US 10,502,574 B2 · Devices and methods for a sensor platform of a vehicle

Abstract

In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.

Claims20

Dependent claims

A vehicle comprising:

a platform;
a yaw sensor mounted on the platform, wherein the yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor;
an actuator that rotates the platform;
an encoder coupled to the platform;
and
a controller coupled to the yaw sensor and the actuator, wherein the controller:
receives the indication of the yaw rate from the yaw sensor;
causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor;
receives, from the encoder, measurements of the rotation of the platform caused by the actuator;
and
estimates, based on at least the measurements of the rotation of the platform caused by the actuator, a direction of motion of the vehicle in an environment of the vehicle.

8 more elements

A method comprising:

obtaining sensor data collected using a sensor mounted on a platform of a vehicle, wherein the sensor data includes an indication of a rate of change to a direction of the sensor about a reference axis of the sensor;
rotating the platform such that (i) a direction of the rotation is opposite to a direction of the change to the direction of the sensor and (ii) a rate of the rotation is based on the rate of change to the direction of the sensor;
receiving, from an encoder coupled to the platform, measurements of the rotation of the platform;
and
based on at least the measurements of the rotation of the platform received from the encoder, estimating a direction of the vehicle in an environment of the vehicle.

2 more elements

Dependencies are inferred from the claim text.

Devices and methods for a sensor platform of a vehicle

Life of this patent

Devices and methods for a sensor platform of a vehicle

Life of this patent

Abstract

Claims20