Detecting road weather conditions

• US 9,499,172 B2
• Filed: 09/20/2012
• Issued: 11/22/2016
• Est. Priority Date: 09/20/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Urmson, Christopher Paul, Montemerlo, Michael Steven, Zhu, Jiajun
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): Soofi, Yazan
• Application Number:
  US13/623,422
• Publication Number:
  US 20140081507A1
• Time in Patent Office: 1,524 Days
• Field of Search: 701/28
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 40/06 Road conditions

Abstract

Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle (for steering, accelerating, or braking) or identify dangerous situations.

Claims

1. A method comprising:

receiving, by a processor, laser data collected for a roadway as a vehicle is driven along the roadway, wherein the laser data include a plurality of laser data points, each data point of the plurality of laser data points having a location and intensity value;

determining, by a processor, an average intensity by averaging together the intensity values of the plurality of laser data points that have locations within the roadway;

comparing the average intensity to an expected average intensity of the roadway under dry weather conditions;

when the average intensity is at least a threshold value greater than the expected average intensity of the roadway under dry weather conditions, identifying, by a processor, an indication that the roadway is at least partially snow covered;

estimating, by a processor, driving conditions of the roadway based on the indication that the roadway is at least partially snow covered; and

using the estimate, by the processor, to make a driving decision for the vehicle.

2. The method of claim 1, further comprising:

determining a distribution of intensity values of the plurality of laser data points that have locations within the roadway;

comparing the determined distribution to an expected distribution for intensity of the roadway for dry conditions;

when the determined distribution is shifted towards a brighter end of an intensity scale relative to the expected distribution for dry conditions, identifying a second indication that the roadway is at least partially snow covered; and

wherein the second indication is used by the processor to estimate the driving conditions.

3. The method of claim 1, further comprising:

accessing detailed map information including an expected average intensity of areas beyond the roadway;

determining a second average intensity by averaging together the intensity values of plurality of laser data points;

when the second average intensity of the plurality of laser data points is at lease a second threshold value above the expected average intensity of areas beyond the roadway, identifying an indication of snowy conditions; and

wherein the indication of snowy conditions is used by the processor to estimate the driving conditions.

4. The method of claim 1, further comprising:

receiving images captured from a camera as the vehicle is driven along the roadway; and

identifying a indication of snowy roadway conditions based on the images,

wherein the indication of snowy roadway conditions is used by the processor to estimate the driving conditions.

5. The method of claim 1, further comprising:

receiving precipitation data from a precipitation sensor associated with the vehicle; and

identifying an indication of snowy roadway conditions based on the precipitation data,

wherein the indication of snowy roadway conditions is used by the processor to estimate the driving conditions.

6. The method of claim 1, wherein estimating the driving conditions includes using a Bayesian estimate.

7. The method of claim 1, further comprising:

accessing detailed map information for the roadway identifying an expected elevation of the roadway;

determining an average elevation of the roadway; and

when the average elevation of the roadway is at least a threshold value greater than the expected elevation, identifying an additional indication that the roadway is at least partially snow covered,

wherein the second indication is used by the processor to estimate the driving conditions.

8. The method of claim 1, further comprising:

receiving weather related information for the location of the vehicle from a server over a network; and

identifying an indication of wet weather conditions based on the weather related information,

wherein the indication of wet roadway conditions based on the weather related information is used to estimate the driving conditions.

9. A system comprising:

a processor configured to;

receive laser data collected for a roadway as a vehicle is driven along the roadway, wherein the laser data include a plurality of laser data points, each data point of the plurality of laser data points having a location and an intensity value;

determine an average intensity by averaging together the intensity values of the plurality of laser data points that have locations within the roadway;

compare the average intensity to an expected average intensity of the roadway under dry weather conditions;

when the average intensity is at least a threshold value greater the expected average intensity of the roadway under dry weather conditions, identify an indication that the roadway is at least partially snow covered;

estimate driving conditions of the roadway based on the indication that the roadway is at least partially snow covered; and

use the estimate to make a driving decision for the vehicle.

10. The system of claim 9, wherein the processor is further configured to:

determine a distribution of intensity values of the plurality of laser data points that have locations within the roadway;

compare the determined distribution to an expected distribution for intensity of the roadway for dry conditions; and

when the determined distribution is shifted towards a brighter end of an intensity scale relative to the expected distribution for dry conditions, identify a second indication that the roadway is at least partially snow covered,

wherein the second indication is used by the processor to estimate the driving conditions.

11. The system of claim 9, wherein the processor is further configured to:

access detailed map information further including an expected average intensity of areas beyond the roadway;

determine a second average intensity by averaging together the intensity values of plurality of laser data points having locations within the roadway and having locations beyond the roadway; and

when the second average intensity of the plurality of laser data points is at least a second threshold value above the expected average intensity of areas beyond the roadway, identify an indication of snowy conditions,

wherein the indication of snowy conditions is used by the processor to estimate the driving conditions.

12. The system of claim 9, wherein the processor is further configured to:

receive images captured from a camera as the vehicle is driven along the roadway; and

identify a indication of snowy roadway conditions based on the images,

wherein the indication of snowy roadway conditions is used by the processor to estimate the driving conditions.

13. The system of claim 9, wherein the processor is further configured to:

receive precipitation data from a precipitation sensor associated with the vehicle; and

identify an indication of snowy roadway conditions based on the precipitation data,

wherein the indication of snowy roadway conditions is used by the processor to estimate the driving conditions.

14. The system of claim 9, wherein when estimating the driving conditions the processor is further configured to use a Bayesian estimate.

15. The system of claim 9, wherein the processor is further configured to:

access detailed map information for the roadway identifying an expected elevation of the roadway;

determine an average elevation of the roadway; and

when the average elevation of the roadway is at least a threshold value greater than the expected elevation, identifying an additional indication that the roadway is at least partially snow covered,

wherein the second indication is used by the processor to estimate the driving conditions.

16. The system of claim 9, wherein the processor is further configured to:

receive weather related information for the location of the vehicle from a server over a network; and

identify an indication of wet weather conditions based on the weather related information,

wherein the indication of wet roadway conditions based on the weather related information is used to estimate the driving conditions.

17. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method, the method comprising:

receiving laser data collected for a roadway as a vehicle is driven along the roadway, wherein the laser data include a plurality of laser data points, each data point of the plurality of laser data points having a location and an intensity value;

determining an average intensity by averaging together the intensity values of the plurality of laser data points having locations within the roadway;

comparing the average intensity to an expected average intensity of the roadway under dry weather conditions;

when the average intensity is at least a threshold value greater than the expected average intensity of the roadway under dry weather conditions, identifying an indication that the roadway is at least partially snow covered;

estimating driving conditions of the roadway based on the indication that the roadway is at least partially snow covered; and

using the estimate to make a driving decision for the vehicle.

18. The medium of claim 17, wherein the method further comprises:

determining a distribution of intensity values of the plurality of laser data points that have locations within the roadway;

comparing the determined distribution to an expected distribution for intensity of the roadway for dry conditions;

when the determined distribution is shifted towards a brighter end of an intensity scale relative to the expected distribution for dry conditions, identifying a second indication that the roadway is at least partially snow covered; and

wherein the second indication is used by the processor to estimate the driving conditions.

19. The medium of claim 17, wherein the method further comprises:

accessing detailed map information including an expected average intensity of areas beyond the roadway;

determining a second average intensity by averaging together the plurality of laser data points; and

when the second average intensity of the plurality of laser data points is at least a threshold value above the expected average intensity of areas beyond the roadway, identifying an indication of snowy conditions,

wherein the indication of snowy conditions is used by the processor to estimate the driving conditions.

20. The medium of claim 17, wherein the method further comprises:

accessing detailed map information for the roadway identifying an expected elevation of the roadway;

determining an average elevation of the roadway; and

when the average elevation of the roadway is at least a threshold value greater than the expected elevation, identifying an additional indication that the roadway is at least partially snow covered,

wherein the second indication is used by the processor to estimate the driving conditions.