Vehicle Sensor Perception Range Using Mapped Static Objects

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Solution Overview

Problem

Autonomous vehicles face challenges in accurately determining their perceptive range in real-time due to unpredictable weather conditions affecting sensor performance, leading to potential misjudgments in object detection and trajectory planning.

Innovation Solution

Utilizing pre-stored map information to identify static objects and processing sensor data to determine the distance at which these objects are detected, leveraging existing vehicle processing resources to establish the perceptive range, which can serve as a proxy for weather conditions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If perceptive range is determined through advance testing for optimal and suboptimal conditions, then measurement precision is improved, but adaptability to real-time weather conditions deteriorates

Engineering Contradiction:

Improveperceptive range determination accuracyVSAvoidreal-time weather condition adaptation

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The system dynamically adjusts the perceptive range based on real-time detection of static objects and current weather conditions rather than relying on fixed advance testing values. The perceptive range is continuously updated as the vehicle encounters mapped static objects, allowing adaptation to changing environmental conditions while maintaining measurement precision through the use of known object locations.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system uses feedback from sensor detections of static objects to continuously refine the perceptive range estimation. When a static object is detected at a known location, the system feedback-adjusts the perceptive range to match the actual detection distance, creating a closed-loop system that adapts to real-time conditions while maintaining accuracy.

Inventive Principle:

Principle #23Feedback

2Ease of operation

If the vehicle computing devices assume everything within predetermined perceptive range is visible when no objects are close, then ease of operation is improved, but reliability of object detection deteriorates

Engineering Contradiction:

Improvecomputing device operation simplicityVSAvoidobject detection accuracy

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The system performs preliminary action by pre-mapping static objects (traffic lights, stop signs, etc.) to known locations before the vehicle reaches them. This allows the computing devices to prepare for expected detections and validate actual sensor performance against known object positions, improving reliability without complicating real-time operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses the vehicle's own sensor detections of pre-mapped static objects to self-validate and adjust its perceptive range assumptions. Rather than relying on external calibration or complex assumptions, the system serves itself by using its detection capabilities to continuously verify and update its understanding of actual sensor performance.

Inventive Principle:

Principle #25Self-service

3Adaptability or versatility

If perceptive range is determined by detecting static objects at known locations, then adaptability to real-time conditions is improved, but use of energy increases

Engineering Contradiction:

Improvereal-time perceptive range adjustmentVSAvoidsensor data processing energy

Core Design Contradiction:

Adaptability or versatilityVSUse of energy by moving object

Solution Approach 1:

The system uses the existing sensor suite and processing infrastructure for multiple purposes: both for primary object detection for navigation and for validating perceptive range through static object detection. This multi-functionality allows the system to adapt perceptive range in real-time without requiring dedicated additional energy-consuming subsystems.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system leverages its own operational sensor data and processing capabilities to self-determine perceptive range without requiring separate calibration systems or additional energy-intensive measurement equipment. The same sensors used for navigation serve dual purposes of perceptive range validation.

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS12454266B1Assessing perception of sensor using known mapped objects

Publication Date: 2025.10.28 WAYMO LLC

AI summary

Aspects of the disclosure relate to determining perceptive range of a vehicle in real time. For instance, a static object defined in pre-stored map information may be identified. Sensor data generated by a sensor of the vehicle may be received. The sensor data may be processed to determine when the static object is first detected in an environment of the vehicle. A distance between the object and a location of the vehicle when the static object was first detected may be determined. This distance may correspond to a perceptive range of the vehicle with respect to the sensor. The vehicle may be controlled in an autonomous driving mode based on the distance.