US 12,321,175 B2
Sensor adjustment based on vehicle motion
Blaise Gassend, East Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Mar. 8, 2022, as Appl. No. 17/689,615.
Application 17/689,615 is a continuation of application No. 15/648,673, filed on Jul. 13, 2017, granted, now 11,300,958.
Prior Publication US 2022/0197285 A1, Jun. 23, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 7/48 (2006.01); G01S 7/484 (2006.01); G01S 7/497 (2006.01); G01S 17/10 (2020.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G05D 1/00 (2006.01); B60W 30/09 (2012.01)
CPC G05D 1/0094 (2013.01) [G01S 7/484 (2013.01); G01S 7/497 (2013.01); G01S 7/4972 (2013.01); G01S 17/10 (2013.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G05D 1/0231 (2013.01); G05D 1/0246 (2013.01); B60W 30/09 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
scanning an environment of a vehicle by a light detection and ranging (LIDAR) device mounted to the vehicle, the LIDAR device having a field of view defined by a pointing direction of the LIDAR device, wherein the scanning comprises rotating the pointing direction of the LIDAR device at a rate of rotation in a direction of rotation;
receiving sensor data indicative of motion and orientation of the vehicle relative to the environment of the vehicle, wherein the sensor data indicative of motion and orientation of the vehicle comprises data indicative of the vehicle beginning a turning maneuver in a turning direction; and
adjusting the rate of rotation of the pointing direction of the LIDAR device based on the turning direction, wherein adjusting the rate of rotation of the pointing direction of the LIDAR device based on the turning direction comprises at least one of: (i) decreasing the rate of rotation based on the turning direction being the same as the direction of rotation; or (ii) increasing the rate of rotation based on the turning direction being opposite the direction of rotation.