LiDAR sensor alignment system

• US 10,401,484 B2
• Filed: 06/30/2017
• Issued: 09/03/2019
• Est. Priority Date: 06/30/2017
• Status: Active Grant

• Current Assignee: Motional AD, LLC (Aptiv PLC)
• Original Assignee: Aptiv Technologies Limited (Aptiv PLC)
• Inventors: Lee, Jong Ho, Kim, Junsung
• Primary Examiner(s): Harandi, Siamak
• Application Number:
  US15/638,538
• Publication Number:
  US 20190004159A1
• Time in Patent Office: 795 Days
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/4972 Alignment of sensor

Abstract

A Light Detection and Ranging (LiDAR) sensor alignment system includes an imaging device, a LiDAR sensor, a mount device, and a controller. The imaging device is configured to output an image signal associated with a first scene that includes an object. The LiDAR sensor is configured to output a LiDAR signal associated with a second scene. The mount device is attached to the LiDAR sensor and adapted to align the LiDAR sensor. The controller is configured to receive the image and LiDAR signals, classify the object from the first scene, and confirm the object is properly oriented within the second scene. If the object is not properly orientated within the second scene, the controller initiates an action.

Claims

1. A Light Detection and Ranging (LiDAR) sensor alignment system comprising:

an imaging device configured to output an image signal associated with a first scene including an object;

a LiDAR sensor configured to output a LiDAR signal associated with a second scene;

a mount device attached to the LiDAR sensor and constructed and arranged to align the LiDAR sensor; and

a controller configured to;

receive the image signal and LiDAR signals;

use the image signal to classify the object from the first scene using a database including preprogrammed information associated with the object and applied by the controller for classification of the object;

use the classified object and the LiDAR signals to confirm the classified object is at least partially within the second scene; and

in accordance with the classified object not being at least partially within the second scene, initiating an action.

2. The LiDAR sensor alignment system set forth in claim 1, wherein the mount device includes an electric alignment drive constructed and arranged to be controlled by the controller for aligning the LiDAR sensor as the action.

3. The LiDAR sensor alignment system set forth in claim 1, further comprising:

a warning device configured to receive an initiation signal from the controller as the action if the object is not at least partially within the second scene.

4. The LiDAR sensor alignment system set forth in claim 1, wherein the controller includes a processor and an electronic storage medium for executing a software-based application configured to determine if the object is not at least partially within the second scene.

5. An automated vehicle comprising:

an imaging device configured to output an image signal associated with a first scene including an object;

a Light Detection and Ranging (LiDAR) sensor configured to output a LiDAR signal associated with a second scene;

a vehicle body;

a mount device attached to the LiDAR sensor and the vehicle body, and constructed and arranged to move the LiDAR sensor with respect to the vehicle body thereby aligning the LiDAR sensor; and

a controller configured to;

receive the image signal and LiDAR signals;

utilize the image signal to classify the object from the first scene using a database including preprogrammed information associated with the object and applied by the controller for classification of the object; and

utilize the classified object and the LiDAR signals to confirm the classified object is at least partially within the second scene; and

in accordance with the classified object not being at least partially within the second scene, initiating an action.

6. The automated vehicle set forth in claim 5, wherein the mount device includes an electric alignment drive constructed and arranged to be controlled by the controller for aligning the LiDAR sensor.

7. The automated vehicle set forth in claim 5, further comprising:

a warning device configured to receive an initiation signal from the controller if the object is not at least partially within the second scene.

8. A non-transitory, computer-readable storage medium having instructions stored thereon, that when executed by a controller of an automated vehicle, cause the controller to perform operations comprising:

receiving an image signal from an imaging device and Light Detection and Ranging (LiDAR) signals from a LiDAR sensor;

utilizing the image signal to classify an object from a first scene captured by the imaging device using a database including preprogrammed information associated with the object for classification of the object;

utilizing the classified object and the LiDAR signals to confirm the classified object is at least partially within a second scene captured by the LiDAR sensor; and

in accordance with the classified object not being at least partially within the second scene, initiating an action.