Patent Description:
Various systems (e.g., automated control system(s)) may be used onboard vehicles (and/or computing devices in communication with the vehicles) to facilitate driving functions, autonomous or otherwise. For example, the autonomous driving functions may include steering controls, acceleration controls, braking controls, or other aspects of piloting vehicles. In some implementations, one or more of these (or other) driving functions may be integrated into a safety, accident avoidance, or other safety system or package. Such functions and/or systems or packages allow for automated (e.g., computerized) control of aspects of the driving functions. For example, as part of the acceleration and/or braking controls, the automated control system may be configured to control a vehicle speed of the autonomous vehicle. The automated control system may be further configured to monitor an environment of the vehicle, for example, via a condition monitoring system. Accordingly, when the automated control system is controlling braking for the vehicle, the control system may monitor the environment in front of the vehicle to identify any conditions that may result in slowing the speed or movement of the vehicle. Such monitoring of the environment in front of (and elsewhere around) the vehicle may be performed by one or more sensors. Operating the one or more sensors at a constant power may be problematic in zones having different driving speeds. Accordingly, as the environment of the vehicle changes based on speed and/or position of the vehicle, methods, system, and apparatus of adaptively and/or dynamically controlling the power of the condition monitoring system are desired.

Attention is drawn to <CIT> disclosing a method including a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle includes a sensor configured to detect the environment of the vehicle. The at least one other vehicle includes at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle and the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.

Further attention is drawn to <CIT> describing a vehicle avoidance indicator system including multiple beam sources, such as laser radiation sources, mounted on a vehicle and positioned to emit respective directed energy beams from the vehicle, such that the beams intersect at a visible intersection point spaced from the vehicle along a direction of travel. The driver observes the intersection in low visibility conditions, and upon seeing an intersection disappear and replaced by spaced-apart termination points of the beams, determines that an obstacle is to be avoided.

Further attention is drawn to <CIT> relating to an apparatus for detecting an obstacle adaptively to speed. The apparatus includes a control unit, a speed-adaptive camera sensor, a speed-adaptive laser scanner sensor, and a detection data integration unit. The control unit receives information about the speed of a vehicle and a Pulse Per Second (PPS) signal from a Global Positioning System (GPS) module. The speed-adaptive camera sensor adjusts the range of a detection region based on the information about the speed of the vehicle, and generates first detection data on an object. The speed-adaptive laser scanner sensor adjusts the range of the angle of the field of view of a laser scanner based on the information about the speed of the vehicle, and generates second detection data on the object. The detection data integration unit outputs obstacle detection data.

The methods and devices of this disclosure each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein.

Vehicles are being produced having varying levels of automated drivability options. While cruise control has existed for decades, adaptive cruise control (e.g., enabling the vehicle to automatically increase and/or decrease vehicle speed based on other vehicles around the vehicle) has only been recently developed, with accident avoidance and/or safety sensing systems being some of the most recent developments. Additionally, various manufacturers offer systems that provide automated steering controls (e.g., self-parking and/or self-driving systems). As vehicles become more intelligent with such automated systems, the vehicles may be required to process more and more data and require more and more power, the systems may be adapted to adjust their operation based on conditions in which they operate (e.g., an environment of the vehicle and/or speed of the vehicle). The environment of the vehicle may include driving conditions, neighboring vehicles, a geographic region in which the vehicle is traveling, or any other environmental parameters that may impact operation of one or more systems of the vehicle. Accordingly, a system's ability to adjust its operation automatically and dynamically may be critical to reducing processing and power consumption of the vehicle and reduce interference with other vehicles and further increase safety of the vehicle operating in an automated (or semi-automated) state.

Methods and apparatus controlling the power and/or strength of signals radiated by an adaptively controlled condition monitoring system for automobiles are described herein. While automobiles are used in exemplary embodiments described herein, the methods, and apparatus described herein may apply to any motorized mode of transportation or any situations where environmental condition monitoring may be adaptively controlled to promote efficiency and reduce interference (from multiple reflections and with other condition monitoring systems of other vehicles). The methods, and apparatus described herein take advantage of input from speed information (e.g., from a speedometer) and location information (e.g., from a GPS in a navigation system of the vehicle) to perform the adaptive control of signals radiated by the vehicle's condition monitoring system.

In some embodiments, monitoring requirements of the environment by the adaptively controlled condition monitoring system may be dependent upon one or both of the speed and/or the location of the vehicle. For example, when the vehicle is traveling at highway or interstate speeds, the braking distance of the vehicle may be greater than <NUM> feet, and, thus, the monitoring of the environment in front of the vehicle should detect conditions (e.g., objects in front of the vehicle) at distances greater than <NUM> feet so the system is able to stop the vehicle before impacting the object in front of it. However, when the vehicle is traveling at speeds lower than the highway or interstate speeds described herein, the system may only need to be configured to identify conditions (e.g., the object) at much smaller distances because the vehicle may be able to stop more quickly and knowledge of conditions <NUM> feet away is unnecessary. Thus, the detection capabilities of the condition monitoring system may be proportional to the braking distance of the vehicle. Such adaptability of the power and/or strength of signals radiated by the control system may help minimize interference at low speeds or in populated environments where the radiated signals may generate a large number of reflections. Accordingly, the one or more sensors that monitor the environment of the vehicle adjust their power based on the monitoring requirements to reduce power consumption and reduce processing needs at low speeds while maintaining the ability to increase power (and thus range) at higher speeds.

As described herein, speed information and position information of the vehicle are used by the method and apparatus to control the power and/or strength of the radiated signal (e.g., LASER power by a LIDAR). One example of an advantage of the proposed method and apparatus may include an ability to reduce a number of reflections received from the radiated signal in a densely populated area like a downtown street which may be more populated than an empty freeway. On the downtown street, the speed of the vehicle is likely lower than on the freeway, and, accordingly, a braking distance of the vehicle is likely smaller than while driving at freeway speeds. Additionally, on the downtown street, objects of interest are likely much closer to the vehicle than at freeway speeds (say a few meters away on the downtown street vs. many meters away on the freeway). Thus, detecting an object that is several hundred meters away while driving on the downtown street is extremely difficult (due to an increased number of reflections) and not critical. An additional advantage may include reducing interference to other nearby condition monitoring systems of other vehicles.

In some embodiments, the vehicle may comprise the condition monitoring system. The processor and associated components utilize information received from one or more other components to dynamically and adaptively control the power and/or strength of the radiated signals of the condition monitoring system. In some embodiments, the processor is configured to calculate an adjustment to an existing radiated signal based on current information (e.g., speed or position) of the vehicle. For example, if the condition monitoring system is already generating and emitting the radiated signal, then the processor determines, based on the information received from the one or more other components, an amount by which the power of the radiated signal is to be adjusted (e.g., reduced or increased) to more appropriately apply to current conditions of the vehicle. In some embodiments, the processor is configured to make adjustments to the radiated signal dynamically. In some embodiments, the speed or frequency with which the adjustments are made to the radiated signal depends on the speed or the location of the vehicle. For example, when the vehicle is traveling at a high speed or in a location with a high speed limit (e.g., a freeway), the condition monitoring system monitors and adjusts parameters of the radiated signal on a more frequent basis than when the vehicle is traveling at slower speeds.

<FIG> is a perspective view of a vehicle traveling along a roadway in a left lane where a person is standing in the left lane in front of the vehicle in a direction of vehicle travel, in accordance with aspects of this disclosure. As depicted, the vehicle <NUM> is traveling along the roadway <NUM>. The direction of travel along the roadway <NUM> in the drawing is from the bottom of the page to the top of the page. <FIG> depicts two lanes of travel for the roadway <NUM>, a left lane <NUM> and a right lane <NUM>. The vehicle <NUM> is traveling in the left lane <NUM> and is broadcasting or emitting a signal <NUM> in the direction of travel of the vehicle (e.g., in front of the vehicle). Additionally, <FIG> depicts a person <NUM> standing in the lane <NUM> of the roadway <NUM> in the direction of travel of the vehicle <NUM>. Though not shown in this figure, the vehicle <NUM> also receives reflections corresponding to reflections of the signal <NUM> from objects in front of the vehicle <NUM> (e.g., reflections of the signal <NUM> from the person <NUM>).

The signal <NUM> is used by one or more systems (e.g., an adaptive speed control or accident prevention system) of the vehicle to detect and/or otherwise identify the person <NUM> to which the one or more systems must respond. For example, when the system is one of the adaptive speed control or the accident prevention systems, the signal <NUM> is used to detect the person <NUM> (or any other object) in the path of the vehicle <NUM> that the vehicle <NUM> must slow down to avoid. In some embodiments, the system may identify or detect the object in the path of the vehicle <NUM> based on the reflection of the signal <NUM> from any objects in the path of the vehicle. In some embodiments, the system may be configured to receive a signal directly from the object in the path of the vehicle <NUM>. For example, the system may receive an optical, radio frequency (RF), or other acoustic signal from the object. In some embodiments, the system may receive a data signal providing geographic or other location data either dependent on or independent from geographic or location data of the vehicle <NUM>. The received signal may be used to indicate a location or position of the object <NUM> in the path of the vehicle <NUM>.

The vehicle <NUM> comprises one or more sensors (not shown) that are configured to generate and emit the signal <NUM> in a direction away from the vehicle <NUM> and in front of the vehicle <NUM>. The one or more sensors are further configured to receive the reflection of the generated signal from any object (e.g., the person <NUM> of <FIG>) in front of the vehicle <NUM>. The one or more sensors may be further configured to determine a distance of the person <NUM> from the vehicle <NUM>. In some aspects, the sensor may be configured to determine the distance of the person <NUM> from the vehicle <NUM> based on a time of flight of the signal <NUM> and its reflection from the person <NUM>. In some aspect, the sensor may be configured to determine the distance of the person <NUM> from the vehicle <NUM> based on the phase or intensity of reflection of the generated signal. In some aspects, other methods may be used to determine a distance between the person <NUM> and the vehicle <NUM>. In some aspects, the sensor may be coupled to a processor or controller (not shown) that is configured to determine the distance of the person <NUM> from the vehicle <NUM>. In some aspects, the determined distance from the vehicle <NUM> to the person <NUM> may be displayed for a user of the vehicle <NUM> (not shown in this figure).

The one or more sensors comprise one or more components configured to generate and emit the signal <NUM> and the receipt of the reflection of the signal <NUM> off the person <NUM> is performed by one or more receipt components.

In some aspects, the one or more sensors may emit the signals <NUM> in one or more directions other than the direction of travel of the vehicle <NUM>. For example, in some aspects, the one or more sensors may be configured to emit the signal <NUM> to detect one or more objects approaching the roadway <NUM> on which the vehicle <NUM> is traveling in a perpendicular (or approximately perpendicular) directly. In such a use, the signal <NUM> may be used to detect one or more objects that may approach the roadway <NUM> and that may create an obstacle in front of the vehicle <NUM> (e.g., as part of an accident avoidance system, etc.). Such a system may be used to detect cross-traffic at intersections or similar cross-traffic situations or detect wildlife or pedestrians, etc., in high crossing areas. The sensors may be similarly used to detect cross traffic when reversing or detect traffic in neighboring lanes when attempting to switch lanes.

<FIG> is another perspective view of the vehicle <NUM> traveling along the roadway <NUM> where the person 120A and another person 120B are standing in front of the vehicle <NUM> in the direction of vehicle travel and where the vehicle <NUM> is shown sending a signal <NUM> or pulse that is reflected from the person 120A and the person 120B, in accordance with aspects of this disclosure. <FIG> shows the scene of <FIG> from a horizontal view point. As described herein, the vehicle <NUM> includes a processor or controller that uses the reflection 116A to determine the distance of the person 120A from the vehicle <NUM>. In some aspects, the same signal <NUM> may continue past the person 120A and also reflect off a person 120B, causing reflection 116B of the signal <NUM> from the person 120B. Thus, the single signal <NUM> may be used to identify multiple objects in front of the vehicle <NUM>. Similarly, a single signal or multiple signals generated and emitted in any direction may identify multiple objects in that direction in relation to the vehicle <NUM>.

<FIG> illustrates an example of an adaptively controlled condition monitoring system <NUM> (e.g., a computer system or vehicle control unit or system) that includes a GPS device <NUM>, a speedometer <NUM>, an advanced driver assistance system (ADAS) <NUM>, a LIDAR system <NUM>, and a person <NUM>, in accordance with aspects of this disclosure. In some embodiments, the adaptively controlled condition monitoring system <NUM> may be installed in the vehicle <NUM> (see <FIG>). The adaptively controlled condition monitoring system <NUM> may be installed on a vehicle and configured to dynamically control the power of the LIDAR system <NUM> based on the speed or position of the vehicle <NUM>.

The GPS device <NUM> may be configured to generate a position signal identifying a position or location of the vehicle <NUM>. For example, the GPS device <NUM> may determine that the vehicle <NUM> is located on a residential street having a school in the vicinity. The speedometer <NUM> may be configured to generate a speed signal identifying a speed or velocity of the vehicle <NUM>. For example, the speedometer <NUM> may determine that the vehicle <NUM> is traveling at less than <NUM> MPH. The LIDAR <NUM> may be configured to generate and emit radiated signals <NUM> (corresponding to the signal <NUM> of <FIG>) such as lasers in one or more directions and receive reflections <NUM> (corresponding to the reflection <NUM> of <FIG>) of the radiated signals from objects in the paths of the signals. As will be described in further detail in relation to <FIG>, the GPS <NUM>, the speedometer <NUM>, and the LIDAR <NUM> may be replaced with similar components providing similar functionality in various aspects.

The ADAS <NUM> may receive the location information of the vehicle <NUM> from the GPS device <NUM>. The ADAS <NUM> may further receive the speed information of the vehicle <NUM> from the speedometer <NUM>. The ADAS <NUM> uses either one or both of the location information and the speed information to generate a laser power control signal. The laser power control signal may include commands and/or instructions to the LIDAR <NUM> regarding the power and/or strength at which the radiated signals of the LIDAR should be generated and emitted. The LIDAR <NUM> generates the radiated signal <NUM> that reflects from the person <NUM>.

As described herein, the ADAS <NUM> may dynamically adjust the signal <NUM> emitted from the vehicle <NUM>. As shown in <FIG>, the signal <NUM> may be dynamically adjusted based one or more of location information and speed information. According to the invention, as the speed of the vehicle <NUM> increases (or as the position of the vehicle <NUM> indicates the vehicle <NUM> is positioned on a road with a higher speed limit), the power of the lasers of the LIDAR <NUM> increases. Similarly, as the speed of the vehicle <NUM> decreases (or as the position of the vehicle <NUM> indicates the vehicle <NUM> is positioned on a road with a lower speed limit), the power of the lasers of the LIDAR <NUM> decreases. In some aspects, the relationship between the vehicle <NUM> speed and the laser power may be linear. In some aspects, this relationship may be non-linear.

In some embodiments, the ADAS <NUM> may control the radiated laser power based on detecting a nearest object away from the vehicle <NUM>. For example, the ADAS <NUM> may command the LIDAR <NUM> to generate the radiated laser signals starting at a low power setting. When the radiated laser signals are emitted, if no reflection is received from the emitted signals, the ADAS <NUM> may command the LIDAR <NUM> to increment the power settings and emit radiated laser signals at the higher power setting. The ADAS <NUM> may continue to increment the power settings until reflections are received from one or more objects. In such an embodiment, the ADAS <NUM> may select the "low power setting" based on the position or speed of the vehicle <NUM> such that the minimum braking distance of the vehicle <NUM> at a particular speed is always considered in the power settings.

<FIG> illustrates a generic circuit diagram illustrating an example of components that may form the adaptively controlled condition monitoring system <NUM> of <FIG>, in accordance with aspects of this disclosure. In some embodiments, the adaptively controlled condition monitoring system <NUM> may be installed in the vehicle <NUM> (see <FIG>). The adaptively controlled condition monitoring system <NUM> includes a positioning/geolocation circuit <NUM> with an optional antenna <NUM>, a speed/vehicle motion sensor <NUM>, a memory circuit <NUM>, a controller/processor circuit <NUM>, an object detection sensor <NUM>, and a detection logic circuit <NUM>.

In some embodiments, the memory <NUM> and the processor <NUM> may form the ADAS <NUM>. In some aspects the memory <NUM> and the processor <NUM> may merely include and/or perform functions of the ADAS <NUM> but not form an ADAS <NUM> component. In this example, the memory <NUM> may include instructions for instructing the processor <NUM> to implement the adaptively controlled detections methods in accordance with aspects of this disclosure.

Similarly, in some embodiments, the object detection sensor <NUM> and the detection logic circuit <NUM> may form the LIDAR <NUM> of <FIG>. In some aspects the object detection sensors <NUM> and the detection logic circuits <NUM> may merely include and/or perform functions of the LIDAR <NUM> but not form a LIDAR <NUM> component. In this example, the object detection sensor <NUM> may include hardware for generating and emitting the radiated signals (e.g., the signal <NUM> of <FIG>) and for receiving the reflected signals (e.g., the reflected signal <NUM> of <FIG> and <FIG>). For example, the object detection sensor(s) <NUM> may comprise an emitter (EMIT) 221A. The emitter 221A may generate and emit the radiated signals, for example in a direction of travel of the vehicle comprising the monitoring system <NUM>. The object detection sensor(s) <NUM> may comprise a detector (DETECT) 221B. The detector 221B may be configured to receive the reflected signals and provide them to the detection logic circuit <NUM>. The detection logic circuit <NUM> may use the radiated and reflected signals to determine a distance between the LIDAR <NUM> and the object (e.g., the person <NUM>) from which the reflected signals reflect. Though the object detection sensor <NUM> and the detection logic circuit <NUM> are defined herein as forming the LIDAR <NUM>, the object detection sensor <NUM> and the detection logic circuit <NUM> may form any sensor that detects objects in a given direction (or a plurality of given directions) using any type of generated and emitted signal, including acoustic, optical, or any other signal on the electromagnetic spectrum. For example, the LIDAR <NUM> may be replaced with an ultrasonic sensor system <NUM>.

The positioning circuit <NUM> may include an optional antenna <NUM> and may comprise any circuit, component, or device that generates and/or identifies a position of the vehicle <NUM> in which the positioning circuit <NUM> is installed. For example, the positioning circuit <NUM> may identify a geographic position or location of the vehicle <NUM>. In some aspects, the positioning circuit <NUM> may comprise a global positioning system (GPS), a global navigation satellite system (GNSS), or a local positioning system and may be able to provide the geographic position of location of the vehicle <NUM> on a global scale or on a more localized scale. In some embodiments, the optional antenna may be configured to transmit and/or receive signals from associated components of the utilized positioning or navigation system. For example, the antenna <NUM> may receive signals from satellites which the positioning circuit <NUM> then uses to determine a position of the vehicle <NUM>.

The vehicle motion sensor <NUM> may comprise any circuit, component, sensor, or device that determines or identifies one or more motion parameters of the vehicle <NUM> in which the vehicle motion sensor <NUM> is installed. For example, the vehicle motion sensor <NUM> may determine that the vehicle <NUM> is in motion and may then identify one or more of a speed and direction of the vehicle <NUM>. In some aspects, the vehicle motion sensor <NUM> may comprise a speedometer, a rotations per minute (RPM) gauge of an engine of the vehicle <NUM>, or a GPS, GNSS, or local positioning system.

The object detection sensor <NUM> may comprise any circuit, component, sensor, or device that generates and emits signal that can be used to detect an object in the path of the signal emission. Accordingly, the object detection sensor <NUM> comprises components necessary for generating and emitting the radiated signal and receiving a reflection of the radiated signal off an object in the signal's path (or other communication in response to the emitted signal). For example, , the object detection sensor <NUM> may comprise a light detection and ranging (LIDAR) system, a radio detection and ranging (RADAR) system, or any other object detection system that emits a signal and receives a reflection or response caused by the emitted signal. In some examples, the object detection sensor <NUM> may comprise a communication device that communicates with other devices to determine positions of the other devices in relation to the vehicle <NUM>.

In some aspects, the object detection sensor <NUM> may comprise a power supply (not shown in this figure) for generating the radiated signal, a transmitter (not shown) for transmitting the signal, and a receiver (not shown) for receiving the reflection or the response to the signal. In some embodiments, the object detection sensor <NUM> may receive a command (e.g., from the processor <NUM>) instructing the object detection sensor <NUM> to generate and transmit a signal for detecting the object in a particular direction, for example in front of the vehicle <NUM> or in a direction of travel of the vehicle <NUM>. In some aspects, the received command may include one or more of a direction in which to transmit the signal, a type of signal to transmit if the object detection sensor <NUM> is configured to generate multiple types of signals (e.g., radio, optical, etc.), a quantity of signals to generate and transmit or a duration over which the signals are to be generated and transmitted, and a strength or accuracy desired of the transmitted signal(s). Based on the command, the object detection sensor <NUM> generates and transmits the radiated signals in one or more directions. If the signals are impeded by an object in their paths, a reflection and/or response may be created by each object in their paths, and that reflection and/or response may be received by the object detection sensor <NUM>. In some embodiments, adjusting the power or strength of the radiated signal may comprise adjusting one or more of its intensity, luminance, frequency, beam diameter, divergence, and/or an orientation or direction in relation to the vehicle in which the signal is emitted. In some embodiments, adjusting a power of the radiated signals may comprise activating or deactivating one or more lasers. While one or more of these parameters may apply only to lasers or other optical signals, those of skill will understand that the same or similar parameters may be controlled in acoustic or RF signals to similarly control strengths or powers of radiated signals.

In some embodiments, the object detection sensor <NUM> may generate an output that corresponds to a parameter of the received reflection or response. For example, the output may include a duration that passed between the transmission of the generated signal and the received reflection or response, one or more parameters regarding the transmitted signal, and one or more parameters regarding the received reflection or response (e.g., a strength, etc., of the reflection). In some embodiments, the object detection sensor <NUM> may communicate the generated output to the detection logic circuit <NUM>.

The detection logic circuit <NUM> may comprise an optional circuit, component, or device that receives the output from the object detection sensor <NUM> based on the transmission of the signal and the received reflection or response. In some aspects, the detection logic circuit <NUM> may determine a distance of the object that reflected the signal or otherwise generated a response from the vehicle <NUM> including the system <NUM>. In some embodiments, the detection logic circuit <NUM> may use the duration of time along with associated speeds of the transmitted signal and the received reflection or response to calculate the distance of the object from the vehicle <NUM>. In some embodiments, the detection logic circuit <NUM> may be integrated with the object detection sensor <NUM>. In some embodiments, the functionality of the detection logic circuit <NUM> may be integrated with the processor <NUM>.

In an illustrative embodiment of the system <NUM> in operation, the ADAS <NUM> (via the memory <NUM> and the processor <NUM>) may receive information from one or both of the positioning circuit <NUM> and the vehicle motion sensor <NUM>. Based on the received information, the ADAS <NUM> may calculate or otherwise determine the power and/or strength (or other parameters) to include in the command sent to the LIDAR <NUM>. The LIDAR <NUM> then uses its object detection sensor <NUM> (or similar component) to generate the radiated laser signals according to the received command and emit the radiated laser signals from the object detection sensor <NUM>. The laser signal travels away from the vehicle <NUM> until it reaches an object that is in its path, for example, the person <NUM> of <FIG>. The laser signal then reflects from the object. This reflection then travels back from the object to the receiving component of the object detection sensor <NUM>. The object detection sensor <NUM> may generate the output signal that is communicated to the detection logic circuit <NUM> and/or the processor <NUM>. When the output signal generated by the object detection sensor <NUM> is communicated to the detection logic circuit <NUM>, the detection logic circuit <NUM> may determine the distance between the vehicle <NUM> and the object. In some aspects, when the output signal generated by the object detection sensor <NUM> is communicated directly to the processor <NUM>, the processor <NUM> may determine the distance between the vehicle <NUM> and the object.

In some aspects, the system <NUM> further comprises a display (not shown). The display may be configured to display information regarding a detected object and/or information regarding the signal generated and emitted by the object detection sensor <NUM>. In some aspects, the information regarding the detected object may include the distance from the detected object to the LIDAR <NUM>, a size of the detected object, a velocity and/or speed of the detected object, etc. In some aspects, the information regarding the generated and emitted signal may include a strength of the signal (e.g., its intensity, luminance, frequency, beam diameter, divergence, etc.) and/or an orientation or direction in relation to the vehicle in which the signal is emitted. While one or more of these parameters may apply only to lasers or other optical signals, those of skill will understand that the same or similar parameters may be controlled in acoustic or RF signals to similarly control strengths of signals. In one aspect, the display may be configured to allow an operator of the system <NUM> or of the vehicle <NUM> in which the system <NUM> is in use to adjust one or more operational conditions of the system <NUM>.

In some aspects, the system <NUM> further comprises an input device (not shown). The input device may take on many forms depending on the implementation. In some implementations, the input device may be integrated with the display so as to form a touch screen. In other implementations, the input device may include separate keys or buttons or near the display. These keys or buttons may provide input for navigation of a menu that is displayed on the display. In other implementations, the input device may be an input port. For example, the input device may provide for operative coupling of another device to the display and the system <NUM>. The display or system <NUM> may then receive input from an attached keyboard or mouse via the input device. In still other embodiments, the input device may be remote from and communicate with the display or system <NUM> over a communication network, e.g., a wireless network or a hardwired network.

The memory <NUM> may be utilized by the processor <NUM> to store data dynamically created during operation of the system <NUM>. In some instances, the memory <NUM> may include a separate working memory in which to store the dynamically created data. For example, instructions stored in the memory <NUM> may be stored in the working memory when executed by the processor <NUM>. The working memory may also store dynamic run time data, such as stack or heap data utilized by programs executing on processor <NUM>. The memory <NUM> may be utilized to store data created by the system <NUM>. For example, data regarding objects identified in the path of the vehicle <NUM> may be stored in the memory <NUM>. In some aspects, the memory <NUM> may be located remotely, i.e., not integral with the system <NUM>, and may receive data via the communication network.

Furthermore, as described herein, the ADAS <NUM> may use data stored in the memory <NUM> and functions of the processor <NUM> to generate a signal to control the vehicle <NUM> based on the detected object. For example, the memory <NUM> may include one or more data files or structures including instructions or commands to communicate to the vehicle if the system <NUM> identifies an object within a specific distance of the vehicle <NUM>. For example, in some embodiments, the processor <NUM> may generate a signal to a braking system of the vehicle <NUM> to command the vehicle <NUM> to stop or slow based on the determined distance between the vehicle <NUM> and the detected object. In some embodiments, the processor <NUM> may generate a signal to a safety system of the vehicle <NUM> that instructs the airbags be deployed and/or seatbelts and other restraints be placed in a tense mode. In some embodiments, based on one or more detected objects, the processor <NUM> may generated instructions or commands to the safety or other system of the vehicle <NUM> to close and/or lock all windows, doors, etc., such that the system <NUM> may provide further functionality to existing automated systems of the vehicle <NUM>. In some embodiments, the processor <NUM> may generate communications from the vehicle <NUM> to another external system based on detected conditions.

In some embodiments, the memory <NUM> may include data regarding correlations between speeds of the vehicle and radiated power/strength settings of the object detection sensor <NUM>. For example, the memory <NUM> may include data including appropriate parameters for the radiated signal given the vehicle speed and/or location inputs. Thus, when the processor <NUM> of the ADAS <NUM> receives an input from the speedometer that the vehicle <NUM> is traveling at <NUM> MPH, the processor <NUM> may access memory <NUM> to identify from the data what the appropriate power settings for the radiated signals of the object detection sensor <NUM>. In some embodiments, the processor <NUM> may determine an amount to change the radiated signal power settings based on this data, where the memory <NUM> may include data regarding previous power settings and speed or position information. Thus, the processor <NUM> may identify a current set of parameters for the radiated signal that were based on a previously input vehicle speed or position (stored in the memory <NUM>). By comparing the previously input vehicle speed or position, the processor <NUM> can determine the adjustment to the radiated signal based ono a difference between the previously input vehicle speed and/or position and the current vehicle speed and/or position.

In some embodiments, the memory <NUM> may include one or more thresholds. For example, the memory <NUM> may include a maximum power (or similar) threshold configured to establish a maximum power for the radiated signal. Similarly, the memory <NUM> may include a minimum power threshold that establishes a minimum power threshold for the radiated signal. In some embodiments, the user of the vehicle <NUM> or the system <NUM> may be enabled to change the minimum and maximum power thresholds via an input device (described herein). In some embodiments, the memory <NUM> may include maximum and minimum thresholds for various vehicle speeds. For example, highway speeds (or positions) may have a higher minimum threshold than residential speeds (or positions). Similarly, residential speeds (or positions) may have a lower maximum threshold than highway speeds (or positions). These minimum and maximum thresholds may act as clamps within which the power of the radiated signals must be maintained.

As described herein, the memory <NUM> may be considered a computer readable medium and stores instructions for instructing the processor <NUM> to perform various functions in accordance with this disclosure. For example, in some aspects, the memory <NUM> may be configured to store instructions that cause the processor <NUM> to perform method <NUM>, or portion(s) thereof, as described below and as illustrated in <FIG>.

In one implementation, the instructions stored in the memory <NUM> may include instructions for performing adaptive or dynamic adjustment of the strength of the signal generated and emitted by the object detection sensor <NUM>. In some embodiments, these instructions may comprise adjusting one or more of the intensity, luminance, or frequency of the signal when the signal is an optical (e.g., laser) signal. When the signal is another type of signal, different parameters or aspects of the signal may be adaptively or dynamically adjusted. The instructions may configure the processor <NUM> to receive and review the information received from the positioning circuit <NUM> and/or the vehicle motion sensor <NUM>. Based on the information received from one or both of these circuits, the processor <NUM> may determine how to adjust the signal being generated by the object detection sensor <NUM>. The processor <NUM> may then provide the command to the object detection sensor <NUM> including the adjusted information such that the signal generated and emitted by the object detection sensor <NUM> is adjusted according to the determinations of the processor <NUM> and based on one or both of the position circuit <NUM> and the vehicle motion sensor <NUM>.

In some embodiments, the dynamic and/or adjusted information stored in the memory <NUM> may be further involved with the adaptive or dynamic adjustment of the strength of the generated and emitted signal. For example, the inputs received from the position circuit <NUM> and/or the vehicle motion sensor <NUM> may be used in conjunction with one or more tables or similar storage structures that provide correspondence between different positions or speeds with strength adjustments for the signal generated and emitted by the object detection sensor <NUM>. Accordingly, for example, a speed of the vehicle <NUM>, as received by the processor <NUM> from the vehicle motion sensor <NUM>, may be used to "lookup" a strength at which the signal generated by the object detection sensor should be emitted to most efficiently and effectively identify an object in the direction in which the signal is emitted.

In some aspects, the system <NUM> may further include an integrated circuit (IC) that may include at least one processor or processor circuit (e.g., a central processing unit (CPU)) and/or a graphics processing unit (GPU), wherein the GPU may include one or more programmable compute units.

<FIG> is a functional block diagram of an adaptively controlled condition monitoring device <NUM> corresponding to the system <NUM> that may be employed as depicted in <FIG>, in accordance with aspects of this disclosure. The functional block diagram of includes a position information input unit <NUM>, a speed information input unit <NUM>, a power determination unit <NUM>, and a power control output unit <NUM>. The positioning information input unit <NUM>, the speed information input unit <NUM>, the power determination unit <NUM>, and the power control output unit <NUM> may all be integrated into the single device <NUM>. The device <NUM> may comprise a self-contained device that may retrofit into existing vehicles having LIDAR or other preexisting condition monitoring system. One or more of the position information input unit <NUM>, the speed information input unit <NUM>, the power determination unit <NUM>, and the power control output unit <NUM> may share a processor, a memory, a communication interface, a power supply, or any other operational component to minimize cost and size of the device <NUM>.

The position information input unit <NUM> may comprise similar components and functionality as the positioning circuit <NUM> of <FIG>. Similarly, the speed information input unit <NUM> may comprise similar components and functionality as the vehicle motion sensor <NUM> of <FIG>. The power determination unit <NUM> may comprise similar components and functionality as the ADAS <NUM> of <FIG>. The power control output unit <NUM> may comprise similar components and functionality as the LIDAR <NUM> of <FIG>.

<FIG> is a process flowchart illustrating an example method <NUM> for adaptively controlling radiated signals operable by the adaptively controlled condition monitoring system <NUM> of <FIG>, in accordance with aspects of this disclosure. For example, the method <NUM> could be performed by the process <NUM> illustrated in <FIG>. In some aspects, the method <NUM> may be performed by the system <NUM> or the ADAS <NUM> illustrated in <FIG>. A person having ordinary skill in the art will appreciate that the method <NUM> may be implemented by other suitable devices and systems. Although the method <NUM> is described herein with reference to a particular order, in various aspects, blocks herein may be performed in a different order, or omitted, and additional blocks may be added.

The method <NUM> begins at block <NUM>. At block <NUM>, the processor <NUM> generates a laser light having a radiated power. In some embodiments, the laser light may be generated by the object detection sensor <NUM> of <FIG>. At block <NUM>, the processor <NUM> emits the laser light in a direction of travel of the vehicle. In some embodiments, the laser light is emitted by the object detection sensor <NUM>. At block <NUM>, the processor <NUM> receives one or more reflections of the emitted laser light reflected from the one or more objects located in the direction of travel of the vehicle. The object detection sensor <NUM> receives the one or more reflections. At block <NUM>, the processor <NUM> generates a signal indicating that the one or more objects is in a path of the vehicle based on the received one or more reflections if one or more reflections are received. In some embodiments, the generated signal may be communicated to one or more other systems of the vehicle <NUM>. At block <NUM>, the processor <NUM> dynamically adjusts the radiated power of the laser light based on an input corresponding to one or more of (i) a current speed of the vehicle <NUM> or (ii) a current position of the vehicle <NUM>. In some embodiments, the processor may generate the command to dynamically adjust the radiated power of the laser for communication to the object detection sensor <NUM>, which adjusts the radiated power (e.g., one or more of intensity, luminance, frequency, beam diameter, divergence, and/or an orientation or direction in relation to the vehicle in which the signal is emitted). The method ends at block <NUM>.

An apparatus or system for adaptively controlling radiated signals may perform one or more of the functions of method <NUM>, in accordance with certain aspects described herein. The apparatus or system comprises a means for generating a laser light. In certain aspects, the means for generating a laser light can be implemented by the object detection sensor <NUM> (e.g., the emitter 221A) (<FIG>) or the LIDAR <NUM>. The means for generating a laser light are configured to perform the functions of block <NUM> (<FIG>). The apparatus or system further comprises means for emitting the laser light in a direction of travel of the vehicle. In certain aspects, the means for emitting the laser light can be implemented by the object detection sensor <NUM> (e.g., the emitter 221A) or the LIDAR <NUM>. The means for emitting the laser lght are configured to perform the functions of block <NUM> (<FIG>).

The apparatus or system further comprises a means for receiving one or more reflections of the emitted laser light. In certain aspects, the means for receiving one or more reflections can be implemented by the object detection sensor <NUM> or the LIDAR <NUM>. The means for receiving one or more reflections are configured to perform the functions of block <NUM>. The apparatus or system further comprises means for generating a signal indicating that the one or more objects are in a path of the vehicle. In certain aspects, the means for generating a signal can be implemented by the object detection sensor <NUM>, the processor <NUM>, the detection logic circuit <NUM>, or the LIDAR <NUM>. The means for generating a signal are configured to perform the functions of block <NUM> (<FIG>).

The apparatus or system further comprises a means for dynamically adjusting the radiated power of the laser light based on an input of a speed or location of the vehicle. In certain aspects, the means for dynamically adjusting the radiated power can be implemented by the object detection sensor <NUM>, the processor <NUM>, or the LIDAR <NUM>. The means for dynamically adjusting the radiated power are configured to perform the functions of block <NUM> (<FIG>).

The various operations of methods described above may be performed by any suitable means capable of performing the operations, such as various hardware and/or software component(s), circuits, and/or module(s). Generally, any operations illustrated in the Figures may be performed by corresponding functional means capable of performing the operations.

The various illustrative logical blocks, modules, circuits, and method steps described in connection with the implementations disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.

In some embodiments, the circuits, processes, and systems discussed above may be utilized in a car, truck, bus, marine craft, aircraft, or other vehicle. The vehicle may include one or more processors, one or more sensors, and a memory including instructions or modules for carrying out the processes discussed above. The device may also have one or more communication interfaces, one or more input devices, and one or more output devices such as a display device. The wireless communication interface may additionally include a transmitter and a receiver. The transmitter and receiver may be jointly referred to as a transceiver. The transceiver may be coupled to one or more antennas for transmitting and/or receiving wireless signals. The wireless communication interface may allow the vehicle to wirelessly connect to vehicle. In some embodiments, the wireless communication interface may interface with users wireless via one or more of laptop or desktop computers, cellular phones, smart phones, wireless modems, e-readers, tablet devices, gaming systems, etc. The wireless communication interface may operate in accordance with one or more industry standards such as the 3rd Generation Partnership Project (3GPP).

The functions described herein may be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such a medium may include random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray® disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. It should be noted that a computer-readable medium may be tangible and non-transitory. The term "computer-program product" refers to a computing device or processor in combination with code or instructions (e.g., a "program") that may be executed, processed or computed by the computing device or processor. As used herein, the term "code" may refer to software, instructions, code or data that is/are executable by a computing device or processor.

The methods disclosed herein include one or more steps or actions for achieving the described method.

It should be noted that the terms "couple," "coupling," "coupled" or other variations of the word couple as used herein may indicate either an indirect connection or a direct connection. For example, if a first component is "coupled" to a second component, the first component may be either indirectly connected to the second component or directly connected to the second component. As used herein, the term "plurality" denotes two or more. For example, a plurality of components indicates two or more components.

In the foregoing description, specific details are given to provide a thorough understanding of the examples. However, it will be understood by one of ordinary skill in the art that the examples may be practiced without these specific details. For example, electrical components/devices may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, such components, other structures and techniques may be shown in detail to further explain the examples.

Headings are included herein for reference and to aid in locating various sections. These headings are not intended to limit the scope of the concepts described with respect thereto. Such concepts may have applicability throughout the entire specification.

Claim 1:
A method of detecting one or more objects in a path of travel of a vehicle, the method comprising:
generating (<NUM>) a laser light having a radiated power;
emitting (<NUM>) the laser light in a direction of travel of the vehicle;
receiving (<NUM>) one or more reflections of the emitted laser light reflected from the one or more objects located in the direction of travel of the vehicle;
generating (<NUM>) a signal indicating that the one or more objects are in a path of the vehicle based on the received one or more reflections; and
dynamically (<NUM>) adjusting the radiated power of the laser light based on an input corresponding to one or more of (i) a current speed of the vehicle or (ii) a current position of the vehicle, wherein the current speed of the vehicle is a traveling speed of the vehicle and the current position of the vehicle is a geographic position of the vehicle,
said method being characterized in that:
as the current speed of the vehicle increases, the radiated power increases, and as the current speed of the vehicle decreases, the radiated power decreases,
and in that:
as the current position of the vehicle indicates that the vehicle is positioned on a road with a higher speed limit, the radiated power increases, and as the current position of the vehicle indicates that the vehicle is positioned on a road with a lower speed limit, the radiated power decreases.