US 12,269,479 B2
Dynamic assignment of friction coefficient using sensor data for use in simulation
Rizwan Ahmed, Canton, MI (US); and Nathan Beyers, Pittsburgh, PA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Nov. 18, 2022, as Appl. No. 17/989,929.
Prior Publication US 2024/0166213 A1, May 23, 2024
Int. Cl. B60W 40/06 (2012.01); B60W 40/068 (2012.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 40/068 (2013.01) [G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2555/20 (2020.02)] 17 Claims
OG exemplary drawing
 
14. A system comprising:
at least one processor;
at least one memory storing computer-readable instructions that, when executed by the at least one processor, causes the at least one processor to:
associate a predetermined friction coefficient to each road feature of a plurality of road features based on an environmental condition for each road feature;
receive sensor data from at least one of a sensor mounted on an autonomous vehicle, wherein the sensor data is related to at least one road feature of the plurality of road features;
identify, from the sensor data, the presence and environmental condition of the at least one road feature in a real-world environment;
assign in a simulation, a friction coefficient corresponding to the at least one road feature based on the predetermined friction coefficient associated with the environmental condition of the at least one road feature;
generate, based on the assigned friction coefficient, a simulation of a trip by the autonomous vehicle as the autonomous vehicle traverses the road feature, the simulation indicative of an interaction between the autonomous vehicle and the at least one road feature, wherein the simulation accounts for driving conditions in the real-world environment based on use of the assigned friction coefficient for the at least one road feature;
receive environmental sensor data from a second sensor on an autonomous vehicle, wherein the second sensor comprises at least one of a rain sensor, temperature sensor, and humidity sensor;
receive an operational state of a component on the autonomous vehicle, the component comprising at least one of a windshield wiper and climate control blower; and
identify, from the environmental sensor data and the operational state of the component, the environmental condition of the at least one road feature, wherein the environmental condition includes at least one of a wet condition, ice condition, and snow condition.