Sensor consensus monitor
AssigneeZoox, Inc.
InventorsDerek Adams, Eric Andre Senant, Weihung Ko, Michael Carsten Bosse
Life of this patent
Estimating the term…
Abstract
Techniques described are related to determining when a discrepancy between data of multiple sensors (e.g., IMUs) might be attributable to a sensor error, as opposed to operating conditions, such as sensor bias or noise. For example, the sensor data is passed through one or more filters (e.g., bandpass filter) that model the bias or noise, and the filtered data may then be compared for consistency. In some examples, consistency may be based on residuals or some other metric describing discrepancy among the filtered sensor data.
Claims20
A method comprising:
- receiving first sensor data associated with a first sensor and second sensor data associated with a second sensor;
- determining third sensor data by filtering high-frequency data and low-frequency data from the first sensor data and the second sensor data;
- determining, based at least in part on the third sensor data, a discrepancy metric associated with the first sensor;
- determining, based at least in part on the discrepancy metric exceeding a threshold metric, an error associated with the first sensor;
- and
- using, based at least in part on the error associated with the first sensor, the second sensor data instead of the first sensor data to control an operation of a vehicle.
One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:
- receive first sensor data associated with a first sensor and second sensor data associated with a second sensor;
- determine third sensor data by filtering high-frequency data and low-frequency data from the first sensor data and the second sensor data;
- determine, based at least in part on the third sensor data, a discrepancy metric associated with the first sensor;
- determine, based at least in part on the discrepancy metric exceeding a threshold metric, an error associated with the first sensor;
- and
- use, based at least in part on the error associated with the first sensor, the second sensor data instead of the first sensor data to control an operation of a vehicle.
An autonomous vehicle comprising:
- a first sensor and a second sensor;
- one or more processors;
- and
- one or more computer-readable media storing instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform operations comprising:
- receiving first sensor data associated with the first sensor and second sensor data associated with the second sensor;
- determining third sensor data by filtering high-frequency data and low-frequency data from the first sensor data and the second sensor data;
- determining, based at least in part on the third sensor data, a discrepancy metric associated with the first sensor;
- determining, based at least in part on the discrepancy metric exceeding a threshold metric, an error associated with the first sensor;
- and
- using, based at least in part on the error associated with the first sensor, the second sensor data instead of the first sensor data to control of the autonomous vehicle.
Dependencies are inferred from the claim text.