Sensor Adjustment Based on Vehicle Motion

• US 20190018416A1
• Filed: 07/13/2017
• Published: 01/17/2019
• Est. Priority Date: 07/13/2017
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Gassend, Blaise
• Granted Patent: US 11,300,958 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/426 Scanning radar, e.g. 3D radar G01S13/66 takes precedence
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• 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 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/0254 Active array antenna
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

An example system includes a light detection and ranging (LIDAR) device that scans a field-of-view defined by a pointing direction of the LIDAR device. The system also includes an actuator that adjusts the pointing direction of the LIDAR device. The system also includes one or more sensors that indicate measurements related to motion of a vehicle associated with the LIDAR device. The system also includes a controller that causes the actuator to adjust the pointing direction of the LIDAR device based on at least the motion of the vehicle indicated by the one or more sensors.

Claims

1. A system comprising:

a light detection and ranging (LIDAR) device that scans a field-of-view (FOV) defined by a pointing direction of the LIDAR device, wherein the LIDAR device mounts to a vehicle;

an actuator that adjusts the pointing direction of the LIDAR device;

one or more sensors that indicate measurements related to motion of the vehicle relative to an environment of the vehicle; and

a controller that causes the actuator to adjust the pointing direction of the LIDAR device relative to the environment of the vehicle based on at least the motion of the vehicle indicated by the one or more sensors.

2. The system of claim 1, wherein the one or more sensors comprise a sensor that indicates a measurement of an orientation of the vehicle relative to the environment.

3. The system of claim 1, wherein the one or more sensors comprise a sensor that indicates a measurement of a rate of change to an orientation of the vehicle relative to the environment.

4. The system of claim 1, wherein the one or more sensors comprise a sensor that provides an indication of a speed of the vehicle relative to the environment.

5. The system of claim 1, further comprising:

one or more devices that indicate measurements related to motion of the LIDAR device relative to the vehicle, wherein the controller adjusts the pointing direction of the LIDAR device further based on the motion of the LIDAR device indicated by the one or more devices.

6. The system of claim 5, wherein the one or more devices comprise a sensor that indicates a measurement of the pointing direction of the LIDAR device relative to the vehicle.

7. The system of claim 5, wherein the one or more devices comprise a sensor that indicates a measurement of a rate of change to the pointing direction of the LIDAR device relative to the vehicle.

8. The system of claim 5, wherein the controller modulates power provided to the actuator based on at least:

a measurement of the pointing direction of the LIDAR device indicated by the one or more devices, and a measurement of an orientation of the vehicle indicated by the one or more sensors.

9. The system of claim 5, wherein the controller modulates power provided to the actuator based on at least a difference between:

a measurement of a rate of change to the pointing direction of the LIDAR device indicated by the one or more devices, and a measurement of a rate of change to an orientation of the vehicle indicated by the one or more sensors.

10. The system of claim 1, wherein the LIDAR device emits light pulses, and wherein the controller further causes the LIDAR device to adjust a pulse emission rate of the emitted light pulses based on at least the motion of the vehicle indicated by the one or more sensors.

11. The system of claim 10, wherein the controller causes the LIDAR device to adjust the pulse emission rate further based on a measurement of the pointing direction of the LIDAR device.

12. A vehicle comprising:

a light detection and ranging (LIDAR) device that scans a field-of-view (FOV) defined by a pointing direction of the LIDAR device;

an actuator that rotates the LIDAR device about an axis to adjust the pointing direction of the LIDAR device;

one or more sensors that indicate measurements related to motion of the vehicle relative to an environment of the vehicle; and

a controller that causes the actuator to adjust a frequency of the rotation of the LIDAR device about the axis based on at least the motion of the vehicle indicated by the one or more sensors.

13. The vehicle of claim 12, wherein the one or more sensors comprise a sensor that indicates a measurement of a yaw rate of change to a yaw direction of the vehicle in the environment.

14. The vehicle of claim 12, wherein the one or more sensors comprise a sensor that provides an indication of a speed of the vehicle relative to the environment.

15. The vehicle of claim 12, further comprising a sensor that indicates a measurement of the frequency of the rotation of the LIDAR device about the axis, wherein the controller causes the actuator to adjust the frequency of the rotation of the LIDAR device further based on the measurement of the frequency of the rotation indicated by the sensor.

16. The vehicle of claim 15, wherein the controller modulates power provided to the actuator based on at least a difference between:

a measurement of a yaw rate of change to a yaw direction of the vehicle in the environment indicated by the one or more sensors, and a measurement of the frequency of the rotation of the LIDAR device indicated by the sensor.

17. The vehicle of claim 12, further comprising a sensor that indicates a measurement of a position of the LIDAR device about the axis, wherein the controller causes the actuator to adjust the frequency of the rotation of the LIDAR device further based on the measurement of the position of the LIDAR device indicated by the sensor.

18. A method comprising:

scanning a field-of-view defined by a pointing direction of a light detection and ranging (LIDAR) device that mounts to a vehicle;

receiving sensor data comprising data indicative of motion of the vehicle relative to an environment of the vehicle; and

adjusting the pointing direction of the LIDAR device relative to the environment of the vehicle based on at least the sensor data.

19. The method of claim 18, wherein the sensor data further comprises data indicative of motion of the LIDAR device relative to the vehicle.

20. The method of claim 19, further comprising:

modulating power provided to an actuator that adjusts the pointing direction of the LIDAR device based on at least a difference between;

the motion of the LIDAR device indicated by the sensor data, and the motion of the vehicle indicated by the sensor data.