Devices and Methods for a Sensor Platform of a Vehicle
First Claim
1. A vehicle comprising:
- a platform;
a yaw sensor mounted on the platform, wherein the yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor;
an actuator that rotates the platform; and
a controller coupled to the yaw sensor and the actuator, wherein the controller;
receives the indication of the yaw rate from the yaw sensor;
causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor; and
estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
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Accused Products
Abstract
In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.
66 Citations
20 Claims
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1. A vehicle comprising:
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a platform; a yaw sensor mounted on the platform, wherein the yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor; an actuator that rotates the platform; and a controller coupled to the yaw sensor and the actuator, wherein the controller; receives the indication of the yaw rate from the yaw sensor; causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor; and estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method comprising:
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receiving, from a yaw sensor mounted on a platform of a vehicle, an indication of a yaw rate of rotation of the yaw sensor; rotating the platform according to (i) a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) a rate of rotation based on the yaw rate of the yaw sensor; and estimating a direction of the vehicle in an environment based on at least the rate of rotation of the platform. - View Dependent Claims (16)
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17. A method comprising:
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obtaining sensor data collected using a sensor mounted on a platform of a vehicle, wherein the sensor data includes an indication of a rate of change to a direction of the sensor about a reference axis of the sensor; rotating the platform such that (i) a direction of the rotation is opposite to a direction of the change to the direction of the sensor and (ii) a rate of the rotation is based on the rate of change to the direction of the sensor; and based on at least the rate of rotation of the platform, estimating a direction of the vehicle in an environment of the vehicle. - View Dependent Claims (18, 19, 20)
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Specification