Determination of ground objective characteristic based on vehicle record

Abstract

To provide a method.SOLUTION: A ground objective characteristic is determined based on a vehicle record by: detecting a vehicle reaction of the vehicle, the vehicle reaction being triggered by a reading threshold of at least one trigger sensor of the vehicle; in response to detection of the vehicle reaction, recording output of the at least one trigger sensor of the vehicle and at least one associated sensor; and determining the ground objective characteristic based on the recorded output with respect to the at least one trigger sensor, the recorded output with respect to the at least one associated sensor, and at least one characteristic of the vehicle.SELECTED DRAWING: Figure 5

Description

[Background technology]

[0001] In-vehicle sensors are becoming more and more common. With the advent of autonomous driving, vehicles are adding not only traditional cameras but also arrays of sensors such as LiDAR that complement existing sensors such as GPS. The combination of these sensors allows the vehicle to obtain a detailed representation of the world around the vehicle. By connecting to the Internet, the vehicle can communicate to a centralized server. While most of the sensor data that makes up this representation is overwritten due to storage issues, some of the information is stored for the purpose of creating a simulation environment for training and prediction of ADAS, maps, etc. using live, actionable information or historical information. The usefulness of this information increases with its quality. Generally, as the quality of information increases, so does the required data transfer and storage capacity. [Brief description of the drawings]

[0002] Aspects of the present disclosure are best understood by reading the following detailed description in conjunction with the accompanying figures. It should be noted that, in accordance with standard industry practice, various features have not been drawn to scale. In fact, the dimensions of various features may be arbitrarily increased or decreased for clarity of illustration.

[0003] [Figure 1] FIG. 1 is a schematic diagram of a system for query content capture in a mobile computing network, in accordance with at least some embodiments of the subject disclosure. [Diagram 2] FIG. 2 is an illustration of a graphical user interface (GUI) for querying content in a mobile computing network, according to at least some embodiments of the subject disclosure. [Diagram 3] FIG. 3 is an illustration of a data structure of a content acquisition task, according to at least some embodiments of the subject disclosure. [Figure 4] FIG. 4 is a schematic diagram of a query content acquisition system according to at least some embodiments of the subject disclosure. [Diagram 5] FIG. 5 is an operational flow for determining ground surface objective characteristics based on vehicle recordings according to at least some embodiments of the subject disclosure. [Figure 6] FIG. 6 is an operational flow for detecting a vehicle response according to at least some embodiments of the subject disclosure. [Figure 7] FIG. 7 is an operational flow for recording the output of a sensor according to at least some embodiments of the subject disclosure. [Figure 8] FIG. 8 is a diagram of a hardware configuration for determining ground surface objective characteristics based on vehicle event recordings, according to at least some embodiments of the subject disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0004] The following disclosure provides a number of different embodiments or examples that implement various features of the provided subject matter. To simplify the disclosure, specific examples of components, values, operations, materials, arrangements, or the like are described below. Of course, these are merely examples and are not intended to be limiting. Other components, values, operations, materials, arrangements, or the like are contemplated. For example, forming a first feature above or on a second feature in the following description may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which an additional feature may be formed between the first and second features such that the first and second features may not be in direct contact. In addition, the disclosure may repeat reference numbers and / or reference letters in various examples. This repetition is for the purposes of brevity and clarity, and does not, in itself, dictate a relationship between the various embodiments and / or configurations described.

[0005] Additionally, spatially relative terms such as "lower," "below," "below," "above," "above," and the like may be used herein for ease of description to describe the relationship of one element or feature to another element or feature as shown in the figures. The spatially relative terms are intended to encompass various orientations of the device during use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein may be similarly interpreted accordingly.

[0006] Users, such as software developers, insurance providers, market researchers, and law enforcement officers, can use the on-demand data acquisition (ODDR) system to input data requests into a user interface, such as a graphical user interface (GUI). The software developer is, for example, a software developer developing an application, middleware, or an OS (operating system) that runs on the vehicle. Exemplary applications include automated driving system applications, such as object recognition applications, road recognition applications, sensor fusion applications, localization applications, path planner applications, controller applications, and the like. The data requests are analyzed and stored at the server and then sent by the server to the vehicle. At the server side, the data requests are stored in a storage unit and a request queue is generated based on the stored requests. The user can see or request updates regarding the status of the data request. For example, while the data request is still in the server before sending to the vehicle, the status can be indicated as "pending". Once the server sends the data request to the vehicle, the status can be updated to "sent". This allows the user to see and track the status of the data request made to the vehicle. Although the description refers to a vehicle for clarity, one skilled in the art will recognize that the description is applicable to fleets of vehicles in addition to single vehicles. The description is also applicable to non-vehicle computing devices that are equipped with at least one sensor and connected in some form.

[0007] The user interface for generating the data request includes forms associated with the vehicle that identify the information, the type of data being requested, a start time, and an end time. In some embodiments, the type of data being requested includes a text field for syntax input that allows for more complex queries, such as a request for data to be collected only while making a "left turn on a red light." In some embodiments, the start and end times are absolute times, e.g., UNIX times that are elapsed time since UNIX epoch time. In some embodiments, the start and end times are relative to the time the data request is received by the vehicle. In some embodiments, the start and end times are relative to a trigger event. The trigger event is an event within the vehicle or in the environment surrounding the vehicle about which the user desires data, or the receipt of the data request by the vehicle. For example, trigger events that originate from the environment surrounding the vehicle include sudden acceleration, sudden braking, capturing an image of the target of the data request, detecting the target of the data request, or other suitable occurrences. The user information for monitoring the status of the data request includes identifying the information of the data request and the status of the data request, e.g., pending or sent.

[0008] In some embodiments, when a data request is received by the vehicle, the data request is processed to make the data request agnostic with respect to the source of the data request. In some embodiments, a data request identification (ID) is assigned to the received data request by the vehicle, for example by a request extractor in the vehicle. In some embodiments, the data request ID is assigned to the data request prior to sending the data request to the vehicle. In some embodiments, the data request is generated by an application running in the vehicle, and the application assigns the data request ID. In other words, the data is processed in a consistent manner regardless of the program or system that sends the data request to the vehicle. In some embodiments, the data request is generated by a software component stored within the vehicle, and the data is processed consistent with data requests received from external devices. This helps to share the same data collection software components between triggered data collection, where the application generates data collection requests to the logger and ODDR-based external data collection requests.

[0009] In some embodiments, when the data request is received by the vehicle, the data request is processed to make the data request agnostic to the sensors and server in the vehicle. In some embodiments, the data request is generated by an application running in the vehicle. In some embodiments, an application programming interface (API) can be used to make the data request from the application agnostic to information from the sensors or server in the vehicle. This helps to maximize data collection for users without having to program the request for a specific sensor model. The data request is then forwarded to the data collection unit, and the requested data is collected in response to the occurrence of a trigger event. In situations where a trigger event has already occurred, such as a traffic accident, the data request is fulfilled based on data stored in a storage device in the vehicle. The time frame, i.e., start time and end time, of the collected data is determined based on the data request. The collected data is forwarded back to the server.

[0010] The collected data is then stored on the server and a notification is sent to the user regarding the completion of the data request, e.g., the status of the data request is updated to "completed" on the user interface.

[0011] In some examples, a budgeting or payment system is implemented on the server side or vehicle side to charge the user for data requests. The fee can be paid either at the time of sending the request or at the completion of data collection. The fee can be adjusted based on the type and amount of data requested. In some embodiments, if the total fee charged to the user reaches a maximum threshold of the user's budget, the data request from the user is denied.

[0012] The ODDR system allows users to access information collected by the vehicle on an on-demand basis; that is, data is not necessarily collected continuously, but may be collected to meet the specific desires of the user. In some embodiments, the ODDR system helps users, such as software developers, to collect data and update their software design, implementation, and parameter adjustments in an experimental manner based on the collected data, so that the user can continuously improve the software by delivering updates from a server to the vehicle over a network as Over-the-Air (OTA) updates, for example. In some embodiments, the ODDR system helps machine learning developers developing machine learning models for applications to collect data to train the models with data that was not available when the models were originally developed, so that the machine learning developers can update the models to continuously correct weaknesses and problems in the models. In some examples, insurance providers can collect data related to traffic accidents. In some examples, law enforcement can collect information related to crimes or traffic accidents.

[0013] Vehicles that undergo triggered responses to extreme situations, such as anti-lock braking system (ABS) engagement in response to heavy braking forces, seat belt locking and / or airbag deployment in response to extreme deceleration, traction control activation in response to wheel slip, other operational design domain (ODD) limitations, etc., have information that is useful for warning other vehicles. However, the information currently used to determine the situation and the responses themselves is insufficient to determine whether other vehicles should be warned and to which vehicles the warning is applicable.

[0014] For example, if traction control is activated, the information required for activation, e.g., detecting that all power is going to the right wheels with the left wheels stationary, may be insufficient to determine whether the wheel slip is an isolated incident or due to ground characteristics such as a weather event. Even if the slip is due to ground characteristics such as extreme weather, the information required for activation may be insufficient to determine whether other vehicles are also experiencing wheel slip.

[0015] At least some embodiments of the subject disclosure utilize existing triggers that react under extreme conditions and record events from a sensor perspective, including the sensor used to determine the trigger and additional sensors, to gather sufficient information to understand the relevance to other vehicles.

[0016] 1 is a schematic diagram of a request acquisition system 100 according to some embodiments. The request acquisition system 100 includes a user interface (UI) 110. The UI 110 is configured to receive a user request for data from a vehicle 140. The request acquisition system 100 further includes a server 120, which is configured to receive the user request from the UI 110, transmit the user request to the vehicle 140, receive data from the vehicle 140, and provide the data to the user via an accessible console 150. The server 120 includes a communication section 130 that communicates with the UI 110 and the vehicle 140. The request acquisition system 100 further includes the accessible console 150 that is configured to communicate data collected from the vehicle 140 to the user.

[0017] The UI 110 is configured to receive input instructions from a user. In some embodiments, the user includes a software developer. In some embodiments, the user includes a machine learning model developer. In some embodiments, the user includes an insurance provider. In some embodiments, the user includes law enforcement personnel. In some embodiments, the user includes a market research company. The UI 110 provides an option for the user to select the type of vehicle and the type of data being requested. In some embodiments, the UI 110 can generate a data request using a form that identifies the information, the data type being requested, a start time, and an end time that is associated with the vehicle. In some embodiments, the start time and end time are absolute times, e.g., UNIX times that are elapsed times since UNIX epoch time. In some embodiments, the start time and end time are relative times to the time the data request is received by the vehicle. In some embodiments, the start time and end time are relative times to a trigger event. In some embodiments, the UI 110 also provides the user with an option to select a trigger event and a data collection duration for the trigger event. In some embodiments, the UI 110 includes information associated with the type of vehicle for which data is requested. In some embodiments, the UI 110 includes a vehicle ID that can uniquely identify a vehicle as the target of the request. For example, the vehicle ID includes a universally unique identifier (UUID) format. In some embodiments, the UI 110 includes a data type that can identify a source of data the user wants to collect. For example, the data type includes a sensor ID for a sensor from which sensor data is collected, and an application ID for an application from which application logs are collected. In some embodiments, the format of the sensor ID and application ID includes a universally unique identifier (UUID) format. In some embodiments, the UI 110 includes a drop-down menu. In some embodiments, the UI 110 includes editable fields that accept information related to the data request. In some embodiments, the UI 110 includes a field for input for a query language such as SQL.In some embodiments, the UI 110 provides information about which data option types are available to the user. In some embodiments, the available data option types depend on the user. For example, in some embodiments, law enforcement may have more data options to choose from than insurance providers.

[0018] In some embodiments, the UI 110 includes a graphical user interface (GUI). In some embodiments, the UI 110 includes a mobile terminal, e.g., a mobile phone, that can connect to the server 120. In some embodiments, the UI 110 includes a web interface, such as a RESTful API. In some embodiments, the UI 110 includes a computer that can connect to the server 120. In some embodiments, the UI 110 can connect to the server 120 wirelessly. In some embodiments, the UI can connect to the server 120 by a wired connection. The UI 110 can also provide updates to the user regarding the status of the data request. In some embodiments, the UI 110 provides a status update regarding the data request in response to further queries by the user. In some embodiments, the UI 110 provides a status update regarding the data request automatically without user interaction upon receiving the update information from the server 120. In some embodiments, the status update causes the UI 110 to trigger an alert to the user. In some embodiments, the alert includes an audio alert or a visual alert.

[0019] In some embodiments, the UI 110 includes a means for accepting payment of a fee from a user. In some embodiments, the UI 110 includes a data entry field that allows a user to enter payment card information. In some embodiments, the UI 110 includes a reader that detects the payment card information, such as a magnetic stripe reader, a bar code reader, a chip reader, or another suitable reader.

[0020] The server 120 includes a communication section 130 configured to communicate with the UI 110 and the vehicle 140. The communication section 130 includes a receiver 131 configured to receive a data request from the UI 110. In some embodiments, the receiver 131 includes a wireless receiver. In some embodiments, the receiver is configured to receive the data request via a wired connection. In some embodiments, the receiver 131 is further configured to perform initial processing on the received data request. In some embodiments, the received data request includes priority level information. In some embodiments, the receiver 131 is configured to assign a priority level to the data request based on the identity of the user that sent the data request or a fee paid by the user that sent the data request. In some embodiments, the receiver 131 is configured to assign a request identification (ID) number to each received data request. In some embodiments, the server 120 is configured to restrict access to certain sensors in the vehicle 140 based on the identity of the user. For example, in some embodiments, a third party user cannot access sensors related to safety features of the vehicle 140.

[0021] The communication section 130 further includes a memory unit 132 configured to store data requests received by the receiver 131. In some embodiments, the memory unit 132 includes random access memory, solid state memory, or another type of memory. In some embodiments, the memory unit 132 is configured to store the data requests along with a status of the data request. In some embodiments, the status of the data request includes pending (before sending the data request to the vehicle 140), sent (after sending the data request to the vehicle 140), and completed (after receiving the requested data from the vehicle 140). In some embodiments, the memory unit 132 is accessible by a user. In some embodiments, updates to the information in the memory unit 132 trigger a notification to the user that is associated with the information updated in the memory unit 132. In some embodiments, the memory unit 132 stores the data requests along with timestamp data indicating the time the data request was received. In some embodiments, the memory unit 132 stores the data requests in association with a priority level. In some embodiments, the priority level is determined based on the identity of the user. For example, in some embodiments, law enforcement has a higher priority than insurance providers, which in turn have a higher priority than regular users, such as software developers. In some embodiments, the priority level is determined based on a fee paid by the user. For example, in some embodiments, a user can pay a fee to increase the priority level of the user's request to obtain the requested data sooner. In some embodiments, the priority level and the amount of the fee are determined based on dynamic pricing. In some embodiments, the amount of the fee is directly proportional to the priority level. In some embodiments, the priority level and the amount of the fee are determined based on individually set limits, caps, and analysis of resource availability. In some embodiments, the priority level of the data request increases as the amount of time between the initial storage of the data request and the transmission of the data request to the vehicle increases.

[0022] The communication section 130 further includes a transmitter 133. The transmitter 133 is configured to transmit a status of the data request to the UI 110. In some embodiments, the status of the data request is transmitted wirelessly to the UI 110. In some embodiments, the status of the data request is transmitted to the UI 110 via a wired connection, for example, when the vehicle is plugged in at a dealership. In some embodiments, the transmitter 133 is configured to automatically provide updates to the data request in response to updates in the memory unit 132. In some embodiments, the transmitter 133 is configured to provide updates to the data request in response to an update request received from a user. In some embodiments, the transmitter 133 is configured to automatically transmit a request ID upon initially saving the data request to the memory unit 132. In some embodiments, the status of the data request includes a priority level of the data request. In some embodiments, the status of the data request includes an estimated time until the data request is transmitted to the vehicle 140.

[0023] The communications section 130 further includes a query queue 134 configured to store the data requests in a priority order for transmission to the vehicle 140. In some embodiments, the query queue 134 is incorporated within the memory unit 132. In some embodiments, the query queue 134 is separate from the memory unit 132. In some embodiments, the query queue 134 is configured to retrieve the data requests from the memory unit 132 based on the priority level and the time stamp information. In some embodiments, the query queue 134 is configured to sort the data requests based on the priority level and, for data requests having the same priority level, sort the data requests by time since they were first stored in the memory unit 132.

[0024] The communication section 130 further includes a transmitter 135 configured to transmit the data request from the query queue 134 to the vehicle 140. The transmitter 135 is configured to transmit the data request to the vehicle 140 based on the order of the data requests in the query queue 134. In some embodiments, the data request is transmitted to the vehicle 140 wirelessly. In some embodiments, the data request is transmitted to the vehicle 140 by a wired connection. The data request transmitted to the vehicle 140 includes trigger event information, data duration information relating to a period before and after the trigger event during which data should be collected, and sensor information indicating that certain types of sensors of the vehicle 140 should collect data. In some embodiments, the data request transmitted to the vehicle 140 includes priority level information. In some embodiments, the transmitter 135 is configured to transmit the data request to the vehicle 140 when the vehicle 140 transmits a request to the server 120 to transmit the data request to the vehicle 140. In some embodiments, the transmitter 135 is configured to transmit a data request to the vehicle 140 any time the communication section 130 has sufficient connectivity to the vehicle 140 to transmit the data request, unless the communication section 130 has received information indicating that the vehicle 140 is unable to accept a new data request. In some embodiments, the transmitter 135 is configured to transmit a data request to the vehicle 140 periodically, unless the vehicle 140 is able to receive a new data request and the transmitter 135 has sufficient connectivity to the vehicle 140. In some embodiments, the transmitter 135 is configured to transmit data requests to the vehicle 140 in batches, e.g., in groups of five data requests, twenty data requests, or some other number of data requests. In some embodiments, the transmitter 135 is configured to request an acknowledgement of receipt of the data request from the vehicle 140. In some embodiments, the transmitter 135 is configured to retransmit the data request in response to not receiving an acknowledgement of receipt from the vehicle for a predetermined period of time. In some embodiments, the status of the data request stored in memory unit 132 is updated to indicate transmission to vehicle 140 in response to communications section 130 receiving confirmation of receipt of the data request from vehicle 140.

[0025] The communications section 130 further includes a receiver 136 configured to receive notification of an occurrence of a trigger event from the vehicle 140. In some embodiments, the occurrence of the trigger event is the receipt of a data request. In some embodiments, the receiver 136 is configured to receive notification of the trigger event wirelessly. In some embodiments, the receiver 136 is configured to receive notification of the trigger event via a wired connection. In some embodiments, the receiver 136 is configured to transmit a signal to the memory unit 132 updating the status of the data request associated with the notified trigger event.

[0026] The communication section 130 further includes a receiver 137 configured to receive data from the vehicle 140 in response to a data request transmitted by the transmitter 135. In some embodiments, the data is divided by the vehicle 140 into data packets that are units of transmission from the vehicle 140 to the server 120, and the receiver 137 receives the data packets from the vehicle 140. In some embodiments, the receiver 137 is configured to receive the data wirelessly. In some embodiments, the receiver 137 is configured to receive the data via a wired connection. In some embodiments, the receiver 137 is configured to transmit a signal to the memory unit 132 updating the status of the data request related to receipt of the requested data. In some embodiments, data in response to a single data request is received from the vehicle 140 in a single packet. In some embodiments, data in response to a single data request is received from the vehicle 140 in multiple packets. The receiver 137 forwards the received data to the pre-processor 122.

[0027] The server 120 further includes a pre-processor 122 configured to receive data from the receiver 137 and perform pre-processing on the data to generate collection data. In some embodiments, the pre-processing includes modifying data from the multiple packets to compile the data in response to a data request. In some embodiments, the pre-processing includes deserializing the data to compile structured data from a received byte array. In some embodiments, the pre-processing includes decompressing the data if it was compressed by the vehicle 140 before transmission. In some embodiments, the pre-processing includes error correction with an error correcting code (ECC), such as a Reed-Solomon (RS) code, a Bose-Chaudhuri-Bockenhjem (BCH) code, a low-density parity check (LDPC) code, and the like. In some embodiments, the pre-processing includes smoothing the data by removing outliers to reduce the risk of reporting erroneous data to a user. In some embodiments, the pre-processing includes associating data request ID information, priority level information, or other suitable information with the received data from the receiver 137. In some embodiments, the pre-processing includes aggregating query results from one or more vehicles. In some embodiments, the pre-processing includes one or more processes that are offloaded from a server. In some embodiments, the data is pre-processed such that the information is provided to the user in a format that is easy to understand and does not rely on specialized knowledge or equipment to identify the information.

[0028] The server 120 further includes a data storage 126 configured to store the collected data generated by the data pre-processor 122. In some embodiments, the data storage 126 is incorporated into the memory unit 132. In some embodiments, the data storage 126 is separate from the memory unit 132. In some embodiments, the data storage 126 includes a solid-state drive (SSD), a random access memory, or another suitable memory. In some embodiments, the data storage 126 is accessible by a user, for example, using the UI 110 or the accessible console 150. In some embodiments, the data storage 126 is configured to notify a user in response to the availability of data related to a data request. In some embodiments, the notification includes an alert to the user. In some embodiments, the alert includes an audio alert or a visual alert. In some embodiments, the data storage 126 is configured to cause the UI 110 or the accessible console 150 to automatically display a notification of the availability of the collected data. In some embodiments, the data storage 126 is accessible by a user using the accessible console 150 without the user submitting a data request. In some embodiments, the data in the data storage 126 is searchable by a user via an accessible console 150. In some embodiments, the collected data is visualized in the console 150.

[0029] The request acquisition system 100 further includes a vehicle 140. The vehicle 140 includes sensors for detecting both the interior conditions of the vehicle 140 and the external environment around the vehicle 140. In some embodiments, the sensors include a camera, a light ranging (LiDAR) sensor, a radio ranging (RADAR) sensor, a sound navigation and ranging (SONAR) sensor, an accelerometer, a steering wheel position, a speedometer, or another suitable sensor. The vehicle 140 can receive the data request either wirelessly or via a wired connection.

[0030] In some embodiments, upon receiving a data request, the vehicle 140 is configured to assign a data request ID to the received data request, and the data request is processed to be agnostic to the system or program that generated the data request. In another embodiment, the communication section 130 assigns the data request ID on behalf of the vehicle 140, and the data request ID is included in the data request sent from the communication section 130 to the vehicle 140. Making the data request agnostic to the system or program that generated the data request helps expand the ability of the vehicle 140 to receive and process a wide range of data requests from various users and systems. The vehicle 140 includes a processor that processes the data request to determine the type of information that sensors available in the vehicle 140 can satisfy the data request. In at least some embodiments, the vehicle 140 includes a mobile computing network that is a network of processors, controllers, or combinations thereof, for example, a controller area network (CAN). In at least some embodiments, each processor is an electronic control unit (ECU). In at least some embodiments, there is a microcontroller unit (MCU). Vehicle 140 further includes a memory that stores data from the sensors. In some embodiments, the processor accesses the memory to determine whether any stored data can satisfy a data request. Vehicle 140 can further transmit, either wirelessly or via a wired connection, data that it believes will satisfy the data request to server 120. In some embodiments, the processor is configured to attempt to satisfy received data requests in a priority order based on the received priority level of the data request. In some embodiments, vehicle 140 is configured to transmit data to the server in a priority order based on the received priority level of the data request.

[0031] In some embodiments, the memory and processor of the vehicle 140 are configured to store and execute software applications in an electronic control unit (ECU) in the vehicle 140. In some embodiments, the data request is generated by the software application stored in the ECU. In some embodiments, the data request is generated in response to a trigger event, such as sudden acceleration, sudden braking, capturing sensor data including a particular object or particular scene predefined in the software application, a "crash" of the software application, an anomaly detected in the software application, or another suitable detection occurrence. In some embodiments, the vehicle 140 is configured to generate a notification to a maintainer of the software application, such as a user, in response to detecting a trigger event associated with the software application. In some embodiments, the notification is sent directly to the user, for example, through the UI 110, either wirelessly or via a wired connection. In some embodiments, the notification is sent to the user through the server 120, either wirelessly or via a wired connection. In some embodiments, the notification includes an audio notification or a visual notification. In some embodiments, the notification is configured to cause the UI 110 to automatically display the notification without user interaction.

[0032] The request acquisition system 100 further includes an accessible console 150. The accessible console 150 allows a user to access the collected data stored in the data storage 126. In some embodiments, the accessible console 150 is incorporated into the UI 110. In some embodiments, the accessible console 150 is separate from the UI 110. In some embodiments, the accessible console 150 includes a separate server that is separate from the server 120. In some embodiments, the accessible console 150 automatically receives the collected data associated with a data request from a user when the data storage 126 receives the collected data. In some embodiments, the accessible console 150 allows a user to search the data storage 126 to determine whether any of the collected data stored in the data storage 126 is useful to the user without the user submitting a data request.

[0033] Use of the request acquisition system 100 allows a user to obtain information from one or more vehicles 140 in a format that is easy to understand without relying on specialized equipment to request or read the received data. The ability to prioritize data requests in the request acquisition system 100 helps ensure that data is available to law enforcement or other users while also allowing users to pay a fee to obtain data more quickly. This flexibility helps improve the usability of the request acquisition system 100 to a wide range of users.

[0034] FIG. 2 is a diagram of graphical user interfaces (GUIs) 200 and 250 for a request acquisition system, according to some embodiments. In some embodiments, the GUI 200 is usable as the UI 110 in the request acquisition system 100 (FIG. 1). In some embodiments, the GUI 200 is usable to generate a data request to be received by the receiver 131 (FIG. 1). The GUI 200 includes a number of information types 210 that identify the types of information that the GUI 200 can accept from a user. The GUI 200 further includes a number of fields 220 configured to accept information related to the corresponding information types 210 of the GUI 200. The GUI 200 further includes a send button 230 that is configured to send a data request to a server, for example, the server 120 (FIG. 1), based on the information in the fields 220. Those skilled in the art will recognize that the names and number of the number of information types 210 are merely exemplary, and that different numbers and types of information are within the scope of the present disclosure.

[0035] In some embodiments, the fields 220 include fields for a user to enter a vehicle ID, a data type, a start time, and an end time. In some embodiments, the fields 220 further include a field for a user to enter a priority level of the data request. In some embodiments, the GUI 200 further includes information related to how a user can increase the priority level of the data request, such as information indicating a fee associated with each available priority level. In some embodiments, the GUI 200 includes a field 220 that allows a user to enter login information to establish a user's identity. In some embodiments, the GUI 200 is configured to display the user's priority level after receipt of the login information. In some embodiments, the GUI 200 further includes a field 220 that accepts payment information related to a fee for establishing a priority level of the data request. In some embodiments, the fields 220 include fields for input for a query language, such as SQL. In some embodiments, the GUI 200 is configured to utilize real or manufactured samples to display sample data, enabling query trials and planning. In some embodiments, GUI 200 is configured to utilize a "REPL" such as SciPy / NumPy / Matplotlib or R, or a console such as Jupyter notebook.

[0036] The GUI 250 is configured to be displayed to a user after the user selects the send button 230 on the GUI 200. In some embodiments, the GUI 250 is usable as the GUI 110 in the ODDR system 100 (FIG. 1). The GUI 250 includes information indicating that a data request has been received. The GUI 250 includes a query ID label 260 and a query ID field 270. The information entered in the query ID field 270 is received from a server, e.g., the server 120 (FIG. 1), after the server receives and stores the data request. In some embodiments, the GUI 250 includes information of a vehicle ID. In some embodiments, the GUI 250 includes information related to a priority level of the data request. In some embodiments, the GUI 250 includes information related to the status of the data request, e.g., pending, sent, completed, etc. In some embodiments, the GUI 250 includes information related to an estimated time until the data request is sent to the vehicle, e.g., the vehicle 140 (FIG. 1). In at least some embodiments, the GUI 250 includes information related to an estimated time until the requested data is received. In at least some embodiments, the GUI 250 includes information related to estimated energy consumption for receiving the requested data. In some embodiments, the GUI 250 is displayed automatically in response to receiving query ID information from a server. In some embodiments, the GUI 250 is displayed in response to a user submitting a request for an update to an uploaded data request.

[0037] 3 is a diagram of a data structure 300 for a get request command 310, according to some embodiments. In some embodiments, the get request command 310 is sent from the server 120 to the vehicle 140 (FIG. 1). The get request command 310 includes information related to the type of data sought by a data request for the vehicle, e.g., the vehicle 140 (FIG. 1).

[0038] The get request command 310 includes a transfer priority parameter 311 that indicates a priority level of the data request. The get request command 310 further includes a log level parameter 312 that indicates the type of data, if any, to be obtained from other applications in the vehicle. For example, in some embodiments, the get request command 310 obtains data from an object recognition application. The log level parameter 312 determines the type of data to obtain from other applications, such as an error level or a critical level. In some embodiments, the log level parameter 312 is omitted from the get request command 310 or the log level parameter 312 is nulled. The get request command 310 further includes a collection time range parameter 313 that indicates a period of time before and / or after a trigger event for collecting data. In some embodiments, the time range corresponds to a start time and an end time entered by a user into the GUI 200 (FIG. 2). The get request command 310 further includes a uniform resource locator (URL) endpoint parameter 314 that indicates a destination for data to be collected in response to a data request. The get request command 310 further includes a frequency parameter 315 indicating how often, if any, data should be sampled from the time range 313. For example, if the event time is t=100 seconds, the time range has a start time=-1 second and an end time=2 seconds, and the frequency is 10 Hz (100 millisecond cycles), then data at t=99.0 seconds, 99.1 seconds, 99.2 seconds, ..., 101.9 seconds, 102.0 seconds will be collected by the get request command. The get request command 310 further includes a log ID parameter 316 indicating the type of sensor and / or application that can be used to collect the data requested by the data request. In some embodiments, a unique ID (such as a universally unique identifier (UUID)) is pre-assigned to every sensor and application, and the unique ID from which the user wants to collect data is specified in the log ID parameter 316. The get request command 310 further includes a requester ID parameter 317 indicating the identity of the user making the data request. The get request command 310 further includes an event ID parameter 318 that indicates the triggering event associated with the data request.The get request command 310 further includes a budget ID parameter 319 that indicates the amount of resources of the vehicle, e.g., vehicle 140 (FIG. 1), that should be allocated to fulfill the data request. Those skilled in the art will appreciate that additional parameters are possible in the get request command 310. For example, in some embodiments, the get request command 310 includes a vehicle location parameter that indicates a geographic area in which a trigger event can occur. Those skilled in the art will also appreciate that the get request command 310 does not always include all of the parameters of FIG. 3. For example, in some embodiments, the budget ID parameter 319 is omitted.

[0039] 4 is a block diagram of a request acquisition system 400, according to some embodiments. In some embodiments, the request acquisition system 400 is part of the request acquisition system 100 (FIG. 1). In some embodiments, the request acquisition system 400 is usable together with the request acquisition system 100 (FIG. 1). In some embodiments, the request acquisition system 400 is separate from the request acquisition system 100 (FIG. 1).

[0040] The request acquisition system 400 includes a detection vehicle system 410 configured to capture information about the vehicle or the vehicle's surroundings. The detection vehicle system 410 captures information about the vehicle and surroundings and transmits the information to a server. The request acquisition system 400 further includes a server 440 configured to receive the information, encode the information, and stream the information to a user terminal 460.

[0041] The detection vehicle system 410 includes an electronic control unit (ECU) 420 configured to receive data from sensors 414, a global positioning system (GPS) 416, and a map 418. The ECU 420 includes a situation detector 422, a data specifier 432, a log collector 434, and a log transmitter 436. The situation detector 422 includes a vehicle control monitor 424, an object detector 426, and a scene detector 428.

[0042] In some embodiments, the ECU 420 further includes a localization unit configured to receive data from the GPS 416 and the map 418 to determine the vehicle's position relative to detected and / or known object and / or road positions, as well as the vehicle's attitude and state. Attitude is the vehicle's orientation relative to a reference point, such as a roadway. In some embodiments, the vehicle's position also refers to the vehicle's position vector. The vehicle's attitude and state refers to the vehicle's speed and heading. In some embodiments, the vehicle's attitude and state also refers to the vehicle's velocity vector, acceleration vector, and jerk vector. In some embodiments, the position vector, velocity vector, acceleration vector, and jerk vector include an angular vector. In some embodiments, the vehicle's state also refers to whether the vehicle's engine or motor is running.

[0043] The sensor 414 is configured to capture information, e.g., images, of the environment surrounding the vehicle. In some embodiments, the sensor 414 includes a visible light camera, an IR camera. In some embodiments, the sensor 414 is replaced by or further accompanied by a Light Detection and Ranging (LiDAR) sensor, a Radio Detection and Ranging (RADAR) sensor, a Sound Navigation and Ranging (SONAR) sensor, or another suitable sensor. In some embodiments, the sensor 414 includes an additional camera located elsewhere in the vehicle. For example, in some embodiments, the additional camera is located on the side of the vehicle to detect a larger portion of the environment to the left and right of the observing vehicle. Because the vehicle occupant can look out of the vehicle's side windows, using the additional camera to detect a larger portion of the environment around the vehicle helps to increase the accuracy of detecting objects or scenes around the vehicle. For example, in some embodiments, the additional camera is located on the rear of the vehicle to detect a larger portion of the environment behind the vehicle. This information helps to capture information about the object. In some embodiments, the data from the sensor 414 includes a timestamp or other metadata to help synchronize the data from the sensor 414 with data from other components.

[0044] GPS 416 is configured to determine the location of the vehicle. Knowing the location of the observing vehicle is useful for associating objects or scenes with the determined locations on map 418.

[0045] The map 418 includes information related to the roadway and known objects along the roadway. In some embodiments, the map 418 can be used in conjunction with the GPS 416 to determine the location and heading of the vehicle. In some embodiments, the map 418 is received from an external device, such as the server 440. In some embodiments, the map 418 is periodically updated based on information from the sensors 414 and / or the GPS 416. In some embodiments, the map 418 is periodically updated based on information received from an external device. In some embodiments, the map 418 is generated from sensor data by a simultaneous localization and mapping (SLAM) algorithm. The inclusion of the map 418 helps determine if an object is a known object. The inclusion of the map 418 with known objects helps increase the accuracy of new object detection.

[0046] The condition detector 422 is configured to generate information related to the performance of the vehicle and the performance of systems within the vehicle. The condition detector 422 may collect information from components within the vehicle, such as the sensors 414, the braking system, the acceleration system, and other suitable components. Using this information, the condition detector 422 may determine the performance of the vehicle. In some embodiments, the condition detector 422 is further configured to monitor the performance of software and networking operations within the vehicle. For example, in some embodiments, the condition detector 422 is configured to receive information related to a "crash" of software or applications within the vehicle. In some embodiments, the condition detector 422 is configured to collect information related to the storage capacity of a memory device within the vehicle. In some embodiments, the condition detector 422 is configured to receive information related to the processing power of a processor within the vehicle.

[0047] Vehicle control monitor 424 is configured to receive sensor data and control logs related to the current operation of the vehicle. In some embodiments, the sensor data includes information related to vehicle speed, acceleration, jerk, braking, steering, pitch, roll, yaw, flashing hazard lights, honking, or other suitable information. Vehicle control monitor 424 is configured to determine whether any of the received sensor data indicates that a criteria for satisfying a request is met, e.g., whether a trigger event has been detected.

[0048] The object detector 426 is configured to receive sensor data from the sensor 414 and determine whether any anomalous objects are located on the roadway. In some embodiments, the object detector 426 is further configured to determine whether any objects are present along or adjacent to the roadway. In some embodiments, the sensor data from the sensor 414 includes images, and the object detector 426 is configured to perform image recognition on the received images, for example using a trained neural network, to identify anomalous objects. In some embodiments, the object detector 426 is configured to compare any identified objects with information from the GPS 416 and the map 418 to help determine the type of identified object. In some embodiments, the object detector 426 is configured to identify objects, such as tires, car parts, animals, holes, traffic control boards, emergency vehicles, vehicles with active hazard lights, or other suitable objects as objects.

[0049] The scene detector 428 is configured to receive sensor data from the sensor 414 and determine whether any scenes that meet the conditions to satisfy the request are located in the environment surrounding the vehicle. In some embodiments, the scene detector 428 is configured to determine that a vehicle accident is occurring in response to detecting two or more vehicles in contact with each other or a vehicle being surrounded by multiple falling objects. In some embodiments, the scene detector 428 is configured to determine that construction is occurring based on detecting multiple construction vehicles in close proximity. In some embodiments, the scene detector 428 is configured to determine that a vehicle is parked on the shoulder based on determining that a vehicle is located adjacent to a roadway and is not moving or is moving significantly slower than other vehicles. In some embodiments, the scene detector 428 is configured to determine the content of the scene surrounding the vehicle using image recognition, such as through a trained neural network.

[0050] In some embodiments, each of the object detector 426 and the scene detector 428 is active during the entire operation of the vehicle, e.g., when the vehicle engine or motor is running. In some embodiments, at least one of the object detector 426 or the scene detector 428 is activated in response to the vehicle control monitor 424 determining that a particular behavior, e.g., a trigger event, has been detected.

[0051] The data specifier 432 is configured to receive a determination that fulfillment of the request has occurred or that a trigger event has been detected. The data specifier 432 is configured to analyze the received information and determine, based on the received data, which sensor data from the sensors 414 should be collected. For example, in some embodiments where an abnormal steering behavior by the driver is detected, the data specifier 432 is configured to determine that image data from the front camera of the sensor 414 should be captured. Furthermore, the data specifier 432 is configured to determine a period during which data from the determined sensors should be collected based on a time of the detection event. In some embodiments, the data specifier 432 is configured to determine the sensors 414 from which to collect data based on instructions in the request received from the user.

[0052] In some embodiments, the data designator 432 is configured to determine a region of the received sensor data that is associated with the detected situation. In some embodiments, the region of the received sensor data is identified based on object recognition performed on the sensor data, for example by the object detector 426 or the scene detector 428. In some embodiments, the data designator 432 is configured to crop the received image from the sensor data or remove extraneous data from the sensor data if the sensor data is not an image, to reduce the amount of information in the abnormal situation log. In some embodiments, the data designator 432 is configured to remove personal information, such as license plates, human faces, etc., from the sensor data.

[0053] The log collector 434 is configured to receive data from the data specifier 432. In some embodiments, the log collector 434 is configured to receive data directly from the sensor 414, the GPS 416, or the situation detector 422 based on information provided by the data specifier 432. The log collector 434 is also configured to determine what information is useful in identifying the type and location of the object, such as location information from the GPS 416 or the map 418, image information from the sensor 414, truncated or reduced information from the data specifier 432, timestamp information relating to the time the object or scene was detected, or other suitable information.

[0054] The log collector 434 generates log data based on the received interrelated data, e.g., the cropped image and location data. The log collector 434 also associates timestamp information with the log data to aid in synchronization of collected data and for queue prioritization within the server 440. In some embodiments, the log collector 434 generates the log data to further include world coordinates associated with the cropped image. In some embodiments, the log collector 434 generates the log data to further include a map location associated with the cropped image. In some embodiments, the log collector 434 includes additional information to aid in increasing the accuracy of determining an object or scene.

[0055] Although the above description relates to generating log data based on images from the sensor 414, one skilled in the art will appreciate that the log collector 434 is not limited to only generating log data based on images. In some embodiments, the log collector 434 is configured to generate log data based on information from other sensors mounted on the vehicle, such as a RADAR, LiDAR, or other suitable sensor. In some embodiments in which the occupant wears smart glasses, the log collector 434 is further configured to generate log data based on information received from the smart glasses.

[0056] The log transmitter 436 is configured to receive the log data from the log collector 434 and transmit the log data to the server 440. In some embodiments, the log transmitter 436 is configured to transmit the log data wirelessly. In some embodiments, the log transmitter 436 is configured to transmit the log data via a wired connection. In some embodiments, the log transmitter 436 is configured to transmit the log data directly to the user terminal 460. In some embodiments, the log transmitter 436 is configured to transmit the log data to a mobile device accessible by a user, which then transmits the log data to the server 440. In some embodiments, the log transmitter 436 is configured to transmit the log data to the mobile device using Bluetooth or another suitable wireless technology. In some embodiments, the ECU 420 is configured to determine whether a data transfer rate from the mobile device to the server 440 is higher than a transfer rate from the log transmitter 436 to the server 440. In response to determining that the data transfer rate from the mobile device to the server 440 is higher, the log transmitter 436 is configured to transmit to the mobile device the log data to be transmitted to the server 440. In response to determining that the data transfer rate from the mobile device to the server 440 is not higher, the log transmitter 436 is configured to transmit the log data from the vehicle system 410 directly to the server 440 without transferring the log data to the mobile device.

[0057] In some embodiments, the detection vehicle system 410 further includes a memory configured to store sensor data from a sensor mounted on the vehicle. In some embodiments, the memory is further configured to store information associated with a previously detected object or scene. In some embodiments, in response to detecting an object or scene that matches a previous object or scene, the data specifier 432 is configured to provide a result based on the matching object or scene. In some embodiments, the detection vehicle system 410 is further configured to determine whether the detection vehicle has received information from the server 440 related to an object or scene that matches the object or scene determined from the situation detector 422. In some embodiments, in response to detecting that the detection vehicle has already received information related to the determined object or scene, the detection vehicle system 410 is configured to prevent sending log data to the server 440. Avoiding sending redundant information to the server 440 helps reduce data sent to the server 440 and helps minimize power consumption by the detection vehicle system 410. In some embodiments, the storage of previous requests is referred to as caching. Those skilled in the art will understand caching as using hardware or software to store data so that future requests for that data can be satisfied more quickly.

[0058] The server 440 includes a log data receiver 442 configured to receive log data from the log transmitter 436. In some embodiments, the log data receiver 442 is configured to receive log data from a mobile device. The server 440 further includes a log encoder 444 configured to encode the log data. The server 440 further includes a log forwarder 446 configured to transmit the encoded log data to the user terminal 460. The server 440 further includes a request / rule receiver 448 configured to receive requests or rules from the user terminal 460.

[0059] The log data receiver 442 is configured to receive the log data from the log transmitter 436. In some embodiments, the log data receiver 442 is configured to receive the log data from a mobile device. In some embodiments, the log data receiver 442 is configured to receive the log data wirelessly. In some embodiments, the log data receiver 442 is configured to receive the log data over a wired connection. In some embodiments, the log data receiver 442 is configured to add a timestamp to the log data for the time the log data was received.

[0060] The log encoder 444 is configured to encode the received log data according to a predefined encoding protocol. Encoding the log data according to a predefined encoding protocol helps ensure that the user terminal 460 can reliably decode the log data for use by the user terminal 460. In some embodiments, the log encoder 444 is configured to perform compression, image encoding, thumbnail image generation, or other suitable encoding protocols on the log data. In some embodiments, the log encoder 444 is configured to perform encryption on the log data. In some embodiments, the log encoder 444 is further configured to perform super-resolution to allow a user to better appreciate the data. Those skilled in the art will appreciate that super-resolution is the process of receiving a high-resolution image from a low-resolution image. Improving the resolution of the log data helps reduce false positives or false negatives.

[0061] In some embodiments, server 440 further includes a database that stores the received log data. In some embodiments, the log data is stored in the database before and / or after encoding by log encoder 444. In some embodiments, the log data is stored in the database in priority queues. In some embodiments, the priority of the priority queues is determined based on the time an object or scene, e.g., a trigger event, was detected, the time the log data was received by log data receiver 442, the type of object or scene, the identity of the driver of the detected vehicle, or other suitable priority criteria.

[0062] The log transporter 446 is configured to receive the encoded log data from the log encoder 444. The log transporter 446 is configured to transmit the encoded log data to a user terminal 460. In some embodiments, the log transporter 446 is configured to transmit the encoded log data to a mobile device accessible by a user. In some embodiments, the log transporter 446 is configured to transmit the encoded log data wirelessly. In some embodiments, the log transporter 446 is configured to transmit the encoded log data over a wired connection. In some embodiments, the log transporter 446 is configured to transmit encoding protocol information along with the encoded log data. The transmission of the encoding protocol information for the encoded log data helps the mobile device or user terminal 460 to accurately decode the encoded log data for use by the user terminal 460.

[0063] The request / rules receiver 448 is configured to receive new or updated rules or requests for data from a user. In some embodiments, the request / rules receiver 448 is configured to receive new or updated rules or requests wirelessly. In some embodiments, the request / rules receiver 448 is configured to receive new or updated rules or requests over a wired connection. In some embodiments, the request / rules receiver 448 is by the UI 110 (FIG. 1).

[0064] In some embodiments, server 440 is configured to receive formation locations from a plurality of vehicles. In some embodiments, server 440 is configured to receive navigation plans from a plurality of vehicles. In some embodiments, log forwarder 446 is configured to limit transmission of encoded log data to only those vehicles that are within a predetermined distance of a detected trigger event.

[0065] In some embodiments, server 440 is configured to only transmit log data associated with newly detected trigger events, i.e., if a trigger event has already been reported by server 440, the trigger event is not reported again. Limiting repeated reporting of trigger events helps reduce redundant data received by user terminals to server 440.

[0066] User terminal 460 is a user terminal accessible by a user associated with a satisfying request. In some embodiments, user terminal 460 includes a GUI. In some embodiments, user terminal 460 is configured to automatically generate an alert in response to receiving data from server 440. In some embodiments, the alert includes an audio alert or a visual alert.

[0067] Those skilled in the art will understand that modifications to the request acquisition system 400 are within the scope of this disclosure. For example, in some embodiments, the detection vehicle system 410 can transmit log data directly to the user terminal 460 over a network, such as a wireless network. In some embodiments, a mobile device of an occupant in the detection vehicle can transmit log data directly to the user terminal 460 over a wireless network, etc.

[0068] By automatically identifying and streaming information related to satisfying rules or requirements detected within the vehicle or in the environment surrounding the vehicle, a user can improve the performance of applications or software executed using the vehicle's processing systems, such as ECU 420. In some embodiments, a user can object to information related to events, such as accidents.

[0069] 5 is an operational flow for determining ground surface objective characteristics based on vehicle recordings, according to at least some embodiments of the subject disclosure. The operational flow provides a method of determining ground surface objective characteristics based on vehicle event recordings. In at least some embodiments, the method is performed by a vehicle, such as vehicle 140 shown in FIG. 1, or detection vehicle system 410 shown in FIG. 4. In at least some embodiments, the method is performed by a controller of the detection vehicle system, such as ECU 420 shown in FIG. 4, or controller 802 shown in FIG. 8.

[0070] At S550, the detection section of the controller detects a vehicle response. In at least some embodiments, the detection section detects a vehicle response of the vehicle, which is triggered by a read threshold of at least one trigger sensor of the vehicle. In at least some embodiments, the read threshold is based on an operational design domain (ODD). In at least some embodiments, when the vehicle approaches an ODD limit of the at least one trigger sensor, a vehicle operation, e.g., safety features, ABS, airbags, etc., is triggered. In at least some embodiments, an existing trigger may be utilized as a basis for recording an event. Additionally, in at least some embodiments, a specific query from the programmer may be used as a trigger. In at least some embodiments, the programmer may individually specify which sensors to record and which not to record depending on a programmer-defined recording trigger. In at least some embodiments, the detection section adjusts the read threshold based on the amount of available storage. In at least some embodiments, the detection section performs the operations illustrated in FIG. 6, which are described below.

[0071] At S552, the recording section of the controller records the output of the sensors. In at least some embodiments, the recording section records the output of at least one trigger sensor and at least one associated sensor of the vehicle in response to detecting the vehicle response. In at least some embodiments, the at least one associated sensor comprises a GPS sensor. In at least some embodiments, the associated sensor includes one or more of a sensor that detects gear ratio such as in the event of a wheel slip triggered vehicle response, a temperature sensor, a rain detection sensor, a snow detection sensor, a speed sensor, a tire wear estimation sensor, a GPS sensor, a driver view camera, and the like. In at least some embodiments, the recording section performs the operational flow of FIG. 7 described below.

[0072] At S554, the determination section of the controller determines the target characteristic of the ground. In at least some embodiments, the determination section determines the target characteristic of the ground based on the recorded output for each at least one trigger sensor, the recorded output for the at least one associated sensor, and at least one characteristic of the vehicle. In at least some embodiments, the at least one characteristic of the vehicle comprises at least one of a static characteristic based on the make and model of the vehicle, or a dynamic characteristic of the vehicle at the time of recording. In at least some embodiments, the recorded information of the event is analyzed to normalize the state with respect to vehicle characteristics including static characteristics, e.g., vehicle weight, road clearance, gear ratio, drive train, etc., dynamic characteristics, e.g., load weight, tire pressure, current gear, current speed, etc., or both. In at least some embodiments, for example, if the road clearance sensor detects that the ground has reached 80% of clearance, the 80% is converted to an actual height by comparing the 80% with a known maximum clearance height for the model of the vehicle. This effectively identifies the target characteristic of the ground independent of the vehicle recording the event. In at least some embodiments, for example, the information may reveal that the ground is an icy road by considering temperature and rain or snow detection in the event of a wheel slip triggered vehicle response. In at least some embodiments, the information revealed about the ground itself may be utilized even if only in one instance. However, in at least some embodiments, the information revealed about the ground itself may be improved by aggregating events recorded from multiple vehicles in the same geographic location.

[0073] At S556, a transmission section of the controller transmits the characteristic of interest. In at least some embodiments, the transmission section transmits the characteristic of interest over a network to a server. In at least some embodiments, the transmission section transmits the characteristic of interest directly to another vehicle.

[0074] 6 is an operational flow for detecting a vehicle response, according to at least some embodiments of the subject disclosure. The operational flow provides a method for detecting a vehicle response. In at least some embodiments, a detection section adjusts a read threshold based on an amount of available storage. In at least some embodiments, the method is performed by a vehicle, such as vehicle 140 shown in FIG. 1, or detection vehicle system 410 shown in FIG. 4. In at least some embodiments, the method is performed by a detection section of a controller, such as ECU 420 shown in FIG. 4, or controller 802 shown in FIG. 8.

[0075] At S660, the detection section or a subsection thereof determines whether the amount of available storage is decreasing. In at least some embodiments, the detection section determines whether the amount of available storage is decreasing. In response to the detection section determining that the amount of available storage is not decreasing, operational flow proceeds to a decision regarding increasing available storage in S661. In response to the detection section determining that the amount of available storage is decreasing, operational flow proceeds to increasing the trigger sensor threshold in S664.

[0076] At S661, the detection section or a subsection thereof determines whether the available storage is increasing. In at least some embodiments, the detection section determines whether the amount of available storage is increasing. In response to the detection section determining that the amount of available storage is not increasing, operational flow proceeds to a determination as to whether a trigger sensor reading threshold has been reached in S666. In response to the detection section determining that the amount of available storage is increasing, operational flow proceeds to a decrease in the trigger sensor threshold in S662.

[0077] At S662, the detection section or a subsection thereof decreases the threshold of the trigger sensor. In at least some embodiments, the detection section decreases the read threshold of at least one trigger sensor. In at least some embodiments, the detection section decreases the read threshold of each trigger sensor by a fraction of the detection range of the trigger sensor.

[0078] At S664, the detection section or a subsection thereof increases the threshold of the trigger sensor. In at least some embodiments, the detection section increases the read threshold of at least one trigger sensor. In at least some embodiments, the detection section increases the read threshold of each trigger sensor by a fraction of the detection range of the trigger sensor.

[0079] At S666, the detection section or a subsection thereof determines whether a trigger sensor reading threshold has been reached. In at least some embodiments, the detection section determines whether a reading threshold has been reached or exceeded for at least one trigger sensor of the vehicle. In response to the trigger sensor reading threshold not being reached, the operational flow returns to the decision regarding the reduction of available storage in S660. In response to the trigger sensor reading threshold being reached, the operational flow ends and proceeds to recording the sensor output, such as operation S552 of FIG. 5.

[0080] 7 is an operational flow for recording a vehicle response according to at least some embodiments of the subject disclosure. The operational flow provides a method for recording a detected vehicle response. In at least some embodiments, the method is performed by a vehicle, such as vehicle 140 shown in FIG. 1 or detection vehicle system 410 shown in FIG. 4. In at least some embodiments, the method is performed by a recording section of a controller, such as ECU 420 shown in FIG. 4 or controller 802 shown in FIG. 8.

[0081] At S770, the recording section or subsection thereof checks whether a vehicle response is detected. In response to vehicle activity being detected, operational flow proceeds to recording the output to storage at S772. In response to vehicle activity not being detected, operational flow ends.

[0082] At S772, the recording section or a subsection thereof records the output in storage. In at least some embodiments, the recording section records the output of at least one trigger sensor and at least one associated sensor of the vehicle in response to detecting a vehicle reaction. In at least some embodiments, the recording section records the output of the at least one trigger sensor and at least one associated sensor in storage. In at least some embodiments, an ECU monitoring such sensors is programmed with the additional task of recording the output of this sensor, the associated sensor, etc.

[0083] At S774, the recording section or a subsection thereof determines whether a buffer record is available. In at least some embodiments, the recording section determines whether a buffer memory record of the sensor is available. In at least some embodiments, the buffer memory record always holds a few seconds / minutes of previous records of all sensors. In response to a buffer record being available, the operational flow proceeds to copying the buffer record in S776. In response to a buffer record not being available, the operational flow ends.

[0084] At S776, the recording section or a subsection thereof copies the buffer records. In at least some embodiments, the recording section copies the buffer records of the at least one trigger sensor and the at least one associated sensor to storage. In at least some embodiments, in the event of a trigger, the buffer memory records of the associated sensor are copied into storage to make available the moment before the trigger, constituting the beginning of the recording event.

[0085] FIG. 8 is a diagram of a hardware configuration for determining a program operation sequence that reduces potential leakage of personally identifiable information, according to at least some embodiments of the subject disclosure.

[0086] A preferred hardware configuration includes a detection vehicle system 800 that interfaces with an input device 809 and communicates with the input device 809 and a server 810 over a network 808. In at least some embodiments, the detection vehicle system 800 is a computer or other computing device that receives inputs or commands from the input device 809 and the server 810. In at least some embodiments, the detection vehicle system 800 is integrated into the input device 809. In at least some embodiments, the detection vehicle system 800 is a computer system that executes computer readable instructions to perform operations related to determining ground surface characteristics of interest based on vehicle recordings.

[0087] The detection vehicle system 800 includes a controller 802, a storage unit 804, an input / output interface 806, and a communication interface 807. In at least some embodiments, the controller 802 includes a processor or programmable circuitry that executes instructions and causes the processor or programmable circuitry to perform operations according to the instructions. In at least some embodiments, the controller 802 includes analog or digital programmable circuitry, or any combination thereof. In at least some embodiments, the controller 802 includes physically separate storage or circuitry that communicates through communication. In at least some embodiments, the storage unit 804 includes a non-volatile computer readable medium that can store executable and non-executable data accessed by the controller 802 during execution of instructions. The communication interface 807 transmits and receives data to and from a network 808. The input / output interface 806 connects to various input and output units, such as input devices 809 via parallel ports, serial ports, keyboard ports, mouse ports, monitor ports, and the like, to accept commands and present information. In some embodiments, the storage unit 804 is external to the server 800 .

[0088] The controller 802 includes a detection section 820, a recording section 822, a decision section 824, and a transmission section 826. The storage unit 804 includes sensor outputs 830, buffer records 832, objective characteristics 834, and vehicle characteristics 836.

[0089] The detection section 820 is circuitry or instructions of the controller 802 configured to detect a vehicular response. In at least some embodiments, the detection section 820 is configured to detect a vehicular response of a vehicle, where the vehicular response is triggered by a reading threshold of at least one trigger sensor of the vehicle. In at least some embodiments, the detection section 820 utilizes information in the storage unit 804, such as the output 830 of the sensor. In at least some embodiments, the detection section 820 includes subsections that perform additional functions as described in the flow charts above. In at least some embodiments, such subsections are referenced by names associated with the corresponding functions.

[0090] The recording section 822 is circuitry or instructions of the controller 802 configured to record the output of the sensors. In at least some embodiments, the recording section 822 is configured to record the output of at least one trigger sensor and at least one associated sensor of the vehicle in response to detecting a vehicle reaction. In at least some embodiments, the recording section 822 utilizes information in the storage 804, such as the sensor output 830, and records information in the storage unit 804, such as the buffer record 832. In at least some embodiments, the recording section 822 includes subsections that perform additional functions as described in the flow charts above. In at least some embodiments, such subsections are referenced by names associated with the corresponding functions.

[0091] The determining section 824 is a circuit or instruction of the controller 802 configured to determine a target characteristic of the ground. In at least some embodiments, the determining section 824 is configured to determine a target characteristic of the ground based on the recorded output of at least one trigger sensor, the recorded output of at least one associated sensor, and at least one characteristic of the vehicle. In at least some embodiments, the determining section 824 utilizes information in the storage unit 804, such as the sensor output 830, the buffer record 832, and the vehicle characteristics 836, and records information, such as the target characteristic 834, in the storage unit 804. In at least some embodiments, the determining section 824 includes subsections that perform additional functions as described in the flowcharts above. In at least some embodiments, such subsections are referenced by names associated with the corresponding functions.

[0092] The transmitting section 826 is circuitry or instructions of the controller 802 configured to transmit the objective characteristic. In at least some embodiments, the transmitting section 826 is configured to transmit the objective characteristic over a network to a server. In at least some embodiments, the transmitting section 826 is configured to transmit the objective characteristic directly to another vehicle. In at least some embodiments, the transmitting section 826 transmits information from the storage unit 804, such as the objective characteristic 834, to the network 808. In at least some embodiments, the transmitting section 826 includes subsections that perform additional functions as described in the flowcharts above. In at least some embodiments, such subsections are referenced by names associated with their corresponding functions.

[0093] In at least some embodiments, the apparatus is a separate device capable of processing logical functions to perform the operations herein. In at least some embodiments, the controller and the storage unit need not be completely separate devices, and in some embodiments share circuitry or one or more computer-readable media. In at least some embodiments, the storage unit includes a hard drive that stores both computer-executable instructions and data accessed by the controller, and the controller includes a combination of a central processing unit (CPU) and RAM, where the computer-executable instructions can be copied in whole or in part to be executed by the CPU during the performance of the operations herein.

[0094] In at least some embodiments where the apparatus is a computer, a program installed on the computer can cause the computer to function as or perform operations associated with the apparatus embodiments described herein, and in at least some embodiments, such a program is executable by a processor to cause the computer to perform specific operations associated with some or all of the flowchart blocks and block diagrams described herein.

[0095] At least some embodiments are described with reference to flow charts and block diagrams, where the blocks represent (1) steps of a process in which an operation is performed, or (2) sections of a controller responsible for carrying out an operation. In at least some embodiments, certain steps and sections are implemented by dedicated circuitry, programmable circuitry provided with computer readable instructions stored on a computer readable medium, and / or a processor provided with computer readable instructions stored on a computer readable medium. In at least some embodiments, the dedicated circuitry includes digital and / or analog hardware circuitry, including integrated circuits (ICs) and / or discrete circuits. In at least some embodiments, the programmable circuitry includes reconfigurable hardware circuitry, e.g., field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc., comprising logical AND, OR, XOR, NAND, NOR, and other logic operations, flip-flops, registers, memory elements, etc.

[0096] In at least some embodiments, a computer-readable storage medium includes a tangible device capable of holding and storing instructions for use by an instruction execution device. In some embodiments, a computer-readable storage medium includes, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. A non-exhaustive list of more specific examples of computer-readable storage media includes the following: portable computer diskettes, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), static random access memories (SRAM), portable compact disk read-only memories (CD-ROM), digital versatile disks (DVD), memory sticks, floppy disks, mechanically encoded devices such as punch cards or ridge structures in grooves with instructions recorded on them, and any suitable combination of the above. As used herein, computer-readable storage media should not be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., light pulses passing through a fiber optic cable), or electrical signals transmitted over wires.

[0097] In at least some embodiments, the computer readable program instructions described herein can be downloaded from a computer readable storage medium into the respective computing / processing device or can be downloaded to an external computer or external storage device via a network, e.g., the Internet, a local area network, a wide area network, and / or a wireless network. In at least some embodiments, the network includes copper transmission cables, optical transmission fiber, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. In at least some embodiments, a network adapter card or network interface in each computing / processing device receives the computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing / processing device.

[0098] In at least some embodiments, the computer readable program instructions for performing the above-mentioned operations are either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, or the like, and traditional procedural programming languages ​​such as the "C" programming language or similar programming languages, modern systems languages ​​such as Rust, or interface languages ​​such as Dart. In at least some embodiments, the computer readable program instructions are executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In at least some embodiments, in the latter scenario, the remote computer is connected to the user's computer through any type of network, including a local area network (LAN) or wide area network (WAN), or a connection to an external computer is made (e.g., through the Internet using an Internet Service Provider). In at least some embodiments, electronic circuitry including, for example, a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA) executes computer readable program instructions by utilizing state information of the computer readable program instructions to individualize the electronic circuitry to perform aspects of the subject disclosure.

[0099] Although disclosed embodiments of the subject matter have been described, the scope of any claimed subject matter is not limited to the above-described embodiments. Those skilled in the art will appreciate that various modifications and improvements to the above-described embodiments are possible. Those skilled in the art will also appreciate from the claims that additional embodiments with such modifications or improvements are included within the scope of the present invention.

[0100] The operations, procedures, steps, and stages of each process performed by the apparatus, systems, programs, and methods depicted in the claims, embodiments, or figures may be performed in any order, unless an order is indicated by "first," "before," or the like, and unless output from a previous process is used in a later process. Even if the claims, embodiments, or figures describe a process flow using phrases such as "first" or "then," such description does not necessarily imply that the processes must be performed in the order described.

[0101] In at least some embodiments, determining the ground target characteristic based on the vehicle recording is performed by detecting a vehicle response of the vehicle, where the vehicle response is triggered by a reading threshold of at least one trigger sensor of the vehicle, and in response to detecting the vehicle response, recording an output of the at least one trigger sensor and at least one associated sensor of the vehicle, and determining the ground target characteristic based on the recorded output of the at least one trigger sensor, the recorded output of the at least one associated sensor, and at least one characteristic of the vehicle.

[0102] Some embodiments include instructions in a computer program, a method performed by a processor executing the instructions of the computer program, and an apparatus for performing the method. In some embodiments, the apparatus includes a controller including circuitry configured to perform the operations in the instructions.

[0103] The foregoing outlines features of some embodiments so that those skilled in the art may more fully appreciate aspects of the present disclosure. Those skilled in the art should understand that they may readily use this disclosure as a basis for designing or modifying other processes and structures which perform the same purposes and / or achieve the same advantages as the embodiments incorporated herein. Those skilled in the art should also understand that such equivalent structures do not depart from the spirit and scope of the present disclosure, and that those skilled in the art may make various changes, substitutions, and alterations thereto without departing from the spirit and scope of the present disclosure.

Claims

1. 1. A method comprising: Detecting a vehicle response of a vehicle, the vehicle response being triggered by a reading threshold of at least one trigger sensor of the vehicle; responsive to detecting the vehicle response, recording an output of the at least one trigger sensor and at least one associated sensor of the vehicle; determining a target characteristic of a ground surface based on the recorded output of the at least one trigger sensor, the recorded output of the at least one associated sensor, and at least one characteristic of the vehicle; A method comprising:

2. The recording comprises: recording the output of the at least one trigger sensor and the output of the at least one associated sensor in storage; copying a buffer record of the at least one trigger sensor and the at least one associated sensor to the storage; The method of claim 1 , comprising:

3. The method of claim 1 or 2, further comprising transmitting the target characteristics to a server over a network.

4. The method of claim 1 or 2, further comprising transmitting the target characteristic directly to another vehicle.

5. The method of claim 1 or 2, further comprising adjusting the read threshold based on an amount of available storage.

6. The adjusting step comprises: decreasing the read threshold in response to an increase in the amount of available storage; or The method of claim 5 , further comprising at least one of: increasing the read threshold in response to a decrease in the amount of available storage.

7. The method of claim 1 or 2, wherein the at least one associated sensor comprises a GPS sensor.

8. The method of claim 1 or 2, wherein the at least one characteristic of the vehicle comprises at least one of a static characteristic based on the make and model of the vehicle, or a dynamic characteristic of the vehicle at the time of the recording.

9. The method of claim 1 or 2, wherein the read threshold is based on an operational design domain (ODD).

10. A non-transitory computer readable medium having instructions recorded thereon, the instructions comprising: Detecting a vehicle response of a vehicle, the vehicle response being triggered by a reading threshold of at least one trigger sensor of the vehicle; responsive to detecting the vehicle response, recording an output of the at least one trigger sensor and at least one associated sensor of the vehicle; determining a target characteristic of a ground surface based on the recorded output of the at least one trigger sensor, the recorded output of the at least one associated sensor, and at least one characteristic of the vehicle; 23. A non-transitory computer-readable medium executable by one or more processors to perform operations, comprising:

11. The recording comprises: recording the output of the at least one trigger sensor and the at least one associated sensor in storage; copying a buffer record of the at least one trigger sensor and the at least one associated sensor to the storage; 11. The non-transitory computer-readable medium of claim 10, comprising:

12. The non-transitory computer-readable medium of claim 10 or 11, wherein the actions further comprise transmitting the target characteristics over a network to a server.

13. The non-transitory computer-readable medium of claim 10 or 11, wherein the action further comprises transmitting the target characteristic directly to another vehicle.

14. The non-transitory computer-readable medium of claim 10 or 11, wherein the operations further comprise adjusting the read threshold based on an amount of available storage.

15. The adjusting step comprises: decreasing the read threshold in response to an increase in the amount of available storage; or 15. The non-transitory computer readable medium of claim 14, further comprising at least one of: increasing the read threshold in response to a decrease in the amount of available storage.

16. The non-transitory computer-readable medium of claim 10 or 11, wherein the at least one associated sensor comprises a GPS sensor.

17. 12. The non-transitory computer-readable medium of claim 10 or 11, wherein the at least one characteristic of the vehicle comprises at least one of a static characteristic based on the make and model of the vehicle, or a dynamic characteristic of the vehicle at the time of the recording.

18. The non-transitory computer-readable medium of claim 10 or 11, wherein the read threshold is based on an operational design domain (ODD).

19. An apparatus comprising a controller including a circuit, the circuit comprising: Detecting a vehicle response of a vehicle, the vehicle response being triggered by a reading threshold of at least one trigger sensor of the vehicle; responsive to detecting the vehicle response, recording an output of the at least one trigger sensor and at least one associated sensor of the vehicle; determining a target characteristic of a ground surface based on the recorded output of the at least one trigger sensor, the recorded output of the at least one associated sensor, and at least one characteristic of the vehicle; The apparatus is configured to:

20. The circuitry configured to record includes: recording the output of the at least one trigger sensor and the at least one associated sensor in storage; 20. The apparatus of claim 19, configured to copy a buffer record of the at least one trigger sensor and the at least one associated sensor to the storage.

Images