Detecting general road weather conditions

Patent metadata

Field	Value
Publication number	US-12066836-B2
Application number	US-202318131966-A
Country	US
Kind code	B2
Filing date	Apr 7, 2023
Priority date	Dec 12, 2018
Publication date	Aug 20, 2024
Grant date	Aug 20, 2024

Abstract

The technology relates to determining general weather conditions affecting the roadway around a vehicle, and how such conditions may impact driving and route planning for the vehicle when operating in an autonomous mode. For instance, the on-board sensor system may detect whether the road is generally icy as opposed to a small ice patch on a specific portion of the road surface. The system may also evaluate specific driving actions taken by the vehicle and/or other nearby vehicles. Based on such information, the vehicle's control system is able to use the resultant information to select an appropriate braking level or braking strategy. As a result, the system can detect and respond to different levels of adverse weather conditions. The on-board computer system may share road condition information with nearby vehicles and with remote assistance, so that it may be employed with broader fleet planning operations.

First claim

The invention claimed is:

1. A method comprising:
determining, by one or more processors associated with a vehicle operating in an autonomous driving mode, that it is safe to perform a testing operation along a portion of a roadway to determine a road weather condition;
causing, by the one or more processors upon determining that it is safe to perform the testing operation, a subsystem of the vehicle to actuate one or more components of the subsystem during operation in the autonomous driving mode according to the testing operation;
comparing, by the one or more processors, actual vehicle information about the vehicle along the portion of the roadway during actuation of the one or more components with expected information about the vehicle along the portion of the roadway;
determining, by the one or more processors, that the road weather condition is a wet condition, an icy condition, or a snowy condition along the roadway based on the comparing the actual vehicle information with the expected vehicle information; and
in response to the determining based on the comparing, the one or more processors causing the vehicle to take a selected action according to whether the road weather condition is the wet condition, the icy condition, or the snowy condition.

2. The method of claim 1 , wherein determining that it is safe to perform the testing operation includes determining that there are no surrounding vehicles within a predetermined distance of the vehicle operating in the autonomous driving mode.

3. The method of claim 1 , wherein determining that it is safe to perform the testing operation includes determining that a likelihood of losing traction or steering control is below a determined threshold.

4. The method of claim 1 , wherein determining that it is safe to perform the testing operation includes determining that there are no passengers in the vehicle.

5. The method of claim 1 , wherein causing the subsystem to actuate the one or more components includes causing a braking operation to be performed until information from the subsystem indicates that one or more wheels of the vehicle are starting to lose traction.

6. The method of claim 1 , wherein causing the subsystem to actuate the one or more components includes causing braking repeatedly for a selected period of time.

7. The method of claim 1 , wherein determining that it is safe to perform the testing operation includes requiring a minimum amount of headway with a trailing vehicle along the portion of the roadway before causing the subsystem to perform a braking operation.

8. The method of claim 1 , wherein determining that the road weather condition is the wet condition, the icy condition, or the snowy condition along the roadway based on the comparing the actual vehicle information and the expected vehicle information includes evaluating actual wheel slippage against an expected wheel slippage along the portion of the roadway.

9. The method of claim 1 , wherein determining that the road weather condition is the wet condition, the icy condition, or the snowy condition along the roadway based on the comparing the actual vehicle information and the expected vehicle information includes evaluating an actual vehicle pose against an expected vehicle pose along the portion of the roadway.

10. The method of claim 9 , wherein the actual vehicle pose is determined based on acquired sensor data obtained by one or more of a lidar sensor, a camera sensor or a radar sensor of the vehicle.

11. The method of claim 1 , wherein causing the vehicle to take the selected action includes selecting an amount of braking or an amount of deceleration according to whether the road weather condition is the wet condition, the icy condition, or the snowy condition.

12. The method of claim 1 , wherein causing the vehicle to take the selected action includes causing the vehicle to make a driving operation based on an upcoming roadway configuration.

13. The method of claim 1 , wherein determining that the road weather condition is the wet condition, the icy condition, or the snowy condition is further based on observing actions by one or more other objects along the roadway.

14. The method of claim 13 , further comprising filtering out a spurious sensor signal received by the vehicle based on observing the actions by the one or more other objects along the roadway.

15. The method of claim 1 , wherein the selected action is one of: a route re-planning action, causing a modification in a behavior prediction for an object in an environment along the roadway, providing a notification to another vehicle, or providing a notification to a backend system.

16. The method of claim 1 , wherein the selection action includes adjusting a future braking profile of the vehicle.

17. A processing system comprising one or more processors configured to:
determine that it is safe for a vehicle operating in an autonomous driving mode to perform a testing operation along a portion of a roadway to determine a road weather condition;
cause, upon determining that it is safe to perform the testing operation, a subsystem of the vehicle to actuate one or more components of the subsystem during operation in the autonomous driving mode according to the testing operation;
compare actual vehicle information about the vehicle along the portion of the roadway during actuation of the one or more components with expected information about the vehicle along the portion of the roadway;
determine that the road weather condition is a wet condition, an icy condition, or a snowy condition along the roadway based on the comparison of the actual vehicle information with the expected vehicle information; and
in response to the determination based on the comparison, cause the vehicle to take a selected action according to whether the road weather condition is the wet condition, the icy condition, or the snowy condition.

18. A vehicle comprising:
the processing system of claim 17 ; and
a perception system having one or more sensors operatively coupled to the processing system, the perception system being configured to obtain the actual vehicle information about the vehicle along the portion of the roadway via the one or more sensors.

19. The vehicle of claim 18 , wherein determination that it is safe to perform the testing operation includes at least one of: (i) a determination that there are no surrounding vehicles within a predetermined distance of the vehicle operating in the autonomous driving mode, (ii) a determination that a likelihood of losing traction or steering control is below a determined threshold, (iii) a determination that there are no passengers in the vehicle, or (iv) requiring a minimum amount of headway with a trailing vehicle along the portion of the roadway before causing the subsystem to perform a braking operation.

20. The vehicle of claim 18 , wherein determination that the road weather condition is the wet condition, the icy condition, or the snowy condition along the roadway based on comparison of the actual vehicle information and the expected vehicle information includes evaluation of an actual vehicle pose against an expected vehicle pose along the portion of the roadway.

Assignees

• Waymo Llc

Inventors

• Silver David Harrison
• Gutmann Jens-Steffen Ralf
• James Michael

Classifications

• B60W2720/10

  Longitudinal speed · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• B60W2050/0031

  Mathematical model of the vehicle · CPC title

• B60W2554/4046

  Behavior, e.g. aggressive or erratic · CPC title

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title