IMU data offset compensation for an autonomous vehicle
AssigneeUatc, LLC
InventorsMarc Leach, Mark Sibenac, Robert Zlot, Aaron Greenfield
Life of this patent
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Abstract
A sensor data processing system for an autonomous vehicle receives inertial measurement unit (IMU) data from one or more IMUs of the autonomous vehicle. Based at least in part on the IMU data, the system identifies an IMU data offset from a deficient IMU of the one or more IMUs, and generates an offset compensation transform to compensate for the IMU data offset from the deficient IMU. The system dynamically executes the offset compensation transform on the IMU data from the deficient IMU to dynamically compensate for the IMU data offset.
Claims20
An autonomous vehicle control system for an autonomous vehicle, comprising:
- one or more processors;
- and
- a memory storing an instruction set that, when executed by the one or more processors, causes the autonomous vehicle control system to:
- receive sensor data from a sensor system of the autonomous vehicle, the sensor data comprising a sensor view of a surrounding environment of the autonomous vehicle;
- receive inertial measurement unit (IMU) data from one or more IMUs of the autonomous vehicle;
- based on comparing the IMU data with the sensor data from the sensor system, determine an IMU data offset from a reference;
- and
- dynamically compensate for the IMU data offset.
A method of operating an autonomous vehicle control system of an autonomous vehicle, the method being performed by one or more processors and comprising:
- receiving sensor data from a sensor system of the autonomous vehicle, the sensor data comprising a sensor view of a surrounding environment of the autonomous vehicle;
- receiving inertial measurement unit (IMU) data from one or more IMUs of the autonomous vehicle;
- based on comparing the IMU data with the sensor data from the sensor system, determining an IMU data offset from a reference;
- and
- dynamically compensating for the IMU data offset.
A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:
- receive sensor data from a sensor system of an autonomous vehicle, the sensor data comprising a sensor view of a surrounding environment of the autonomous vehicle;
- receive inertial measurement unit (IMU) data from one or more IMUs of the autonomous vehicle;
- based on comparing the IMU data with the sensor data from the sensor system, determine an IMU data offset from a reference;
- and
- dynamically compensate for the IMU data offset.
Dependencies are inferred from the claim text.