US 11,623,494 B1Granted

Sensor calibration and verification using induced motion

AssigneeZoox, Inc.

InventorsTaylor Andrew Arnicar, Derek Adams, Michael Carsten Bosse, Johannes Edren, Till Kroeger

Life of this patent

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Abstract

Motion can be induced at a vehicle, e.g., by actuating components of an active suspension system, and first sensor data and second sensor data representing an environment of the vehicle can be captured at a first position and a second position, respectively, resulting from the induced motion. A second sensor can determine motion information associated with the first position and the second position. Calibration information about the sensor, the first sensor data, and the motion information can be used to determine an expectation of sensor data at the second position. A calibration error can be the difference between the second sensor data and the expected sensor data.

Claims20

Dependent claims

A vehicle comprising:

an inertial measurement unit;
an active suspension system;
a sensor mounted on the vehicle, the sensor being configured to generate sensor data;
one or more processors;
and
memory storing instructions executable by the one or more processors to cause the vehicle to perform acts comprising:
controlling the active suspension system to induce a motion of the vehicle;
receiving, from the sensor, first sensor data generated with the sensor in at least one of a first position or a first orientation resulting from the motion;
receiving, from the sensor, second sensor data generated with the sensor in at least one of a second position or a second orientation resulting from the motion;
receiving, from the inertial measurement unit, first position data and second position data, the first position data corresponding to the at least one of the first position or the first orientation and the second position data corresponding to the at least one of the second position or the second orientation;
determining a displacement of one or more features from the first sensor data to the second sensor data;
determining an expected displacement of the one or more features based on the first position data and the second position data;
and
determining, as a calibration error of the sensor, a difference between the displacement of the one or more features and the expected displacement of the one or more features.

11 more elements

A method comprising:

controlling, using a vehicle controller, a vehicle to induce motion of the vehicle;
determining, using a first sensor disposed on the vehicle, motion data corresponding to the motion;
receiving, from a second sensor disposed on the vehicle, first sensor data associated with the vehicle in at least one of a first position or first orientation resulting from the motion;
receiving, from the second sensor, second sensor data associated with the vehicle in at least one of a second position or second orientation resulting from the motion;
determining a data difference between the first sensor data and the second sensor data;
determining, based on the motion data and the first sensor data, an expected data difference between the first sensor data and the second sensor data;
and
determining a calibration error associated with the second sensor as a difference between the data difference and the expected data difference.

5 more elements

A system comprising:

an actuator;
a first sensor;
a second sensor having a known position relative to the first sensor;
one or more processors;
and
non-transitory memory storing instructions that, when executed by the one or more processors, cause the system to perform acts comprising:
causing the actuator to induce motion in the system;
receiving, from the first sensor, motion data corresponding to the motion;
receiving, from the second sensor, first sensor data generated at at least one of a first position or a first orientation of the second sensor resulting from the motion;
receiving, from the second sensor, second sensor data generated at at least one of a second position or a second orientation of the second sensor resulting from the motion;
determining a data difference between the first sensor data and the second sensor data;
determining, based on the motion data, an expected data difference between the first sensor data and the second sensor data;
and
determining a calibration error associated with the second sensor as a difference between the data difference and the expected data difference.

11 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/801,537Filed 26 Feb 2020
Granted: 11 Apr 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification34 codes

B60G 17/019
The regulating means comprising electric or electronic elements: characterised by the type of sensor or the arrangement thereof
B60G 17/017
The regulating means comprising electric or electronic elements: characterised by their use when the vehicle is stationary, e.g. during loading,…
B60G 17/0182
Characterised by the use of a specific signal treatment or control method: involving parameter estimation, e.g. observer, Kalman filter
B60G 17/01908
Characterised by the type of sensor or the arrangement thereof: acceleration or inclination sensors