US 12,319,271 B2
Road surface condition guided decision making and prediction
Bence Cserna, Nahant, MA (US); Eric Wolff, Boston, MA (US); and Shih-Yuan Liu, Arlington, MA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Jun. 7, 2023, as Appl. No. 18/207,093.
Application 18/207,093 is a continuation of application No. 17/154,285, filed on Jan. 21, 2021, granted, now 11,708,066.
Prior Publication US 2023/0311850 A1, Oct. 5, 2023
Int. Cl. B60W 30/02 (2012.01); B60W 40/06 (2012.01); G06V 20/56 (2022.01)
CPC B60W 30/02 (2013.01) [B60W 40/06 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2556/10 (2020.02); G06V 20/56 (2022.01)] 15 Claims
OG exemplary drawing
 
1. A system, comprising:
at least one sensor;
at least one computer-readable medium storing computer-executable instructions;
at least one processor configured to communicate with the at least one sensor and to execute the computer-executable instructions, the execution carrying out operations comprising:
receiving surface property feedback comprising sensor measurements captured when a vehicle was near a known surface or driving on the known surface and vehicle behavior feedback comprising information indicative of a vehicle trajectory when the vehicle was near the known surface or driving on the known surface, from a vehicle controller;
receiving known surface information from a shared dynamic surface map, wherein the known surface information comprises known surface properties and a known surface classification of the known surface;
training a machine learning model using the surface property feedback, the vehicle behavior feedback, and the known surface information, wherein the machine learning model is trained to identify a threshold similarity between sensor measurements of a particular surface and the known surface properties of the known surface to classify the particular surface; and
determining, based on an output of the trained machine learning model, a surface classification of the particular surface as the known surface classification based on the threshold similarity.