US 11,878,695 B2
Surface guided vehicle behavior
Bence Cserna, East Boston, MA (US); Shih-Yuan Liu, Arlington, MA (US); and Scott D. Pendleton, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Jan. 26, 2021, as Appl. No. 17/158,497.
Prior Publication US 2022/0234589 A1, Jul. 28, 2022
Int. Cl. B60W 40/06 (2012.01); G01C 21/00 (2006.01); B60W 50/02 (2012.01)
CPC B60W 40/06 (2013.01) [B60W 50/0205 (2013.01); G01C 21/3815 (2020.08); B60W 2050/021 (2013.01); B60W 2050/0215 (2013.01); B60W 2420/10 (2013.01); B60W 2420/54 (2013.01); B60W 2552/35 (2020.02); B60W 2554/20 (2020.02); B60W 2556/10 (2020.02); B60W 2556/65 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A system, comprising:
at least one computer-readable medium storing computer-executable instructions;
at least one processor configured to execute the computer-executable instructions, the execution carrying out operations including:
receiving, from at least one sensor of a vehicle, a sensor measurement indicative of at least one of a sound or a vibration associated with a road element;
identifying the road element based on a pattern in the sensor measurement;
determining a location of the road element;
comparing the road element to expected road elements in the location;
determining that the road element matches a first expected road element;
determining a discrepancy between the location of the road element and a stored location of the first expected road element;
updating the stored location of the first expected road element based on the location of the road element;
determining, based on the road element, a vehicle behavior for the vehicle; and
causing the vehicle to operate according to the vehicle behavior.