# US 12,759,576 B2 · Method for using exteroceptive sensor data based on vehicle state or mission state

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- Number: US 12,759,576 B2
- Document ID: US12759576B2
- Status: Granted
- Kind: B2
- Application number: 18/051,872
- Filed: 2022-11-01
- Published: 2023-05-04
- Granted: 2026-10-13
- Earliest claimed: 2021-11-01
- Assignees: Autonomous Solutions, Inc.
- Applicants: Autonomous Solutions, Inc.
- Inventors: Robert Ashby; Levi Baker; Taylor Bybee; Joshua Vanfleet; Jeff Ferrin
- Web page: https://patentgrep.com/patent/US12759576B2

## CPC

- B60W 60/001: {Planning or execution of driving tasks}
- B60W 10/06: including control of combustion engines
- B60W 10/18: including control of braking systems
- B60W 2420/40: Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2420/50: Magnetic or electromagnetic sensors
- B60W 2420/54: Audio sensitive means, e.g. ultrasound
- B60W 2520/10: Longitudinal speed
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2556/40: High definition maps
- 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

## Abstract

An autonomous vehicle may include a sensor array; an engine output control system; a braking control system; and a controller. The controller may be communicatively coupled with the sensor array, the engine output control system, and the braking control system. The controller may be configured to: sense an environment with the sensor array to produce sensor data; receiving autonomous vehicle state data; determining whether the autonomous vehicle state data is above a threshold state value; in the event the autonomous vehicle state data is above a threshold state value, not using the sensor data to operate the autonomous vehicle; and in the event the autonomous vehicle state data is not above a threshold state value, using the sensor data to operate the autonomous vehicle.

## Claims

### Claim 1

An autonomous vehicle comprising:
a Lidar sensor;
a radar sensor;
an engine output control system;
a braking control system; and
a controller communicatively coupled with the Lidar sensor, the radar sensor, the engine output control system, and the braking control system, the controller configured to:
sense an environment with the Lidar sensor to produce Lidar sensor data;
receive implement state data for an implement coupled with or towed by the autonomous vehicle;
determine whether the implement state data indicates the implement is in a dusty state;
in the event the implement state data indicates the implement is in the dusty state, not use the Lidar sensor data to move the autonomous vehicle along a path; and
in the event the implement state data indicates the implement is not in the dusty state, use the Lidar sensor data to move the autonomous vehicle along the path.

### Claim 2

A method executing to control an autonomous vehicle, the method comprising:
sensing an environment with a Lidar sensor of the autonomous vehicle or attached to the autonomous vehicle to produce Lidar sensor data;
receiving implement state data for an implement coupled with or towed by the autonomous vehicle;
determining whether the implement state data indicates the implement is in a dusty state;
in the event the implement state data indicates the implement is in the dusty state, not using the Lidar sensor data to move the autonomous vehicle along a path; and
in the event the implement state data indicates the implement is not in the dusty state, using the Lidar sensor data to move the autonomous vehicle along the path.