Method and system for operating an on-vehicle LiDAR sensor

A vehicle, comprising:

• an advanced driver assistance system (ADAS) and a spatial monitoring system;
• wherein the spatial monitoring system includes:
• a LiDAR sensor;
• a first plurality of sensors arranged to monitor ambient environmental states, including one or more of temperature, pressure, humidity, and precipitation;
• a second plurality of sensors arranged to monitor vehicle operating conditions;
• and
• a controller, in communication with the first plurality of sensors and the second plurality of sensors, and operatively connected to the LiDAR sensor, the controller including an instruction set, the instruction set being executable to:
• monitor, via the first plurality of sensors, the ambient environmental states, monitor, via the second plurality of sensors, the vehicle operating conditions, capture, via the LiDAR sensor, a point cloud,
• determine metrics for the point cloud, and
• determine desired control parameters for the LiDAR sensor based upon the ambient environmental conditions, the vehicle operating conditions, and the point cloud metrics, and
• control the LiDAR sensor to capture an image of a field-of-view proximal to the vehicle based upon the desired control parameters;
• wherein the ADAS controls operation of the vehicle based upon the image of a field-of- view proximal to the vehicle.

A method for monitoring a spatial environment for a vehicle, method comprising:

• monitoring a plurality of ambient environmental states, including one or more of temperature, pressure, humidity, and precipitation;
• monitoring vehicle operating conditions;
• capturing, via a LiDAR sensor, a point cloud,
• determining metrics for the point cloud, and
• determining desired control parameters for the LiDAR sensor based upon the ambient environmental conditions, the vehicle operating conditions, and the point cloud metrics, and controlling the LiDAR sensor to capture an image of a field-of-view proximal to the vehicle based upon the desired control parameters.