# US 11,029,386 B2 · Vehicle sensor operation

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- Number: US 11,029,386 B2
- Document ID: US11029386B2
- Status: Granted
- Kind: B2
- Application number: 16/507,696
- Filed: 2019-07-10
- Published: 2021-01-14
- Granted: 2021-06-08
- Earliest claimed: 2019-07-10
- Assignees: Ford Global Technologies, LLC
- Applicants: Ford Global Technologies, LLC
- Inventors: Francis Obiagwu; John Moore; Jiguo Song; Soodeh Dadras; Sai Srikar Palukuru
- Web page: https://patentgrep.com/patent/US11029386B2

## CPC

- G01S 7/003: {Transmission of data between radar, sonar or lidar systems and remote stations}
- G01S 7/4815: {using multiple transmitters}
- G01S 7/4817: {relating to scanning}
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 17/89: for mapping or imaging
- G01S 17/931: of land vehicles
- G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)}
- G07C 5/085: {using electronic data carriers}
- G08G 1/0962: having an indicator mounted inside the vehicle, e.g. giving voice messages
- G01S 13/424: {Stacked beam radar}
- G01S 13/87: Combinations of radar systems, e.g. primary radar and secondary radar
- G01S 15/87: Combinations of sonar systems
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- G01S 2013/9323: {Alternative operation using light waves}
- G01S 2013/9324: {Alternative operation using ultrasonic waves}
- G01S 2013/93273: {on the top of the vehicles}
- G01S 2015/937: {sensor installation details}
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A computer includes a processor and a memory, the memory storing instructions executable by the processor to arrange data collected by a plurality of sequentially arranged emitters in a sensor according to a nonsequential numerical order of the emitters, transmit the nonsequential numerical order to a vehicle computer according to a secure protocol, and transmit the data to the vehicle computer.

## Claims

### Claim 1

A system, comprising:
a sensor including a plurality of sequentially arranged emitters, wherein each emitter is arranged at a different angle relative to an axis extending between a base of the sensor and a top of the sensor;
a vehicle computer in communication with the sensor;
means for arranging data collected by the emitters according to a nonsequential numerical order of the emitters;
means for transmitting a message listing the nonsequential numerical order according to a secure protocol;
means for transmitting the data to the vehicle computer according to a second protocol that is different than the secure protocol; and
means for identifying the angle of each emitter based on a number in the nonsequential numerical order corresponding to the emitter.

### Claim 2 (depends on 1)

The system of claim 1, further comprising means for reading the transmitted data according to the transmitted nonsequential numerical order.

### Claim 3 (depends on 1)

The system of claim 1, further comprising means for transmitting a plurality of packets of data, each packet having respective data arranged according to a different nonsequential numerical order.

### Claim 4

A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
arrange data collected by a plurality of sequentially arranged emitters in a sensor according to a nonsequential numerical order of the emitters, wherein each emitter is arranged at a different angle relative to an axis extending between a base of the sensor and a top of the sensor;
transmit a message listing the nonsequential numerical order to a vehicle computer according to a secure protocol;
transmit the data to the vehicle computer according to a second protocol that is different than the secure protocol; and
identify the angle of each emitter based on a number in the nonsequential numerical order corresponding to the emitter.

### Claim 5 (depends on 4)

The system of claim 4, wherein the vehicle computer is programmed to read the transmitted data according to the transmitted nonsequential numerical order.

### Claim 6 (depends on 4)

The system of claim 4, wherein the vehicle computer is programmed to generate a point cloud based on the data.

### Claim 7 (depends on 4)

The system of claim 4, wherein the instructions further include instructions to transmit a plurality of packets of data according to the second protocol, each packet having respective data arranged according to a different nonsequential numerical order, and a respective message with each nonsequential numerical order according to the secure protocol.

### Claim 8 (depends on 4)

The system of claim 4, wherein the instructions further include instructions to actuate the emitters in the nonsequential numerical order.

### Claim 9 (depends on 4)

The system of claim 4, wherein the vehicle computer is programmed to send an acknowledgment receipt to the computer upon receiving the nonsequential numerical order.

### Claim 10 (depends on 4)

The system of claim 4, wherein the sensor is a lidar.

### Claim 11 (depends on 4)

The system of claim 4, wherein the instructions further include instructions to determine the nonsequential numerical order with a random number generator program.

### Claim 12

A method, comprising:
arranging data collected by a plurality of sequentially arranged emitters in a sensor according to a nonsequential numerical order of the emitters, wherein each emitter is arranged at a different angle relative to an axis extending between a base of the sensor and a top of the sensor;
transmitting a message listing the nonsequential numerical order to a vehicle computer according to a secure protocol;
transmitting the data to the vehicle computer according to a second protocol that is different than the secure protocol; and
identifying the angle of each emitter based on a number in the nonsequential numerical order corresponding to the emitter.

### Claim 13 (depends on 12)

The method of claim 12, further comprising transmitting a plurality of packets of data, each packet having respective data arranged according to a different nonsequential numerical order.

### Claim 14 (depends on 4)

The system of claim 4, wherein the instructions transmit the message listing the nonsequential numerical order to the vehicle computer according to the secure protocol further include instructions to input the nonsequential numerical order to an encryption algorithm to generate an encrypted list and to transmit the encrypted list to the vehicle computer.