Precipitation detection

Abstract

The present disclosure provides for "precipitation detection". A quantity and type of precipitation is determined as well as a speed of a vehicle. A component in the vehicle is actuated based on the quantity and type of precipitation and the speed of the vehicle.

Description

TECHNICAL FIELD

[0001] The present invention relates to the field of vehicle sensors, and more particularly to a vehicle precipitation detection system. BACKGROUND

[0002] Vehicles, such as fully autonomous or partially autonomous vehicles, include various sensors. Some sensors detect the outside world, for example, radar sensors, scanning laser rangefinders, light detection and ranging (lidar) devices, and image processing sensors such as cameras. Lidar sensors detect distance to objects by emitting a pulse of laser light and measuring the time of flight for the pulse to travel to an object and return. A problem exists in that precipitation can interfere with lidar sensors such that precipitation can degrade or downgrade data from the lidar sensor, for example, that can degrade detection of objects, for example, accurately detecting distance to objects. SUMMARY

[0003] A system includes a processor and a memory storing instructions executable by the processor to determine an amount and a type of precipitation and a speed of a vehicle and to actuate a component in the vehicle based on the amount and the type of precipitation and the speed of the vehicle.

[0004] The processor can be further programmed to determine a wiper speed based on the amount and the type of precipitation and the speed of the vehicle and to actuate the component based on the wiper speed.

[0005] The component can be a wiper and the processor is further programmed to actuate the wiper according to the wiper speed.

[0006] The processor can be further programmed to determine a second wiper speed based on the amount and the type of precipitation and the speed of the vehicle and to actuate the component based on the second wiper speed.

[0007] The component can be one or both of a vehicle driveline and a vehicle brake. The processor can be further programmed to change the speed of the vehicle based on the amount and the type of precipitation and the speed of the vehicle.

[0008] The processor can be further programmed to determine a wind speed relative to the vehicle and to actuate the component based on the wind speed.

[0009] The processor can be further programmed to determine the type of precipitation based on an ambient temperature.

[0010] The component can be a vehicle steering device and the processor is further programmed to activate the vehicle steering device.

[0011] A method includes determining an amount and a type of precipitation and a speed of a vehicle and actuating a component in the vehicle based on the amount and the type of precipitation and the speed of the vehicle.

[0012] The method can further include determining a wiper speed based on the amount and type of precipitation and the speed of the vehicle. Actuating the component in the vehicle based on the amount and type of precipitation and the speed of the vehicle can include actuating the component based on the wiper speed.

[0013] The component can be a wiper. Actuating the component can include actuating the wiper according to the wiper speed.

[0014] The method can further include determining a second wiper speed based on the amount and type of precipitation and the speed of the vehicle. Actuating the component in the vehicle based on the amount and type of precipitation and the speed of the vehicle can include actuating the component based on the second wiper speed.

[0015] The component can be one or both of a vehicle driveline and a vehicle brake. Actuating the component can include changing the speed of the vehicle based on the amount and type of precipitation and the speed of the vehicle.

[0016] The method can further include determining a wind speed relative to the vehicle. Actuating the component in the vehicle based on the amount and type of precipitation and the speed of the vehicle can further include actuating the component based on the wind speed.

[0017] The method can further include determining the type of precipitation based on an ambient temperature.

[0018] The component can be a vehicle steering device, and actuating the component includes activating the vehicle steering device.

[0019] A system includes a wiper, an actuator arranged to move the wiper, and a processor programmed to determine an amount and type of precipitation and a speed of the vehicle and to actuate a component in the vehicle based on the amount and type of precipitation and the speed of the vehicle.

[0020] The processor can be further programmed to determine a wiper speed based on the amount and type of precipitation and the speed of the vehicle, and to actuate the component based on the wiper speed.

[0021] The component can be one or both of a vehicle driveline and a vehicle brake. The processor can be further programmed to change the speed of the vehicle based on the amount and type of precipitation and the speed of the vehicle.

[0022] The processor can be further programmed to determine the type of precipitation based on an ambient temperature.

[0023] Also disclosed is a computing device programmed to perform any of the above method steps. Also disclosed is a vehicle comprising the computing device. Also disclosed is a computer program product comprising a computer readable medium storing instructions executable by a computer processor to perform any of the above method steps. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Block diagram of an example vehicle precipitation detection system.

[0025] Figure 2 Example vehicle precipitation detection process. DETAILED DESCRIPTION

[0026] Figure 1 An example system 100 is shown that includes a computer 105 programmed to determine a precipitation amount and a precipitation type and a speed of a vehicle 101 and to actuate components 120 in the vehicle 101 based on the precipitation amount and the precipitation type and the speed of the vehicle 101. The computer 105 in the vehicle 101 is programmed to receive collected data 115 from one or more sensors 110. For example, the vehicle 101 data 115 can include a location of the vehicle 101, a location of a target (i.e., an object around the vehicle 101 such as another vehicle, a pedestrian, a road sign, etc.), etc. The location data can be in the form of known, for example, geographic coordinates (such as latitude and longitude coordinates) obtained via a navigation system that uses a global positioning system (GPS) as is known. Other examples of data 115 can include measured values of vehicle 101 systems and components (e.g., vehicle speed, vehicle trajectory, etc.).

[0027] The computer 105 is generally programmed for communication on a vehicle 101 network, for example, including a communication bus such as is known. The computer 105 can transmit messages to and / or receive messages from various devices in the vehicle 101 including sensors 110 (e.g., controllers, actuators, sensors, etc.) via the network, bus, and / or other wired or wireless mechanisms (e.g., a wired or wireless local area network in the vehicle 101). Alternatively or additionally, where the computer 105 actually comprises multiple devices, the vehicle network can be used for communication between the devices represented in this disclosure as the computer 105. In addition, the computer 105 can be programmed for communication with a network 125 which as described below can include various wired and / or wireless network technologies, for example, cellular, Bluetooth®, Bluetooth® Low Energy (BLE), wired and / or wireless packet networks, etc.

[0028] The data store 106 can be any type, for example, a hard drive, solid state drive, server, or any volatile or non-volatile medium. The data store 106 can store collected data 115 transmitted from the sensors 110.

[0029] The sensors 110 can include various devices. For example, various controllers in the vehicle 101 can operate as sensors 110 to provide data 115 via the vehicle 101 network or bus, for example, data 115 related to vehicle speed, acceleration, position, subsystem and / or component status, etc. Additionally, other sensors 110 can include cameras, motion detectors, etc., i.e., sensors 110 to provide data 115 to assess the position of objects, determine the presence of users, etc. The sensors 110 can also include short range radar, long range radar, and / or ultrasonic transducers.

[0030] One of the sensors 110 can be a lidar 111. The lidar 111 can emit a beam of light and receive a reflected beam of light reflected from an object (e.g., a second vehicle, a road sign, a tree, etc.) and / or precipitation (e.g., rain, snow, etc.). The computer 105 can measure the elapsed time from the emitted beam of light to the received reflected beam of light. The computer 105 can determine the distance between the lidar 111 and the object and / or precipitation of the reflected beam of light based on the elapsed time and the speed of light.

[0031] The computer 105 can compare the distance between the vehicle 101 and the object to a distance threshold. The computer can actuate vehicle components 120 to maintain the distance between the vehicle 101 and the object (e.g., a second vehicle) above the distance threshold as further set forth below. The distance threshold is a distance value (e.g., a minimum distance) stored in the memory of the computer 105 and determined as the distance from the vehicle 101 to the object (e.g., a second vehicle), for example, the radius from a center point or some other point within the vehicle 101 to the object. The distance value can be based on the type and amount of precipitation and the speed of the vehicle 101. The computer 105 can store a lookup table or the like specifying a list of distance thresholds and the amount and type of precipitation and the speed of the vehicle 101, for example, the distance threshold can be proportional to the amount of precipitation and the speed of the vehicle 101. The distance threshold can be determined from the type and amount of precipitation given the speed of the vehicle 101 at which the vehicle 101 can safely operate under the type and amount of precipitation.

[0032] The collected data 115 can include various data collected in the vehicle 101. Examples of the collected data 115 are provided above, and in addition, the data 115 is generally collected using one or more sensors 110 and can additionally include data computed in the computer 105 and / or at the server 130 from such data. Generally, the collected data 115 can include any data that can be collected by the sensors 110 and / or computed from such data.

[0033] The vehicle 101 can include a plurality of vehicle components 120. Each vehicle component 120 includes one or more hardware components adapted to perform a mechanical function or operation, such as moving the vehicle, slowing or stopping the vehicle, steering the vehicle, etc. Non-limiting examples of vehicle components 120 include traditional vehicle parts or subsystems, such as vehicle propulsion components (which include, for example, an internal combustion engine and / or an electric motor, etc.), transmission components, vehicle steering components (which can include, for example, one or more of a steering wheel, a steering rack, etc.), vehicle braking components, park assist components, adaptive cruise control components, adaptive steering components, etc.

[0034] The vehicle 101 can include a wiper 121. The wiper 121 (or multiple wipers 121) can remove precipitation from a windshield of the vehicle 101. The computer 105 can actuate the wiper 121 when the computer 105 detects precipitation (e.g., once rain, snow, etc. is detected). The computer 105 can be programmed to actuate the wiper 121 based on the amount and type of precipitation detected and the speed of the vehicle 101, for example. The computer 105 can actuate the wiper 121 until the precipitation event has ended is detected.

[0035] The vehicle 101 can include an actuator 122 for moving the wiper 121 from a first position to a second position, e.g., the wiper 121 can pivot about the actuator 122 from the first position to the second position. The actuator 122 can be any suitable mechanism such as a motor (e.g., an electric motor) attached to a pivot rod, a hydraulic cylinder attached to a pivot rod. The computer 105 can send a message to the actuator 122 to move the wiper 121 from the first position to the second position. As the wiper moves from the first position to the second position, and generally back and forth between the two, the wiper 121 slides along the windshield of the vehicle 101 to remove precipitation from the windshield.

[0036] The vehicle 101 can include a human-machine interface (HMI) 123, e.g., one or more of a display, a touchscreen display, a microphone, a speaker, etc. A user can input data 115 into the HMI 123, e.g., select a drive mode. For example, the user can select to operate the vehicle 101 in an autonomous mode, i.e., the computer 105 operates the vehicle 101. When the computer 105 operates the vehicle 101, the vehicle 101 is an “autonomous” vehicle 101. For purposes of the present disclosure, the term “autonomous vehicle” is used to refer to a vehicle 101 operating in a fully autonomous mode. A fully autonomous mode is defined as a mode in which each of the powertrain (typically including an electric motor and / or an internal combustion engine), braking device, and steering device of the vehicle 101 is controlled by the computer 105. A semi-autonomous mode is a mode in which at least one of the powertrain (typically including an electric motor and / or an internal combustion engine), braking device, and steering device of the vehicle 101 is controlled at least partially by the computer 105 rather than a human operator. Alternatively, the user can select to operate the vehicle in a manual mode, i.e., the user operates the vehicle 101. The HMI 123 can communicate with the computer 105 via the vehicle 101 network, e.g., the HMI 123 can send a message including user input to the computer 105. The computer 105 can determine the drive mode based on the message from the HMI 123.

[0037] The computer 105 can be programmed to determine a type of precipitation by one or more sensors 110. As used herein, a “type” of precipitation is a physical state of the precipitation detected by the computer 105, e.g., liquid (meaning rain) or solid (meaning snow, hail, or sleet). A temperature sensor 110 can determine an ambient temperature outside of the vehicle 101. In this context, the ambient temperature is the temperature around the vehicle 101, i.e., a temperature that can be referred to as an outside temperature or an ambient temperature. The computer 105 can receive a message from the temperature sensor 110 indicating the ambient temperature, and the computer 105 can compare the temperature to a threshold temperature (e.g., 32 degrees Fahrenheit). If the ambient temperature is above the threshold temperature, the computer 105 can determine that the precipitation is liquid, i.e., rain. If the ambient temperature is below the threshold temperature, the computer 105 can determine that the precipitation is solid, i.e., snow. As another example, the computer 105 can collect image data of the precipitation impacting the vehicle 101 and use image processing techniques to determine the type of precipitation.

[0038] The computer 105 can be further programmed to determine an amount of precipitation A wAs used herein, the "amount" of precipitation is the volume accumulated per unit of time. The computer can actuate a precipitation sensor 110 that is programmed to detect precipitation and collect data 115. Once the data 115 is received, the computer 105 can determine the amount of precipitation Apimpinging on the windshield. For example, the computer 105 can determine the amount of precipitation Apimpinging on the windshield when the precipitation sensor 110 receives light from an infrared light emitter that emits light onto the windshield and the brightness of the received light is below a brightness threshold. During a precipitation condition, water on the windshield can scatter the emitted infrared light away from the windshield, and the precipitation sensor 110, which receives the emitted infrared light, thus receives less light than emitted by the infrared light emitter. For example, the computer 105 can instruct the infrared light emitter to emit a specified amount of light, and the precipitation sensor 110 can determine the amount of received infrared light. Precipitation can cause the infrared light to escape from the vehicle 101, thereby reducing the amount of infrared light received by the precipitation sensor 110. The computer 105 can compare the amount of received infrared light to the amount of emitted infrared light to determine the percentage of infrared light received by the precipitation sensor 110. The computer 105 can determine the amount of precipitation Apimpinging on the windshield based on the percentage of infrared light received by the precipitation sensor 110. w .

[0039] The computer 105 can be further programmed to determine the amount of precipitation Agimpinging on the ground relative to the amount of precipitation Apimpinging on the windshield w . g For example, the computer 105 can use the following equation to determine the amount of precipitation Agimpinging on the ground g :

[0040]

[0041] In the above equation, P s is the precipitation velocity, W s is the wind velocity, and V s is the vehicle velocity.

[0042] The computer 105 can determine the precipitation velocity P s , e.g., the velocity of rain, snow, etc., through one or more sensors 110. As used herein, the "precipitation velocity" is the average precipitation velocity before impinging on the windshield. For example, the precipitation sensor 110 can determine the precipitation velocity P s by collecting image data of precipitation impinging on the windshield and using image processing techniques, e.g., such as known image processing techniques, in which images of different times are compared to each other to estimate the average precipitation velocity through the field of view of the precipitation sensor 110.

[0043] The computer 105 can determine the wind speed W s As used herein, "wind speed" is the average wind speed relative to the vehicle. The wind speed sensor 110 can determine the wind speed W s relative to the vehicle 101. The wind speed sensor 110 can comprise, for example, a Pitot tube, e.g., a Pitot airspeed measurement unit. The wind speed sensor 110 can be mounted (i.e., attached) to the vehicle 101 adjacent to the precipitation sensor 110. In this case, the wind speed sensor 110 can detect the wind speed W s near the precipitation sensor 110, which can improve the accuracy of determining the amount of precipitation A w impinging on the windshield (i.e., the precipitation sensor 110).

[0044] The computer 105 can determine the vehicle speed V s from data 115 available on a communication bus in the vehicle 101, for example. When the computer 105 receives this message, the computer 105 can compare the vehicle speed V s to a specified operating speed. The specified operating speed is a speed at which the vehicle 101 is to be operated based on the precipitation type and the total precipitation amount A p . The total precipitation amount A p is the sum of the amount of precipitation A g impinging on the ground and the amount of precipitation A w impinging on the windshield. For example, the computer 105 can store a lookup table or the like that specifies a list of specified operating speeds for various total precipitation amounts A p and precipitation types. The specified operating speed for a certain precipitation amount and precipitation type can be determined from a certain speed at which the vehicle 101 can be safely operated given the detected precipitation type and total precipitation amount A p .

[0045] The computer 105 can determine a threshold amount A t based on the precipitation type and the speed of the vehicle 101. The threshold amount A t may be determined from the vehicle speed V s and the precipitation type, given that the computer 105 can safely operate the vehicle 101 in autonomous mode at the precipitation type at a vehicle speed V s determined empirically. When the precipitation is rain, the threshold amount A t may be inversely proportional to the vehicle speed V s . For example, as the vehicle speed V s increases, the threshold amount A t may decrease. When the precipitation is solid (e.g., snow, hail, or sleet), the threshold amount A tIt can be zero precipitation. Computer 105 can store a list of specified threshold amounts, as well as precipitation type and vehicle speed V. s Lookup tables, etc. Computer 105 can calculate the total precipitation A. p With threshold quantity A t Compare them. When the total precipitation A p Below the threshold A t At that time, computer 105 can measure the vehicle speed V. s (That is, the current speed of vehicle 101) Operate vehicle 101. When the total precipitation A p Amount above the threshold A t At that time, the computer can determine the vehicle speed V. s Reduce to the specified operating speed.

[0046] Table 2 shows the threshold amount A that computer 105 can store to determine the amount of precipitation that impacts the windshield. t Example datasets, such as lookup tables, etc.

[0047] Precipitation type Vehicle speed V s ]]> Threshold amount Liquid 70 mph 2 drops / second Liquid 20 mph 8 drops / second Solid 70 mph No precipitation Solid 20 mph No precipitation

[0048] In addition, computer 105 can determine the maximum precipitation A based on the precipitation type and the speed of vehicle 101. m The maximum precipitation A m Based on vehicle speed V s Based on the precipitation type, and empirically determined, computer 105 can safely operate vehicle 101 in autonomous mode at a specified operating speed under that precipitation type. Computer 105 can operate vehicle 101 in autonomous mode until the total precipitation A... p Exceeding the maximum precipitation A m Computer 105 can store a specified maximum precipitation A. m List, along with precipitation type and vehicle speed V s Lookup tables, etc.

[0049] Computer 105 can be further programmed to operate based on precipitation sensor 110 at the determined vehicle speed V. s The accuracy range for a given precipitation type determines the wiper speed, i.e., the speed at which the wiper 121 is actuated. The accuracy range for a particular precipitation type is defined as a set of values ​​for the amount of precipitation of that type, having an upper and lower limit within which the precipitation sensor 110 is optimized to detect precipitation (e.g., precipitation amount A). w and precipitation rate P s The accuracy range is limited by the precipitation A measured by the impact precipitation sensor 110. w For example, the limit of the accuracy range could be the maximum amount of precipitation, A, that impacts the windshield. w and minimum precipitation Aw In other words, the amount of precipitation A w The precipitation sensor 110 is optimized when the amount of precipitation A w on the windshield is within the accuracy range. For example, the computer 105 can determine a wiper speed to keep the amount of precipitation A w on the windshield within the accuracy range of the precipitation sensor 110. In other words, the computer 105 can determine a wiper speed to remove precipitation that is outside the accuracy range of the precipitation sensor 110.

[0050] Table 1 shows an example data set, such as a lookup table, that the computer 105 can store to determine the accuracy range of the precipitation sensor 110.

[0051] Precipitation type Accuracy range Liquid 0 to 10 drops / second? Solid 0 drops / second

[0052] The computer 105 can be programmed to actuate the wiper 121 at a wiper speed. After actuating the wiper 121 at the wiper speed, the computer 105 can compare the amount of precipitation A w impinging on the windshield to the accuracy range of the precipitation sensor 110. If the amount of precipitation A w is outside the accuracy range of the precipitation sensor, the computer 105 can determine a second wiper speed and can actuate the wiper 121 at the second wiper speed. For example, when the amount of precipitation A w is above the accuracy range, the second wiper speed is, for example, faster than the wiper speed to remove more precipitation from the windshield. As another example, when the amount of precipitation A w is below the accuracy range of the precipitation sensor 110, the second wiper speed is, for example, slower than the wiper speed to remove less precipitation from the windshield. In other words, the computer 105 can determine a plurality of wiper speeds and can actuate the wiper 121 at each wiper speed to keep the amount of precipitation A w on the windshield within the accuracy range of the precipitation sensor 110.

[0053] The computer 105 can be further programmed to actuate one of the vehicle powertrain 120 and the vehicle brakes 120 to adjust (e.g., decrease) the vehicle speed V s to a specified operating speed for the detected amount and type of precipitation. Additionally, the computer 105 can adjust (e.g., increase) a distance between the vehicle 101 and an object (e.g., a second vehicle) to a distance threshold. The computer 105 may, for example, actuate one of the vehicle powertrain 120 and the vehicle brakes 120 to change the vehicle speed Vs For example, when the total precipitation amount A p exceeds a threshold amount A t , the vehicle speed V s is reduced to a specified operating speed. The computer 105 can operate the vehicle 101 in the autonomous mode at or below the specified operating speed until the total precipitation amount A p is below the threshold amount A t .

[0054] In addition to actuating one of the vehicle powertrain 120 and the vehicle brakes 120, the computer 105 can be further programmed to actuate the vehicle steering component 120 to change the trajectory of the vehicle 101, for example, pulling the vehicle 101 to the side of the road when the total precipitation amount A p exceeds a threshold amount A t . When the computer 105 determines that the total precipitation amount A p exceeds a threshold amount A t , the computer 105 can direct the vehicle 101 to the shoulder of the road (or another location off the road) and bring the vehicle to a stop, i.e., actuate the vehicle brakes 120. The computer 105 can cause the vehicle 101 to remain stopped until the precipitation amount A w is below the threshold amount A t .

[0055] The system 100 can also include a network 125 connected to the server 130 and the data store 135. The computer 105 can be further programmed to communicate with one or more remote sites, such as the server 130, via the network 125, such remote sites can include the data store 135. The network 125 represents one or more mechanisms by which the vehicle computer 105 can communicate with the remote server 130. Thus, the network 125 can be one or more of a variety of wired or wireless communication mechanisms, including wired (e.g., cable and fiber) and / or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms, as well as any desired combination of network topologies (or topologies when multiple communication mechanisms are used). Exemplary communication networks include wireless communication networks (e.g., using BLE, IEEE 802.11, vehicle-to-vehicle (V2V) such as Dedicated Short Range Communications (DSRC), etc.), local area networks (LANs), and / or wide area networks (WANs), including the Internet, that provide data communication services.

[0056] Figure 2 ​An example process 200 is shown for determining precipitation amount and type, as well as the speed of vehicle 101, and actuating components in vehicle 101 based on the precipitation amount, type, and speed of vehicle 101. Process 200 can be executed according to program instructions stored in the memory of computer 105. Process 200 begins in block 205, where the computer detects precipitation outside vehicle 101. As described above, computer 105 can detect precipitation from lidar 111 that provides data to computer 105. If computer 105 detects precipitation, process 200 continues in block 210. Otherwise, process 200 remains in block 205.

[0057] In box 210, computer 105 determines whether the ambient temperature is above a temperature threshold. Typically, one and only one type of precipitation is associated with a specific ambient temperature (or temperature range) in the memory of computer 105, meaning that computer 105 can determine the precipitation type thereby. As described above, temperature sensor 110 can determine the ambient temperature around vehicle 101. Computer 105 can receive data 115 from temperature sensor 110 to determine the precipitation type. When the ambient temperature is above a threshold temperature (e.g., 32 degrees Fahrenheit) for liquid precipitation (i.e., rain), computer 105 can determine that the precipitation is rain. When the temperature is below the threshold temperature, computer 105 can determine that the precipitation is solid (e.g., snow, hail, or sleet). If the temperature is above the threshold temperature, process 200 continues in box 215. Otherwise, process 200 continues in box 230.

[0058] In box 215, computer 105 can determine the amount of precipitation A that impacted the windshield (i.e., lidar 111). w And the amount of precipitation A that hits the ground g The precipitation sensor 110 can provide the computer 105 with information including the amount of precipitation A that impacts the windshield. w The data. As described above, the precipitation sensor 110 can determine the precipitation A based on the amount of infrared light received. w Additionally, the wind speed sensor 110 and the precipitation sensor 110 can provide the computer 105 with wind speed W, respectively. s and precipitation rate P s The vehicle 101 communication bus can, for example, provide data that the computer 105 can receive, including the vehicle speed V. s The data. Computer 105 can, based on the above equation, calculate the precipitation A relative to the amount of water impacting the windshield. w Determine the amount of precipitation A that hits the ground. g .

[0059] In box 220, computer 105 determines precipitation A. wwhether the accuracy range of the precipitation sensor 110. As described above, the accuracy range of the precipitation sensor 110 for various vehicle speeds V s and precipitation types is stored in the memory of the computer 105. The computer 105 can compare the precipitation amount A w to the accuracy range of the precipitation sensor 110. If the precipitation amount A w is within the accuracy range of the precipitation sensor 110, the process continues to block 240. Otherwise, the process 200 continues to block 225.

[0060] In block 225, the computer 105 can determine a wiper speed at which to actuate the wiper 121. For example, the computer 105 can determine a wiper speed that allows the precipitation amount A w to be within the accuracy range of the precipitation sensor 110.

[0061] In block 230, the computer 105 actuates the wiper 121 at the wiper speed determined in block 225. As described above, the computer 105 can actuate the actuator 122 to move the wiper 121 from the first position to the second position, and generally back and forth between the two. The wiper 121 slides along the windshield of the vehicle 101, thereby removing precipitation from the windshield and the precipitation sensor 110.

[0062] In block 235, after actuating the wiper 121, the computer 105 determines the precipitation amount A w impinging on the windshield (as reduced by the wiper 121) is within the accuracy range of the precipitation sensor 110. If the precipitation amount A w is within the accuracy range of the precipitation sensor 110, the process continues to block 240. Otherwise, the process 200 returns to block 225, i.e., the computer 105 can determine a second wiper speed at which to actuate the wiper 121.

[0063] In block 240, the computer 105 determines whether the total precipitation amount A p exceeds a threshold amount A t . As described above, the threshold amount A t is based on the vehicle speed V s and the precipitation type, and is stored in the memory of the computer 105, e.g., in a lookup table. For example, when the precipitation is liquid (e.g., rain), the threshold amount A t may be inversely proportional to the vehicle speed V s , i.e., as the vehicle speed V s increases, the threshold amount A t decreases. The computer 105 can determine the threshold amount A t from the lookup table, for example, and can compare the total precipitation amount A p to the threshold amount At The comparison is made. If the total precipitation amount A p exceeds the threshold amount A t , then the process 200 continues to block 245. Otherwise, the process 200 ends.

[0064] In block 245, the computer 105 actuates an output to the HMI 123 that indicates that the precipitation amount A w is above the threshold amount A t . For example, the computer 105 can send an instruction to the HMI 123 to display a text notification. Alternatively or additionally, the computer 105 can actuate a haptic device and / or a light and / or an audio cue on the HMI 123.

[0065] In block 250, the computer 105 can determine to operate the vehicle 101 in an autonomous mode. As described above, the computer 105 can determine a specified operating speed for operating the vehicle 101 based on the total precipitation amount A p and the precipitation type, e.g., determine a value in a lookup table. The computer 105 can determine whether the total precipitation amount A p exceeds a maximum precipitation amount A m . As described above, the maximum precipitation amount A m is based on the vehicle speed V s and the precipitation type, and is stored in memory of the computer 105, e.g., in a lookup table. The computer 105 can determine the maximum precipitation amount A m from the lookup table, for example, and can compare the total precipitation amount A p to the maximum precipitation amount A m . If the total precipitation amount A p is below the maximum precipitation amount A m , then the computer 105 can operate the vehicle 101 in the autonomous mode, and the process 200 continues in block 255. Otherwise, the process continues in block 260.

[0066] In block 255, the computer 105 actuates one of the vehicle drivetrain 120 and the vehicle brakes 120. For example, the computer 105 can reduce the vehicle speed V s by applying the vehicle brakes 120. As another example, the computer 105 can reduce the vehicle speed V s by limiting output of the vehicle drivetrain 120, e.g., limiting fuel supply to an engine of the vehicle 101. Additionally, the computer 105 can increase a distance between the vehicle 101 and a second vehicle. For example, the lidar 111 can send and / or provide data to the computer 105 indicative of a distance to the second vehicle. The computer 105 can reduce the vehicle speed V ssuch that the distance between the vehicle 101 and the second vehicle exceeds the distance threshold. The computer 105 can reduce the vehicle speed V s to the specified operating speed and the process 200 ends.

[0067] In block 260, the computer 105 can determine that the user can operate the vehicle 101 in the manual mode. For example, the user can select the manual mode from the HMI 123, as described above. In this case, the HMI 123 can send a message to the computer 105 to allow the user to operate the vehicle 101 in the manual mode. If the user selects the manual mode, the process 200 ends. Otherwise, the process continues to block 265.

[0068] In block 265, the computer 105 actuates the vehicle steering device 120 and one of the vehicle powertrain 120 and the vehicle brakes 120. For example, the computer 105 can direct the vehicle 101 to the shoulder of the road, for example, by actuating the vehicle steering device 120 to direct the vehicle 101 to the shoulder of the road, and stop the vehicle 101, for example, by applying the vehicle brakes 120 and limiting the output from the vehicle powertrain 120.

[0069] In block 270, the computer 105 determines whether the total precipitation A p exceeds the maximum precipitation A m . The computer 105 can compare the total precipitation A p to the maximum precipitation A m . If the total precipitation A p exceeds the maximum precipitation A m , then the process 200 remains in block 270. In other words, if the total precipitation A p exceeds the maximum precipitation A m , then the vehicle 101 remains stopped. Otherwise, the process 200 continues to block 275.

[0070] In block 275, the computer 105 can resume operating the vehicle 101 in the autonomous mode. In other words, the computer 105 can actuate the vehicle steering device 120 and the vehicle powertrain 120 to direct the vehicle 101 back onto the road and to the destination. When the computer 105 resumes operating in the autonomous mode, the process 200 ends.

[0071] As used herein, the adjectival adjective “substantially” means that the shape, structure, measurement, value, calculation, etc. can deviate from the precise described geometry, distance, measurement, value, calculation, etc. because of imperfections in the materials, machining, manufacturing, data collector measurements, calculations, processing time, communication time, etc.

[0072] The computers 105 generally each include instructions executable by one or more computers such as those identified above and for carrying out the steps of the processes described above. Computer-executable instructions can be compiled or interpreted from computer programs created using a variety of programming languages and / or technologies, including, without limitation, and either alone or in combination, Java TM , C, C++, Visual Basic, Java Script, Perl, HTML, etc. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer-readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data can be stored and transmitted using a variety of computer-readable media. A file in the computers 105 is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc.

[0073] Computer-readable media include any media that participate in providing data (e.g., instructions) that can be read by a computer. This can be accomplished through a variety of mechanisms, including but not limited to, non-volatile media, volatile media, etc. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include dynamic random access memory (DRAM), which typically constitutes a main memory. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH- EPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

[0074] With respect to the media, processes, systems, methods, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to an orderly sequence, such processes can be practiced with less than all of the steps described, with more than all of the steps described, one or more of the steps described in a different order, with additional steps not described, or with other steps served in place of Figure 2 one or more of the steps described. That is, it is contemplated that the systems and / or processes described herein can be practiced with the steps in different order, simultaneously, or with additional steps not being described, and in non-sequential order. In other words, any sequence or order of steps that can be practiced to produce the desired outcome in the fashion taught herein should be construed as being an embodiment. At this time, one skilled in the art will appreciate that the functionality of the described steps can be carried out in alternate order or simultaneously.

[0075] Accordingly, it is to be understood that the disclosure, including the above description and the accompanying drawings and the appended claims, is intended to be illustrative

[0076] The article "a" before a noun is understood to mean one or more unless otherwise indicated or the context clearly dictates otherwise. The phrase "based on" includes partially or entirely based on.

[0077] According to the invention, a method comprises determining a precipitation amount and a precipitation type and a speed of a vehicle; and actuating a component in the vehicle based on the precipitation amount and the precipitation type and the speed of the vehicle.

[0078] According to an embodiment, the above invention is further characterized in that a wiper speed is determined based on the precipitation amount and the precipitation type and the speed of the vehicle; wherein actuating the component in the vehicle based on the precipitation amount and the precipitation type and the speed of the vehicle comprises actuating the component based on the wiper speed.

[0079] According to an embodiment, the component is a wiper and actuating the component comprises actuating the wiper according to the wiper speed.

[0080] According to an embodiment, the above invention is further characterized in that a second wiper speed is determined based on the precipitation amount and the precipitation type and the speed of the vehicle; wherein actuating the component in the vehicle based on the precipitation amount and the precipitation type and the speed of the vehicle comprises actuating the component based on the second wiper speed.

[0081] According to an embodiment, the component is one or both of a vehicle powertrain and a vehicle brake and actuating the component comprises changing the speed of the vehicle based on the precipitation amount and the precipitation type and the speed of the vehicle.

[0082] According to an embodiment, the above invention is further characterized in that a wind speed relative to the vehicle is determined; wherein actuating the component in the vehicle based on the precipitation amount and the precipitation type and the speed of the vehicle further comprises actuating the component based on the wind speed.

[0083] According to an embodiment, the above invention is further characterized in that the precipitation type is determined based on an ambient temperature.

[0084] According to an embodiment, the component is a vehicle steering device, and actuating the component includes activating the vehicle steering device.

[0085] According to the present invention, a system is provided, comprising: a processor; and a memory storing instructions executable by the processor to: determine precipitation amount and type and vehicle speed; and actuate components in the vehicle based on the precipitation amount and type and vehicle speed.

[0086] According to an embodiment, the processor is further programmed to determine the wiper speed based on the amount and type of precipitation and the vehicle speed, and to actuate the components based on the wiper speed.

[0087] According to an embodiment, the component is a windshield wiper, and the processor is further programmed to actuate the windshield wiper according to the wiper speed.

[0088] According to an embodiment, the processor is further programmed to determine the speed of the second wiper based on the amount and type of precipitation and the speed of the vehicle, and to actuate the components based on the speed of the second wiper.

[0089] According to an embodiment, the component is one or both of the vehicle powertrain and the vehicle brakes, and the processor is further programmed to change the vehicle speed based on the amount and type of precipitation and the vehicle speed.

[0090] According to an embodiment, the processor is further programmed to determine the wind speed relative to the vehicle and to actuate the components based on the wind speed.

[0091] According to an embodiment, the processor is further programmed to determine the type of precipitation based on ambient temperature.

[0092] According to an embodiment, the component is a vehicle steering device, and the processor is further programmed to activate the vehicle steering device.

[0093] According to the present invention, a system is provided comprising: a windshield wiper; an actuator arranged to move the windshield wiper; and a processor programmed to: determine precipitation amount and type and vehicle speed; and actuate components in the vehicle based on the precipitation amount and type and vehicle speed.

[0094] According to an embodiment, the processor is further programmed to determine the wiper speed based on the amount and type of precipitation and the vehicle speed, and to actuate the components based on the wiper speed.

[0095] According to an embodiment, the component is one or both of the vehicle's powertrain and vehicle brakes, and the processor is further programmed to change the vehicle's speed based on the amount and type of rainfall and the vehicle's speed.

[0096] According to an embodiment, the processor is further programmed to determine the type of precipitation based on the ambient temperature.

Claims

1. A method of vehicle precipitation detection, comprising: determining, by a precipitation sensor, an amount and type of precipitation impacting a windshield and a speed of a vehicle; determining an amount of precipitation impacting the ground relative to the amount of precipitation impacting the windshield; determining a total amount of precipitation from the amount of precipitation impacting the windshield and the amount of precipitation impacting the ground; and actuating a component in the vehicle based on the total amount of precipitation and type and the speed of the vehicle.

2. The method of claim 1, further comprising: determining a wiper speed based on the total amount of precipitation and type and the speed of the vehicle; wherein actuating the component in the vehicle based on the total amount of precipitation and type and the speed of the vehicle comprises actuating the component based on the wiper speed.

3. The method of claim 2, wherein the component is a wiper and actuating the component comprises actuating the wiper according to the wiper speed.

4. The method of claim 2, further comprising: determining a second wiper speed based on the total amount of precipitation and type and the speed of the vehicle; wherein actuating the component in the vehicle based on the total amount of precipitation and type and the speed of the vehicle comprises actuating the component based on the second wiper speed.

5. The method of claim 1, wherein the component is one or both of a vehicle driveline and a vehicle brake and actuating the component comprises changing the speed of the vehicle based on the total amount of precipitation and type and the speed of the vehicle.

6. The method of claim 1, further comprising: determining a wind speed relative to the vehicle; wherein actuating the component in the vehicle based on the total amount of precipitation and type and the speed of the vehicle further comprises actuating the component based on the wind speed.

7. The method of claim 1, further comprising determining the type of precipitation based on an ambient temperature.

8. The method of claim 1, wherein the component is a vehicle steering device and actuating the component comprises activating the vehicle steering device.

9. The method of any of claims 5 to 8, further comprising: determining a wiper speed based on the total amount of precipitation and type and the speed of the vehicle; wherein actuating the component in the vehicle based on the total amount of precipitation and type and the speed of the vehicle comprises actuating the component based on the wiper speed.

10. The method of any of claims 2 to 4 and 6 to 8, wherein the component is one or both of a vehicle driveline and a vehicle brake and actuating the component comprises changing the speed of the vehicle based on the total amount of precipitation and type and the speed of the vehicle.

11. The method of any of claims 2 to 5, 7, and 8, further comprising: determining a wind speed relative to the vehicle; wherein actuating the component in the vehicle based on the total amount of precipitation and type and the speed of the vehicle further comprises actuating the component based on the wind speed.

12. The method of any one of claims 2 to 7, wherein the component is a vehicle steering device, and actuating the component comprises activating the vehicle steering device.

13. A computer programmed to perform the method of any one of claims 1 to 8.

14. A vehicle comprising a computer programmed to perform the method of any one of claims 1 to 8.

15. A computer program product comprising a computer readable medium storing instructions executable by a computer processor to perform the method of any one of claims 1 to 8.

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