Autonomous vehicle positioning for sensor calibration

Patent metadata

Field	Value
Publication number	US-11475722-B2
Application number	US-202016933242-A
Country	US
Kind code	B2
Filing date	Jul 20, 2020
Priority date	Jul 20, 2020
Publication date	Oct 18, 2022
Grant date	Oct 18, 2022

Abstract

The subject disclosure relates to techniques for positioning an autonomous vehicle for sensor calibration. A process of the disclosed technology can include steps for positioning an autonomous vehicle along a first axis on a platform in a predetermined environment using guide rails, positioning the autonomous vehicle along a second axis on the platform using one or more elevated platform features, inserting one or more lifting alignment pins of a lifting mechanism into one or more sockets located on an underbody of the autonomous vehicle, and positioning the autonomous vehicle along a third axis using the lifting mechanism. Systems and machine-readable media are also provided.

First claim

What is claimed:

1. A method comprising:
positioning an autonomous vehicle along a first axis on a platform in a predetermined environment using guide rails;
positioning the autonomous vehicle along a second axis on the platform using one or more elevated platform features, wherein the second axis is orthogonal to the first axis;
inserting one or more lifting alignment pins of a lifting mechanism into one or more sockets located on an underbody of the autonomous vehicle; and
positioning the autonomous vehicle along a third axis using the lifting mechanism, the third axis orthogonal to the first axis and the second axis,
wherein the lifting mechanism further comprises one or more cross-car support beams, and wherein the one or more lifting alignment pins are located on the one or more cross-car support beams.

2. The method of claim 1 , further comprising:
calibrating one or more sensors of the autonomous vehicle based on a position of the autonomous vehicle in the predetermined environment.

3. The method of claim 1 , further comprising:
calibrating one or more sensors of the autonomous vehicle with steps comprising:
sending data to the autonomous vehicle, the data indicating that an object is present at a location in the predetermined environment;
receiving a response from the autonomous vehicle, the response indicating if the one or more sensors of the autonomous vehicle have detected the object at the location in the predetermined environment; and
sending instructions to the autonomous vehicle, the instructions based on if the response indicates that the one or more sensors of the autonomous vehicle have detected the object at the location in the predetermined environment.

4. The method of claim 1 , wherein the insertion of the one or more lifting alignment pins of the lifting mechanism into the one or more sockets located on the underbody of the autonomous vehicle finalizes a precise position of the autonomous vehicle.

5. The method of claim 1 , wherein the one or more lifting alignment pins of the lifting mechanism are located under a top surface of the platform when the lifting mechanism is in a receiving state, the top surface configured to retract over the lifting mechanism when the lifting mechanism is in the receiving state.

6. The method of claim 1 , wherein the one or more lifting alignment pins of the lifting mechanism protrude through an opening defined by retractable plates of the platform when the lifting mechanism is in an engaging state.

7. The method of claim 1 , further comprising:
determining that the one or more lifting alignment pins are unable to fit into the one or more sockets;
in response to determining that the one or more lifting alignment pins are unable to fit into the one or more sockets, determining that the autonomous vehicle needs repairs; and
in response to determining that the autonomous vehicle needs repairs, sending instructions to the autonomous vehicle, the instructions effective to navigate the autonomous vehicle to a repair facility.

8. The method of claim 1 , wherein the lifting mechanism comprises a servo motor system, the servo motor system providing lifting data of the autonomous vehicle when the one or more lifting alignment pins are inserted into the one or more sockets.

9. The method of claim 1 , wherein the lifting mechanism further comprises a single lifting control point, wherein the single lifting control point controls at least two lifting jacks that are configured to lift a front and rear portion of the autonomous vehicle simultaneously.

10. A system comprising:
a predetermined environment having a platform;
the platform comprising one or more guide rails, wherein the guide rails are configured to facilitate positioning of an autonomous vehicle along a first axis of the platform;
one or more elevated platform features disposed on a surface of the platform, wherein the one or more elevated platform features are configured to facilitate positioning of the autonomous vehicle along a second axis on the platform, wherein the second axis is orthogonal to the first axis;
a lifting mechanism coupled to the platform, wherein the lifting mechanism is configured to facilitate positioning of the autonomous vehicle along a third axis respective to the platform, wherein the third axis is orthogonal to the first axis and the second axis; and
one or more lifting alignment pins coupled to the lifting mechanism, the one or more lifting alignment pins configured to insert into one or more sockets located on an underbody of the autonomous vehicle, wherein the one or more lifting alignment pins of the lifting mechanism protrude through an opening defined by retractable plates of the platform when the lifting mechanism is in an engaging state.

11. The system of claim 10 , wherein one or more sensors of the autonomous vehicle are calibrated based on a position of the autonomous vehicle in the predetermined environment.

12. The system of claim 10 , wherein one or more sensors of the autonomous vehicle are calibrated with steps comprising:
sending data to the autonomous vehicle, the data indicating that an object is present at a location in the predetermined environment;
receiving a response from the autonomous vehicle, the response indicating if the one or more sensors of the autonomous vehicle have detected the object at the location in the predetermined environment; and
sending instructions to the autonomous vehicle, the instructions based on if the response indicates that the one or more sensors of the autonomous vehicle have detected the object at the location in the predetermined environment.

13. The system of claim 10 , wherein a precise position of the autonomous vehicle is finalized when the one or more lifting alignment pins are inserted into the one or more sockets.

14. The system of claim 10 , wherein the one or more lifting alignment pins of the lifting mechanism are located under a top surface of the platform when the lifting mechanism is in a receiving state, the top surface configured to retract over the lifting mechanism when the lifting mechanism is in the receiving state.

15. The system of claim 10 , wherein the lifting mechanism comprises a servo motor system, the servo motor system providing lifting data of the autonomous vehicle when the one or more lifting alignment pins are inserted into the one or more sockets.

16. The system of claim 10 , wherein the lifting mechanism further comprises one or more cross-car support beams, and wherein the one or more lifting alignment pins are located on the one or more cross-car support beams.

17. The system of claim 10 , wherein the lifting mechanism further comprises a single lifting control point, wherein the single lifting control point controls at least two lifting jacks that are configured to lift a front and rear portion of the autonomous vehicle simultaneously.

18. A non-transitory computer-readable medium comprising instructions thereon, the instructions effective to cause one or more processors to:
position an autonomous vehicle along a first axis on a platform in a predetermined environment using guide rails;
position the autonomous vehicle along a second axis on the platform using one or more elevated platform features, wherein the second axis is orthogonal to the first axis;
insert one or more lifting alignment pins of a lifting mechanism into one or more sockets located on an underbody of the autonomous vehicle; and
position the autonomous vehicle along a third axis using the lifting mechanism, the third axis orthogonal to the fir

Assignees

• Gm Cruise Holdings Llc

Inventors

• Edwards Zachary
• Jones Matthew
• Tran David

Classifications

• B60W2556/55

  using telemetry · CPC title

• B60W60/0025 Primary

  specially adapted for specific operations · CPC title

• B60W2050/046

  involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS] · CPC title

• B60W50/045

  Monitoring control system parameters · CPC title

• G07C5/0841 Primary

  Registering performance data (recording measured values G01D; information storage G11B) · CPC title