# US 11,305,777 B2 · Detecting road anomalies > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,777 B2 - Document ID: US11305777B2 - Status: Granted - Kind: B2 - Application number: 16/775,206 - Filed: 2020-01-28 - Published: 2020-07-30 - Granted: 2022-04-19 - Earliest claimed: 2019-01-28 - Assignees: Motional AD LLC - Applicants: Motional AD LLC - Inventors: Zachary Thomas Batts; Ludong Sun; Ky Woodard; Qian Wang; Yiming Zhao; Stephanie Lee; Lin Zhao - Web page: https://patentgrep.com/patent/US11305777B2 ## CPC - B60W 40/06: Road conditions - B60W 40/068: Road friction coefficient - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/12: Lane keeping - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/064: Degree of grip - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - B60W 60/0015: {specially adapted for safety} - B60W 60/0025: {specially adapted for specific operations} - E01C 23/01: Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed {or reference line} supports (form rails E01C19/50); Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs (E01C23/07 takes precedence; measuring roughness or irregularity in general G01B) - E01H 1/053: {having vertical axes} - G01B 5/207: using a plurality of fixed, simultaneously operating transducers (G01B5/213 - G01B5/22 take precedence) - G01B 5/28: for measuring roughness or irregularity of surfaces - G01B 11/24: for measuring contours or curvatures - G01B 21/30: for measuring roughness or irregularity of surfaces - G01C 7/04: involving a vehicle which moves along the profile to be traced - G01C 15/00: Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00 - G01C 21/32: Structuring or formatting of map data - G01C 21/3822: {Road feature data, e.g. slope data} - G01C 21/3848: {Data obtained from both position sensors and additional sensors} - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/931: of land vehicles - G05B 13/0265: {the criterion being a learning criterion} - G05B 13/029: {using neural networks and expert systems} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0133: {for classifying traffic situation} - G08G 1/0141: {for traffic information dissemination} - G08G 1/09626: {where the origin of the information is within the own vehicle, e.g. a local storage device, digital map} - G08G 1/096775: {where the origin of the information is a central station} - G08G 1/096791: {where the origin of the information is another vehicle} - G08G 1/096827: {where the route is computed onboard} - G08G 1/096844: {where the complete route is dynamically recomputed based on new data} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - G08G 1/202: {Dispatching vehicles on the basis of a location, e.g. taxi dispatching} - B60W 2050/0026: {Lookup tables or parameter maps} - B60W 2552/20: Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments - B60W 2552/35: Road bumpiness, e.g. potholes - B60W 2552/40: Coefficient of friction - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/00: Input parameters relating to objects - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2720/10: Longitudinal speed - B60W 2720/106: Longitudinal acceleration - G01N 21/4738: {Diffuse reflection (precedence is given to G01N21/55 - G01N21/57 if specular component is taken into consideration), e.g. also for testing fluids, fibrous materials} - G01N 2201/0216: Vehicle borne - G01S 15/931: of land vehicles - G05B 2219/33027: Artificial neural network controller - G06N 3/02: Neural networks - G06N 20/10: using kernel methods, e.g. support vector machines [SVM] - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - E01C: CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR (forming roads or like surfaces by compacting or grading snow or ice E01H) - E01H: STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING {OR PREVENTING} FOG IN GENERAL {CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS}(cleaning in general B08B) - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - 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 - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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}) - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract An apparatus is provided which includes a processing circuit and a plurality of sensors connected to a vehicle, where at least one of the plurality of sensors is positioned on an undercarriage of the vehicle. The plurality of sensors can detect variations in a road on which the vehicle is traveling. The plurality of sensors can also generate information corresponding to the variations of the road. The plurality of sensors can also transmit the information corresponding to the variations in the road to the processing circuit. The information collected by the plurality of sensors may then be used to augment a driving capability of the vehicle. ## Claims ### Claim 1 A fully autonomous vehicle (AV), comprising: a plurality of sensors coupled to the AV, wherein at least one sensor of the plurality of sensors is positioned on an undercarriage of the AV and in physical contact with a navigable surface on which the AV is traveling, and wherein the plurality of sensors are configured to: detect variations of the navigable surface on which the AV is traveling; and generate information corresponding to the variations of the navigable surface; and a processing circuit configured to: receive the information corresponding to the variations of the navigable surface; and augment a driving capability of the AV based on the information including: determining that the navigable surface has a level of traction that does not satisfy a threshold; and in response to the determination, adjusting, using a control circuit, a speed of the AV. ### Claim 2 (depends on 1) The fully autonomous vehicle of claim 1, wherein the processing circuit processes, using one or more machine learning algorithms, the information corresponding to the variations that is received from the plurality of sensors. ### Claim 3 (depends on 2) The fully autonomous vehicle of claim 2, wherein the one or more machine learning algorithms comprises at least one support vector machine algorithm. ### Claim 4 (depends on 2) The fully autonomous vehicle of claim 2, wherein the one or more machine learning algorithms comprises at least one neural network algorithm. ### Claim 5 (depends on 1) The fully autonomous vehicle of claim 1, wherein the processing circuit transmits the information collected by the plurality of sensors to a remote server, wherein the remote server exchanges information with other vehicles connected to the remote server. ### Claim 6 (depends on 1) The fully autonomous vehicle of claim 1, wherein the processing circuit transmits the information collected by the plurality of sensors to one or more other vehicles that are in a vicinity of the AV corresponding to the plurality of sensors. ### Claim 7 (depends on 1) The fully autonomous vehicle of claim 1, wherein augmenting the driving capability of the AV comprises: detecting, using the processing circuit, an obstacle on the road according to the information collected by the plurality of sensors; and in response to the detecting, adjusting, using a control circuit, a steering of the AV to avoid the obstacle. ### Claim 8 (depends on 1) The fully autonomous vehicle of claim 1, wherein the processing circuit is configured to: detect lane demarcations on a surface of the road according to the information collected by the plurality of sensors, wherein the lane demarcations are distinguishable from the navigable surface according to the information collected by the plurality of sensors; and generate a map of lane lines on the surface of the road using the lane demarcations. ### Claim 9 (depends on 1) The fully autonomous vehicle of claim 1, wherein augmenting the driving capability of the AV comprises: determining, using the processing circuit, that the variations of the navigable surface occur at periodic intervals; and in response to the determination, steering, using a control circuit, the AV in a direction towards a section of the road away from the variations on the surface of the road. ### Claim 10 (depends on 1) The fully autonomous vehicle of claim 1, wherein augmenting the driving capability of the AV comprises: determining, using the processing circuit, that the variations of the navigable surface occur at periodic intervals; and in response to the determination, reducing a speed of the AV. ### Claim 11 (depends on 1) The fully autonomous vehicle of claim 1, wherein augmenting the driving capability of the AV comprises: determining, using the information collected by the plurality of sensors, a slip ratio of a surface of the road; in response to the determination, estimating a friction value of the surface of the road; and adjusting the driving capability of the AV in accordance with the estimated friction value. ### Claim 12 (depends on 11) The fully autonomous vehicle of claim 11, wherein augmenting the driving capability of the AV further comprises: determining, using the estimated friction value, a type of material used for a surface of the road; and adjusting a speed of the AV in accordance with type of material used for the surface of the road. ### Claim 13 (depends on 1) The fully autonomous vehicle of claim 1, wherein augmenting the driving capability of the AV comprises: performing a look up of a friction table using the information collected by the plurality of sensors; in response to the look up, estimating a friction value of a surface of the road; and adjusting the driving capability of the AV in accordance with the estimated friction value. ### Claim 14 (depends on 1) The fully autonomous vehicle of claim 1, wherein the plurality of sensors comprises: a first sensor; a second sensor; and wherein the first sensor processes information of a first type and the second sensor processes information of a second type that is different than the first type. ### Claim 15 (depends on 1) The fully autonomous vehicle of claim 1, wherein the processing circuit generates, using the information collected by the plurality of sensors, a height map of a surf ace of the road. ### Claim 16 (depends on 1) The fully autonomous vehicle of claim 1, wherein the processing circuit is configured to: determine, using the information collected by the plurality of sensors, a condition of a surface of the road; and classify the determined condition of the surface of the road as having one or more of snow, ice, rain or obstacles. ### Claim 17 (depends on 1) The fully autonomous vehicle of claim 1, wherein augmenting the driving capability of the AV comprises: receiving, from one or more neighboring vehicles, additional information about variations of the navigable surface; comparing the information collected by the plurality of sensors to the additional information received from the one or more neighboring vehicles; and computing a confidence measure in the information collected by the plurality of sensors in accordance with the comparison. ### Claim 18 (depends on 1) The fully autonomous vehicle of claim 1, wherein the plurality of sensors comprises a sensor array, and wherein the sensor array includes sensors positioned in one or more rows. ### Claim 19 (depends on 1) The fully autonomous vehicle of claim 1, wherein the plurality of sensors comprises one or more sensors embedded in at least one of a tire of the AV or a suspension of the AV. ### Claim 20 (depends on 1) The fully-autonomous vehicle of claim 1, wherein the at least one sensor is positioned at an end of a bristle on the undercarriage of the AV. ### Claim 21 A method of operating a fully autonomous vehicle (AV), comprising: receiving information from a plurality of sensors coupled to the AV, the information corresponding to variations of a navigable surface on which the AV is traveling, wherein at least one sensor of the plurality of sensors is positioned on an undercarriage of the AV and is in physical contact with the navigable surface; and augmenting a driving capability of the AV based on the information, including: determining that the navigable surface has a level of traction that does not satisfy a threshold; and in response to the determination, adjusting a speed of the AV. ### Claim 22 A system, comprising: a fully autonomous vehicle (AV); a plurality of sensors coupled to the AV, wherein at least one sensor of the plurality of sensors is positioned on an undercarriage of the AV and in physical contact with a navigable surface on which the AV is traveling, and wherein the plurality of sensors are configured to: detect variations of the navigable surface on which the AV is traveling; and generate information corresponding to the variations of the navigable surface; and a first device with one or more processors and memory, the first device configured to: receive the information corresponding to the variations of the navigable surface; augment a driving capability of the AV based on the information, including: determining that the navigable surface has a level of traction that does not satisfy a threshold; and in response to the determination, adjusting a speed of the AV. ### Claim 23 A non-transitory computer-readable medium encoding instructions operable to cause a data processing apparatus to: receive information from a plurality of sensors coupled to an autonomous vehicle (AV), the information corresponding to variations of a navigable surface on which the AV is traveling, wherein at least one sensor of the plurality of sensors is positioned on an undercarriage of the AV and is in physical contact with the navigable surface; and augment a driving capability of the AV based on the information, including: determining that the navigable surface has a level of traction that does not satisfy a threshold; and in response to the determination, adjusting a speed of the AV.