LiDAR sensor alignment system

Patent metadata

Field	Value
Publication number	US-10401484-B2
Application number	US-201715638538-A
Country	US
Kind code	B2
Filing date	Jun 30, 2017
Priority date	Jun 30, 2017
Publication date	Sep 3, 2019
Grant date	Sep 3, 2019

Abstract

A Light Detection and Ranging (LiDAR) sensor alignment system includes an imaging device, a LiDAR sensor, a mount device, and a controller. The imaging device is configured to output an image signal associated with a first scene that includes an object. The LiDAR sensor is configured to output a LiDAR signal associated with a second scene. The mount device is attached to the LiDAR sensor and adapted to align the LiDAR sensor. The controller is configured to receive the image and LiDAR signals, classify the object from the first scene, and confirm the object is properly oriented within the second scene. If the object is not properly orientated within the second scene, the controller initiates an action.

First claim

Having thus described the invention, it is claimed:

1. A Light Detection and Ranging (LiDAR) sensor alignment system comprising:
an imaging device configured to output an image signal associated with a first scene including an object;
a LiDAR sensor configured to output a LiDAR signal associated with a second scene;
a mount device attached to the LiDAR sensor and constructed and arranged to align the LiDAR sensor; and
a controller configured to:
receive the image signal and LiDAR signals;
use the image signal to classify the object from the first scene using a database including preprogrammed information associated with the object and applied by the controller for classification of the object;
use the classified object and the LiDAR signals to confirm the classified object is at least partially within the second scene; and
in accordance with the classified object not being at least partially within the second scene, initiating an action.

2. The LiDAR sensor alignment system set forth in claim 1 , wherein the mount device includes an electric alignment drive constructed and arranged to be controlled by the controller for aligning the LiDAR sensor as the action.

3. The LiDAR sensor alignment system set forth in claim 1 , further comprising:
a warning device configured to receive an initiation signal from the controller as the action if the object is not at least partially within the second scene.

4. The LiDAR sensor alignment system set forth in claim 1 , wherein the controller includes a processor and an electronic storage medium for executing a software-based application configured to determine if the object is not at least partially within the second scene.

5. An automated vehicle comprising:
an imaging device configured to output an image signal associated with a first scene including an object;
a Light Detection and Ranging (LiDAR) sensor configured to output a LiDAR signal associated with a second scene;
a vehicle body;
a mount device attached to the LiDAR sensor and the vehicle body, and constructed and arranged to move the LiDAR sensor with respect to the vehicle body thereby aligning the LiDAR sensor; and
a controller configured to:
receive the image signal and LiDAR signals;
utilize the image signal to classify the object from the first scene using a database including preprogrammed information associated with the object and applied by the controller for classification of the object; and
utilize the classified object and the LiDAR signals to confirm the classified object is at least partially within the second scene; and
in accordance with the classified object not being at least partially within the second scene, initiating an action.

6. The automated vehicle set forth in claim 5 , wherein the mount device includes an electric alignment drive constructed and arranged to be controlled by the controller for aligning the LiDAR sensor.

7. The automated vehicle set forth in claim 5 , further comprising:
a warning device configured to receive an initiation signal from the controller if the object is not at least partially within the second scene.

8. A non-transitory, computer-readable storage medium having instructions stored thereon, that when executed by a controller of an automated vehicle, cause the controller to perform operations comprising:
receiving an image signal from an imaging device and Light Detection and Ranging (LiDAR) signals from a LiDAR sensor;
utilizing the image signal to classify an object from a first scene captured by the imaging device using a database including preprogrammed information associated with the object for classification of the object;
utilizing the classified object and the LiDAR signals to confirm the classified object is at least partially within a second scene captured by the LiDAR sensor; and
in accordance with the classified object not being at least partially within the second scene, initiating an action.

Assignees

• Aptiv Tech Ltd

Inventors

• Lee Jong Ho
• Kim Junsung

Classifications

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S7/4026

  Antenna boresight · CPC title

• G01S7/481 Primary

  Constructional features, e.g. arrangements of optical elements · CPC title

• G01S7/4972 Primary

  Alignment of sensor · CPC title