Calibration validation for autonomous vehicle operations
First Claim
1. A method of controlling a vehicle, the method comprising:
- detecting, by a control module onboard the vehicle, a stationary condition of the vehicle based at least in part on output of a sensor system onboard the vehicle;
in response to the stationary condition, obtaining, by the control module, an image from an imaging device onboard the vehicle during the stationary condition; and
obtaining, by the control module from a map database, a subset of mapping data corresponding to a vehicle pose during the stationary condition based on a pose of the imaging device relative to the vehicle, wherein the subset of mapping data corresponds to the field of view of the imaging device;
identifying, by the control module, an expected position for a reference object having a fixed position based on the subset of mapping data and a transformation associated with the imaging device;
identifying, by the control module, the reference object at an observed position within the image;
validating, by the control module, the transformation associated with the imaging device based on a difference between the expected position and the observed position; and
operating, by the control module, one or more actuators onboard the vehicle in a manner that is influenced by the validated transformation.
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Accused Products
Abstract
Systems and method are provided for controlling a vehicle. In one embodiment, a vehicle includes: an imaging device, a reference data source, one or more sensors, one or more actuators, and a controller. The controller detects a stationary condition based at least in part on the sensor output, obtains an image during the stationary condition, identifies a reference position for a reference object based on reference data for a field of view of the imaging device during the stationary condition, identifies the reference object at a second position within the image, validates a transformation associated with the imaging device based on a difference between the reference position and the second position, and thereafter autonomously operates the one or more actuators in a manner that is influenced by the validated transformation.
9 Citations
16 Claims
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1. A method of controlling a vehicle, the method comprising:
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detecting, by a control module onboard the vehicle, a stationary condition of the vehicle based at least in part on output of a sensor system onboard the vehicle; in response to the stationary condition, obtaining, by the control module, an image from an imaging device onboard the vehicle during the stationary condition; and obtaining, by the control module from a map database, a subset of mapping data corresponding to a vehicle pose during the stationary condition based on a pose of the imaging device relative to the vehicle, wherein the subset of mapping data corresponds to the field of view of the imaging device; identifying, by the control module, an expected position for a reference object having a fixed position based on the subset of mapping data and a transformation associated with the imaging device; identifying, by the control module, the reference object at an observed position within the image; validating, by the control module, the transformation associated with the imaging device based on a difference between the expected position and the observed position; and operating, by the control module, one or more actuators onboard the vehicle in a manner that is influenced by the validated transformation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle, comprising:
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an imaging device onboard the vehicle; a map database storing mapping data; one or more sensors onboard the vehicle; one or more actuators onboard the vehicle; and a controller that, by a processor, detects a stationary condition based at least in part on output of the one or more sensors, obtains an image from the imaging device during the stationary condition, obtains a subset of the mapping data corresponding to a field of view of the imaging device at a vehicle pose during the stationary condition based on a pose of the imaging device relative to the vehicle from the mapping data, identifies an expected position for a reference object having a fixed position based on the subset of the mapping data and a transformation associated with the imaging device, identifies the reference object at an observed position within the image, validates the transformation associated with the imaging device based on a difference between the expected position and the observed position, and thereafter autonomously operates the one or more actuators onboard the vehicle in a manner that is influenced by the validated transformation. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A method of controlling a vehicle, the method comprising:
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obtaining first data from a sensing device onboard the vehicle during a stationary condition of the vehicle; identifying an expected position for a reference object within the first data based on reference data corresponding to a field of view of the sensing device and one or more calibrated transformation parameter values associated with the sensing device, wherein identifying the expected position comprises; obtaining mapping data corresponding to a vehicle pose during the stationary condition from a map database; identifying a subset of the mapping data corresponding to the field of view of the sensing device based on a pose of the sensing device relative to the vehicle; identifying the reference object at a fixed position within the subset of the mapping data; converting the fixed position to the expected position in a coordinate frame associated with the sensing device based on the one or more calibrated transformation parameter values; identifying the reference object at an observed position within the first data; and initiating a remedial action with respect to the sensing device when a difference between the expected position and the observed position is greater than a threshold; validating the one or more calibrated transformation parameter values when the difference between the expected position and the observed position is less than the threshold; and operating one or more actuators onboard the vehicle in a manner that is influenced by the calibrated transformation parameter values after validation.
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Specification