Methods and Systems for Detecting Weather Conditions Including Sunlight Using Vehicle Onboard Sensors

• US 20140333468A1
• Filed: 05/07/2013
• Published: 11/13/2014
• Est. Priority Date: 05/07/2013
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Zhu, Jiajun, Dolgov, Dmitri, Ferguson, Dave
• Granted Patent: US 9,025,140 B2
• Time in Patent Office: Days
• US Class Current: 342/54
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 13/95 for meteorological use
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 17/95 for meteorological use
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: Y02A 90/10 Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

Methods and systems for detecting weather conditions including sunlight using onboard vehicle sensors are described. In one example, a method is provided that includes receiving laser data collected for an environment of a vehicle. The method also includes associating laser data points with one or more objects in the environment, and determining given laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle. The method also includes determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves, and identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.

Claims

1. A method comprising:

receiving laser data collected for 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;

determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle;

determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves; and

identifying by the computing device an indication that a weather condition of the environment of the vehicle is sunny.

2. The method of claim 1, wherein identifying by the computing device the indication that the weather condition of the environment of the vehicle is sunny comprises:

determining that a number of the laser data points unassociated with the one or more objects in the environment is above a threshold number.

3. The method of claim 1, further comprising:

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

based on laser data points being unassociated with the one or more objects in the environment indicated by the additional data, identifying the indication that the weather condition of the environment of the vehicle is sunny.

4. The method of claim 1, further comprising:

receiving radar data collected for the environment of the vehicle, wherein the radar 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 radar data; and

based on laser data points being unassociated with the one or more objects in the environment indicated by the radar data, identifying the indication that the weather condition of the environment of the vehicle is sunny.

5. The method of claim 1, further comprising:

determining a geographic location of the vehicle and a time of day;

based on the geographic location of the vehicle and the time of day, determining an approximate position of the sun relative to the vehicle; and

identifying by the computing device a second indication that the weather condition of the environment of the vehicle is sunny based on the approximate position of the sun relative to the vehicle.

6. The method of claim 1, wherein receiving laser data collected for the environment of the vehicle comprising receiving laser data over time, and the method further comprises:

based on given laser data points unassociated with the one or more objects in the environment persisting over time, identifying by the computing device a second indication that the weather condition of the environment of the vehicle is sunny.

7. The method of claim 1, further comprising:

receiving information indicating an approximate position of the sun;

making a determination that the laser data points unassociated with the one or more objects in the environment are substantially directed toward an approximate position of the sun based on the determination, identifying by the computing device a second indication that the weather condition of the environment of the vehicle is sunny.

8. The method of claim 1, further comprising:

receiving information indicating an approximate position of the sun;

determining, by the computing device, given laser data points of the plurality of laser data points that are substantially directed toward an approximate position of the sun; and

identifying by the computing device that the given laser data points are representative of false objects in the environment.

9. The method of claim 1, wherein determining that the untracked object remains at the substantially same relative position with respect to the vehicle as the vehicle moves comprises determining coordinate positions of the untracked object over time.

10. The method of claim 1, further comprising:

receiving image data captured from a camera coupled to the vehicle; and

identifying a second indication that the weather condition of the environment of the vehicle is sunny based on the image data.

11. The method of claim 10, further comprising determining an exposure setting of the camera based on the indication that the weather condition of the environment of the vehicle is sunny.

12. The method of claim 1, wherein the vehicle is configured to operate in an autonomous mode, and the method further comprises:

based on the indication that the weather condition of the environment of the vehicle is sunny, determining a driving decision for the vehicle.

13. The method of claim 1, further comprising:

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

identifying a second indication that the weather condition of the environment of the vehicle is sunny based on the weather information.

14. The method of claim 1, further comprising:

receiving a current temperature for a location of the vehicle from a server over a network; and

identifying a second indication that the weather condition of the environment of the vehicle is sunny based on the current temperature.

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:

receiving laser data collected for 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;

determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle;

determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves; and

identifying an indication that a weather condition of the environment of the vehicle is sunny.

16. The non-transitory computer readable storage medium of claim 15, wherein the functions further comprise:

determining a geographic location of the vehicle and a time of day;

based on the geographic location of the vehicle and the time of day, determining an approximate position of the sun relative to the vehicle; and

identifying a second indication that the weather condition of the environment of the vehicle is sunny based on the approximate position of the sun relative to the vehicle.

17. The non-transitory computer readable storage medium of claim 15, wherein receiving laser data collected for the environment of the vehicle comprises receiving laser data over time, and the functions further comprise:

based on given laser data points unassociated with the one or more objects in the environment persisting over time, identifying a second indication that the weather condition of the environment of the vehicle is sunny.

18. A system, comprising:

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 for 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; and

determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object at a given position with respect to the vehicle;

determining that the untracked object remains at a substantially same relative position with respect to the vehicle as the vehicle moves; and

identifying an indication that a weather condition of the environment of the vehicle is sunny.

19. The system of claim 18, wherein the functions further comprise:

receiving image data captured from a camera coupled to the vehicle;

identifying a second indication that the weather condition of the environment of the vehicle is sunny based on the image data; and

determining an exposure setting of the camera based on the indication that the weather condition of the environment of the vehicle is sunny.

20. The system of claim 18, wherein the vehicle is configured to operate in an autonomous mode, and wherein the functions further comprise:

receiving a current temperature for a location of the vehicle from a server over a network;

identifying a second indication that the weather condition of the environment of the vehicle is sunny based on the current temperature; and

based on the second indication that the weather condition of the environment of the vehicle is sunny, determining a driving decision for the vehicle.