Autonomous vehicle speed calibration

Patent metadata

Field	Value
Publication number	US-9817399-B2
Application number	US-201615273060-A
Country	US
Kind code	B2
Filing date	Sep 22, 2016
Priority date	Feb 10, 2015
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

Systems and methods may calibrate an indicator of speed of an autonomous vehicle. In one implementation, a system may include at least one processor programmed to: receive from a camera at least a plurality of images representative of an environment of the vehicle; analyze the plurality of images to identify at least two recognized landmarks; determine, based on known locations of the two recognized landmarks, a value indicative of a distance between the at least two recognized landmarks; determine, based on an output of at least one sensor associated with the autonomous vehicle, a measured distance between the at least two landmarks; determine a correction factor for the at least one sensor based on a comparison of the value indicative of the distance between the at least to recognized landmarks and the measured distance between the at least two landmarks.

First claim

What is claimed is:

1. A system for calibrating an output of at least one sensor associated with an autonomous vehicle, the system comprising:
at least one processor programmed to:
receive from a camera a plurality of images representative of an environment of the autonomous vehicle;
analyze the plurality of images to identify at least two recognized landmarks;
determine, based on known locations of the two recognized landmarks, a value indicative of a distance between the at least two recognized landmarks;
determine, based on the output of the at least one sensor associated with the autonomous vehicle, a measured distance between the at least two landmarks;
determine a correction factor for the at least one sensor based on a comparison of the value indicative of the distance between the at least two recognized landmarks and the measured distance between the at least two landmarks; and apply the correction factor to a value associated with the output of the at least one sensor to obtain a corrected value to be used by the autonomous vehicle.

2. The system of claim 1 , wherein the two recognized landmarks include one or more of a traffic sign, an arrow marking, a lane marking, a dashed lane marking, a traffic light, a stop line, a directional sign, a reflector, a landmark beacon, or a lamppost.

3. The system of claim 1 , wherein the at least one sensor includes a speedometer associated with the vehicle.

4. The system of claim 1 , wherein the known locations of the two recognized landmarks are received from a server based system located remotely with respect to the vehicle.

5. The system of claim 4 , wherein each of the known locations constitutes a refined location determined based on a plurality of GPS-based measurements.

6. A system for calibrating an output of at least one sensor associated with an autonomous vehicle, the system comprising:
at least one processor programmed to:
determine a distance along a road segment based on the output of the at least one sensor associated with the autonomous vehicle;
receive, via a wireless transceiver from a remote server, a distance value associated with the road segment;
determine a correction factor for the at least one sensor based on the determined distance along the road segment and the distance value received via the wireless transceiver; and
apply the correction factor to a value associated with the output of the at least one sensor to obtain a corrected value to be used by the autonomous vehicle.

7. The system of claim 6 , wherein the distance value associated with the road segment, received via the wireless transceiver, is determined based on prior measurements made by a plurality of measuring vehicles.

8. The system of claim 7 , wherein the plurality of measuring vehicles includes at least 100 measuring vehicles.

9. The system of claim 7 , wherein the plurality of measuring vehicles includes at least 1000 measuring vehicles.

10. The system of claim 6 , wherein the correction factor is determined such that an operation on the determined distance along the road segment by the correction factor matches the distance value received via the wireless transceiver.

11. The system of claim 6 , wherein the at least one processor is programmed to determine a composite correction factor based on a plurality of determined correction factors.

12. The system of claim 11 , wherein the composite correction factor is determined by averaging the plurality of determined correction factors.

13. The system of claim 11 , wherein the composite correction factor is determined by finding a mean of the plurality of determined correction factors.

14. An autonomous vehicle comprising:
a body;
a camera; and
at least one processor programmed to:
receive from the camera a plurality of images representative of an environment of the autonomous vehicle;
analyze the plurality of images to identify at least two recognized landmarks;
determine, based on known locations of the two recognized landmarks, a value indicative of a distance between the at least two recognized landmarks;
determine, based on an output of at least one sensor associated with the autonomous vehicle, a measured distance between the at least two landmarks;
determine a correction factor for the at least one sensor based on a comparison of the value indicative of the distance between the at least two recognized landmarks and the measured distance between the at least two landmarks; and
apply the correction factor to a value associated with the output of the at least one sensor to obtain a corrected value to be used by the autonomous vehicle.

15. The autonomous vehicle of claim 14 , wherein the at least one sensor includes a speedometer associated with the autonomous vehicle.

16. The autonomous vehicle of claim 14 , wherein the two recognized landmarks include one or more of a traffic sign, an arrow marking, a lane marking, a dashed lane marking, a traffic light, a stop line, a directional sign, a reflector, a landmark beacon, or a lamppost.

17. The autonomous vehicle of claim 14 , wherein the known locations of the two recognized landmarks are received from a server based system located remotely with respect to the autonomous vehicle.

18. The system of claim 1 , wherein the known locations of the two recognized landmarks are stored in a database.

19. The system of claim 18 , wherein the database is included in a remote server.

20. The system of claim 1 , wherein a road model stored in a database includes the known locations of the two recognized landmarks.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Braunstein Daniel
• Gdalyahu Yoram
• Rubinsky Sergey

Classifications

• G01C21/32

  Structuring or formatting of map data · CPC title

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W30/14

  {Adaptive} cruise control · CPC title

• B60W2710/20

  Steering systems · CPC title