Detecting Road Anomalies

Abstract

An apparatus is provided which includes a processing circuit and a plurality of sensors connected to a vehicle, where at least one of the plurality of sensors is positioned on an undercarriage of the vehicle. The plurality of sensors can detect variations in a road on which the vehicle is traveling. The plurality of sensors can also generate information corresponding to the variations of the road. The plurality of sensors can also transmit the information corresponding to the variations in the road to the processing circuit. The information collected by the plurality of sensors may then be used to augment a driving capability of the vehicle.

1 - 47 . (canceled) 
     
     
         48 . An autonomous vehicle (AV), comprising:
 at least one sensor coupled to the AV and configured to generate sensor data about a navigable surface on which the AV is traveling;   at least one processor; and   memory storing instructions executable by the at least one processor to:
 process the sensor data to detect at least one variation of the navigable surface; 
 determine a location of the at least one variation of the navigable surface; and 
 update a map to include information about the at least one variation of the navigable surface at the determined location. 
   
     
     
         49 . The AV of  claim 48 , wherein the memory stores instructions executable by the at least one processor to transmit the location and the information about the at least one variation of the navigable surface to at least one of another vehicle or a remote server. 
     
     
         50 . The AV of  claim 48 , wherein updating the map to include information about the at least one variation of the navigable surface comprises updating the map to include a type of the at least one variation of the navigable surface. 
     
     
         51 . The AV of  claim 50 , wherein the type of the at least one variation of the navigable surface comprises at least one of a cavity in the navigable surface, a variation in a material of the navigable surface, or a variation in a friction of the navigable surface. 
     
     
         52 . The AV of  claim 48 , wherein the location comprises a lane of the at least one variation of the navigable surface. 
     
     
         53 . The AV of  claim 48 , wherein updating the map to include information about the at least one variation of the navigable surface comprises updating the map to include a time at which the at least one variation of the navigable surface was detected. 
     
     
         54 . The AV of  claim 48 , wherein the memory stores instructions executable by the at least one processor adjust operation of the AV based on the map including the information about the at least one variation of the navigable surface. 
     
     
         55 . The AV of  claim 54 , wherein adjusting the operation of the AV comprises adjusting at least one of a speed, an acceleration, or a trajectory of the AV. 
     
     
         56 . The AV of  claim 54 , wherein the memory stores instructions executable by the at least one processor to remove the information about the at least one variation of the navigable surface from the map when a time since detection of the at least one variation of the navigable surface exceeds a threshold value. 
     
     
         57 . The AV of  claim 48 , wherein processing the sensor data to detect the at least one variation of the navigable surface comprises processing the sensor data using one or more machine learning algorithms to detect the at least one variation of the navigable surface. 
     
     
         58 . The AV of  claim 57 , wherein the one or more machine learning algorithms comprises at least one of a support vector machine algorithm or a neural network algorithm. 
     
     
         59 . A method, comprising:
 receiving, from at least one sensor coupled to an autonomous vehicle (AV), sensor data about a navigable surface on which the AV is traveling;   processing, by at least one processor, the sensor data to detect at least one variation of the navigable surface;   determining, by the at least one processor, a location of the at least one variation of the navigable surface; and   updating, by the at least one processor, a map to include information about the at least one variation of the navigable surface at the determined location.   
     
     
         60 . The method of  claim 59 , further comprising transmitting the location and the information about the at least one variation of the navigable surface to at least one of a vehicle or a remote server. 
     
     
         61 . The method of  claim 59 , wherein updating the map to include information about the at least one variation of the navigable surface comprises updating the map to include a type of the at least one variation of the navigable surface. 
     
     
         62 . The method of  claim 59 , wherein updating the map to include information about the at least one variation of the navigable surface comprises updating the map to include a time at which the at least one variation of the navigable surface was detected. 
     
     
         63 . The method of  claim 59 , further comprising causing adjustment to operation of the AV based on the map including the information about the at least one variation of the navigable surface. 
     
     
         64 . A system, comprising:
 at least one processor; and   memory storing instructions executable by the at least one processor to:
 receive, from at least one sensor coupled to an autonomous vehicle (AV), sensor data about a navigable surface on which the AV is traveling; 
 process the sensor data to detect at least one variation of the navigable surface; 
 determine a location of the at least one variation of the navigable surface; and 
 update a map to include information about the at least one variation of the navigable surface at the determined location. 
   
     
     
         65 . The system of  claim 64 , wherein updating the map to include information about the at least one variation of the navigable surface comprises updating the map to include a type of the at least one variation of the navigable surface. 
     
     
         66 . The system of  claim 64 , wherein updating the map to include information about the at least one variation of the navigable surface comprises updating the map to include a type of the at least one variation of the navigable surface. 
     
     
         67 . The system of  claim 64 , wherein the memory stores instructions executable by the at least one processor to cause adjustment to operation of the AV based on the map including the information about the at least one variation of the navigable surface.