Calibration for autonomous vehicle operation
First Claim
1. A method comprising:
- receiving data at an autonomous vehicle system comprising a plurality of sensors, the plurality of sensors including an inertial measurement unit (IMU) sensor, an odometry sensor, and a multi-beam LIDAR sensor, and the data representing measurements made using the plurality of sensors;
determining a distance traveled by the autonomous vehicle system based on one or more sensor measurements of the odometry sensor;
determining a velocity of the autonomous vehicle system based on one or more sensor measurements of the IMU sensor;
identifying an abnormal sensor measurement, made using the multi-beam LIDAR sensor, based at least in part on the data;
generating an initial calibration parameter, associated with the multi-beam LIDAR sensor, based at least in part on the abnormal sensor measurement;
generating an expected sensor measurement, associated with the multi-beam LIDAR sensor, based on the data;
modifying the initial calibration parameter based at least in part on the expected sensor measurement, wherein modifying the initial calibration parameter includes generating a modified calibration parameter associated with the multi-beam LIDAR sensor; and
calibrating the multi-beam LIDAR sensor based at least in part on the modified calibration parameter, the distance traveled by the autonomous vehicle system, and the velocity of the autonomous vehicle system.
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Accused Products
Abstract
Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving data associated with a sensor measurement of a perceived object, determining a label associated with the perceived object based on an initial calibration, retrieving log file data associated with the label, determining a calibration parameter associated with the sensor measurement based on the retrieved log file data, and storing the calibration parameter in association with a sensor associated with the sensor measurement. Sensors may be calibrated on the fly while the autonomous vehicle is in operation using one or more other sensors and/or fused data from multiple types of sensors.
460 Citations
18 Claims
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1. A method comprising:
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receiving data at an autonomous vehicle system comprising a plurality of sensors, the plurality of sensors including an inertial measurement unit (IMU) sensor, an odometry sensor, and a multi-beam LIDAR sensor, and the data representing measurements made using the plurality of sensors; determining a distance traveled by the autonomous vehicle system based on one or more sensor measurements of the odometry sensor; determining a velocity of the autonomous vehicle system based on one or more sensor measurements of the IMU sensor; identifying an abnormal sensor measurement, made using the multi-beam LIDAR sensor, based at least in part on the data; generating an initial calibration parameter, associated with the multi-beam LIDAR sensor, based at least in part on the abnormal sensor measurement; generating an expected sensor measurement, associated with the multi-beam LIDAR sensor, based on the data; modifying the initial calibration parameter based at least in part on the expected sensor measurement, wherein modifying the initial calibration parameter includes generating a modified calibration parameter associated with the multi-beam LIDAR sensor; and calibrating the multi-beam LIDAR sensor based at least in part on the modified calibration parameter, the distance traveled by the autonomous vehicle system, and the velocity of the autonomous vehicle system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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receiving, at an autonomous vehicle system comprising a plurality of sensors, a plurality of sensor measurements associated with an environmental feature, the plurality of sensors comprising an inertial measurement unit (IMU) sensor, an odometry sensor, and a multi-beam LIDAR sensor; determining a distance traveled by the autonomous vehicle system based on one or more sensor measurements of the odometry sensor; determining a velocity of the autonomous vehicle system based on one or more sensor measurements of the IMU sensor; identifying an abnormal sensor measurement of the plurality of sensor measurements made using the multi-beam LIDAR sensor, wherein the abnormal sensor measurement is incongruent with one or more other measurements of the plurality of sensor measurements made using the multi-beam LIDAR sensor; determining a plurality of calibration parameters associated with the multi-beam LIDAR sensor, wherein at least one parameter of the plurality of calibration parameters is determined based on the abnormal sensor measurement and a statistical computation associated with the environmental feature; determining an expectation model associated with the multi-beam LIDAR sensor, wherein the expectation model is configured to output one or more expected sensor measurements; generating an expected sensor measurement with the expectation model and using at least one measurement of the plurality of sensor measurements made using the multi-beam LIDAR sensor; modifying the plurality of calibration parameters based at least in part on the expected sensor measurement, wherein modifying the plurality of calibration parameter includes generating a modified calibration parameter associated with the multi-beam LIDAR sensor; and calibrating the multi-beam LIDAR sensor based at least in part on the modified calibration parameter, the distance traveled by the autonomous vehicle system, and the velocity of the autonomous vehicle system. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A method comprising:
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receiving, at an autonomous vehicle system comprising a plurality of sensors, data associated with a measurement made by a multi-beam LIDAR sensor of the plurality of sensors, wherein the measurement indicates detection of an object by the multi-beam LIDAR sensor, and the plurality of sensors further comprises at least one RADAR sensor; determining a current physical location of the multi-beam LIDAR sensor, relative to the autonomous vehicle system, using the at least one RADAR sensor; comparing the current physical location to a stored indication of an initial position of the multi-beam LIDAR sensor; determining a labeled data point associated with the object, wherein the labeled data point is determined based at least in part on an initial calibration of the multi-beam LIDAR sensor; retrieving log file data associated with the labeled data point, the log file data comprising one or more contradictory sensor measurements from the multi-beam LIDAR sensor; determining, based at least in part on the one or more contradictory sensor measurements, an expected sensor measurement of the multi-beam LIDAR sensor; determining a calibration parameter associated with the multi-beam LIDAR sensor based at least in part on the retrieved log file data and the expected sensor measurement; associating the calibration parameter with information, identifying the multi-beam LIDAR sensor, in a memory associated with the autonomous vehicle system; and calibrating the multi-beam LIDAR sensor based at least in part on the calibration parameter and on the comparing. - View Dependent Claims (16, 17, 18)
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Specification