# US 11,994,622 B2 · Methods and systems for providing scan data for decision making by a self-driving vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,994,622 B2 - Document ID: US11994622B2 - Status: Granted - Kind: B2 - Application number: 17/522,552 - Filed: 2021-11-09 - Published: 2022-05-12 - Granted: 2024-05-28 - Earliest claimed: 2020-11-10 - Assignees: Direct Cursus Technology L.L.C - Applicants: Yandex Self Driving Group LLC - Inventors: Artem Andreevich Filatov; Andrey Olegovich Rykov - Web page: https://patentgrep.com/patent/US11994622B2 ## CPC - G01S 7/4817: {relating to scanning} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method and system for providing scan data for decision making in a self-driving vehicle are provided. The self-driving vehicle includes a scanning sensor that scans a space around the self-driving vehicle in consecutive scanning cycles. The method includes receiving a request for scan information associated with a requested segment of space. The method determines whether to wait for a next scan of the requested segment and use scan data from the next scan, or to extract and use scan data from a previous scan of the requested segment. The method also includes processing the scan data to generate the scan information for the requested segment, providing the scan information for the requested segment in response to the request, and operating the self-driving vehicle in accordance with a decision made about a maneuver to be performed by the self-driving vehicle based, at least in part, on the scan information. ## Claims ### Claim 1 A method of operating a self-driving vehicle, the method executable on a computing device associated with the self-driving vehicle, the self-driving vehicle being equipped with a scanning sensor that scans a space around the self-driving vehicle in consecutive scanning cycles, the method comprising: receiving a request for scan information associated with a requested segment of space, receiving the request further comprising receiving a deadline by which the scan information associated with the requested segment of space is to be provided; determining whether to wait for a next scan of the requested segment by the scanning sensor and use scan data from the next scan of the requested segment, or to extract and use scan data from a previous scan of the requested segment by the scanning sensor, the determination comprises: evaluating a time parameter indicative of a time of availability of data for the next scan of the requested segment by the scanning sensor; comparing the time parameter to the deadline; and in response to the time parameter indicating that the scan information will not be available by the deadline, making a determination to use data from the previous scan of the requested segment; processing the scan data to generate the scan information for the requested segment, processing the scan data comprising analyzing the scan data in a perception layer of a control system that operates the self-driving vehicle, the perception layer classifying objects around the self-driving vehicle based at least in part on the scan data; providing the scan information for the requested segment in response to the request; and operating the self-driving vehicle in accordance with a decision made about a maneuver to be performed by the self-driving vehicle based, at least in part, on the scan information, the decision being made in a behavior layer of a control system that operates the self-driving vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein determining whether to wait for the next scan of the requested segment comprises: evaluating a first time parameter indicative of time passed since the previous scan of the requested segment by the scanning sensor; evaluating a second time parameter indicative of a time to availability of data for the next scan of the requested segment by the scanning sensor; and making a determination based, at least in part, on the first time parameter and the second time parameter. ### Claim 3 (depends on 2) The method of claim 2, wherein making the determination based, at least in part, on the first time parameter and the second time parameter comprises: comparing the first time parameter to the second time parameter; and determining to use data from the previous scan of the requested segment in response to the first time parameter being less than the second time parameter. ### Claim 4 (depends on 2) The method of claim 2, wherein making the determination based, at least in part, on the first time parameter and the second time parameter comprises: comparing the first time parameter to the second time parameter; and determining to use data from the next scan of the requested segment in response to the first time parameter being greater than the second time parameter. ### Claim 5 (depends on 1) The method of claim 1, wherein determining whether to wait for the next scan of the requested segment comprises: determining whether the requested segment has been scanned during a current scanning cycle; and making a determination to use previously scanned data from the current scanning cycle for the requested segment if the requested segment has been scanned during the current scanning cycle. ### Claim 6 (depends on 5) The method of claim 5, wherein in response to the requested segment not having been scanned during the current scanning cycle, determining whether to wait for the next scan of the requested segment further comprises: evaluating a first time parameter indicative of time passed from scanning the requested segment in a previous scanning cycle; and determining whether to wait for the next scan of the requested segment based, at least in part, on the first time parameter. ### Claim 7 (depends on 6) The method of claim 6, wherein determining whether to wait for the next scan of the requested segment based, at least in part, on the first time parameter comprises: evaluating a second time parameter indicative of a time to availability of data for the requested segment during the current scanning cycle; and comparing the first time parameter to the second time parameter. ### Claim 8 (depends on 7) The method of claim 7, wherein in response to the first time parameter being greater than the second time parameter, a determination is made to wait for the data for the requested segment during the current scanning cycle. ### Claim 9 (depends on 7) The method of claim 7, wherein in response to the first time parameter being less than the second time parameter, a determination is made to use data for the requested segment from the previous scanning cycle. ### Claim 10 (depends on 1) The method of claim 1, wherein evaluating the time parameter further comprises adding a processing time to the time parameter. ### Claim 11 (depends on 1) The method of claim 1, wherein the scanning sensor comprises a LiDAR device. ### Claim 12 (depends on 11) The method of claim 11, wherein the scan data comprises a LiDAR point cloud. ### Claim 13 A self-driving vehicle comprising: a LiDAR device configured to scan a space around the self-driving vehicle in consecutive scanning cycles; and a control system that operates the self-driving vehicle, the control system comprising a computing device including a processor and a memory, the memory storing programmed instructions that when executed by the processor cause the control system to: receive a request from a behavior layer of the control system in a perception layer of the control system for scan information associated with a requested segment of space; determine in the perception layer whether to wait for a next scan of the requested segment by the LiDAR device and use scan data from the next scan of the requested segment, or to extract and use scan data from a previous scan of the requested segment by the LiDAR device; process the scan data in the perception layer to generate the scan information for the requested segment; provide the scan information to the behavior layer for the requested segment in response to the request; and operate the self-driving vehicle in accordance with a decision made about a maneuver to be performed by the self-driving vehicle in the behavior layer based, at least in part, on the scan information, the memory further storing programmed instructions that when executed by the processor cause the control system to: receive a deadline in the perception layer, the deadline providing a time by which the scan information associated with the requested segment of space is to be provided to the behavior layer; and determine whether to wait for the next scan of the requested segment at least in part by: evaluating a time parameter indicative of a time of availability of data for the next scan of the requested segment by the LiDAR device; comparing the time parameter to the deadline; and in response to the time parameter indicating that the scan information will not be available by the deadline, making a determination to use data from the previous scan of the requested segment. ### Claim 14 (depends on 13) The self-driving vehicle of claim 13, wherein the memory further stores programmed instructions that when executed by the processor cause the control system to determine whether to wait for the next scan of the requested segment at least in part by: evaluating a first time parameter indicative of time passed since the previous scan of the requested segment by the LiDAR device; evaluating a second time parameter indicative of a time to availability of data for the next scan of the requested segment by the LiDAR device; comparing the first time parameter to the second time parameter; determining to use data from the previous scan of the requested segment in response to the first time parameter being less than the second time parameter; and determining to use data from the next scan of the requested segment in response to the first time parameter being greater than the second time parameter. ### Claim 15 (depends on 13) The self-driving vehicle of claim 13, wherein the memory further stores programmed instructions that when executed by the processor cause the control system to determine whether to wait for the next scan of the requested segment at least in part by: determining whether the requested segment has been scanned during a current scanning cycle; in response to the requested segment having been scanned during the current scanning cycle, making a determination to use previously scanned data from the current scanning cycle for the requested segment; and in response to the requested segment not having been scanned during the current scanning cycle, determining whether to wait for the next scan of the requested segment by: evaluating a first time parameter indicative of time passed from scanning the requested segment in a previous scanning cycle; evaluating a second time parameter indicative of a time to availability of data for the requested segment during the current scanning cycle; comparing the first time parameter to the second time parameter; in response to the first time parameter being greater than the second time parameter, making a determination to wait for the data for the requested segment during the current scanning cycle; and in response to the first time parameter being less than the second time parameter, making a determination to use data for the requested segment from the previous scanning cycle.