US Patent 11767037 Enhanced obstacle detection

Devices, systems, and methods are provided for enhanced obstacle detection. A vehicle may detect a neighboring vehicle traveling on a first road in a first traffic direction in a vicinity of the vehicle. The vehicle may collect data associated with the neighboring vehicle using one or more sensors of the vehicle. The vehicle may determine a status of the neighboring vehicle at a geolocation of the neighboring vehicle based on the collected data. The vehicle may determine that a first road anomaly occurred at the geolocation based on the status of the neighboring vehicle. The vehicle may set a first flag indicating the first road anomaly. The vehicle may determine to take a first action based on the first flag.