System and method for aligning sensors on a vehicle
First Claim
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1. A sensor alignment system for establishing and maintaining accurate alignment of automotive sensors comprising:
- a sensor mounted on an automotive vehicle for gathering target data around the vehicle using optical information;
a micro inertial sensor included with the sensor that measures rotation rate and acceleration along two or more axes of the sensor for the establishment of a sensor reference frame;
a separate micro inertial sensor independently mounted on the vehicle that measures rotation rate and acceleration along two or more axes of the vehicle for the establishment of a vehicle navigation reference frame; and
a processor for determining an amount of misalignment of the sensor reference frame with the vehicle navigation reference frame and aligning the sensor target data with the vehicle navigation reference frame according to the amount of misalignment.
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Abstract
A vehicle sensor system consisting of video, radar, ultrasonic or laser sensors, oriented to obtain a 360 degree view around the vehicle for the purpose of developing a situation or scene awareness. The sensors may or may not have overlapping field of views, or support the same applications, but data will be shared by all. Orientation of the sensor to the vehicle body coordinates is critical in order to accurately assess threat and respond. This system describes methods based on measuring force and rotation on each sensor and computing a dynamic alignment to first each other, then second to the vehicle.
163 Citations
13 Claims
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1. A sensor alignment system for establishing and maintaining accurate alignment of automotive sensors comprising:
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a sensor mounted on an automotive vehicle for gathering target data around the vehicle using optical information; a micro inertial sensor included with the sensor that measures rotation rate and acceleration along two or more axes of the sensor for the establishment of a sensor reference frame; a separate micro inertial sensor independently mounted on the vehicle that measures rotation rate and acceleration along two or more axes of the vehicle for the establishment of a vehicle navigation reference frame; and a processor for determining an amount of misalignment of the sensor reference frame with the vehicle navigation reference frame and aligning the sensor target data with the vehicle navigation reference frame according to the amount of misalignment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification