Granted Patent B1

US 9,720,412 · App. 14/865,660 · Granted Aug 1, 2017

Abstract

Claims (53)

1. A method comprising:

determining, using a computer system, one or more characteristics of an environment of a vehicle, wherein the one or more characteristics include a type of road on which the vehicle is traveling, wherein the vehicle is configured to operate in an autonomous mode and comprises a sensor configured to obtain sensor data of a sensed portion of the environment, wherein the sensed portion is defined by at least one sensor parameter;

based at least on whether the type of road on which the vehicle is traveling is a surface road or a freeway, adjusting at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest, wherein the at least one sensor parameter comprises a direction parameter that defines a range of directions from the vehicle in which the sensor obtains sensor data, wherein adjusting the at least one parameter value for the at least one sensor parameter comprises reducing an angular range for the direction parameter to a value less than 360 degrees;

operating the sensor, using the adjusted at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest; and

controlling the vehicle in the autonomous mode based on the sensor data of the region of interest.

2. The method of claim 1 , wherein the at least one sensor parameter further comprises a distance parameter that defines a range of distances from the vehicle in which the sensor obtains sensor data, and wherein adjusting at least one parameter value for the at least one sensor parameter comprises adjusting a distance for the distance parameter.

3. The method of claim 2 , wherein the type of road on which the vehicle is traveling is a surface road and wherein the adjusted distance corresponds to a maximum range of the sensor.

4. The method of claim 2 , wherein the adjusted distance is less than a maximum range of the sensor.

5. The method of claim 4 , wherein the type of road on which the vehicle is traveling is a freeway and wherein the adjusted distance corresponds to two lanes from the vehicle.

6. The method of claim 1 , wherein reducing the angular range comprises reducing the angular range from a 360 degree range to a range of angles in front of the vehicle.

7. The method of claim 1 , wherein the at least one sensor parameter further comprises a height parameter that defines a range of heights above the ground in which the sensor obtains sensor data, and wherein adjusting at least one parameter value for the at least one sensor parameter comprises adjusting a height range for the height parameter based on a current direction of the at least one sensor.

8. The method of claim 1 , wherein determining one or more characteristics of the environment of the vehicle comprises at least one of receiving a terrain map defining the environment of the vehicle, comparing a terrain map defining the environment of the vehicle to sensor data obtained by the at least one sensor, determining the number of lanes in the environment, determining the presence of a median in the environment, determining a shape of a road in the environment, determining a speed limit in the environment, determining a speed of the vehicle in the environment, determining a speed of other vehicles in the environment, determining a presence of pedestrians in the environment, determining a presence of a traffic light in the environment, or determining a presence of a cross walk in the environment.

9. The method of claim 1 , further comprising:

determining an activity of the vehicle in the environment;

based on the activity of the vehicle, adjusting at least one new parameter value for the at least one sensor parameter to define a new region of interest in the environment;

operating the sensor, using the adjusted at least one new parameter value for the at least one sensor parameter, to obtain sensor data of the new region of interest; and

controlling the vehicle in the autonomous mode based on the sensor data of the new region of interest.

10. The method of claim 9 , wherein determining the activity of the vehicle in the environment comprises determining that the vehicle is making a turn.

11. The method of claim 1 , further comprising:

determining an activity of an object in the environment;

based on the activity of the object, adjusting at least one new parameter value for the at least one sensor parameter to define a new region of interest in the environment;

operating the sensor, using the adjusted at least one new parameter value for the at least one sensor parameter, to obtain sensor data of the new region of interest; and

controlling the vehicle in the autonomous mode based on the sensor data of the new region of interest.

12. The method of claim 1 , wherein the region of interest comprises a front distance from the vehicle and a side distance from the vehicle, and wherein the region of interest while the vehicle is traveling on a freeway corresponds to the region of interest having a front distance that is greater than the side distance.

13. The method of claim 1 , further comprising one or more data processing parameters corresponding to sensor data of the at least one sensor, adjusting the one or more data processing parameters to detect traffic lights and to determine the states of the detected traffic lights from the sensor data when the vehicle is on a surface road, and adjusting the one or more data processing parameters to turn off traffic light detection when the vehicle is on a freeway.

14. A vehicle comprising:

a sensor configured to obtain sensor data of a sensed portion of an environment, wherein the sensed portion is defined by at least one sensor parameter, and wherein the vehicle is configured to operate in an autonomous mode; and

a computer system, wherein the computer system is configured to:

determine one or more characteristics of the environment of the vehicle, wherein the one or more characteristics include a type of road on which the vehicle is traveling;

based at least on whether the type of road on which the vehicle is traveling is a surface road or a freeway, adjust at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest, wherein the at least one sensor parameter comprises a direction parameter that defines a range of directions from the vehicle in which the sensor obtains sensor data, wherein the range of directions from the vehicle in which the sensor obtains data comprises a first angular range of directions, and wherein adjusting the at least one parameter value for the at least one sensor parameter comprises adjusting the range of directions from the vehicle in which the sensor obtains data to a second angular range, wherein the second angular range is smaller than the first angular range;

operate the sensor, using the adjusted at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest; and

control the vehicle in the autonomous mode based on the sensor data of the region of interest.

15. The vehicle of claim 14 , wherein the computer system is further configured to:

determine an activity of the vehicle in the environment;

based on the activity of the vehicle, adjust at least one new parameter value for the at least one sensor parameter to define a new region of interest in the environment;

operate the sensor, using the adjusted at least one new parameter value for the at least one sensor parameter, to obtain sensor data of the new region of interest; and

control the vehicle in the autonomous mode based on the sensor data of the new region of interest.

16. The vehicle of claim 14 , wherein the computer system is further configured to:

determine an activity of an object in the environment;

based on the activity of the object, adjust at least one new parameter value for the at least one sensor parameter to define a new region of interest in the environment;

operate the sensor, using the adjusted at least one new parameter value for the at least one sensor parameter, to obtain sensor data of the new region of interest; and

control the vehicle in the autonomous mode based on the sensor data of the new region of interest.

17. The vehicle of claim 14 , wherein the first angular range comprises a 360 degree range and the second angular range comprises an angular range less than 360 degrees.

18. A non-transitory computer readable medium having stored therein instructions executable by a computer system to cause the computer system to perform functions comprising:

determining one or more characteristics of an environment of a vehicle, wherein the one or more characteristics include a type of road on which the vehicle is traveling, wherein the vehicle is configured to operate in an autonomous mode and comprises a sensor configured to obtain sensor data of a sensed portion of the environment, wherein the sensed portion is defined by at least one sensor parameter;

based at least on whether the type of road on which the vehicle is traveling is a surface road or a freeway, adjusting at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest, wherein the at least one sensor parameter comprises a direction parameter that defines a range of directions from the vehicle in which the sensor obtains sensor data, wherein the range of directions from the vehicle in which the sensor obtains data comprises a first angular range of directions, and wherein adjusting the at least one parameter value for the at least one sensor parameter comprises adjusting the range of directions from the vehicle in which the sensor obtains data to a second angular range, wherein the second angular range is smaller than the first angular range;

operating the sensor, using the adjusted at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest; and

controlling the vehicle in the autonomous mode based on the sensor data of the region of interest.

19. The non-transitory computer readable medium of claim 18 , wherein the instructions are further executable by the computing system to perform functions comprising:

determining an activity of the vehicle in the environment;

based on the activity of the vehicle, adjusting at least one new parameter value for the at least one sensor parameter to define a new region of interest in the environment;

operating the sensor, using the adjusted at least one new parameter value for the at least one sensor parameter, to obtain sensor data of the new region of interest; and

controlling the vehicle in the autonomous mode based on the sensor data of the new region of interest.

Assignments (6)