# US 11,897,512 B2 · Modifying settings of autonomous vehicle sensors based on predicted environmental states > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,512 B2 - Document ID: US11897512B2 - Status: Granted - Kind: B2 - Application number: 16/906,305 - Filed: 2020-06-19 - Published: 2021-12-23 - Granted: 2024-02-13 - Earliest claimed: 2020-06-19 - Assignees: Ghost Autonomy Inc. - Applicants: Ghost Autonomy Inc. - Inventors: John Hayes; Volkmar Uhlig; Nima Soltani - Web page: https://patentgrep.com/patent/US11897512B2 ## CPC - B60W 60/0025: {specially adapted for specific operations} - B60W 50/0097: {Predicting future conditions} - B60W 50/06: Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot - G06N 5/04: Inference or reasoning models - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60W 2420/403: Image sensing, e.g. optical camera - G06N 3/08: Learning methods - 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 - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Modifying settings of autonomous vehicle sensors based on predicted environmental states, including: determining, based on sensor data, that a predicted environmental state of the autonomous vehicle is associated with a sensory input outside an operating range of a sensor; determining a modified operating range of the sensor; and modifying one or more sensors to operate according to the modified operating range. ## Claims ### Claim 1 A method for modifying settings of autonomous vehicle sensors based on predicted environmental states, comprising: determining, based on video data, that an illumination of a predicted input to a camera of the autonomous vehicle falls outside an operating range of the camera, wherein the operating range of the camera comprises a range of illumination based on a current exposure setting of the camera; determining a modified operating range of the camera; and modifying the exposure setting of one or more cameras based on the modified operating range. ### Claim 2 (depends on 1) The method of claim 1, wherein determining that the illumination of the predicted input to the camera of the autonomous vehicle falls outside the operating range of the camera comprises: identifying, based on the video data, a lighting boundary; and determining that the camera will pass through the lighting boundary. ### Claim 3 (depends on 1) The method of claim 1, further comprising: determining a time when the autonomous vehicle will reach a predicted environmental state; and wherein modifying the one or more cameras comprises modifying the one or more cameras based on the determined time. ### Claim 4 (depends on 1) The method of claim 1, wherein the one or more cameras comprises the camera. ### Claim 5 (depends on 1) The method of claim 1, wherein the one or more cameras comprises another camera distinct from the camera, and the method further comprises modifying, after modifying the operating range, a switched fabric to provide video data from the other camera. ### Claim 6 (depends on 1) The method of claim 1, further comprising calculating the modified exposure setting based on the modified operating range. ### Claim 7 (depends on 1) The method of claim 1, further comprising selecting the modified exposure setting from a selection of exposure settings. ### Claim 8 An apparatus for modifying settings of autonomous vehicle sensors based on predicted environmental states, the apparatus configured to perform steps comprising: determining, based on video data, that an illumination of a predicted input to a camera of the autonomous vehicle falls outside an operating range of the camera, wherein the operating range of the camera comprises a range of illumination based on a current exposure setting of the camera; determining a modified operating range of the camera; and modifying the exposure setting of one or more cameras based on the modified operating range. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein determining that the illumination of the predicted input to the camera of the autonomous vehicle falls outside the operating range of the camera comprises: identifying, based on the video data, a lighting boundary; and determining that the camera will pass through the lighting boundary. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the steps further comprise: determining a time when the autonomous vehicle will reach a predicted environmental state; and wherein modifying the one or more cameras comprises modifying the one or more cameras based on the determined time. ### Claim 11 (depends on 8) The apparatus of claim 8, wherein the one or more cameras comprises the camera. ### Claim 12 (depends on 8) The apparatus of claim 8, wherein the one or more cameras comprises another camera distinct from the camera, and the method further comprises modifying, after modifying the operating range, a switched fabric to provide video data from the other camera. ### Claim 13 (depends on 8) The apparatus of claim 8, further comprising calculating the modified exposure setting based on the modified operating range. ### Claim 14 (depends on 8) The apparatus of claim 8, further comprising selecting the modified exposure setting from a selection of exposure settings. ### Claim 15 An autonomous vehicle for modifying settings of autonomous vehicle sensors based on predicted environmental states, comprising: an apparatus configured to perform steps comprising: determining, based on video data, that an illumination of a predicted input to a camera of the autonomous vehicle falls outside an operating range of the camera, wherein the operating range of the camera comprises a range of illumination based on a current exposure setting of the camera; determining a modified operating range of the camera; and modifying the exposure setting of one or more cameras based on the modified operating range. ### Claim 16 (depends on 15) The autonomous vehicle of claim 15, wherein determining that the illumination of the predicted input to the camera of the autonomous vehicle falls outside the operating range of the camera comprises: identifying, based on the video data, a lighting boundary; and determining that the camera will pass through the lighting boundary. ### Claim 17 (depends on 15) The autonomous vehicle of claim 15, wherein the steps further comprise: determining a time when the autonomous vehicle will reach a predicted environmental state; and wherein modifying the one or more cameras comprises modifying the one or more cameras based on the determined time. ### Claim 18 (depends on 15) The autonomous vehicle of claim 15, wherein the one or more cameras comprises the camera. ### Claim 19 (depends on 15) The autonomous vehicle of claim 15, wherein the one or more cameras comprises another camera distinct from the camera, and the method further comprises modifying, after modifying the operating range, a switched fabric to provide video data from the other camera. ### Claim 20 A computer program product disposed upon a non-transitory computer readable medium, the computer program product comprising computer program instructions for modifying settings of autonomous vehicle sensors based on predicted environmental states that, when executed, cause a computer system of the autonomous vehicle to carry out the steps of: determining, based on video data, that an illumination of a predicted input to a camera of the autonomous vehicle falls outside an operating range of the camera, wherein the operating range of the camera comprises a range of illumination based on a current exposure setting of the camera; determining a modified operating range of the camera; and modifying the exposure setting of one or more cameras based on the modified operating range.