Method and apparatus for monitoring of an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-10600257-B2
Application number	US-201715688467-A
Country	US
Kind code	B2
Filing date	Aug 28, 2017
Priority date	Aug 28, 2017
Publication date	Mar 24, 2020
Grant date	Mar 24, 2020

Abstract

An autonomic vehicle control system is described, and includes a vehicle spatial monitoring system including a subject spatial sensor that is disposed to monitor a spatial environment proximal to the autonomous vehicle. A controller is in communication with the subject spatial sensor, and the controller includes a processor and a memory device including an instruction set. The instruction set is executable to evaluate the subject spatial sensor, which includes determining first, second, third, fourth and fifth SOH (state of health) parameters associated with the subject spatial sensor, and determining an integrated SOH parameter for the subject spatial sensor based thereupon.

First claim

What is claimed is:

1. A method for evaluating a subject spatial sensor disposed on an autonomous vehicle, wherein the subject spatial sensor is disposed to monitor a spatial environment proximal to the autonomous vehicle, and wherein the autonomous vehicle includes a telematics device disposed to communicate with an off-board controller, the method comprising:
determining a first state of health (SOH) parameter for the subject spatial sensor based upon internal monitoring of the subject spatial sensor, wherein a first field of view is associated with the subject spatial sensor, wherein the first SOH parameter is determined based upon signal integrity of the subject spatial sensor, wherein the first SOH parameter has a high value when the signal integrity of the subject spatial sensor is in accordance with its specification, and wherein the first SOH parameter has a low value when the signal integrity of the subject spatial sensor has deteriorated;
determining a second SOH parameter for the subject spatial sensor based upon a correlation analysis of data generated by a second spatial sensor disposed on the autonomous vehicle;
determining a third SOH parameter for the subject spatial sensor based upon historical data for the subject spatial sensor that is associated with a geographic location;
determining a fourth SOH parameter for the subject spatial sensor based upon a correlation analysis with an input from a third spatial sensor that is disposed on a second vehicle, wherein the input from the third spatial sensor includes data associated with the geographic location;
determining a fifth SOH parameter for the subject spatial sensor based upon a correlation analysis with an input from a calibration spatial sensor disposed on a calibration vehicle, wherein the input from the calibration spatial sensor includes data associated with the geographic location;
determining an integrated SOH parameter for the subject spatial sensor based upon the first, second, third, fourth and fifth SOH parameters;
comparing the integrated SOH parameter with a threshold SOH;
detecting a fault in the subject spatial sensor when the integrated SOH parameter is greater than the threshold SOH;
indicating, via an operator interface device, the fault for the subject spatial sensor; and
controlling operation of the autonomous vehicle based upon the data generated by the second spatial sensor in response to the fault for the subject spatial sensor.

2. The method of claim 1 , wherein determining the integrated SOH parameter for the subject spatial sensor based upon the first, second, third, fourth and fifth SOH parameters comprises determining a weighted average of the first, second, third, fourth and fifth SOH parameters.

3. The method of claim 1 , wherein the second SOH parameter is determined based upon a correlation analysis of data generated by the second spatial sensor, wherein the second spatial sensor has a second field of view that overlaps with a portion of the first field of view.

4. The method of claim 3 , wherein a low value for the second SOH parameter is associated with a low value that is output from the correlation analysis, and a high value for the second SOH parameter is associated with a high value that is output from the correlation analysis.

5. The method of claim 1 , wherein the third SOH parameter is determined based upon historical data for the subject spatial sensor that is associated with the geographic location and is at an orientation that is consistent with the data for the subject spatial sensor.

6. The method of claim 5 , wherein a low value for the third SOH parameter is associated with a low value that is output from the correlation analysis, and a high value for the third SOH parameter is associated with a high value that is output from the correlation analysis.

7. The method of claim 1 , wherein the fourth SOH parameter is determined based upon a correlation analysis with input from the third spatial sensor disposed on the second vehicle that is associated with the geographic location and is at an orientation that is consistent with the data for the subject spatial sensor.

8. The method of claim 7 , wherein a low value for the fourth SOH parameter is associated with a low value that is output from the correlation analysis, and a high value for the fourth SOH parameter is associated with a high value that is output from the correlation analysis.

9. The method of claim 1 , wherein the fifth SOH parameter is determined based upon a correlation analysis with the input from the calibration spatial sensor disposed on the calibration vehicle that is associated with the geographic location and is at an orientation that is consistent with the data for the subject spatial sensor.

10. The method of claim 9 , wherein a low value for the fifth SOH parameter is associated with a low value that is output from the correlation analysis, and a high value for the fifth SOH parameter is associated with a high value that is output from the correlation analysis.

11. The method of claim 1 , wherein the subject spatial sensor includes a camera.

12. The method of claim 1 , wherein the subject spatial sensor includes one of a radar device and a lidar device.

13. The method of claim 1 , further comprising indicating that the subject spatial sensor is fit for use in monitoring the spatial environment that is proximal to the vehicle when the integrated SOH parameter is less than the threshold SOH.

14. The method of claim 1 , further comprising communicating the fault to an off-board controller.

15. The method of claim 1 , wherein the autonomous vehicle includes an autonomic vehicle control system, and wherein controlling operation of the autonomous vehicle based upon the data generated by the second spatial sensor in response to the fault for the subject spatial sensor comprises controlling the autonomic vehicle control system based upon the data generated by the second spatial sensor.

16. The method of claim 15 , wherein the autonomic vehicle control system is arranged to perform a driving task, and wherein controlling operation of the autonomous vehicle based upon the data generated by the second spatial sensor in response to the fault for the subject spatial sensor comprises controlling the autonomic vehicle control system to perform the driving task based upon the data generated by the second spatial sensor.

17. The method of claim 16 , wherein the driving task comprises one of cruise control, adaptive cruise control, lane-change warning, intervention and control, automatic parking, acceleration, or braking; and wherein controlling the autonomic vehicle control system to perform the driving task based upon the data generated by the second spatial sensor comprises controlling the autonomic vehicle control system to perform one of cruise control, adaptive cruise control, lane-change warning, intervention and control, automatic parking, acceleration, or braking based upon the data generated by the second spatial sensor.

18. An autonomous vehicle, comprising:
a subject spatial sensor disposed to monitor a spatial environment proximal to the autonomous vehicle, wherein the subject spatial sensor includes a first field of view;
a second spatial sensor disposed to monitor a spatial environment proximal to the autonomous vehicle, wherein the second spatial sensor includes a second field of view that overlaps with a portion of the first field of view;
a telematics device disposed to communicate with an off-board controller;
a human-machine interface (HMI) device;
a controller, in comm

Assignees

• Gm Global Tech Operations Llc

Inventors

• Jiang Shengbing
• Salman Mutasim A
• Du Xinyu
• Lin Wen-Chiao
• Wang Jinsong
• Zeng Shuqing

Classifications

• G01S2013/9316

  combined with communication equipment with other vehicles or with base stations · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title

• G01S2015/937

  sensor installation details · CPC title

• B60W2050/0215

  Sensor drifts or sensor failures · CPC title

• G01S7/497

  Means for monitoring or calibrating · CPC title