Granted Patent B2

US 12,259,476 · App. 17/937,929 · Granted Mar 25, 2025

Inventors: Suzanne L. Woll (Livermore, CA); Laura W. Shane (Park City, UT)

Assignee: Kodiak Robotics, Inc.

G01S17/931B60W30/09G01S17/89B60W2420/408B60W2720/10

Abstract

Claims (101)

1. A method for detecting a presence of water along a surface and adjusting a speed of a vehicle, comprising:

generating one or more data points from one or more sensors coupled to the vehicle; and

using a processor:

determining, based on the one or more data points, whether water is present along the surface;

when water is present along the surface:

determining, based on the one or more data points, a degree of wetness of the surface; and

determining a speed adjustment of the vehicle based on the water present along, and the degree of wetness of, the surface; and

generating a control signal configured to cause the vehicle to adjust the speed of the vehicle according to the speed adjustment.

2. The method of claim 1 , further comprising adjusting the speed of the vehicle according to the speed adjustment.

3. The method of claim 1 , wherein the determining whether water is present along the surface further comprises:

generating, using a Light Detection and Ranging (LiDAR) system coupled to the vehicle, at least one point cloud, wherein the LiDAR system comprises the processor; and

using the processor:

identifying and isolating a ground plane within the at least one point cloud;

identifying one or more objects within the at least one point cloud;

determining whether a reflection of the one or more objects is present in the at least one point cloud below the ground plane; and

when the reflection is present, determining that water is present along the surface.

4. The method of claim 3 , further comprising, when the reflection is not present, determining that water is not present along the surface.

5. The method of claim 1 , wherein the determining whether water is present along the surface further comprises:

generating, using a Light Detection and Ranging (LiDAR) system, at least one point cloud, wherein the LiDAR system comprises the processor; and

using the processor:

identifying and isolating one or more road surface points within a point cloud of the at least one point cloud, wherein the one or more road surface points indicate a road surface portion within an environment of the point cloud;

analyzing the one or more road surface points to determine a number of the one or more road surface points that are zero intensity returns; and

based on a number of zero intensity returns, determining a degree of wetness of the road surface.

6. The method of claim 5 , wherein an operating wavelength of the LiDAR system is 905 nm.

7. The method of claim 1 , wherein the determining whether water is present along the surface further comprises:

generating, using the processor, a road surface mapping of a road surface of an environment of the vehicle;

transmitting, using one or more ultrasonic transducers, one or more ultrasonic waves in a direction of the road surface;

receiving, using the one or more ultrasonic transducers, one or more returned ultrasonic waves, wherein the one or more returned ultrasonic waves return to the one or more ultrasonic transducers after reflecting off the road surface;

determining an intensity of the one or more returned ultrasonic waves; and

when the intensity is below a threshold intensity, determining that a location at which the one or more returned ultrasonic waves reflected off of the road surface has water present.

8. A system for detecting a presence of water along a surface and adjusting a speed of a vehicle, comprising:

the vehicle;

one or more sensors, coupled to the vehicle, configured to generate one or more data points; and

a processor configured to:

determine, based on the one or more data points, whether water is present along the surface;

when water is present along the surface:

determine, based on the one or more data points, a degree of wetness of the surface; and

determine a speed adjustment of the vehicle based on the water present along, and the degree of wetness of, the surface; and

generate a control signal configured to cause the vehicle to adjust the speed of the vehicle according to the speed adjustment.

9. The system of claim 8 , wherein the processor is further configured to adjust the speed of the vehicle according to the speed adjustment.

10. The system of claim 8 , further comprising a Light Detection and Ranging (LiDAR) system, coupled to the vehicle, the LiDAR system comprising:

one or more LiDAR sensors; and

the processor,

wherein the processor, when determining whether water is present along the surface, is further configured to:

generate at least one point cloud;

identify and isolate a ground plane within the at least one point cloud;

identify one or more objects within the at least one point cloud;

determine whether a reflection of the one or more objects is present in the at least one point cloud below the ground plane; and

when the reflection is present, determine that water is present along the surface.

11. The system of claim 10 , wherein the processor is further configured to, when the reflection is not present, determine that water is not present along the surface.

12. The system of claim 8 , further comprising a Light Detection and Ranging (LiDAR) system, coupled to the vehicle, the LiDAR system comprising:

one or more LiDAR sensors; and

the processor,

wherein the processor, when determining whether water is present along the surface, is further configured to:

generate at least one point cloud;

identify and isolate one or more road surface points within a point cloud of the at least one point cloud, wherein the one or more road surface points indicate a road surface portion within an environment of the point cloud;

analyze the one or more road surface points to determine a number of the one or more road surface points that are zero intensity returns; and

based on a number of zero intensity returns, determine a degree of wetness of the road surface.

13. The system of claim 12 , wherein an operating wavelength of the LiDAR system is 905 nm.

14. The system of claim 8 , further comprising one or more ultrasonic transducers configured to:

transmit one or more ultrasonic waves in a direction of the road surface; and

receive one or more returned ultrasonic waves, wherein the one or more returned ultrasonic waves return to the one or more ultrasonic transducers after reflecting off a road surface,

wherein the processor, when determining whether water is present along the surface, is further configured to:

generate a road surface mapping of the road surface of an environment of a vehicle;

determine an intensity of the one or more returned ultrasonic waves; and

when the intensity is below a threshold intensity, determine that a location at which the one or more returned ultrasonic waves reflected off the road surface has water present.

15. A system for detecting a presence of water along a surface and adjusting a speed of a vehicle, comprising:

the vehicle;

one or more sensors, coupled to the vehicle, configured to generate one or more data points; and

a computing device, comprising a processor and a memory, coupled to the vehicle, configured to store programming instructions that, when executed by the processor, cause the processor to:

determine, based on the one or more data points, whether water is present along the surface;

when water is present along the surface:

determine, based on the one or more data points, a degree of wetness of the surface;

determine a speed adjustment of the vehicle based on the water present along, and the degree of wetness of, the surface; and

generate a control signal configured to cause the vehicle to adjust the speed of the vehicle according to the speed adjustment.

16. The system of claim 15 , further comprising a Light Detection and Ranging (LiDAR) system, coupled to the vehicle, the LiDAR system comprising:

one or more LiDAR sensors; and

the processor,

wherein, when determining whether water is present along the surface, the programming instructions are further configured, when executed by the processor, to cause the processor to:

generate at least one point cloud;

identify and isolate a ground plane within the at least one point cloud;

identify one or more objects within the at least one point cloud;

determine whether a reflection of the one or more objects is present in the at least one point cloud below the ground plane; and

when the reflection is present, determine that water is present along the surface.

17. The system of claim 16 , wherein, when the reflection is not present, the programming instructions are further configured, when executed by the processor, to cause the processor to determine that water is not present along the surface.

18. The system of claim 15 , further comprising a Light Detection and Ranging (LiDAR) system, coupled to the vehicle, the LiDAR system comprising:

one or more LiDAR sensors; and

the processor,

wherein, when determining whether water is present along the surface, the programming instructions are further configured, when executed by the processor, to cause the processor to:

generate at least one point cloud;

identify and isolate one or more road surface points within a point cloud of the at least one point cloud, wherein the one or more road surface points indicate a road surface portion within an environment of the point cloud;

analyze the one or more road surface points to determine a number of the one or more road surface points that are zero intensity returns; and

based on a number of zero intensity returns, determine a degree of wetness of the road surface.

19. The system of claim 18 , wherein an operating wavelength of the LiDAR system is 905 nm.

20. The system of claim 15 , further comprising one or more ultrasonic transducers configured to:

transmit one or more ultrasonic waves in a direction of the road surface; and

receive one or more returned ultrasonic waves, wherein the one or more returned ultrasonic waves return to the one or more ultrasonic transducers after reflecting off a road surface,

wherein, when determining whether water is present along the surface, the programming instructions are further configured, when executed by the processor, to cause the processor to:

generate a road surface mapping of the road surface of an environment of a vehicle;

determine an intensity of the one or more returned ultrasonic waves; and

when the intensity is below a threshold intensity, determine that a location at which the one or more returned ultrasonic waves reflected off the road surface has water present.

Assignments (3)

Continuity (1)

References Cited (10)