Formatting sensor data for use in autonomous vehicle communications platform

• US 9,785,150 B2
• Filed: 12/11/2015
• Issued: 10/10/2017
• Est. Priority Date: 12/11/2015
• Status: Active Grant

• Current Assignee: Aurora Operations Incorporated (Aurora Innovation, Inc.)
• Original Assignee: Uber Technologies, Inc.
• Inventors: Sibenac, Mark, Strother, Daniel, Tascione, Daniel, Jones, Morgan, Brindza, Jordan
• Primary Examiner(s): TRUONG, NGUYEN T
• Application Number:
  US14/967,205
• Publication Number:
  US 20170168494A1
• Time in Patent Office: 669 Days
• Field of Search: 348148
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• 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: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof

Abstract

A sensor interface for an autonomous vehicle. The sensor interface generates a plurality of sensor pulses that are each offset in phase relative to a local clock signal by a respective amount. The sensor interface receives sensor data from a sensor apparatus and formats the sensor data based at least in part on the plurality of sensor pulses to enable the sensor data to be used for navigating the autonomous vehicle. For example, the sensor interface may add a timestamp to the sensor data indicating a timing of the sensor data in relation to the local clock signal.

Claims

1. A method of operating a sensor interface for a first sensor apparatus of an autonomous vehicle, the method comprising:

dividing a clock cycle of a local clock signal into a plurality of timing intervals, wherein the number of timing intervals is based at least in part on a framerate or resolution of a second sensor apparatus;

generating a plurality of sensor pulses based at least in part on framerates or resolutions of each of a plurality of sensors of the first sensor apparatus, wherein each of the plurality of sensor pulses are aligned with a respective one of the timing intervals;

receiving sensor data from the first sensor apparatus; and

formatting the sensor data based at least in part on the plurality of sensor pulses to enable the sensor data to be used for navigating the autonomous vehicle.

2. The method of claim 1, wherein the formatting comprises:

creating at least one of a header, footer, timestamp, or status bits for the sensor data.

3. The method of claim 1, wherein the formatting comprises:

adding a timestamp to the sensor data indicating a timing of the sensor data in relation to the local clock signal.

4. The method of claim 3, wherein the timestamp corresponds with one of the plurality of sensor pulses that coincides with a time at which the sensor data was captured by the first sensor apparatus.

5. The method of claim 1, wherein the local clock signal is synchronized with an external timing signal from a global positioning system (GPS) receiver.

6. The method of claim 5, wherein the external timing signal is a pulse per second (PPS) signal.

7. The method of claim 1, wherein the sensor data is captured by the first sensor apparatus in accordance with a sensor activation schedule based on the plurality of sensor pulses.

8. The method of claim 1, wherein the sensor data is captured asynchronously by the first sensor apparatus.

9. The method of claim 1, further comprising:

generating a three-dimensional sensor image for navigating the autonomous vehicle based at least in part on the sensor data.

10. A sensor interface for a first sensor apparatus of an autonomous vehicle, the sensor interface comprising:

a memory that stores instructions for operating the sensor interface; and

one or more processors that, upon executing the instructions, cause the sensor interface to;

divide a clock cycle of a local clock signal into a plurality of timing intervals, wherein the number of timing intervals is based at least in part on a framerate or resolution of a second sensor apparatus;

generate a plurality of sensor pulses based at least in part on framerates or resolutions of each of a plurality of sensors of the first sensor apparatus, wherein each of the plurality of sensor pulses are aligned with a respective one of the timing intervals;

receive sensor data from the first sensor apparatus; and

format the sensor data based at least in part on the plurality of sensor pulses to enable the sensor data to be used for navigating the autonomous vehicle.

11. The sensor interface of claim 10, wherein execution of the instructions to format the sensor data causes the sensor interface to:

create at least one of a header, footer, timestamp, or status bits for the sensor data.

12. The sensor interface of claim 10, wherein execution of the instructions to format the sensor data causes the sensor interface to:

add a timestamp to the sensor data indicating a timing of the sensor data in relation to the local clock signal.

13. The sensor interface of claim 12, wherein the timestamp corresponds with one of the plurality of sensor pulses that coincides with a time at which the sensor data was captured by the first sensor apparatus.

14. The sensor interface of claim 10, wherein the local clock signal is synchronized with an external timing signal from a global positioning system (GPS) receiver.

15. The sensor interface of claim 14, wherein the external timing signal is a pulse per second (PPS) signal.

16. The sensor interface of claim 10, wherein each of the plurality of sensor pulses is offset in phase relative to the clock signal by a respective amount.

17. The sensor interface of claim 10, wherein the sensor data is captured by the first sensor apparatus in accordance with a sensor activation schedule based on the plurality of sensor pulses.

18. The sensor interface of claim 10, wherein the sensor data is captured asynchronously by the first sensor apparatus.

19. The sensor interface of claim 10, wherein execution of the instructions further causes the sensor interface to:

generate a three-dimensional sensor image for navigating the autonomous vehicle based at least in part on the sensor data.

20. A non-transitory computer-readable storage medium containing instructions that, when executed by a processor of a sensor interface for a first sensor apparatus of an autonomous vehicle, causes the sensor interface to:

divide a clock cycle of a local clock signal into a plurality of timing intervals, wherein the number of timing intervals is based at least in part on a framerate or resolution of a second sensor apparatus;

generate a plurality of sensor pulses based at least in part on framerates or resolutions of each of a plurality of sensors of the first sensor apparatus, wherein each of the plurality of sensor pulses are aligned with a respective one of the timing intervals;

receive sensor data from the first sensor apparatus; and

format the sensor data based at least in part on the plurality of sensor pulses to enable the sensor data to be used for navigating the autonomous vehicle.