Detecting sensor degradation by actively controlling an autonomous vehicle
First Claim
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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Accused Products
Abstract
Methods and systems are disclosed for determining sensor degradation by actively controlling an autonomous vehicle. Determining sensor degradation may include obtaining sensor readings from a sensor of an autonomous vehicle, and determining baseline state information from the obtained sensor readings. A movement characteristic of the autonomous vehicle, such as speed or position, may then be changed. The sensor may then obtain additional sensor readings, and second state information may be determined from these additional sensor readings. Expected state information may be determined from the baseline state information and the change in the movement characteristic of the autonomous vehicle. A comparison of the expected state information and the second state information may then be performed. Based on this comparison, a determination may be made as to whether the sensor has degraded.
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Citations
17 Claims
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1. An apparatus, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method, comprising:
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receiving, with one or more processors, readings from a laser sensor unit, the readings relating to a static object in a driving environment of an autonomous vehicle, the readings including recorded laser points and corresponding received intensity values; accessing a memory storing map information for the driving environment of the autonomous vehicle; comparing, with the one or more processors, the received intensity values of the recorded laser points with stored intensity values corresponding to map laser points of the stored map information; determining, with the one or more processors, based on the comparison, one or more deviation values; and determining, with the one or more processors, based on the deviation values, whether the laser sensor unit has degraded. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An autonomous vehicle, comprising:
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a laser sensor unit configured to detect a static object in a driving environment of the autonomous vehicle; and one or more processors, in communication with the laser sensor unit, 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; receive map information for the driving environment of the autonomous vehicle, the map information including map 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; determine, based on the comparison, one or more deviation values; and determine, based on the deviation values, whether the laser sensor unit has degraded. - View Dependent Claims (16, 17)
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Specification