Methods and systems for calibrating sensors using road map data
First Claim
1. A method comprising:
- receiving, at a computing system and from a first set of sensors coupled to a vehicle, first sensor data depicting an environment of the vehicle;
based on the first sensor data, generating first map data that represents the environment of the vehicle;
receiving, at a computing system and from a second set of sensors coupled to the vehicle, second sensor data depicting the environment of the vehicle;
based on the second sensor data, generating second map data that represents the environment of the vehicle;
performing a comparison between the first map data and the second map data; and
based on the comparison, modifying operation of one or more sensors of the second set of sensors while the vehicle navigates a path using the first map data.
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Abstract
Example methods and systems for calibrating sensors using road map data are provided. An autonomous vehicle may use various vehicle sensors to assist in navigation. Within examples, the autonomous vehicle may calibrate vehicle sensors through performing a comparison or analysis between information about the environment received by sensors with similar information provided by map data (e.g., a road map). The autonomous vehicle may compare object locations as provided by the sensors and as shown by map data. Based on the comparison, the autonomous vehicle may adjust various sensors to accurately reflect the information as provided by the road map. In some instances, the autonomous vehicle may adjust the position, height, orientation, direction-of-focus, scaling, or other parameters of a sensor based on the information provided by a road map.
28 Citations
20 Claims
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1. A method comprising:
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receiving, at a computing system and from a first set of sensors coupled to a vehicle, first sensor data depicting an environment of the vehicle; based on the first sensor data, generating first map data that represents the environment of the vehicle; receiving, at a computing system and from a second set of sensors coupled to the vehicle, second sensor data depicting the environment of the vehicle; based on the second sensor data, generating second map data that represents the environment of the vehicle; performing a comparison between the first map data and the second map data; and based on the comparison, modifying operation of one or more sensors of the second set of sensors while the vehicle navigates a path using the first map data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable storage medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:
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receiving, from a first set of sensors coupled to a vehicle, first sensor data depicting an environment of the vehicle; based on the first sensor data, generating first map data that represents the environment of the vehicle; receiving, from a second set of sensors coupled to the vehicle, second sensor data depicting the environment of the vehicle; based on the second sensor data, generating second map data that represents the environment of the vehicle; performing a comparison between the first map data and the second map data; and based on the comparison, modifying operation of one or more sensors of the second set of sensors while the vehicle navigates a path using the first map data. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A system, comprising:
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a vehicle; a computing system positioned at a remote location from the vehicle; a non-transitory computer readable medium; and program instructions stored on the non-transitory computer readable medium executable by the computing system to; receive, from a first set of sensors coupled to the vehicle, first sensor data depicting an environment of the vehicle; based on the first sensor data, generate first map data that represents the environment of the vehicle; receive, from a second set of sensors coupled to the vehicle, second sensor data depicting the environment of the vehicle; based on the second sensor data, generate second map data that represents the environment of the vehicle; perform a comparison between the first map data and the second map data; and based on the comparison, modify operation of one or more sensors of the second set of sensors while the vehicle navigates a path using the first map data. - View Dependent Claims (18, 19, 20)
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Specification