Installation and use of vehicle light ranging system

• US 10,520,593 B2
• Filed: 12/07/2018
• Issued: 12/31/2019
• Est. Priority Date: 12/07/2017
• Status: Active Grant

• Current Assignee: Ouster, Inc.
• Original Assignee: Ouster, Inc.
• Inventors: Pacala, Angus, Garbuzov, Dmitri, Lu, Daniel, Wong, Kairen
• Primary Examiner(s): Rahman, Md M
• Application Number:
  US16/213,784
• Publication Number:
  US 20190178998A1
• Time in Patent Office: 389 Days
• Field of Search: 356600
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/3647 Guidance involving output of stored or live camera images or video streams
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/51 Display arrangements
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Methods, systems, and devices are provided for calibrating a light ranging system and using the system to track environmental objects. In embodiments, the approach involves installing light ranging devices, such as lidar devices, on the vehicle exterior. The light ranging system may be calibrated using a calibration device to scan the vehicle exterior and construct a three-dimensional model of the vehicle exterior comprising the positions of the installed light ranging devices on the vehicle exterior. The calibrated light ranging system may use the model in conjunction with ranging data collected by the installed light ranging devices to track objects in the environment. In this way, the light ranging system may detect a proximity of environmental objects and help a driver of the vehicle avoid potential collisions. The light ranging system may further measure the vehicle exterior and thereby detect changes to the vehicle exterior.

Claims

1. A method for calibrating a light ranging system including a control unit and one or more light ranging devices, the method comprising:

scanning, by a calibration imaging device, a vehicle and the one or more light ranging devices installed on the vehicle to produce imaging data, each light ranging device including a laser source and a photosensor;

computing a primary model of an exterior of the vehicle based on the imaging data, the primary model including a coordinate frame;

determining one or more model positions of the one or more light ranging devices on the primary model relative to the coordinate frame of the primary model, the one or more model positions corresponding to physical positions of the one or more light ranging devices on the exterior of the vehicle; and

outputting the primary model of the exterior of the vehicle and the one or more model positions of the one or more light ranging devices on the primary model in a format usable by the control unit to determine distances between the exterior of the vehicle and one or more environmental surfaces using measurements from the one or more light ranging devices.

2. The method of claim 1, wherein the primary model is three-dimensional.

3. The method of claim 1, further comprising installing the one or more light ranging devices on the vehicle.

4. The method of claim 1, wherein determining the one or more model positions of the one or more light ranging devices on the primary model comprises:

for each of the one or more light ranging devices;

estimating a starting position of the light ranging device on the primary model;

loading one or more housing dimensions of the light ranging device; and

determining the model position of the light ranging device on the primary model based on matching the one or more housing dimensions of the light ranging device to a portion of the primary model comprising the estimated starting position.

5. The method of claim 4, wherein the estimating the starting position of the light ranging device on the primary model is based on user input.

6. The method of claim 1, wherein the calibration imaging device is of a same type as the one or more light ranging devices.

7. The method of claim 1, further comprising:

measuring, using the one or more light ranging devices, the exterior of the vehicle to construct one or more partial models of the exterior of the vehicle, the one or more partial models defined relative to the coordinate frame of the primary model; and

refining the one or more model positions of the one or more light ranging devices based on minimizing an error between the primary model and the one or more partial models.

8. The method of claim 1, further comprising:

surveying, using the one or more light ranging devices, an environment around the vehicle, wherein the one or more light ranging devices comprise a primary light ranging device and one or more secondary light ranging devices;

constructing a primary model of the environment based on a first set of ranging data from the primary light ranging device;

constructing one or more secondary models of the environment based on one or more additional sets of ranging data from the one or more secondary light ranging devices; and

refining the one or more model positions of the one or more light ranging devices based on minimizing an error between the primary model and the one or more secondary models.

9. The method of claim 1, wherein the calibration imaging device is one of the one or more light ranging devices.

10. A system for calibrating a light ranging system including a control unit and one or more light ranging devices, the system comprising:

a calibration imaging device configured to scan a vehicle and the one or more light ranging devices installed on the vehicle to produce imaging data, each light ranging device including a laser source and a photosensor; and

a processor communicably coupled with the calibration imaging device, wherein the processor is configured to;

compute a primary model of an exterior of the vehicle based on the imaging data, the primary model including a coordinate frame;

determine one or more model positions of the one or more light ranging devices on the primary model relative to the coordinate frame of the primary model, the one or more model positions corresponding to physical positions of the one or more light ranging devices on the exterior of the vehicle; and

output the primary model of the exterior of the vehicle and the one or more model positions of the one or more light ranging devices on the primary model in a format usable by the control unit to determine distances between the exterior of the vehicle and one or more environmental surfaces using measurements from the one or more light ranging devices.

11. The system of claim 10, wherein determining the one or more model positions of the one or more light ranging devices on the primary model comprises:

for each of the one or more light ranging devices;

estimating a starting position of the light ranging device on the primary model;

loading one or more housing dimensions of the light ranging device; and

determining the model position of the light ranging device on the primary model based on matching the one or more housing dimensions of the light ranging device to a portion of the primary model comprising the estimated starting position.

12. The system of claim 10, wherein the calibration imaging device is of a same type as the one or more light ranging devices.

13. The system of claim 10, wherein the processor is further configured to:

measure, using the one or more light ranging devices, the exterior of the vehicle to construct one or more partial models of the exterior of the vehicle, the one or more partial models defined relative to the coordinate frame of the primary model; and

refine the one or more model positions of the one or more light ranging devices based on minimizing an error between the primary model and the one or more partial models.

14. The system of claim 10, wherein the processor is further configured to:

survey, using the one or more light ranging devices, an environment around the vehicle, wherein the one or more light ranging devices comprise a primary light ranging device and one or more secondary light ranging devices;

construct a primary model of the environment based on a first set of ranging data from the primary light ranging device;

construct one or more secondary models of the environment based on one or more additional sets of ranging data from the one or more secondary light ranging devices; and

refine the one or more model positions of the one or more light ranging devices based on minimizing an error between the primary model and the one or more secondary models.

15. A non-transitory computer-readable medium storing instructions for controlling a processor, communicably coupled with a calibration imaging device, to perform a method for calibrating a light ranging system including a control unit and one or more light ranging devices, the method comprising:

receiving imaging data obtained from the calibration imaging device configured to scan a vehicle and the one or more light ranging devices installed on the vehicle;

computing a primary model of an exterior of the vehicle based on the imaging data, the primary model including a coordinate frame;

determining one or more model positions of the one or more light ranging devices on the primary model relative to the coordinate frame of the primary model, the one or more model positions corresponding to physical positions of the one or more light ranging devices on the exterior of the vehicle; and

outputting the primary model of the exterior of the vehicle and the one or more model positions of the one or more light ranging devices on the primary model in a format usable by the control unit to determine distances between the exterior of the vehicle and one or more environmental surfaces using measurements from the one or more light ranging devices.

16. The non-transitory computer-readable medium of claim 15, wherein determining the one or more model positions of the one or more light ranging devices on the primary model comprises:

for each of the one or more light ranging devices;

estimating a starting position of the light ranging device on the primary model;

loading one or more housing dimensions of the light ranging device; and

determining the model position of the light ranging device on the primary model based on matching the one or more housing dimensions of the light ranging device to a portion of the primary model comprising the estimated starting position.

17. The non-transitory computer-readable medium of claim 16, wherein the estimating the starting position of the light ranging device on the primary model is based on user input.

18. The non-transitory computer-readable medium of claim 15, wherein the method further comprises:

measuring, using the one or more light ranging devices, the exterior of the vehicle to construct one or more partial models of the exterior of the vehicle, the one or more partial models defined relative to the coordinate frame of the primary model; and

refining the one or more model positions of the one or more light ranging devices based on minimizing an error between the primary model and the one or more partial models.

19. The non-transitory computer-readable medium of claim 15, wherein the method further comprises:

surveying, using the one or more light ranging devices, an environment around the vehicle, wherein the one or more light ranging devices comprise a primary light ranging device and one or more secondary light ranging devices;

constructing a primary model of the environment based on a first set of ranging data from the primary light ranging device;

constructing one or more secondary models of the environment based on one or more additional sets of ranging data from the one or more secondary light ranging devices; and

refining the one or more model positions of the one or more light ranging devices based on minimizing an error between the primary model and the one or more secondary models.