Systems and methods for extending detachable automobile sensor capabilities for environmental mapping

Patent metadata

Field	Value
Publication number	US-10706619-B2
Application number	US-201816128728-A
Country	US
Kind code	B2
Filing date	Sep 12, 2018
Priority date	Sep 12, 2018
Publication date	Jul 7, 2020
Grant date	Jul 7, 2020

Abstract

Systems, methods, and other embodiments described herein relate to a manner of extending the use of originally-equipped automotive vehicle sensors to environmental mapping. In one embodiment, a method includes acquiring sensor data from a vehicle-equipped detachable sensor of an environment around a non-automotive entity when the vehicle-equipped detachable sensor is mounted to the non-automotive entity. The vehicle-equipped detachable sensor is capable of sensing a portion of an environment around an automotive vehicle and configured to communicate with a computing device. The vehicle-equipped detachable sensor is also structured to be detached from the automotive vehicle and mounted to the non-automotive entity. Further, the method includes receiving a mapping request from the computing device. The method also includes, in response to the mapping request, building a map, from the acquired sensor data, of an area traveled by the non-automotive entity.

First claim

What is claimed is:

1. A mapping system comprising:
a vehicle-equipped detachable sensor capable detecting an object within a portion of an environment around an automotive vehicle and configured to communicate with a computing device, the vehicle-equipped detachable sensor structured to be detached from the automotive vehicle and mounted to a non-automotive entity;
one or more processors;
a memory communicably coupled to the one or more processors and storing:
a monitoring module including instructions that when executed by the one or more processors cause the one or more processors to acquire sensor data from the vehicle-equipped detachable sensor of an environment around the non-automotive entity when the vehicle-equipped detachable sensor is mounted to the non-automotive entity; and
a mapping module including instructions that when executed by the one or more processors cause the one or more processors to:
receive a mapping request from the computing device; and
in response to the mapping request, build a map, from the acquired sensor data, of an area traveled by the non-automotive entity.

2. The mapping system of claim 1 , wherein the area is based on geographic boundaries received from the computing device.

3. The mapping system of claim 1 , wherein the map includes at least one of a two-dimensional map, a three-dimensional map and a real-time map.

4. The mapping system of claim 1 , wherein the mapping module further includes instructions to store the map of the area to the memory based on storage instructions received from the computing device, wherein the storage instructions include at least one of a time interval and a distance interval.

5. The mapping system of claim 1 , further comprising a tracking module, the tracking module including instructions that when executed by the one or more processors cause the one or more processors to determine tracking information about the non-automotive entity based at least in part on the acquired sensor data.

6. The mapping system of claim 5 , wherein the tracking information includes at least one of a position of the non-automotive entity, a velocity of the non-automotive entity, an elevation of the non-automotive entity, a current trajectory of the non-automotive entity, and a predicted trajectory of the non-automotive entity.

7. The mapping system of claim 5 , wherein the tracking module further includes instructions to, in response to determining the tracking information, output at least one tracking signal to the computing device.

8. The mapping system of claim 1 , wherein the vehicle-equipped detachable sensor includes at least one of the one or more processors, the memory, and a battery.

9. The mapping system of claim 1 , wherein the vehicle-equipped detachable sensor is configured to communicate with the computing device through the non-automotive entity.

10. The mapping system of claim 1 , further comprising a calibration module, the calibration module including instructions that when executed by the one or more processors cause the one or more processors to calibrate the vehicle-equipped detachable sensor to a portion of the environment around the non-automotive entity based at least in part on mounting location parameters associated with a mounting location of the vehicle-equipped detachable sensor on the non-automotive entity.

11. A method comprising:
acquiring sensor data from a vehicle-equipped detachable sensor of an environment around a non-automotive entity when the vehicle-equipped detachable sensor is mounted to the non-automotive entity, the vehicle-equipped detachable sensor capable of detecting an object within a portion of an environment around an automotive vehicle and configured to communicate with a computing device, the vehicle-equipped detachable sensor structured to be detached from the automotive vehicle and mounted to the non-automotive entity;
receiving a mapping request from the computing device; and
in response to the mapping request, building a map, from the acquired sensor data, of an area traveled by the non-automotive entity.

12. The method of claim 11 , wherein the area is based on geographic boundaries received from the computing device, and wherein the map includes at least one of a two-dimensional map, a three-dimensional map and a real-time map.

13. The method of claim 11 , further comprising:
storing the map of the area to a memory based on storage instructions received from the computing device, wherein the storage instructions include at least one of a time interval and a distance interval.

14. The method of claim 11 , further comprising:
determining tracking information about the non-automotive entity based at least in part on the acquired sensor data, wherein the tracking information includes at least one of a position of the non-automotive entity, a velocity of the non-automotive entity, an elevation of the non-automotive entity, a current trajectory of the non-automotive entity, and a predicted trajectory of the non-automotive entity.

15. The method of claim 14 , further comprising:
in response to determining the tracking information, outputting at least one tracking signal to the computing device.

16. A tracking system comprising:
a vehicle-equipped detachable sensor capable of detecting an object within a portion of an environment around an automotive vehicle and configured to communicate with a computing device, the vehicle-equipped detachable sensor structured to be detached from the automotive vehicle and mounted to a non-automotive entity;
one or more processors;
a memory communicably coupled to the one or more processors and storing:
a monitoring module including instructions that when executed by the one or more processors cause the one or more processors to acquire sensor data from the vehicle-equipped detachable sensor of an environment around the non-automotive entity when the vehicle-equipped detachable sensor is mounted to the non-automotive entity; and
a tracking module including instructions that when executed by the one or more processors cause the one or more processors to determine tracking information about the non-automotive entity based at least in part on the acquired sensor data.

17. The tracking system of claim 16 , wherein the tracking information includes at least one of a position of the non-automotive entity, a velocity of the non-automotive entity, an elevation of the non-automotive entity, a current trajectory of the non-automotive entity, and a predicted trajectory of the non-automotive entity.

18. The tracking system of claim 17 , wherein the tracking module further includes instructions to, in response to determining the tracking information, output at least one tracking signal to the computing device.

19. The tracking system of claim 16 , wherein the vehicle-equipped detachable sensor is configured to communicate with the computing device through the non-automotive entity.

20. The tracking system of claim 16 , wherein the vehicle-equipped detachable sensor includes at least one of the one or more processors, the memory, and a battery.

Assignees

• Toyota Eng & Mfg North America

Inventors

• Frederick Scott L
• Robison Scott P

Classifications

• G01C21/3867

  Geometry of map features, e.g. shape points, polygons or for simplified maps · CPC title

• G01C21/3837

  Data obtained from a single source · CPC title

• G06T2207/30241

  Trajectory · CPC title

• G06T7/20

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title