Verifying timing of sensors used in autonomous driving vehicles

Patent metadata

Field	Value
Publication number	US-11488389-B2
Application number	US-201916494738-A
Country	US
Kind code	B2
Filing date	Aug 30, 2019
Priority date	Aug 30, 2019
Publication date	Nov 1, 2022
Grant date	Nov 1, 2022

Abstract

In some implementations, a method of verifying operation of a sensor is provided. The method includes causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector. The method also includes determining that the detector has detected the waves at a second time. The method further includes receiving the sensor data from the sensor at a third time. The method further includes verifying operation of the sensor based on at least one of the first time, the second time, or the third time.

First claim

The invention claimed is:

1. A method, comprising:
causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector;
determining that the detector has detected the waves at a second time, wherein the second time is based on the first time and an initiation delay of the sensor;
receiving the sensor data from the sensor at a third time, wherein the third time is based on the second time and an acquisition delay of the sensor;
verifying an operation of the sensor based on at least one of the first time, the second time, or the third time; and
further verifying the operation of the sensor based on that the initiation delay or the acquisition delay is within a corresponding threshold, wherein the sensor is utilized to sense a driving environment during autonomous driving of an autonomous driving vehicle.

2. The method of claim 1 , wherein causing the sensor to obtain the sensor data at the first time comprises at least one of:
transmitting a signal to the sensor; or
transmitting a message to the sensor, wherein the message indicates that the sensor is to obtain the sensor data.

3. The method of claim 1 , wherein determining that the detector has detected the waves at the second time comprises at least one of:
receiving a signal from the detector; or
receiving a message from the detector.

4. The method of claim 1 , wherein verifying the operation of the sensor comprises:
determining whether a data acquisition delay of the sensor is less than or equal to a threshold acquisition delay based on the second time and the third time.

5. The method of claim 1 , wherein verifying the operation of the sensor comprises:
determining whether an initialization delay is less than or equal to a threshold initialization delay based on the first time and the second time.

6. The method of claim 1 , wherein verifying the operation of the sensor comprises:
determining whether a difference between the first time and the third time is less than a threshold time.

7. The method of claim 1 , further comprising:
generating a timing signal; and
providing the timing signal to at least one of the sensor or the detector.

8. The method of claim 7 , wherein the sensor data comprises a timestamp determined by the sensor based on the timing signal.

9. The method of claim 1 , further comprising:
determining whether the sensor data indicates that an object was detected by the sensor.

10. The method of claim 1 , wherein the sensor comprises an active sensor.

11. The method of claim 10 , wherein the active sensor comprises at least one of:
a light detection and ranging (LIDAR) sensor;
a radar sensor; or
an ultrasonic sensor.

12. A method, comprising:
causing a sensor to obtain sensor data at a first time, wherein:
the sensor obtains the sensor data by detecting waves; and
the sensor is unable to generate the waves that are detected by the sensor;

generating a stimulus for the sensor to detect at a second time, wherein the second time is based on the first time and an initiation delay of the sensor;
receiving the sensor data from the sensor at a third time, wherein the third time is based on the second time and an acquisition delay of the sensor;
verifying an operation of the sensor based on at least one of the first time, the second time, or the third time; and
further verifying the operation of the sensor based on that the initiation delay or the acquisition delay is within a corresponding threshold, wherein the sensor is utilized to sense a driving environment during autonomous driving of an autonomous driving vehicle.

13. The method of claim 12 , wherein causing the sensor to obtain the sensor data at the first time comprises at least one of:
transmitting a signal to the sensor; or
transmitting a message to the sensor, wherein the message indicates that the sensor is to obtain the sensor data.

14. The method of claim 12 , wherein generating the stimulus for the sensor to detect comprises:
generating the stimulus for a period of time starting at the second time, wherein the period of time is determined based on data acquisition characteristics of the sensor.

15. The method of claim 12 , wherein verifying the operation of the sensor comprises:
determining whether a data acquisition delay of the sensor is less than or equal to a threshold acquisition delay based on the second time and the third time.

16. The method of claim 12 , wherein verifying the operation of the sensor comprises:
determining whether an initialization delay is less than or equal to a threshold initialization delay based on the first time and the second time.

17. The method of claim 12 , wherein verifying the operation of the sensor comprises:
determining whether a difference between the first time and the third time is less than a threshold time.

18. The method of claim 12 , further comprising:
generating a timing signal; and
providing the timing signal to at least one of the sensor or a detector.

19. The method of claim 18 , wherein the sensor data comprises a timestamp determined by the sensor based on the timing signal.

20. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:
causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector;
determining that the detector has detected the waves at a second time, wherein the second time is based on the first time and an initiation delay of the sensor;
receiving the sensor data from the sensor at a third time, wherein the third time is based on the second time and an acquisition delay of the sensor;
verifying an operation of the sensor based on at least one of the first time, the second time, or the third time, and
further verifying the operation of the sensor based on that the initiation delay or the acquisition delay is within a corresponding threshold.

Assignees

• Baidu Usa Llc
• Baidu Com Times Tech Beijing Co Ltd

Inventors

• Wang Shuai
• Zhang Manjiang
• Shen Yaoming
• Zhou Xiangfei
• Li Lingchang
• Li Xianfei

Classifications

• G01S7/40 Primary

  Means for monitoring or calibrating · CPC title

• G06V10/764

  using classification, e.g. of video objects · CPC title

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G04G3/00

  Producing timing pulses (driving circuits for stepping motors G04C3/14; producing preselected time intervals for use as timing standards G04F5/00; pulse technique in general H03K; control, synchronisation, or stabilisation of generators in general H03L) · CPC title

• B60W2400/00

  Indexing codes relating to detected, measured or calculated conditions or factors · CPC title