Methods and systems for calibrating sensors using road map data

Patent metadata

Field	Value
Publication number	US-9719801-B1
Application number	US-201313948457-A
Country	US
Kind code	B1
Filing date	Jul 23, 2013
Priority date	Jul 23, 2013
Publication date	Aug 1, 2017
Grant date	Aug 1, 2017

Abstract

Example methods and systems for calibrating sensors using road map data are provided. An autonomous vehicle may use various vehicle sensors to assist in navigation. Within examples, the autonomous vehicle may calibrate vehicle sensors through performing a comparison or analysis between information about the environment received by sensors with similar information provided by map data (e.g., a road map). The autonomous vehicle may compare object locations as provided by the sensors and as shown by map data. Based on the comparison, the autonomous vehicle may adjust various sensors to accurately reflect the information as provided by the road map. In some instances, the autonomous vehicle may adjust the position, height, orientation, direction-of-focus, scaling, or other parameters of a sensor based on the information provided by a road map.

First claim

What is claimed is:

1. A method comprising:
receiving, via at least one sensor coupled to a vehicle, information indicative of an environment of the vehicle, wherein the information includes measurements of a series of lane markers extending as a lane boundary of a road that the vehicle is traveling;
based on the information indicative of the environment of the vehicle, determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary;
receiving map data that depicts the road that the vehicle is traveling and includes location information for the series of lane markers;
determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary;
performing, as the vehicle travels the road, a comparison to determine differences between the estimated locations of the series of lane markers based on the information from the at least one sensor and the given locations for the series of lane markers determined using the map data; and
based on the differences determined by the comparison, providing instructions to adjust at least one of an orientation or an intensity of the at least one sensor relative to the vehicle.

2. The method of claim 1 , wherein the at least one sensor includes one or more of a camera, RADAR, LIDAR, and a global positioning system (GPS).

3. The method of claim 1 , wherein determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises:
determining one or more features of the series of lane markers, wherein the one or more features include one or more of a reflective light intensity, a height, a color, a texture; and
wherein determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises using the one or more features.

4. The method of claim 1 , wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises:
configuring the at least one sensor to adjust an intensity level of lasers emitted by the sensor based on differences determined by the comparison.

5. The method of claim 1 , wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises:
configuring the at least one sensor to adjust a position of the sensor based on differences determined by the comparison.

6. The method of claim 1 , wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises:
configuring the at least one sensor to adjust an operation schedule of the sensor based on differences determined by the comparison.

7. A non-transitory computer readable storage medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:
receiving, via at least one sensor coupled to a vehicle, information indicative of an environment of the vehicle, wherein the information includes measurements of a series of lane markers extending as a lane boundary of a road that the vehicle is traveling;
based on the information indicative of the environment of the vehicle, determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary
receiving map data that depicts the road that the vehicle is traveling and includes location information for the series of lane markers;
determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary;
performing, as the vehicle travels the road, a comparison to determine differences between the estimated locations of the series of lane markers based on the information from the at least one sensor and the given locations for the series of lane markers determined using the map data; and
based on the differences determined by the comparison, providing instructions to adjust at least one of an orientation or an intensity of the at least one sensor relative to the vehicle.

8. The non-transitory computer readable storage medium of claim 7 , wherein the at least one sensor includes one or more of a camera, RADAR, LIDAR, and a global positioning system (GPS).

9. The non-transitory computer readable storage medium of claim 7 , wherein determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises:
determining one or more features of the series of lane markers, wherein the one or more features include one or more of a reflective light intensity, a height, a color, a texture; and
wherein determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises using the one or more features.

10. The non-transitory computer readable storage medium of claim 7 , wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises:
configuring the at least one sensor to adjust an intensity level of lasers emitted by the sensor based on differences determined by the comparison.

11. The non-transitory computer readable storage medium of claim 7 , wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises:
configuring the at least one sensor to adjust a position of the sensor based on differences determined by the comparison.

12. A system, comprising:
at least one processor; and
data storage comprising instructions executable by the at least one processor to cause the system to perform functions comprising:
receiving, via at least one sensor coupled to a vehicle, information indicative of an environment of the vehicle, wherein the information includes measurements of a series of lane markers extending as a lane boundary of a road that the vehicle is traveling;
based on the information indicative of the environment of the vehicle, determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary
receiving map data that depicts the road that the vehicle is traveling and includes location information for the series of lane markers;
determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary;
performing, as the vehicle travels the road, a comparison to determine differences between the estimated locations of the series of lane markers based on the information from the at least one sensor and the given locations for the series of lane markers determined using the map data; and
based on the differences determined by the comparison, providing instructions to adjust at least one of an orientation or an intensity of the at least one sensor relative to the vehicle.

13. The system of claim 12 , wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises:
configuring the

Assignees

• Waymo Llc

Inventors

• Ferguson Dave
• Iordache Dorel Ionut

Classifications

• G01S7/4868

  Controlling received signal intensity or exposure of sensor · CPC title

• G01S3/781

  Details · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S11/12

  using electromagnetic waves other than radio waves · CPC title