold.

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