Path selection for a vehicle based on heat distributed on a road surface

Patent metadata

Field	Value
Publication number	US-12528503-B2
Application number	US-202318509600-A
Country	US
Kind code	B2
Filing date	Nov 15, 2023
Priority date	Nov 21, 2022
Publication date	Jan 20, 2026
Grant date	Jan 20, 2026

Abstract

A computer system comprising a processor device configured to select a candidate path for a first vehicle to travel is provided. The processor device is further configured to obtain, from at least one temperature sensor, heat sensor data indicative of heat distributed on a road surface of a road located ahead of the first vehicle in a driving direction of the first vehicle. The processor device is further configured to, based on the heat distributed on the road surface, identify at least one first path travelled by at least one second vehicle. The processor device is further configured to select a candidate path for the first vehicle to travel. The candidate path is selected out of the at least one first path.

First claim

What is claimed is:

1 . A computer system comprising a processor device configured to select a candidate path for a first vehicle to travel, the processor device is further configured to:
obtain, from at least one temperature sensor, heat sensor data indicative of heat distributed on a road surface of a road located ahead of the first vehicle in a driving direction of the first vehicle, based on the heat distributed on the road surface, identify at least one first path travelled by at least one second vehicle, select a candidate path for the first vehicle to travel, wherein the candidate path is selected out of the at least one first path, by the processor device, from one or more second sensors of the first vehicle and/or using static road map data of the road, identifying at least one second path, and wherein selecting the candidate path out of the at least one first path for the first vehicle to travel is performed in response to detecting a difference between the at least one first path and the at least one second path; and by the processor device, controlling the first vehicle based on the selected path.

2 . A computer-implemented method for selecting a candidate path for a first vehicle to travel, the computer-implemented method comprising:
by a processor device of a computer system, obtaining from at least one temperature sensor, heat sensor data indicative of heat distributed on a road surface of a road located ahead of the first vehicle in a driving direction of the first vehicle, by the processor device, based on the heat distributed on the road surface, identifying at least one first path travelled by at least one second vehicle, by the processor device, selecting a candidate path for the first vehicle to travel, wherein the candidate path is selected out of the at least one first path, by the processor device, from one or more second sensors of the first vehicle and/or using static road map data of the road, identifying at least one second path, and wherein selecting the candidate path out of the at least one first path for the first vehicle to travel is performed in response to detecting a difference between the at least one first path and the at least one second path; and by the processor device, controlling the first vehicle based on the selected path.

3 . The method of claim 2 further comprising: by the processor device, upon detecting the difference between the at least one first path and the at least one second path, triggering the first vehicle to stop and/or to operate in a different mode.

4 . The method of claim 2 , wherein obtaining the heat sensor data comprises obtaining a segmented representation of the heat distributed on the road surface, wherein each segment of the segmented representation is associated with a respective heat value, and wherein identifying the at least one first path travelled by the at least one second vehicle comprises identifying at least one set of segments, wherein a respective heat value of each segment in the at least one set of segments is above a predefined heat threshold.

5 . The method of claim 4 , wherein the at least one set of segments is arranged in a respective shape indicative of a respective path which can be travelled by the first vehicle.

6 . The method of claim 5 , wherein a width of the respective shape is within a range of a predefined vehicle width and/or a predefined vehicle track width.

7 . The method of claim 4 , wherein identifying the at least one set of segments comprises identifying a first set of segments and a second set of segments, wherein the first set of segments and the second set of segments are separated by one or more segments associated with a respective heat value below the predefined heat threshold.

8 . The method of claim 2 , wherein the at least one first path comprises at least two paths, and wherein selecting the path for the first vehicle out of the at least one first path comprises:
determining a heat metric of the respective paths of the at least one first path, wherein determining the heat metric is based on the heat distributed on the road surface and wherein determining the heat metric is performed using a predefined evaluation function, and selecting the path with the evaluated heat metric indicative of a highest heat.

9 . The method of claim 2 , wherein identifying the at least one first path travelled by the at least one second vehicle is further based on additional sensor data and/or static road map data of the road.

10 . A vehicle comprising a computer system configured to perform the method of claim 2 , and wherein the vehicle is at least partly autonomous.

11 . The vehicle of claim 10 , wherein the vehicle comprises at least one temperature sensor configured to obtain heat sensor data indicative of heat distributed on a road surface of a road located ahead of the vehicle in the driving direction of the vehicle.

12 . A non-transitory computer-readable storage medium comprising instructions, which when executed by the processor device, cause the processor device to perform the method of claim 2 .

Assignees

• Volvo Autonomous Solutions AB

Inventors

• Sandblom Fredrik
• Hagvall Linus
• Bergquist Stefan

Classifications

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W2554/4044

  Direction of movement, e.g. backwards · CPC title

• B60W2556/40

  High definition maps · CPC title

• B60W2530/201

  Dimensions of vehicle · CPC title

• B60W2552/05

  Type of road, e.g. motorways, local streets, paved or unpaved roads · CPC title