Extendable sensor mount

Patent metadata

Field	Value
Publication number	US-10495733-B2
Application number	US-201815905337-A
Country	US
Kind code	B2
Filing date	Feb 26, 2018
Priority date	Feb 26, 2018
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

Abstract

Methods and systems are provided for adjusting a position of a sensing device relative to a vehicle. In one embodiment, a system includes the sensing device configured to provide sensor data associated with an environment of the vehicle. The system further includes an adjustable sensor mount that mounts the sensing device to the vehicle. The system further includes a control module configured to process the sensor data to a representation of the environment of the vehicle, to process the representation to determine an obstruction within a field of view of the sensing device, to determine a location of the obstruction, and to control the adjustable sensor mount to a desired position based on the location.

First claim

The invention claimed is:

1. A system for adjusting a position of a sensing device relative to a vehicle, comprising:
the sensing device configured to provide sensor data associated with an environment of the vehicle;
an adjustable sensor mount that mounts the sensing device to the vehicle and that adjusts at least one of a pitch, yaw, and roll of the sensing device; and
a control module configured to, by a processor, determine a representation of the environment of the vehicle based on the sensor data, process the representation to determine an obstruction within a field of view of the sensing device, determine a location of the obstruction, determine a desired position of the sensing device based on the location of the obstruction, and to control the adjustable sensor mount based on the desired position.

2. The system of claim 1 , wherein the control module is configured to determine the obstruction within the field of view based on an analysis of free space within an image of the environment.

3. The system of claim 2 , wherein the control module is further configured to determine the obstruction within the field of view based on an analysis of a minimum height of the freespace within the image of the environment.

4. The system of claim 2 , wherein the control module is further configured to determine the obstruction within the field of view based on an analysis of a maximum height of the freespace within the image of the environment.

5. The system of claim 2 , wherein the control module is further configured to determine the obstruction within the field of view based on a translation of values in the free space to values in lidar space.

6. The system of claim 1 , wherein the control module is configured to determine the obstruction within the field of view based on ray tracing of lidar data.

7. The system of claim 6 , wherein the control module is further configured to determine the obstruction within the field of view based on a polygon determined from the ray tracing.

8. The system of claim 7 , wherein the control module is configured to determine the polygon based on a depth-first search method.

9. The system of claim 7 , wherein the control module is further configured to determine the obstruction within the field of view based on a centroid position of the polygon determined from the ray tracing.

10. The system of claim 1 , wherein the processor is further configured to determine the desired position by setting the desired position to the location of the obstruction plus an offset value.

11. The system of claim 1 , wherein the offset value includes a predefined.

12. They system of claim 1 , wherein the offset value includes a dynamically determined value.

13. A method for adjusting a position of a sensing device relative to a vehicle, comprising:
receiving, by a processor, sensor data sensed from an environment of the vehicle;
processing, by the processor, the sensor data to determine an obstruction within a field of view of the sensing device and a location of the obstruction;
determine a desired position of the sensing device based on the location of the obstruction, and
generating, by the processor, control signals to control a position of an adjustable sensor mount based on the desired position.

14. The method of claim 13 , further comprising determining, by the processor, the obstruction within the field of view based on an analysis of free space within an image of the environment.

15. The method of claim 14 , wherein the determining, by the processor, the obstruction within the field of view is based on an analysis of a minimum height of the freespace within the image of the environment.

16. The method of claim 14 , wherein the determining, by the processor, the obstruction within the field of view is based on an analysis of a maximum height of the freespace within the image of the environment.

17. The method of claim 14 , wherein the determining, by the processor, the obstruction within the field of view is based on a translation of values in the free space to values in lidar space.

18. The method of claim 13 , further comprising determining, by the processor, the obstruction within the field of view based on ray tracing of lidar data.

19. The method of claim 18 , wherein the determining, by the processor, the obstruction within the field of view is based on a centroid position of a polygon determined from the ray tracing.

20. The method of claim 19 , further comprising determining, by the processor, the polygon based on a depth-first search method.

Assignees

• Gm Global Tech Operations Llc

Inventors

• Bier Solomon

Classifications

• G01S7/4972

  Alignment of sensor · CPC title

• G01S17/931 Primary

  of land vehicles · CPC title

• G01S2013/9323

  Alternative operation using light waves · CPC title

• G01S17/86

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

• G01S2013/9324

  Alternative operation using ultrasonic waves · CPC title