Dynamic control and configuration of autonomous navigation systems

Patent metadata

Field	Value
Publication number	US-11327490-B2
Application number	US-201916241825-A
Country	US
Kind code	B2
Filing date	Jan 7, 2019
Priority date	Jan 7, 2019
Publication date	May 10, 2022
Grant date	May 10, 2022

Abstract

The present disclosure relates generally to systems and methods for generating, processing and correlating data from multiple sensors in an autonomous navigation system, and more particularly to the utilization of configurable and dynamic sensor modules within light detection and ranging systems that enable an improved correlation between sensor data as well as configurability and responsiveness of the system to its surrounding environment.

First claim

What is claimed is:

1. A controller for use within a sensor system, the controller programmed to perform operations comprising:
receiving sensor data from a plurality of sensor modules;
providing transform data indicating a plurality of transforms between a plurality of sensors within the plurality of sensor modules;
demultiplexing a serial stream of sensor data from the plurality of sensor modules based on homogenizing and decoupling a plurality of different types of sensor data from the serial stream of sensor data using the transform data;
and
processing the demultiplexed sensor data to generate a response.

2. The controller of claim 1 , wherein the operations the further comprise activating at least one of the sensors within the plurality of sensors.

3. The controller of claim 1 , wherein the operations further comprise receiving external condition data.

4. The controller of claim 3 wherein the external condition data comprise at least one of an odometer reading, a lighting condition, a vehicle speed reading, an external map, or a congestion indicator.

5. The controller of claim 3 wherein the operations further comprise receiving sensor configuration data related to at least one of the sensor modules within the plurality of sensor modules.

6. The controller of claim 5 wherein the sensor configuration data comprise at least one of a sensor type, a field of view, a frame rate, or a region of interest associated with at least one sensor module in the plurality of sensor modules.

7. The controller of claim 6 wherein the operations further comprise updating calibration data based on the external condition data and the sensor configuration data.

8. The controller of claim 1 wherein the received sensor data are correlated across a subset of sensors within the plurality of sensors.

9. The controller of claim 8 wherein the subset of sensors within the plurality of sensors comprises at least two different types of sensors.

10. The controller of claim 1 wherein the plurality of sensors comprises at least one LiDAR sensor.

11. The controller of claim 10 wherein the plurality of sensors comprises at least one thermal sensor.

12. The controller of claim 10 wherein the plurality of sensors comprises at least one color sensor.

13. The controller of claim 1 , wherein the controller is coupled to an autonomous driving system control unit operable to monitor a plurality of external conditions relevant to autonomous driving of a vehicle.

14. The controller of claim 1 , wherein processing the demultiplexed sensor data to generate the response comprises integrating the demultiplexed sensor data with spatial transformation data to generate a point cloud.

15. A method comprising:
receiving, at a controller, sensor data from a plurality of sensor modules;
providing, by the controller, transform data indicating a plurality of transforms between a plurality of sensors within the plurality of sensor modules;
demultiplexing, by the controller, a serial stream of sensor data from the plurality of sensor modules based on homogenizing and decoupling a plurality of different types of sensor data from the serial stream of sensor data using the transform data; and
processing, by the controller, the demultiplexed sensor data to generate a response.

16. The method of claim 15 further comprising activating at least one of the sensors within the plurality of sensors.

17. The method of claim 15 further comprising providing external condition data to the controller.

18. The method of claim 17 wherein the external condition information comprises at least one of an odometer reading, a lighting condition, a vehicle speed reading, an external map, or a congestion indicator.

19. The method of claim 17 further comprising receiving sensor configuration data related to at least one of the sensor modules within the plurality of sensor modules.

20. The method of claim 19 wherein the sensor configuration data comprise at least one of a sensor type, a field of view, a frame rate, or a region of interest associated with at least one sensor module in the plurality of sensor modules.

Assignees

• Velodyne Lidar Usa Inc

Inventors

• Hall David
• Gopalan Anand
• Rekow Mathew
• Jain Vishal

Classifications

• G01S17/931 Primary

  of land vehicles · CPC title

• G01S17/86

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

• G05D1/0088 Primary

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D2201/0213

  Physics · mapped topic

• G05D1/024

  in combination with a laser (lasers per se H01S) · CPC title