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US 12,216,474 B1Granted
Vibrometry-based behavior prediction for autonomous vehicle applications
AssigneeWaymo LLC
InventorsNicholas Armstrong-Crews, Bryce Remesch
Life of this patent
Estimating the term…
Abstract
Aspects and implementations are related to systems and techniques enabling predictions of a motion change in a moving vehicle, predictions of an onset of a motion of an idling vehicle, and classification of vehicles based, at least in part, on vibrometry data obtained using light detection and ranging devices.
Claims20
A method comprising:
- determining, by a sensing system of an autonomous vehicle (AV), a first spectral representation of vibrations associated with a first state of a movable object at a first measurement time and a second spectral representation of vibrations associated with a second state of the movable object at a second measurement time;
- identifying a first reference frequency of the first spectral representation and a second reference frequency of the second spectral representation;
- determining a value of an acceleration of the movable object based at least on the second reference frequency, the first reference frequency, and a duration between the second measurement time and the first measurement time;
- predicting, based on the determined value of the acceleration, a motion change of the movable object;
- and
- causing a driving path of the AV to be determined in view of the predicted motion change.
3 more elements
A system comprising:
- a sensing system of an autonomous vehicle (AV), the sensing system configured to:
- determine a first spectral representation of vibrations associated with a first state of a movable object at a first measurement time and a second spectral representation of vibrations associated with a second state of the movable object at a second measurement time;
- identify a first reference frequency of the first spectral representation and a second reference frequency of the second spectral representation;
- determine a value of an acceleration of the movable object based at least on the second reference frequency, the first reference frequency, and a duration between the second measurement time and the first measurement time;
- and
- predict, based on the determined value of the acceleration, a motion change of the movable object;
- and
- a control system of the AV communicatively coupled to the sensing system, the control system configured to:
- cause a driving path of the AV to be determined in view of the predicted motion change.
6 more elements
An autonomous vehicle (AV), comprising:
- a sensing system configured to:
- determine a first spectral representation of vibrations associated with a first state of a movable object at a first measurement time and a second spectral representation of vibrations associated with a second state of the movable object at a second measurement time;
- identify a first reference frequency of the first spectral representation and a second reference frequency of the second spectral representation;
- determine a value of an acceleration of the movable object based at least on the second reference frequency, the first reference frequency, and a duration between the second measurement time and the first measurement time;
- and
- predict, based on the determined value of the acceleration, a motion change of the movable object;
- and
- a control system communicatively coupled to the sensing system, the control system configured to:
- cause a driving path of the AV to be determined in view of the predicted motion change.
6 more elements
Dependencies are inferred from the claim text.