Sensor offset calibration using map information

• US 9,996,986 B2
• Filed: 08/28/2014
• Issued: 06/12/2018
• Est. Priority Date: 08/28/2014
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Tan, Hualin, O'Dea, Kevin A.
• Primary Examiner(s): Charioui, Mohamed
• Assistant Examiner(s): Delozier, Jeremy
• Application Number:
  US14/471,222
• Publication Number:
  US 20160061627A1
• Time in Patent Office: 1,384 Days
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01R 31/006 on road vehicles, e.g. automobiles or trucks testing of ignition installations peculiar to internal combustion engines F02P17/00
• CPC Class Codes: G01R 35/005 Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references G01R33/0035, G01R35/002 take precedence
• CPC Class Codes: G07C 5/00 Registering or indicating the working of vehicles

Abstract

Systems, processes, and techniques for calibrating an onboard sensor of a vehicle are presented here. The vehicle has a control system that is capable of performing at least some of the tasks related to the calibration procedure. An exemplary methodology collects vehicle status data and obtains navigation map data during operation of the vehicle. A current calibration factor is calculated for the onboard sensor, based on the collected vehicle status data and the obtained navigation map data. More specifically, the vehicle status and navigation map data can be used to determine when the current conditions are suitable for performing calibration. When the current conditions are satisfactory, the calibration factor is calculated. Thereafter, the onboard sensor can be calibrated in response to the current calibration factor.

Claims

1. A method of calibrating an onboard sensor of a vehicle having a control system, the method comprising:

collecting, with the control system, vehicle status data generated by onboard instruments, measurement devices, sensors, and/or transducers during operation of the vehicle;

obtaining navigation map data with the control system during operation of the vehicle, the navigation map data comprising road data that characterizes road geometry, including road curvature, road grade, road contour, and/or road banking angle;

analyzing the collected vehicle status data and the obtained navigation map data to determine that calibration initiation conditions are satisfied for purposes of performing a zero value offset calibration of the onboard sensor to reduce sensor error associated with baseline or zero condition readings of the onboard sensor;

checking the road data of the navigation map data to determine whether current road conditions are suitable for purposes of initiating zero value offset calibration of the onboard sensor;

calculating, with the control system, a current zero offset value for the onboard sensor based on the collected vehicle status data and the obtained navigation map data, wherein the calculating is triggered only in response to satisfaction of the calibration initiation conditions, and only when the checking step determines that the current road conditions are suitable for purposes of initiating zero value offset calibration of the onboard sensor; and

calibrating, with the control system, the onboard sensor using the current zero offset value, wherein the calculated current zero offset value is applied to adjust nonzero raw sensor values associated with baseline or zero condition readings of the onboard sensor.

2. The method of claim 1, wherein the control system collects the vehicle status data in real-time during operation of the vehicle.

3. The method of claim 1, wherein:

the onboard sensor comprises a wheel speed sensor; and

the calculating is triggered only if the obtained navigation map data indicates that the vehicle is travelling on a substantially straight road.

4. The method of claim 1, wherein:

the onboard sensor comprises a longitudinal acceleration sensor; and

the calculating is triggered only if the obtained navigation map data indicates that the vehicle is travelling on a road having substantially zero grade.

5. The method of claim 1, wherein:

the onboard sensor comprises a lateral acceleration sensor; and

the calculating is triggered only if the obtained navigation map data indicates that the vehicle is travelling on a road having substantially zero banking angle.

6. The method of claim 1, wherein:

the onboard sensor comprises a yaw rate sensor; and

the calculating is triggered only if the obtained navigation map data indicates that the vehicle is travelling on a substantially straight and flat road.

7. The method of claim 1, wherein:

the onboard sensor comprises a steering angle sensor; and

the calculating is triggered only if the obtained navigation map data indicates that the vehicle is travelling on a substantially straight and flat road.

8. The method of claim 1, further comprising:

computing an updated calibration value for the onboard sensor based on the current zero offset value and at least one previously calculated calibration value, wherein the control system calibrates the onboard sensor in response to the updated calibration value.

9. The method of claim 1, wherein:

the calibrating generates a calibrated sensor value; and

the method further comprises providing the calibrated sensor value to an onboard subsystem of the vehicle.

10. The method of claim 1, further comprising:

acquiring geographic position data for the vehicle, wherein the control system calculates the current zero offset value based on the collected vehicle status data, the obtained navigation map data, and the acquired geographic position data.

11. A computer readable storage media comprising executable instructions capable of performing a method of calibrating on onboard sensor of a vehicle, the method comprising:

collecting, with a control system of the vehicle, vehicle status data generated by onboard instruments, measurement device, sensors, and/or transducers during operation of the vehicle;

obtaining navigation map data with the control system during operation of the vehicle;

the navigation map data comprising road data that characterizes road geometry, including road curvature, road grade, road contour, and/or road banking angle;

analyzing the collected vehicle status data and the obtained navigation map data to determine whether calibration initiation conditions are satisfied for purposes of performing a zero value offset calibration of the onboard sensor to reduce sensor error associated with baseline or zero condition readings of the onboard sensor;

checking the road data of the navigation map data to determine whether current road conditions are suitable for purposes of initiating zero value offset calibration of the onboard sensor;

calculating, with the control system, a current zero offset value for the onboard sensor based on the collected vehicle status data and the obtained navigation map data, wherein the calculating is performed only when the calibration initiation conditions are satisfied, and only when the checking determines that the current road conditions are suitable for purposes of initiating zero value offset calibration of the onboard sensor; and

calibrating the onboard sensor using the current zero offset value, wherein the calculated current zero offset value is applied to adjust nonzero raw sensor values associated with baseline or zero condition readings of the onboard sensor.

12. The computer readable storage media of claim 11, wherein the method performed by the executable instructions further comprises:

computing an updated calibration value for the onboard sensor based on the current zero offset value and at least one previously calculated calibration factor;

wherein

calibrating the onboard sensor is performed using the updated calibration value.

13. The computer readable storage media of claim 12, wherein:

the calibrating generates a calibrated sensor value; and

the method performed by the executable instructions provides the calibrated sensor value to an onboard subsystem of the vehicle.

14. The computer readable storage media of claim 11, wherein the method performed by the executable instructions further comprises:

acquiring geographic position data for the vehicle, wherein the current zero offset value is calculated based on the collected vehicle status data, the obtained navigation map data, and the acquired geographic position data.

15. A vehicle comprising:

an onboard sensor configured to generate raw sensor values; and

a control system comprising at least one processor device to collect vehicle status data generated by onboard instruments, measurement devices, sensors, and/or transducers during operation of the vehicle, obtain navigation map data during operation of the vehicle, the navigation map data comprising road data that characterizes road geometry, including road curvature, road grade, road contour, and/or road banking angle, analyze the collected vehicle status data and the obtained navigation map data to determine whether calibration initiation conditions are satisfied for purposes of performing a zero value offset calibration of the onboard sensor to reduce sensor error associated with baseline or zero condition readings of the onboard sensor, check the road data of the navigation map data to determine whether current road conditions are suitable for purposes of initiating zero value offset calibration of the onboard sensor, calculate a current zero offset value for the onboard sensor based on the collected vehicle status data, wherein the current zero offset value is calculated only when the calibration initiation conditions are satisfied, and only when the checking step determines that the current road conditions are suitable for purposes of initiating zero value offset calibration of the onboard sensor, and calibrate the onboard sensor with the current zero offset value, wherein the calculated current zero offset value is applied to adjust nonzero raw sensor values associated with baseline or zero condition readings of the onboard sensor.

16. The vehicle of claim 15, wherein the control system comprises at least one electronic control unit.

17. The vehicle of claim 15, wherein the control system computes an updated sensor offset value for the onboard sensor based on the current zero offset value and at least one previously calculated sensor offset value, and calibrates the onboard sensor with the updated sensor offset value.

18. The vehicle of claim 17, wherein:

the calibrating generates a calibrated sensor value; and

the control system provides the calibrated sensor value to an onboard subsystem of the vehicle.

19. The vehicle of claim 15, wherein the control system acquires geographic position data for the vehicle, and determines that the calibration initiation conditions are satisfied based on the current vehicle status data, the current navigation map data, and current geographic position data.