US 12,292,511 B2
Method for road debris detection using low-cost LIDAR
Paul D. Schmalenberg, Ann Arbor, MI (US)
Assigned to TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US)
Filed by TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US)
Filed on Dec. 12, 2023, as Appl. No. 18/537,327.
Application 18/537,327 is a continuation of application No. 16/908,708, filed on Jun. 22, 2020, granted, now 11,879,980.
Prior Publication US 2024/0125941 A1, Apr. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/931 (2020.01); G01S 7/487 (2006.01); G01S 17/06 (2006.01); G01S 17/86 (2020.01); H01L 31/105 (2006.01)
CPC G01S 17/931 (2020.01) [G01S 7/487 (2013.01); G01S 17/06 (2013.01); G01S 17/86 (2020.01); H01L 31/105 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for anomaly detection for a vehicle comprising:
emitting a light signal from a light detection and ranging (LIDAR) sensor of the vehicle onto a path;
detecting a reflected light signal by the LIDAR sensor and generating first electrical data on the reflected light signal, the first electrical data comprising data resulting from a first Fast Fourier transformation of the reflected light signal;
retrieving second electrical data corresponding to a known response signal, the second electrical data comprising data resulting from a second Fast Fourier transformation of the known response signal;
comparing a first slope of the first electrical data with a second slope of the second electrical data and determining that a difference between the first slope and the second slope exceeds a threshold difference; and
identifying an anomaly in a travel path based on the difference between the first slope and the second slope exceeding the threshold difference.