Calibration for an autonomous vehicle LIDAR module

• US 10,775,488 B2
• Filed: 08/17/2017
• Issued: 09/15/2020
• Est. Priority Date: 08/17/2017
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Inventors: Bradley, David McAllister, Yang, Gehua
• Primary Examiner(s): Baghdasaryan, Hovhannes
• Application Number:
  US15/679,319
• Publication Number:
  US 20190056483A1
• Time in Patent Office: 1,125 Days
• Field of Search: None
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4972 Alignment of sensor

Abstract

A LIDAR calibration module can detect a set of return signals from a plurality of fiducial targets for a set of laser scanners of an autonomous vehicle'"'"'s LIDAR module. The autonomous vehicle can rest on an inclined platform of a rotating turntable to increase range variation in the return signals. Based on the set of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.

Claims

1. A light-detection and ranging (LIDAR) calibration system for an autonomous vehicle, the LIDAR calibration system comprising:

one or more processors; and

one or more memory resources storing instructions that, when executed by the one or more processors, cause the LIDAR calibration system to;

for a set of laser scanners of a LIDAR module, detect a set of return signals from a plurality of fiducial targets, wherein the autonomous vehicle rests on an inclined platform of a rotating turntable to detect the set of return signals, wherein the inclined platform is placed on the rotating turntable and is inclined relative to the rotating turntable; and

based on the set of return signals, generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.

2. The LIDAR calibration system of claim 1, wherein the LIDAR calibration system is included on-board the autonomous vehicle.

3. The LIDAR calibration system of claim 1, wherein the LIDAR calibration system is remote to the autonomous vehicle, and wherein the executed instructions further cause the LIDAR calibration system to:

receive;

from the autonomous vehicle over one or more networks;

a log set comprising LIDAR data that includes the set of return signals from the LIDAR module.

4. The LIDAR calibration system of claim 1, wherein the inclined platform comprises a fixed angle incline on the rotating turntable.

5. The LIDAR calibration system of claim 1, wherein the inclined platform comprises one or more actuators that controls at least one incline angle of the inclined platform.

6. The LIDAR calibration system of claim 5, wherein the executed instructions further cause the LIDAR calibration system to:

adjust the at least one incline angle of the inclined platform to increase range variation in the set of return signals.

7. The LIDAR calibration system of claim 6, wherein the at least one incline angle comprises a roll angle and a pitch angle.

8. The LIDAR calibration system of claim 1, wherein the set of intrinsic parameters of the LIDAR module comprises a plurality of offset angles for each laser scanner of the LIDAR module.

9. The LIDAR calibration system of claim 1, wherein the executed instructions cause the LIDAR calibration system to determine range measurements of the plurality of fiducial targets based on image data from at least one camera of the autonomous vehicle.

10. The LIDAR calibration system of claim 1, wherein the set of laser scanners comprises a lower set of laser scanners each having a negative incidence angle.

11. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:

for a set of laser scanners of a LIDAR module of an autonomous vehicle, detect a set of return signals from a plurality of fiducial targets, wherein the autonomous vehicle rests on an inclined platform of a rotating turntable to detect the set of return signals, wherein the inclined platform is placed on the rotating turntable and is inclined relative to the rotating turntable, and wherein data collection parameters comprising at least one incline angle associated with the inclined platform are stored in the non-transitory computer-readable medium; and

based on the set of return signals and the data collection parameters, generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.

12. The non-transitory computer-readable medium of claim 11, wherein the data collection parameters are processed by one or more processors that are included on-board the autonomous vehicle.

13. The non-transitory computer-readable medium of claim 11, wherein the data collection parameters are processed by one or more processors that are remote to the autonomous vehicle, and wherein the executed instructions further cause the one or more processors to:

receive, from the autonomous vehicle over one or more networks, a log set comprising LIDAR data that includes the set of return signals from the LIDAR module.

14. The non-transitory computer-readable medium of claim 11, wherein the at least one incline angle comprises a fixed angle incline on the rotating turntable.

15. The non-transitory computer-readable medium of claim 11, wherein the at least one incline angle is adjustable by one or more actuators.

16. The non-transitory computer-readable medium of claim 15, wherein the executed instructions further cause the one or more processors to:

adjust the at least one incline angle of the inclined platform to increase range variation in the set of return signals.

17. The non-transitory computer-readable medium of claim 16, wherein the at least one incline angle comprises a roll angle and a pitch angle.

18. The non-transitory computer-readable medium of claim 11, wherein the set of intrinsic parameters of the LIDAR module comprises a plurality of offset angles for each laser scanner of the LIDAR module.

19. The non-transitory computer-readable medium of claim 11, wherein the executed instructions cause the one or more processors to determine range measurements of the plurality of fiducial targets based on image data from at least one camera of the autonomous vehicle.

20. A computer-implemented method of calibrating intrinsic parameters of a LIDAR module of an autonomous vehicle, the method comprising:

for a set of laser scanners of the LIDAR module, detecting a set of return signals from a plurality of fiducial targets, wherein the autonomous vehicle rests on an inclined platform of a rotating turntable to detect the set of return signals, wherein the inclined platform is placed on the rotating turntable and is inclined relative to the rotating turntable; and

based on the set of return signals, generating a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.