Sensor calibration for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-9933515-B2
Application number	US-201414565293-A
Country	US
Kind code	B2
Filing date	Dec 9, 2014
Priority date	Dec 9, 2014
Publication date	Apr 3, 2018
Grant date	Apr 3, 2018

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:
a vehicle;
one or more sensors disposed on the vehicle;
a calibration guide disposed on the vehicle, the calibration guide being configured to project an image onto a surface at a predefined location relative to the vehicle; and
a computing device including:
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:
cause the calibration guide to project an image at the predefined location relative to the vehicle, the image indicating a correct location for a calibration object; and
when a calibration object is in the correct location indicated by the projected image, automatically calibrate the one or more sensors using the calibration object, the calibration object including a calibration pattern for calibrating the one or more sensors.

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 calibration object is configured to collapse for storage.

4. The system of claim 3 , wherein the calibration object is configured to collapse for storage using at least one of: sliding means, telescoping means, and rotating means.

5. The system of claim 1 , wherein the calibration guide comprises a laser projection device.

6. The system of claim 5 , wherein the image projected by the laser projection device indicates a correct orientation for the calibration object.

7. A computerized method comprising:
causing, using one or more processors, a calibration guide to project an image at a predefined location relative to a vehicle, the image indicating a correct location for a calibration object; and
when a calibration object is in the correct location indicated by the projected image, automatically calibrate one or more sensors using the calibration object, the calibration object including a calibration pattern for calibrating one or more sensors disposed on the vehicle.

8. The method of claim 7 , wherein the calibration object is configured to collapse for storage.

9. The method of claim 7 , wherein the calibration guide comprises a laser projection device.

10. A system comprising:
a vehicle;
one or more sensors disposed on the vehicle;
a calibration guide disposed on the vehicle, the calibration guide being configured to project an image onto a surface at a predefined location relative to the vehicle, the image including a calibration pattern; 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:
cause the calibration guide to project the image at the predefined location relative to the vehicle; and
automatically calibrate the one or more sensors using the calibration pattern included in the image.

11. A computerized method comprising:
causing, using one or more processors, a calibration guide to project an image at a predefined location relative to a vehicle, the image including a calibration pattern; and
automatically calibrating one or more sensors disposed on the vehicle using the calibration pattern included in the image.

12. A system comprising:
a vehicle;
one or more sensors disposed on the vehicle;
an extendable arm disposed on the vehicle, the extendable arm being movable between a retracted position and an extended position;
a calibration object including a calibration pattern for calibrating the one or more sensors, the calibration object being attached to the extendable arm; and
a computing device including:
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:
cause the extendable arm to move to the extended position such that the calibration object is located at a predefined location relative to the vehicle; and
automatically calibrate the one or more sensors using the calibration object.

13. A computerized method comprising:
causing, using one or more processors, an extendable arm to move to an extended position such that a calibration object attached to the extendable arm is located at a predefined location relative to a vehicle, the extendable arm being disposed on the vehicle, the calibration object including a calibration pattern for calibrating one or more sensors disposed on the vehicle; and
when the extendable arm is in the extended position, automatically calibrating the one or more sensors using the calibration object.

14. A system comprising:
a robot guide, the robot guide configured to navigate autonomously;
a calibration object including a calibration pattern for calibrating one or more sensors, the calibration object being connected to the robot guide;
a vehicle;
one or more sensors disposed on the vehicle;
one or more processors operatively connected to the robot guide to cause the robot guide to navigate autonomously relative to the vehicle to a correct location for the calibration object; and
one or more processors configured to automatically calibrate the one or more sensors using the calibration object when the calibration object is located in the correct location.

15. A computerized method comprising:
causing, using one or more processors, a robot guide to navigate autonomously relative to a vehicle to a correct location for a calibration object connected to the robot guide, the calibration object including a calibration pattern for calibrating one or more sensors; and
when the calibration object is located in the correct location, automatically calibrating the one or more sensors using the calibration object.

16. The system of claim 12 , wherein the extendible arm has a terminus such that when the extendible arm is in the extended position, the terminus is at a correct location.

17. The system of claim 14 , wherein the robot guide is configured to autonomously travel to the correct location using a location sensor.

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

19. The method of claim 13 , wherein the extendible arm has a terminus such that when the extendible arm is in the extended position, the terminus is at a correct location.

20. The system of claim 16 , wherein the calibration object is configured to suspend from the terminus of the extendible arm at a correct orientation.

Assignees

• Toyota Eng & Mfg North America

Inventors

• Prokhorov Danil V

Classifications

• G01S7/4972 Primary

  Alignment of sensor · CPC title

• G01S7/4026

  Antenna boresight · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title

• G01S13/865

  Combination of radar systems with lidar systems · CPC title