Rotating sensor suite for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-11150644-B2
Application number	US-201916425348-A
Country	US
Kind code	B2
Filing date	May 29, 2019
Priority date	May 29, 2019
Publication date	Oct 19, 2021
Grant date	Oct 19, 2021

Abstract

Technologies for steering sensors in a payload carrier structure on an autonomous vehicle (AV) are described herein. An example method can include receiving, by a motor control system on the AV, instructions for controlling a motor on the motor control system to reposition the payload carrier structure from a first position to a second position; based on the instructions, sending, by a controller on the motor control system to a motor driver on the motor control system, a command instructing the motor driver to reposition the payload carrier structure from the first position to the second position; sending, by the motor driver to the motor, a control signal generated by the motor driver based on the command, the control signal controlling the motor to reposition the payload carrier structure to the second position; and moving, by the motor, the payload carrier structure and sensors to the second position.

First claim

What is claimed is:

1. A method comprising:
receiving, by a communication interface of a motor control system on an autonomous vehicle, one or more instructions for controlling a motor on the motor control system to reposition a payload carrier structure associated with the motor control system from a first position to a second position, the payload carrier structure comprising a plurality of sensors;
based on the one or more instructions, sending, by a controller on the motor control system to a motor driver on the motor control system, a command instructing the motor driver to reposition the payload carrier structure from the first position to the second position;
sending, by the motor driver to the motor, a control signal generated by the motor driver based on the command, the control signal controlling the motor to reposition the payload carrier structure to the second position; and
in response to the control signal, moving, by the motor, the payload carrier structure and the plurality of sensors on the payload carrier structure to the second position.

2. The method of claim 1 , further comprising:
translating, by the motor driver, the command from the controller into a format and power level configured to control the motor to reposition the payload carrier structure to the second position; and
generating, by the motor driver, the control signal based on the format and power level configured to control the motor to reposition the payload carrier structure to the second position.

3. The method of claim 1 , further comprising:
receiving sensor data captured by the plurality of sensors from the second position, the sensor data identifying one or more characteristics of a current environment of the autonomous vehicle or one or more conditions associated with an operation of the autonomous vehicle, wherein the plurality of sensors comprises at least one of a visible light image sensor, an infrared image sensor, a radar sensor, a light detection and ranging (LIDAR) sensor, an inertial measurement unit, and a position sensor, and wherein the sensor data comprises at least one of image data, radar returns, a thermal image, LIDAR laser returns, and roll measurements, pitch measurements, and yaw measurements.

4. The method of claim 1 , further comprising:
determining, based on one or more measurements from a position sensor on the motor control system, that the motor is at the first position;
calculating, by the controller, a difference between the first position and the second position; and
based on the difference between the first position and the second position, generating the command instructing the motor driver to reposition the payload carrier structure from the first position to the second position.

5. The method of claim 4 , wherein the position sensor comprises a multi-pole magnetic strip for measuring a current position of the motor, the multi-pole magnetic strip being placed along an outside of at least one of the motor, a rotor of the motor, and a stator of the motor.

6. The method of claim 1 , wherein the second position is determined based on motion dynamics calculated for the autonomous vehicle and a sensor coverage area of interest, the motion dynamics comprising at least one of a motion of the autonomous vehicle, a position change of the autonomous vehicle, a velocity of the autonomous vehicle, a trajectory of the autonomous vehicle, an acceleration of the autonomous vehicle, and a position of the autonomous vehicle.

7. The method of claim 1 , wherein the motor moves the payload carrier structure and the plurality of sensors on the payload carrier structure from the first position to the second position during an operation of the autonomous vehicle, the method further comprising:
as the payload carrier structure moves from the first position to the second position, gathering sensor data via the plurality of sensors on the payload carrier structure;
moving, by the motor and during the operation of the autonomous vehicle, the payload carrier structure and the plurality of sensors on the payload carrier structure from the second position to a third position; and
as the payload carrier structure moves from the second position to the third position, gathering sensor data via the plurality of sensors on the payload carrier structure.

8. The method of claim 7 , wherein the operation of the autonomous vehicle comprises traveling at one or more velocities, wherein the motor control system is contained within a cylindrical form factor assembly, and wherein the payload carrier structure comprises an azimuth positioning stage, the plurality of sensors being co-located on the azimuth positioning stage.

9. An autonomous vehicle comprising:
a mechanical system;
a motor control system in communication with the mechanical system, wherein the motor control system comprises:
a motor;
a motor driver;
one or more processors; and
memory comprising instructions that, when executed by the one or more processors, cause the motor control system to:
receive one or more instructions for controlling the motor to reposition a payload carrier structure associated with the motor control system from a first position to a second position, the payload carrier structure comprising a plurality of sensors;
based on the one or more instructions, send, to the motor driver, a command instructing the motor driver to reposition the payload carrier structure from the first position to the second position;
send, via the motor driver to the motor, a control signal generated by the motor driver based on the command, the control signal controlling the motor to reposition the payload carrier structure to the second position; and
in response to the control signal, move, via the motor, the payload carrier structure and the plurality of sensors on the payload carrier structure to the second position.

10. The autonomous vehicle of claim 9 , wherein the memory comprises additional instructions which, when executed by the one or more processors, cause the motor control system to:
receive sensor data captured by the plurality of sensors from the second position, the sensor data identifying one or more characteristics of a current environment of the autonomous vehicle or one or more conditions associated with an operation of the autonomous vehicle.

11. The autonomous vehicle of claim 10 , wherein the plurality of sensors comprises at least one of a visible light image sensor, an infrared image sensor, a radar sensor, a light detection and ranging (LIDAR) sensor, an inertial measurement unit, and a position sensor, and wherein the sensor data comprises at least one of image data, radar returns, a thermal image, LIDAR laser returns, and roll, pitch, and yaw measurements.

12. The autonomous vehicle of claim 9 , wherein the memory comprises additional instructions which, when executed by the one or more processors, cause the motor control system to:
translate, via the motor driver, the command into a format and power level configured to control the motor to reposition the payload carrier structure to the second position; and
generate, via the motor driver, the control signal based on the format and power level configured to control the motor to reposition the payload carrier structure to the second position.

13. The autonomous vehicle of claim 9 , wherein the memory comprises additional instructions which, when executed by the one or more processors, cause the motor control system to:
determine, based on one or more measurements from a position sensor on the motor control system, that the motor is at the first position;
calculate a difference between the first position and

Assignees

• Gm Cruise Holdings Llc

Inventors

• Ko Yung Change
• Mcguire Shane
• Raduta Radu
• Hermalyn Brendan
• Robbins Joseph
• Lee Mabel
• Herse Nate
• Lo Roger

Classifications

• G01S13/931

  of land vehicles · CPC title

• G05D1/0044

  by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005) · CPC title

• G01S17/931

  of land vehicles · CPC title

• G05D1/0022 Primary

  characterised by the communication link (data switching networks in general H04L12/00) · CPC title

• G01S17/86

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