System and method for sensor triggering for synchronized operation

• US 10,114,103 B2
• Filed: 03/21/2017
• Issued: 10/30/2018
• Est. Priority Date: 03/31/2016
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uber Technologies, Inc.
• Inventors: Jones, Morgan
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/464,787
• Publication Number:
  US 20170269601A1
• Time in Patent Office: 588 Days
• Field of Search: 701 27, 280735, 340 1215, 307 101
• CPC Class Codes: B60W 50/06 Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
• CPC Class Codes: G01S 19/13 Receivers

Abstract

A sensor triggering system for a sensor apparatus including a plurality of sensors. The system detects a first sensor pulse and determines a memory address of a lookup table based on the first sensor pulse. In response to the first sensor pulse, the system selectively triggers one or more of the plurality of sensors based at least in part on a codeword stored at the first memory address. For example, the codeword may comprise a number of bits such that each bit of the codeword indicates an activation state for a respective one of the plurality of sensors.

Claims

1. A sensor triggering system for an autonomous vehicle (AV), the sensor triggering system comprising:

a memory that stores instructions for operating a plurality of sensors of the AV; and

one or more processors executing the instructions, causing the sensor triggering system to;

detect a first sensor pulse from a pulse generator of the AV;

in response to detecting the first sensor pulse, determine a first codeword from a first memory address of a lookup table based on a current memory index pointing to the first memory address in the lookup table; and

selectively trigger the plurality of sensors based on the first codeword stored at the first memory address.

2. The system of claim 1, wherein the first codeword comprises a plurality of bits equal to a number of sensors in the plurality of sensors.

3. The sensor triggering system of claim 2, wherein each bit of the first codeword indicates an activation state for a respective one of the plurality of sensors.

4. The sensor triggering system of claim 3, wherein execution of the instructions to selectively trigger the plurality of sensors causes the sensor triggering system to:

for each sensor of the plurality of sensors, trigger the sensor if a corresponding bit of the first codeword is asserted.

5. The sensor triggering system of claim 1, wherein execution of the instructions further causes the sensor triggering system to:

detect, from the pulse generator, a second sensor pulse that is offset in phase relative to the first sensor pulse by a predetermined amount;

in response to detecting the second sensor pulse, determine a second codeword from a second memory address of the lookup table based on the current memory index pointing to the second memory address in the lookup table; and

selectively trigger the plurality of sensors based on the second codeword stored at the second memory address.

6. The sensor triggering system of claim 5, wherein execution of the instructions causes the sensor triggering system to determine the second codeword from the second memory address by incrementing the current memory index after selectively triggering the plurality of sensors based on the first codeword.

7. The sensor triggering system of claim 1, wherein

the pulse generator generates the first sensor pulse based on a local clock signal from a positioning system of the AV.

8. The sensor triggering system of claim 7, wherein

the pulse generator determines a number of clock pulses of the local clock signal and generates the first sensor pulse when the number of clock pulses reaches a count threshold.

9. The sensor triggering system of claim 8, wherein

the local clock signal comprises a pulse per second (PPS) signal, wherein the positioning system comprises a global positioning system (GPS) receiver, and wherein the pulse generator determines the count threshold based at least in part on a number of clock pulses of the local clock signal occurring between consecutive pulses of the PPS signal.

10. A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors of an autonomous vehicle (AV), cause the one or more processors to:

detect a first sensor pulse from a pulse generator of the AV;

in response to detecting the first sensor pulse, determine a first codeword from a first memory address of a lookup table based on a current memory index pointing to the first memory address in the lookup table; and

selectively trigger a plurality of sensors of the AV based on the first codeword stored at the first memory address.

11. The non-transitory computer-readable medium of claim 10, wherein the first codeword comprises a number of bits equal to a number of sensors in the plurality of sensors.

12. The non-transitory computer-readable medium of claim 11, wherein each bit of the first codeword indicates an activation state for a respective one of the plurality of sensors.

13. The non-transitory computer-readable medium of claim 12, wherein the executed instructions cause the one or more processors to selectively trigger the plurality of sensors by, for each sensor of the plurality of sensors, triggering the sensor if a corresponding bit of the first codeword is asserted.

14. The non-transitory computer-readable medium of claim 10, wherein the executed instructions further cause the one or more processors to:

detect, from the pulse generator, a second sensor pulse that is offset in phase relative to the first sensor pulse by a predetermined amount;

in response to detecting the second sensor pulse, determine a second codeword from a second memory address of the lookup table based on the current memory index pointing to the second memory address in the lookup table; and

selectively trigger the plurality of sensors based on the second codeword stored at the second memory address.

15. The non-transitory computer-readable medium of claim 14, wherein the executed instructions cause the one or more processors to determine the second codeword from the second memory address by incrementing the current memory index after selectively triggering the plurality of sensors based on the first codeword.

16. The non-transitory computer-readable medium of claim 10, wherein the pulse generator generates the first sensor pulse based on a local clock signal from a positioning system of the AV.

17. The non-transitory computer-readable medium of claim 16, wherein the pulse generator determines a number of clock pulses of the local clock signal and generates the first sensor pulse when the number of clock pulses reaches a count threshold.

18. The non-transitory computer-readable medium of claim 17, wherein the local clock signal comprises a pulse per second (PPS) signal, wherein the positioning system comprises a global positioning system (GPS) receiver, and wherein the pulse generator determines the count threshold based at least in part on a number of clock pulses of the local clock signal occurring between consecutive pulses of the PPS signal.

19. An autonomous vehicle (AV) comprising:

acceleration, braking and steering systems;

a pulse generator;

a plurality of sensors; and

an AV control system comprising one or more processors and a memory that stores a set of instructions, wherein the set of instructions, when executed by the one or more processors, cause the AV control system to;

detect a first sensor pulse from the pulse generator;

in response to detecting the first sensor pulse, determine a first codeword from a first memory address of a lookup table based on a current memory index pointing to the first memory address in the lookup table; and

selectively trigger the plurality of sensors of the AV based on the first codeword stored at the first memory address.

20. The AV of claim 19 further comprising:

a positioning system, wherein the pulse generator (i) generates the first sensor pulse based on a clock signal from a positioning system of the AV and (ii) determines a number of clock pulses of the clock signal and generates the first sensor pulse when the number of clock pulses reaches a count threshold.