US 11,860,626 B2
Vehicle sensor verification and calibration
Stephanie McArthur, Mountain View, CA (US); Mark Alexander Shand, Palo Alto, CA (US); and Colin Braley, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Aug. 26, 2021, as Appl. No. 17/412,599.
Application 17/412,599 is a continuation of application No. 16/035,576, filed on Jul. 13, 2018, granted, now 11,119,478.
Prior Publication US 2021/0389763 A1, Dec. 16, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); G01S 7/40 (2006.01); G01S 7/497 (2006.01); G05D 1/02 (2020.01); G01C 21/20 (2006.01); G01S 7/52 (2006.01)
CPC G05D 1/0055 (2013.01) [G01C 21/20 (2013.01); G01S 7/40 (2013.01); G01S 7/497 (2013.01); G01S 7/52004 (2013.01); G05D 1/0255 (2013.01); G05D 1/0257 (2013.01); G05D 1/0259 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A method comprising:
detecting, by a vehicle, a trigger, wherein detecting the trigger comprises determining that the vehicle is within a threshold distance to a target in an environment of the vehicle;
obtaining sensor data collected by a sensor of the vehicle after the detection of the trigger, wherein the sensor data is indicative of a scan of a region of the environment that includes the target;
detecting a change in a scanning characteristic of the sensor, wherein detecting the change in the scanning characteristic of the sensor comprises comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors other than the sensor of the vehicle during one or more previous scans of the environment; and
based on at least the detected change in the scanning characteristic of the sensor, transmitting a communication to an external computing system.