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Detecting sensor degradation by actively controlling an autonomous vehicle

  • US 9,927,813 B1
  • Filed: 01/25/2017
  • Issued: 03/27/2018
  • Est. Priority Date: 09/28/2012
  • Status: Active Grant
First Claim
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1. An apparatus, comprising:

  • a computer-readable memory storing map information for a driving environment of an autonomous vehicle;

    a laser sensor unit configured to detect a static object in the driving environment of the autonomous vehicle; and

    one or more processors, in communication with the laser sensor unit and the computer-readable memory, the one or more processors configured to;

    receive readings from the laser sensor unit relating to the static object, the readings including recorded laser points and corresponding received intensity values;

    compare the received intensity values of the recorded laser points with stored intensity values corresponding to map laser points of the stored map information;

    determine, based on the comparison, one or more deviation values; and

    determine, based on the deviation values, whether the laser sensor unit has degraded.

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