Abstract: A health monitoring system for a light detection and ranging (LiDAR) sensor of a vehicle includes a LiDAR sensor configured to generate light pulses and to receive returns. A location identifying module is configured to identify locations that are visited by the vehicle, identify selected ones of the locations as frequently visited locations, generate metrics for the frequently visited locations based on the returns from the LiDAR sensor, and based on the metrics, pick selected ones of the frequently visited locations as selected locations for monitoring health of the LiDAR sensor. A health monitoring module is configured to generate health metrics for the LiDAR sensor when the vehicle is located at the selected locations.

Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by the controller, return data generated by a lidar device of the vehicle; determining, by the controller, at least one overlapping channel of redundant return data; determining, by the controller, an optimization framework of equations based on modeled errors of the at least one overlapping channel; solving, by the controller, the optimization framework using a least squares method to determine an error value; determining, by the controller, a state of health of the lidar device based on the error value; compensating, by the controller, the return data from the lidar device based on the error value; and controlling, by the controller, the vehicle based on the compensated return data.

Abstract: Vehicles and systems and methods for health monitoring drive unit bearings in vehicles are provided. A system for health monitoring a drive unit bearing in a vehicle includes a sensor mounted to a drive unit of the vehicle and configured to provide a vibration signal; and a processor configured to: pre-process the vibration signal from the sensor to enhance a fault signature and form a frequency domain signal; and process the frequency domain signal to estimate a health stage of the drive unit bearing.

Abstract: A computer-implemented method includes receiving sensor data associated with a drive unit and one or more vehicle operating parameters, transforming sensor data into a phase domain based on the one or more vehicle operating parameters, after transforming the sensor data, filtering the sensor data to isolate a gear fault signature from one or more operational signatures associated with the drive unit, separating the gear fault signature into a plurality of gear fault signature segments, extracting one or more health indicators from each of the gear fault signature segments, determining whether each of the one or more extracted health indicators exceeds a threshold health indicator, when at least one of the one or more extracted health indicators exceeds the threshold health indicator, generating a gear health notification indicating a fault condition of the drive unit.

Abstract: Vehicles and systems and methods for health monitoring drive unit bearings in vehicles are provided. A system for health monitoring a drive unit bearing in a vehicle includes a sensor mounted to a drive unit of the vehicle and configured to provide a vibration signal; and a processor configured to: pre-process the vibration signal from the sensor to enhance a fault signature and form a frequency domain signal; and process the frequency domain signal to estimate a health stage of the drive unit bearing.

Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by the controller, return data generated by a lidar device of the vehicle; determining, by the controller, at least one overlapping channel of redundant return data; determining, by the controller, an optimization framework of equations based on modeled errors of the at least one overlapping channel; solving, by the controller, the optimization framework using a least squares method to determine an error value; determining, by the controller, a state of health of the lidar device based on the error value; compensating, by the controller, the return data from the lidar device based on the error value; and controlling, by the controller, the vehicle based on the compensated return data.