Sinkhole detection systems and methods

Patent metadata

Field	Value
Publication number	US-10372128-B2
Application number	US-201615357980-A
Country	US
Kind code	B2
Filing date	Nov 21, 2016
Priority date	Nov 21, 2016
Publication date	Aug 6, 2019
Grant date	Aug 6, 2019

Abstract

Example sinkhole detection systems and methods are described. In one implementation, a method receives data from multiple sensors mounted to a vehicle and analyzes the received data to identify a sinkhole in a roadway ahead of the vehicle. If a sinkhole is identified, the method adjusts vehicle operations and reports the sinkhole to a shared database and/or another vehicle.

First claim

The invention claimed is:

1. A method comprising:
receiving data from a plurality of sensors mounted to a vehicle;
analyzing, using one or more processors, the received data to identify a sinkhole in a roadway ahead of the vehicle; and
responsive to identification of a sinkhole in the roadway:
adjusting vehicle operations; and
reporting the sinkhole to at least one of a shared database and another vehicle;

wherein analyzing the received data to identify a sinkhole in the roadway includes:
receiving drive history data describing the roadway ahead of the vehicle, the drive history data including a road elevation for the roadway ahead of the vehicle;
determining an actual elevation of a second vehicle on the roadway ahead of the vehicle; and
detecting a difference between the actual elevation and the road elevation;
in response to detecting a difference between the actual elevation and the road elevation, identifying the sinkhole in the roadway ahead of the vehicle.

2. The method of claim 1 , wherein the plurality of sensors include one or more of a Lidar sensor, a radar sensor, and a camera.

3. The method of claim 1 , further comprising fusing the data received from the plurality of vehicle sensors.

4. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting an area in the roadway that does not return Lidar ground plane points.

5. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting an area in data from a camera that does not indicate a roadway surface.

6. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting a descent of another vehicle with respect to the roadway.

7. The method of claim 1 , wherein analyzing the received data to identify a sinkhole in the roadway includes detecting a rise of a back of another vehicle with respect to the roadway.

8. The method of claim 1 , wherein reporting the sinkhole to another vehicle includes communicating with the another vehicle using vehicle-to-vehicle communications.

9. The method of claim 1 , wherein adjusting vehicle operations includes stopping the vehicle or maneuvering around the sinkhole.

10. The method of claim 1 , wherein the vehicle is an autonomous vehicle.

11. A method comprising:
receiving data from a plurality of sensors mounted to a first vehicle;
analyzing, using one or more processors, the received data to identify movement of a second vehicle in a roadway ahead of the first vehicle; and
responsive to identification of movement of the second vehicle:
determining the existence of a sinkhole in the roadway ahead of the first vehicle;
adjusting operation of the first vehicle; and
reporting the sinkhole to at least one of a shared database and another vehicle;

wherein determining the existence of the sinkhole in the roadway ahead of the first vehicle comprises:
receiving drive history data describing the roadway ahead of the vehicle, the drive history data including a road elevation for the roadway ahead of the vehicle;
determine an actual elevation of a second vehicle on the roadway ahead of the vehicle according to the received data from the plurality of sensors; and
detecting a difference between the actual elevation and the road elevation for the roadway ahead of the vehicle; and
in response to detecting the difference is detected between the actual elevation and the road surface height, determining that the sinkhole is in the roadway ahead of the vehicle.

12. The method of claim 11 , wherein the plurality of sensors include one or more of a Lidar sensor, a radar sensor, and a camera.

13. The method of claim 11 , wherein identifying the movement of the second vehicle includes identifying a descent of the second vehicle with respect to the roadway surface.

14. The method of claim 11 , wherein identifying the movement of the second vehicle includes a rise of the back of the second vehicle with respect to the roadway surface.

15. The method of claim 11 , wherein reporting the sinkhole to another vehicle includes communicating with the another vehicle using vehicle-to-vehicle communications.

16. The method of claim 11 , wherein adjusting operation of the first vehicle includes stopping the first vehicle or maneuvering the first vehicle around the sinkhole.

17. An apparatus comprising:
a plurality of sensors mounted to a vehicle and configured to capture sensor data;
a plurality of vehicle control actuators configured to adjust operation of the vehicle; and
a sinkhole detection system coupled to the plurality of sensors and the plurality of vehicle control actuators, the sinkhole detection system configured to receive and analyze the sensor data to identify a sinkhole in a roadway ahead of the vehicle, the sinkhole detection further configured, responsive to identification of a sinkhole in the roadway, to:
adjust vehicle operations using the plurality of vehicle control actuators; and
report the sinkhole to at least one of a shared database and another vehicle;

wherein the sinkhole detection system is programmed to:
receive drive history data describing the roadway ahead of the vehicle, the drive history data including a road elevation for the roadway ahead of the vehicle;
determine an actual elevation of the roadway ahead of the vehicle according to the sensor data; and
if a difference is detected between the actual elevation and the road elevation, identify the sinkhole in the roadway ahead of the vehicle.

18. The apparatus of claim 17 , wherein the plurality of sensors include one or more of a Lidar sensor, a radar sensor, and a camera.

Assignees

• Ford Global Tech Llc

Inventors

• Myers Scott Vincent
• Micks Ashley Elizabeth
• Gurghian Alexandru Mihai
• Banvait Harpreetsingh
• Mahmoudieh Parsa

Classifications

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title

• G01S2013/93271

  in the front of the vehicles · CPC title

• G01S2013/9324

  Alternative operation using ultrasonic waves · CPC title

• G01S2013/9323

  Alternative operation using light waves · CPC title

• G01S17/931

  of land vehicles · CPC title