Systems and methods for adaptive vehicle sensing systems

Patent metadata

Field	Value
Publication number	US-9776632-B2
Application number	US-201313956204-A
Country	US
Kind code	B2
Filing date	Jul 31, 2013
Priority date	Jul 31, 2013
Publication date	Oct 3, 2017
Grant date	Oct 3, 2017

Abstract

An adaptive sensing system is configured to acquire sensor data pertaining to objects in the vicinity of a land vehicle. The adaptive sensing system may be configured to identify objects that are at least partially obscured by other objects and, in response, the adaptive sensing system may be configured to modify the configuration of one or more sensors to obtain additional information pertaining to the obscured objects. The adaptive sensing system may comprise and/or be communicatively coupled to a collision detection module, which may use the sensor data acquired by the adaptive sensing system to detect potential collisions.

First claim

We claim:

1. A method, comprising:
repositioning a sensing system of a land vehicle, wherein the sensing system is configured to acquire computer-readable sensor data pertaining to objects in a vicinity of the land vehicle, and wherein the sensing system is repositioned to acquire sensor data pertaining to a first object that is at least partially obscured by a second object; and
acquiring sensor data pertaining to the first object and the second object by use of the repositioned sensing system.

2. The method of claim 1 , wherein repositioning the sensing system comprises directing the sensing system to the first object.

3. The method of claim 2 , wherein repositioning the sensing system comprises changing an orientation of an emitter of the sensing system.

4. The method of claim 2 , wherein repositioning the sensing system comprises changing a position of an emitter of the sensing system.

5. The method of claim 2 , wherein repositioning the sensing system comprises changing an angle of an emitter of the sensing system.

6. The method of claim 2 , wherein repositioning the sensing system comprises changing an orientation of a detector of the sensing system.

7. The method of claim 2 , wherein repositioning the sensing system comprises changing a position of a detector of the sensing system.

8. The method of claim 2 , wherein repositioning the sensing system comprises changing an angle of a detector of the sensing system.

9. The method of claim 2 , wherein repositioning the sensing system comprises changing an orientation of an antenna of the sensing system.

10. The method of claim 2 , wherein repositioning the sensing system comprises changing a position of an antenna of the sensing system.

11. The method of claim 2 , wherein repositioning the sensing system comprises changing an angle of an antenna of the sensing system.

12. The method of claim 1 , further comprising determining a signal path to the first object.

13. The method of claim 12 , wherein repositioning the sensing system comprises repositioning the sensing system in accordance with the determined signal path.

14. The method of claim 12 , wherein determining the signal path comprises determining a line of sight between the sensing system and the first object.

15. The method of claim 12 , wherein the determined signal path passes over the second object.

16. The method of claim 12 , wherein the determined signal path passes under the second object.

17. The method of claim 12 , wherein the determined signal path passes around the second object.

18. The method of claim 12 , wherein the determined signal path passes through a portion of the second object.

19. An apparatus, comprising:
a sensor positioning module configured to reposition a sensor of a sensing system of a land vehicle, wherein the sensing system is configured to acquire sensor data pertaining to objects in a vicinity of the land vehicle, wherein the sensor positioning module repositions the sensor to acquire sensor data pertaining to a first object that is at least partially obscured by a second object; and
a data acquisition module configured to gather sensor data pertaining to the first object and the second object by use of the sensing system of the land vehicle, including the repositioned sensor.

20. The apparatus of claim 19 , wherein the sensor positioning module is configured to reposition the sensor to direct the sensor to the first object.

21. The apparatus of claim 19 , wherein the sensor positioning module comprises a boom, and wherein at least a portion of the sensor is deployed on the boom.

22. The apparatus of claim 21 , wherein repositioning the sensor comprises repositioning one or more of a signal emitter and a signal detector by use of the boom.

23. The apparatus of claim 21 , wherein repositioning the sensor comprises reorienting one or more of a signal emitter and a signal detector by use of the boom.

24. The apparatus of claim 21 , wherein repositioning the sensor comprises retracting the boom.

25. The apparatus of claim 21 , wherein repositioning the sensor comprises extending the boom.

26. The apparatus of claim 21 , wherein one or more of a signal emitter and the signal detector are disposed on the boom.

27. The apparatus of claim 19 , further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object.

28. The apparatus of claim 19 , further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on time-of-flight of the sensor data.

29. The apparatus of claim 19 , further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on Doppler characteristics of the sensor data.

30. The apparatus of claim 19 , further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on kinematics of the first object and the second object.

31. The apparatus of claim 19 , further comprising a processing module configured to distinguish sensor data pertaining to the first object from sensor data pertaining to the second object based on a differential position of the first object and the second object.

32. The apparatus of claim 19 , further comprising a processing module configured to determine a signal path to the first object.

33. The apparatus of claim 32 , wherein the determined signal path contacts a portion of a third object.

34. The apparatus of claim 33 , wherein the processing module is configured to determine the signal path based on a model of the third object.

35. The apparatus of claim 34 , wherein the processing module is configured to model the third object by use of sensor data pertaining to the third object.

36. The apparatus of claim 34 , wherein the processing module is configured to determine the signal path based on reflectance of portions of the third object.

37. The apparatus of claim 34 , wherein the processing module is configured to determine the signal path further based on signal transmission through portions of the third object.

38. The apparatus of claim 34 , wherein the processing module is configured to determine the signal path based on signal attenuation of portions of the third object.

39. The apparatus of claim 19 , further comprising a processing module configured to determine determining kinematics of the first object by use of the sensor data pertaining to the first object.

40. The apparatus of claim 19 , further comprising generating a collision detection model by use of sensor data acquired by use of the sensor.

41. The apparatus of claim 40 , wherein the collision detection model comprises the first object.

42. The apparatus of claim 41 , wherein the collision detection model comprises the second object.

43. The apparatus of claim 40 , wherein the collision detection model is generated, at least in part, on the land

Assignees

• Elwha Llc
• Elwha Llc

Inventors

• Bowers Jeffrey A
• Deane Geoffrey F
• Hannigan Russell J
• Hyde Roderick A
• Ishikawa Muriel Y
• Kundtz Nathan
• Myhrvold Nathan P
• Smith David R
• Sullivan Philip A
• Tegreene Clarence T
• Tuckerman David B
• Wood Jr Lowell L

Classifications

• B60W2710/20

  Steering systems · CPC title

• B60W2520/105

  Longitudinal acceleration · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2720/106

  Longitudinal acceleration · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title