Vehicle driving control apparatus and calibration method performed by the vehicle driving control apparatus

Patent metadata

Field	Value
Publication number	US-11614340-B2
Application number	US-201916720704-A
Country	US
Kind code	B2
Filing date	Dec 19, 2019
Priority date	Dec 20, 2018
Publication date	Mar 28, 2023
Grant date	Mar 28, 2023

Abstract

A vehicle driving control apparatus for controlling driving of a vehicle based on information received from a plurality of sensors, and a calibration method performed thereby is provided. The vehicle driving control apparatus includes at least one processor configured to determine a driving route to include a predetermined area of road, upon determining that calibration of a first sensor is required, and a memory configured to store values measured by the plurality of sensors while the vehicle is being driven along the driving route, wherein the at least one processor is further configured to calibrate the first sensor based on the stored measured values and information about the predetermined area of road.

First claim

What is claimed is:

1. A vehicle driving control apparatus for controlling driving of a vehicle based on information received from a plurality of sensors, the vehicle driving control apparatus comprising:
at least one processor configured to determine a driving route to comprise a predetermined area of road, upon determining that calibration of a first sensor is required, wherein the calibration is performed to calculate a correction value for converting a sensing value of the first sensor into a vehicle reference value by periodically comparing a sensor reference coordinate system of the first sensor and a vehicle reference coordinate system of the vehicle, and perform the calibration of the first sensor in the predetermined area of road; and
a memory configured to store values measured by the plurality of sensors while the vehicle is being driven along the driving route,
wherein the information about the predetermined area of the road used to calibrate each of the plurality of sensors includes information about a shape of the area of the road and accurate information for 6 degrees of freedom comprising x, y, z, roll, pitch, and yaw.

2. The vehicle driving control apparatus of claim 1 , wherein the plurality of sensors are mounted in the vehicle and comprise at least one of an inertial measurement unit (IMU), a camera, a radar, a lidar, or a global positioning system (GPS).

3. The vehicle driving control apparatus of claim 2 , wherein the at least one processor is further configured to determine whether the calibration of the first sensor is required by comparing a difference between three-dimensional (3D) point cloud data obtained from the lidar and 3D point cloud data obtained from an image captured by the camera.

4. The vehicle driving control apparatus of claim 3 , wherein at least one processor is further configured to obtain 3D coordinate values of points by applying at least one of oriented features from accelerated segment test (FAST) and rotated binary robust independent elementary features (BRIEF) (ORB) or a scale-invariant feature transform (SIFT) to the image captured by the camera.

5. The vehicle driving control apparatus of claim 4 , wherein the at least one processor is further configured to determine whether the calibration of the first sensor is required by:
estimating first location and position variations of the vehicle based on variations of the 3D coordinate values according to time,
estimating second location and position variations of the vehicle based on deceleration information and/or acceleration information obtained from the IMU, and
comparing the estimated first and second location and position variations of the vehicle.

6. The vehicle driving control apparatus of claim 1 , wherein the at least one processor is further configured to determine that the calibration of the first sensor is required, when a difference between the value measured by the first sensor and the values measured by the other sensors is greater than or equal to a threshold value.

7. The vehicle driving control apparatus of claim 1 ,
wherein the predetermined area of road comprises at least one of a roundabout or a straight flat road,
wherein the memory is further configured to store map data comprising information about an area of road used to calibrate each of the plurality of sensors, and
wherein the at least one processor is further configured to determine the driving route to comprise the predetermined area of road used to calibrate the first sensor based on the map data.

8. The vehicle driving control apparatus of claim 7 , wherein the at least one processor is further configured to update the map data based on the stored measured values.

9. The vehicle driving control apparatus of claim 1 , wherein the at least one processor is further configured to:
determine the driving route to comprise a roundabout when calibration of a sensor for sensing a roll about an X axis or a yaw about a Z axis of the vehicle is required, and
determine the driving route to comprise a straight flat road when calibration of a sensor for sensing a pitch about a Y axis of the vehicle is required.

10. The vehicle driving control apparatus of claim 1 , wherein the at least one processor is further configured to determine the driving route in such a manner that the vehicle is driven by a distance greater than a driving distance along a shortest route to a destination by a threshold value or less.

11. The vehicle driving control apparatus of claim 1 , further comprising:
an outputter configured to provide, to a user, a user interface (UI) for requesting permission of the user for repeated driving for calibration; and
a user inputter configured to receive an input of the user in response to the UI,
wherein the at least one processor is further configured to determine the driving route in such a manner that the vehicle is repeatedly driven through the predetermined area of road based on the input of the user.

12. The vehicle driving control apparatus of claim 1 , further comprising:
an outputter configured to provide, to a user, a user interface (UI) for requesting permission of the user for additional driving for calibration; and
a user inputter configured to receive an input of the user in response to the UI,
wherein the at least one processor is further configured to:
control the vehicle to be additionally driven for calibration after driving intended by the user is terminated based on the input of the user,
store, in the memory, values additionally measured by the plurality of sensors while the vehicle is being additionally driven, and
calibrate the first sensor based on the stored measured values, the information about the predetermined area of road, and the additionally measured values.

13. The vehicle driving control apparatus of claim 1 ,
wherein the memory is further configured to store map data comprising location information of the predetermined area of road used to calibrate each of the plurality of sensors, and
wherein the at least one processor is further configured to:
obtain, from the map data, information about the shape of the predetermined area of road as the information about the predetermined area of road,
reconfigure the shape of the predetermined area of road based on the stored measured values,
determine that the calibration of the first sensor is required based on whether an error between the reconfigured shape of the predetermined area of road and previously known information exceeds a threshold range, and
calibrate the first sensor by comparing the reconfigured shape of the predetermined area of road with the shape of the predetermined area of road obtained from the map data.

14. The vehicle driving control apparatus of claim 1 ,
wherein the memory further stores information about an error probability of each sensor, and
wherein the at least one processor is further configured to determine that the calibration of the first sensor is required when an error probability of the first sensor is calculated to be greater than or equal to a threshold value.

15. The vehicle driving control apparatus of claim 1 ,
wherein the memory further stores information about a calibration cycle for each sensor, and
wherein the at least one processor is further configured to determine that the calibration of the first sensor is required when a certain time has passed after the first sensor was calibrated.

16. A calibration method performed by a vehicle driving control apparatus based on information received from a plurality of sensors, the calibration method comprising:
determini

Assignees

• Samsung Electronics Co Ltd

Inventors

• Kim Yuna
• Kim Byoungoh
• Kim Keunjik

Classifications

• G01C21/3848

  Data obtained from both position sensors and additional sensors · CPC title

• G01C21/3819

  Road shape data, e.g. outline of a route · CPC title

• G06Q10/047 Primary

  Optimisation of routes or paths, e.g. travelling salesman problem · CPC title

• B60Y2400/30

  Sensors · CPC title

• G06V20/56

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