Techniques to compensate for movement of sensors in a vehicle

Patent metadata

Field	Value
Publication number	US-11917294-B2
Application number	US-202217664645-A
Country	US
Kind code	B2
Filing date	May 23, 2022
Priority date	Sep 9, 2019
Publication date	Feb 27, 2024
Grant date	Feb 27, 2024

Abstract

Techniques are described for compensating for movements of sensors. A method includes receiving two sets of sensor data from two sets of sensors, where a first set of sensors are located on a roof of a cab of a semi-trailer truck and a second set of sensor data are located on a hood of the semi-trailer truck. The method also receives from a height sensor a measured value indicative of a height of the rear of a rear portion of the cab of the semi-trailer truck relative to a chassis of the semi-trailer truck, determines two correction values, one for each of the two sets of sensor data, and compensates for the movement of the two sets of sensors by generating two sets of compensated sensor data. The two sets of compensated sensor data are generated by adjusting the two sets of sensor data based on the two correction values.

First claim

What is claimed is:

1. A method, comprising:
receiving a first sensor data obtained from a first sensor that is located on a vehicle, wherein the first sensor experiences rotation with respect to a first axis during operation of the vehicle;
receiving a measured value that indicates a change in a height of at least a portion of the vehicle during the operation of the vehicle;
determining a degree of rotation experienced by the first sensor based on the measured value; and
obtaining calibrated sensor data that describes an area exterior to the vehicle by modifying the first sensor data based on the degree of rotation.

2. The method of claim 1 , wherein the first sensor is located on a cab portion or a hood portion of the vehicle, and wherein the rotation experienced by the first sensor is based on a pivot of the cab portion or the hood portion with respect to a chassis of the vehicle.

3. The method of claim 1 , wherein the first sensor data includes image data or light detection and ranging data.

4. The method of claim 3 , wherein the first sensor data is modified by shifting the image data or the light detection and ranging data using the degree of rotation.

5. The method of claim 1 , wherein the modifying the first sensor data comprises identifying a correction value associated with the degree of rotation, wherein an association between the correction value and the degree of rotation is pre-determined.

6. The method of claim 5 ,
wherein the correction value includes a first symbol that is associated with a clockwise rotation of the first sensor with respect to the first axis, or
wherein the correction value includes a second symbol that is associated with a counter-clockwise rotation of the first sensor with respect to the first axis.

7. The method of claim 1 , further comprising:
receiving a second sensor data obtained from a second sensor that is located on the vehicle, wherein the second sensor experiences rotation with respect to a second axis during the operation of the vehicle; and
aligning the second sensor data with the first sensor data that describes the area that is exterior to the vehicle by modifying the second sensor data based on the measured value.

8. A system, comprising:
a computer comprising a processor and a memory storing instructions that, when executed by the processor, cause the computer to:
receive a first sensor data obtained from a first sensor that is located on a vehicle, wherein the first sensor experiences rotation with respect to a first axis during operation of the vehicle;
receive a measured value that indicates a change in a height of at least a portion of the vehicle during the operation of the vehicle;
determine a degree of rotation experienced by the first sensor based on the measured value; and
obtain calibrated sensor data that describes an area exterior to the vehicle by modifying the first sensor data based on the degree of rotation.

9. The system of claim 8 , wherein the first sensor is located on a cab portion or a hood portion of the vehicle, and wherein the rotation experienced by the first sensor is based on a pivot of the cab portion or the hood portion with respect to a chassis of the vehicle.

10. The system of claim 8 , wherein the first sensor data includes image data or light detection and ranging data.

11. The system of claim 10 , wherein the first sensor data is modified by shifting the image data or the light detection and ranging data using the degree of rotation.

12. The system of claim 8 , wherein the modifying the first sensor data comprises identifying a correction value associated with the degree of rotation, wherein an association between the correction value and the degree of rotation is pre-determined.

13. The system of claim 12 ,
wherein the correction value includes a first symbol that is associated with a clockwise rotation of the first sensor with respect to the first axis, or
wherein the correction value includes a second symbol that is associated with a counter-clockwise rotation of the first sensor with respect to the first axis.

14. The system of claim 8 , wherein the computer is further caused to, when the instructions are executed by the processor:
receive a second sensor data obtained from a second sensor that is located on the vehicle, wherein the second sensor experiences rotation with respect to a second axis during the operation of the vehicle; and
align the second sensor data with the first sensor data that describes the area that is exterior to the vehicle by modifying the second sensor data based on the measured value.

15. A non-transitory computer readable storage medium having code stored thereon, the code, when executed by a processor, causing the processor to:
receive a first sensor data obtained from a first sensor that is located on a vehicle, wherein the first sensor experiences rotation with respect to a first axis during operation of the vehicle;
receive a measured value that indicates a change in a height of at least a portion of the vehicle during the operation of the vehicle;
determine a degree of rotation experienced by the first sensor based on the measured value; and
obtain calibrated sensor data that describes an area exterior to the vehicle by modifying the first sensor data based on the degree of rotation.

16. The non-transitory computer readable storage medium of claim 15 , wherein the first sensor is located on a cab portion or a hood portion of the vehicle, and wherein the rotation experienced by the first sensor is based on a pivot of the cab portion or the hood portion with respect to a chassis of the vehicle.

17. The non-transitory computer readable storage medium of claim 15 , wherein the first sensor data includes image data or light detection and ranging data, and wherein the first sensor data is modified by shifting the image data or the light detection and ranging data using the degree of rotation.

18. The non-transitory computer readable storage medium of claim 15 , wherein the modifying the first sensor data comprises identifying a correction value associated with the degree of rotation, wherein an association between the correction value and the degree of rotation is pre-determined.

19. The non-transitory computer readable storage medium of claim 18 ,
wherein the correction value includes a first symbol that is associated with a clockwise rotation of the first sensor with respect to the first axis, or
wherein the correction value includes a second symbol that is associated with a counter-clockwise rotation of the first sensor with respect to the first axis.

20. The non-transitory computer readable storage medium of claim 15 , wherein the code further causes, when executed by the processor, the processor to:
receive a second sensor data obtained from a second sensor that is located on the vehicle, wherein the second sensor experiences rotation with respect to a second axis during the operation of the vehicle; and
align the second sensor data with the first sensor data that describes the area that is exterior to the vehicle by modifying the second sensor data based on the measured value.

Assignees

• Tusimple Inc

Inventors

• Camyre Alan
• Skinner Todd
• Ning Juexiao
• Li Qiwei
• Liu Yishi

Classifications

• H04N23/683 Primary

  performed by a processor, e.g. controlling the readout of an image memory · CPC title

• G01B7/14

  for measuring distance or clearance between spaced objects or spaced apertures (G01B7/30 takes precedence) · CPC title

• G01B11/14

  for measuring distance or clearance between spaced objects or spaced apertures (G01B11/26 takes precedence; rangefinders G01C3/00) · CPC title

• G01B17/00

  Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations · CPC title

• G01S7/4972

  Alignment of sensor · CPC title