Automotive sensor alignment with external IMU tool

Patent metadata

Field	Value
Publication number	US-9568592-B1
Application number	US-201414532729-A
Country	US
Kind code	B1
Filing date	Nov 4, 2014
Priority date	Nov 4, 2014
Publication date	Feb 14, 2017
Grant date	Feb 14, 2017

Abstract

An inertial measurement unit (IMU) may be used to align a plurality of radar units coupled to a vehicle via a plurality of mounting structures. The IMU may be placed at a reference location and reference-location data may be captured. The IMU may be coupled to each of the mounting structures and, at each mounting structure, respective mounting-location inertial measurement data may be captured using the IMU. For each mounting structure, a measured roll angle, measured elevational angle, and measured azimuthal angle is determined based on at least the mounting-location inertial measurement obtained at the mounting structure and the reference inertial measurement. Further, for each mounting structure, offsets are determined for the measured roll angle, the measured elevational angle, and the measured azimuthal angle. One or more of the mounting structures and/or radar units are adjusted based on one or more of the offsets.

First claim

What is claimed is:

1. A method of mounting a plurality of radar units to a vehicle via a plurality of mounting structures on the vehicle such that each radar unit is coupled to a respective mounting structure, the method comprising:
obtaining a reference-location inertial measurement using an inertial measurement unit (IMU) at a reference location;
coupling the IMU to each of the mounting structures on the vehicle in a sequence;
while the IMU is coupled to each mounting structure, obtaining a respective mounting-location inertial measurement using the IMU; and
for each mounting structure:
determining a measured roll angle, measured elevational angle, and measured azimuthal angle based on at least the mounting-location inertial measurement obtained at the mounting structure and the reference inertial measurement;
determining an elevational offset based on a difference between the measured elevational angle and a target elevational angle;
determining a roll offset based on a difference between the measured roll angle and a target roll angle;
determining an azimuthal offset based on a difference between the measured azimuthal angle and a target azimuthal angle; and

mounting the plurality of radar units to the vehicle via the plurality of mounting structures, wherein the mounting comprises adjusting at least one of the radar units or mounting structures based on the at least one of the elevational offset, roll offset, and azimuthal offset.

2. The method according to claim 1 , wherein the reference-location inertial measurement comprises a measurement of movement of the Earth.

3. The method according to claim 1 , wherein the reference location is located away from the vehicle.

4. The method according to claim 1 , wherein the reference location corresponds to one of the plurality of mounting structures.

5. The method according to claim 1 , further comprising:
after coupling the IMU to each of the mounting structures on the vehicle in the sequence, re-coupling the IMU to a particular mounting structure that was in the sequence;
while the IMU is re-coupled to the particular mounting structure, obtaining an additional mounting-location inertial measurement using the IMU; and
comparing the additional mounting-location inertial measurement to the mounting-location inertial measurement that was previously measured at the particular mounting structure to determine an IMU drift parameter.

6. The method according to claim 5 , wherein the particular mounting structure was first in the sequence.

7. The method according to claim 5 , further comprising using the IMU drift parameter to determine the measured elevational angles, roll angles, and azimuthal angles.

8. The method according to claim 5 , wherein if the IMU drift parameter exceeds a threshold, providing an alert.

9. An apparatus comprising:
an inertial measurement unit (IMU);
a mounting plate configured to couple the IMU to each of a plurality of mounting structures on a vehicle, wherein each of the mounting structures is configured to couple to a respective radar unit; and
a computational unit configured to perform operations comprising:
use the IMU to obtain a reference-location inertial measurement at a reference location;
use the IMU to obtain respective mounting-location inertial measurements when the IMU is coupled to each of the mounting structures in a sequence; and
for each mounting structure:
determine a measured elevational angle, a measured roll angle, and measured azimuthal angle based on at least the mounting-location inertial measurement obtained at the mounting structure and the reference inertial measurement;
determine an elevational offset based on a difference between the measured elevational angle and a target elevational angle;
determine a roll offset based on a difference between the measured roll angle and a target roll angle; and
determine an azimuthal offset based on a difference between the measured azimuthal angle and a target azimuthal angle.

10. The apparatus according to claim 9 , wherein the reference-location inertial measurement comprises a measurement of movement of the Earth.

11. The apparatus according to claim 9 , wherein the reference location is located away from the vehicle.

12. The apparatus according to claim 9 , wherein the reference location corresponds one of the plurality of mounting structures.

13. The apparatus according to claim 9 , wherein the operations further comprise:
while the IMU is re-coupled to a particular mounting structure that was in the squence, obtaining an additional mounting-location inertial measurement using the IMU;
comparing the additional mounting-location inertial measurement to the mounting-location inertial measurement that was previously measured at the particular mounting structure to determine an IMU drift parameter.

14. The apparatus according to claim 13 , wherein the particular mounting structure was first in the sequence.

15. The apparatus according to claim 13 , further comprising using the IMU drift parameter to determine the measured elevational angles, roll angles, and azimuthal angles.

16. The apparatus according to claim 13 , wherein if the IMU drift parameter exceeds a threshold, providing an alert.

17. An article of manufacture including a non-transitory computer-readable medium, having stored thereon program instructions that, if executed by a computing device, cause the computing device to perform operations comprising:
obtaining a reference-location inertial measurement using an inertial measurement unit (IMU) at a reference location, wherein the IMU can be coupled to each of a plurality of mounting structures on a vehicle, wherein each of the mounting structures is configured to couple to a respective radar unit;
using the IMU to obtain a respective mounting-location inertial measurements when the IMU is coupled to each of the mounting structures in a sequence; and
for each mounting structure:
determining a measured roll angle, measured elevational angle, and measured azimuthal angle based on at least the mounting-location inertial measurement obtained at the mounting structure and the reference inertial measurement;
determining an elevational offset based on a difference between the measured elevational angle and a target elevational angle;
determining a roll offset based on a difference between the measured roll angle and a target roll angle; and
determining an azimuthal offset based on a difference between the measured azimuthal angle and a target azimuthal angle.

18. The article of manufacture according to claim 17 , wherein the reference-location inertial measurement comprises a measurement of movement of the Earth.

19. The article of manufacture according to claim 17 , wherein the reference location is one of a location away from the vehicle and one of the plurality of mounting structures.

20. The article of manufacture according to claim 17 , wherein the operations further comprise:
while the IMU is re-coupled to a particular mounting structure that was in the sequence, obtaining an additional mounting-location inertial measurement using the IMU;
comparing the additional mounting-location inertial measurement to the mounting-location inertial measurement that was previously measured at the particular mounting structure to determine an IMU drift parameter.

Assignees

• Google Inc

Inventors

• Brown Adam
• Smith Russell Leigh

Classifications

• G01S2013/93273

  on the top of the vehicles · CPC title

• G01S2013/93272

  in the back of the vehicles · CPC title

• G01S2013/93274

  on the side of the vehicles · CPC title

• G01S13/87

  Combinations of radar systems, e.g. primary radar and secondary radar · CPC title

• G01S13/426

  Scanning radar, e.g. 3D radar (G01S13/66 takes precedence) · CPC title