Sensor calibration for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-2016161602-A1
Application number	US-201414565293-A
Country	US
Kind code	A1
Filing date	Dec 9, 2014
Priority date	Dec 9, 2014
Publication date	Jun 9, 2016
Grant date	—

Abstract

Systems and methods for calibrating sensors for an autonomous vehicle are disclosed. A calibration guide disposed on the vehicle can indicate to a user the correct location for a calibration object to be placed for a calibration procedure. In one implementation, a laser guide can project an image indicating the correct location and orientation for the calibration object. In another implementation, an extendible arm disposed on the vehicle can suspend the calibration object at the correct location and orientation. In another implementation, an autonomous robot carrying the calibration object can autonomously bring the calibration object to the correct location. The calibration guide can be unobtrusively stored within the vehicle when not in use.

First claim

What is claimed is:

1 . A system comprising:
one or more sensors disposed on a vehicle; a calibration object including a calibration pattern for calibrating the one or more sensors; a calibration guide disposed on the vehicle; and a computing device in communication with the calibration guide, comprising:
one or more processors for controlling operations of the computing device; and
a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:
indicate to a user of the vehicle, using the calibration guide, a correct location for the calibration object.

2 . The system of claim 1 , wherein the correct location for the calibration object is a location for the calibration object that enables the one or more sensors to auto-calibrate by observing the calibration object.

3 . The system of claim 1 , wherein the one or more processors are further configured to execute instructions stored in the memory to:
automatically calibrate the one or more sensors using the calibration object when the calibration object is at the correct location.

4 . The system of claim 1 , wherein the correct location for the calibration object is a location defined relative to the vehicle.

5 . The system of claim 1 , wherein the calibration object is configured to collapse for storage.

6 . The system of claim 5 , wherein the calibration object is configured to collapse for storage using at least one of: sliding means, telescoping means, and rotating means.

7 . The system of claim 1 , wherein the calibration guide comprises a laser projection device configured to project an image at the correct location.

8 . The system of claim 7 , wherein the image projected by the laser projection device indicates a correct orientation for the calibration object.

9 . The system of claim 7 , wherein the image projected by the laser projection device includes the calibration pattern.

10 . The system of claim 1 , wherein the calibration guide comprises an extendible arm having a terminus such that when the extendible arm is extended, the terminus is at the correct location.

11 . The system of claim 10 , wherein the calibration object is configured to suspend from the terminus of the extendible arm at a correct orientation.

12 . The system of claim 1 , wherein the calibration guide comprises an autonomous robot configured to receive the calibration object and to autonomously travel to the correct location.

13 . The system of claim 12 , wherein the autonomous robot is configured to autonomously travel to the correct location using a location sensor.

14 . The system of claim 12 , wherein the autonomous robot is configured to autonomously travel to the correct location using dead reckoning based on a starting location relative to the vehicle.

15 . A computerized method comprising:
indicating to a user of a vehicle, using a calibration guide disposed on the vehicle, a correct location for a calibration object having a calibration pattern, wherein one or more sensors disposed on the vehicle are configured to auto-calibrate by observing the calibration object at the correct location.

16 . The method of claim 15 , wherein the correct location for the calibration object is a location defined relative to the vehicle.

17 . The method of claim 15 , wherein the calibration object is configured to collapse for storage.

18 . The method of claim 15 , wherein the calibration guide comprises a laser projection device configured to project an image at the correct location.

19 . The method of claim 15 , wherein the calibration guide comprises an extendible arm having a terminus such that when the extendible arm is extended, the terminus is at the correct location.

20 . The method of claim 15 , wherein the calibration guide comprises an autonomous robot configured to receive the calibration object and to autonomously travel to the correct location.

Assignees

• Toyota Eng & Mfg North America

Inventors

• Prokhorov Danil V

Classifications

• G01S7/4026

  Antenna boresight · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S7/4972 Primary

  Alignment of sensor · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S13/865

  Combination of radar systems with lidar systems · CPC title