System for monitoring underneath an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-10007262-B1
Application number	US-201615392478-A
Country	US
Kind code	B1
Filing date	Dec 28, 2016
Priority date	Dec 28, 2016
Publication date	Jun 26, 2018
Grant date	Jun 26, 2018

Abstract

A method and system for monitoring an area underneath an autonomous vehicle. The method includes capturing a first topography of a ground surface underneath the autonomous vehicle with a sensor when the autonomous vehicle is stationary; storing the topography of the ground surface in a memory prior to the autonomous vehicle being switched off; capturing a second topography of the ground surface underneath the autonomous vehicle with the sensor before the autonomous vehicle begins moving; and comparing, with an electronic processor, the first topography with the second topography. The method includes enabling autonomous driving of the autonomous vehicle when the first topography of the ground surface underneath the autonomous vehicle and the second topography of the ground surface underneath the autonomous vehicle match.

First claim

What is claimed is:

1. A method of monitoring an area underneath an autonomous vehicle, the method comprising:
capturing a first topography of a ground surface underneath the autonomous vehicle with a sensor when the autonomous vehicle is stationary;
storing the first topography of the ground surface in a memory prior to the autonomous vehicle being switched off;
capturing a second topography of the ground surface underneath the autonomous vehicle with the sensor before the autonomous vehicle begins moving;
comparing, with an electronic processor, the first topography and the second topography;
enabling autonomous driving of the autonomous vehicle when the first topography of the ground surface underneath the autonomous vehicle and the second topography of the ground surface underneath the autonomous vehicle match.

2. The method according to claim 1 , the method further comprising when the first topography of the ground surface underneath the autonomous vehicle and the second topography of the ground surface underneath the autonomous vehicle are different, disabling autonomous driving of the autonomous vehicle.

3. The method according to claim 1 , the method further comprising when the first topography of the ground surface underneath the autonomous vehicle and the second topography of the ground surface underneath the autonomous vehicle are different, generating a notification that autonomous driving is disabled.

4. The method according to claim 3 , wherein generating the notification that autonomous driving is disabled includes sending the notification to at least one selected from a group consisting of a user of the autonomous vehicle and a remote monitoring service for the autonomous vehicle.

5. The method according to claim 3 , wherein generating the notification that autonomous driving is disabled includes generating a message to check underneath the autonomous vehicle for an object.

6. The method according to claim 1 , the method further comprising
receiving, at the electronic processor, a signal indicating that the autonomous vehicle is clear of the object; and
enabling autonomous driving of the autonomous vehicle when the signal indicating that the autonomous vehicle is clear of the object is received.

7. The method according to claim 1 , wherein comparing, by the electronic processor, the first topography with the second topography includes determining a difference score indicative of an amount of differences detected between the first topography and the second topography.

8. The method according to claim 7 , wherein comparing, by the electronic control unit, the first topography with the second topography includes comparing the difference score to a threshold, and wherein enabling autonomous driving of the autonomous vehicle occurs when the difference score is less than the threshold.

9. A system for monitoring an area underneath an autonomous vehicle, the system comprising:
a sensor with a field of view that extends underneath the autonomous vehicle;
an input/output interface configured to communicatively connect to a notification device; and
an electronic control unit with an electronic processor and a memory communicatively connected to the sensor and the input/output interface, the electronic control unit configured to
capture a first topography of a ground surface underneath the autonomous vehicle with a sensor when the autonomous vehicle is stationary,
store the topography of the ground surface in the memory of the electronic control unit prior to the autonomous vehicle being switched off,
capture a second topography of the ground surface underneath the autonomous vehicle with the sensor when the autonomous vehicle is switched on,
compare the first topography of the ground surface underneath the autonomous vehicle with the second topography of the ground surface underneath the autonomous vehicle, and
enable autonomous driving of the autonomous vehicle when the first topography and the second topography match.

10. The system according to claim 9 , wherein the electronic control unit is further configured to disable autonomous driving of the autonomous vehicle when the first topography and the second topography are different.

11. The system according to claim 9 , wherein the electronic control unit is further configured to generate an indication that autonomous driving is disabled when the first topography and the second topography are different.

12. The system according to claim 11 , wherein the electronic control unit is further configured to send the indication to at least one selected from a group consisting of a user of the autonomous vehicle and a remote monitoring service for the autonomous vehicle.

13. The system according to claim 11 , wherein the electronic control unit is further configured to generate a message to check underneath the autonomous vehicle for an object.

14. The system according to claim 10 , wherein the electronic control unit is further configured to
receive a signal indicating that the autonomous vehicle is clear of the object; and
enable autonomous driving of the autonomous vehicle when the signal indicating that the autonomous vehicle is clear of the object is received.

15. The system according to claim 11 , wherein the electronic control unit is further configured to determine a difference score indicative of an amount of differences detected between the first topography and the second topography.

16. The system according to claim 15 , wherein the electronic control unit is further configured to compare the difference score to a threshold, and enable autonomous driving of the autonomous vehicle occurs when the difference score is less than the threshold.

Assignees

• Bosch Gmbh Robert

Inventors

• Schwindt Oliver

Classifications

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G07C5/008

  communicating information to a remotely located station (transmission systems for measured values G08C) · CPC title

• G05D1/0055 Primary

  with safety arrangements · CPC title

• G06K9/6215

  Physics · mapped topic

• B60K35/00

  Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles · CPC title