# US 12,181,876 B2 · System and method for collaborative sensor calibration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,181,876 B2 - Document ID: US12181876B2 - Status: Granted - Kind: B2 - Application number: 18/122,070 - Filed: 2023-03-15 - Published: 2023-07-06 - Granted: 2024-12-31 - Earliest claimed: 2019-12-09 - Assignees: PlusAI, Inc. - Applicants: PlusAI, Inc. - Inventors: Ankur Agarwal - Web page: https://patentgrep.com/patent/US12181876B2 ## CPC - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0297: {by controlling means in a control room} - B60W 50/0205: {Diagnosing or detecting failures; Failure detection models} - B60W 60/00: Drive control systems specially adapted for autonomous road vehicles - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/0268: {using internal positioning means} - G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 7/85: {Stereo camera calibration} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - H04N 17/002: {for television cameras} - B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means} - B60W 2050/0215: {Sensor drifts or sensor failures} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2556/65: Data transmitted between vehicles - G01S 17/931: of land vehicles - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract The present teaching relates to method, system, medium, and implementations for sensor calibration. An ego vehicle determines whether a sensor deployed on the ego vehicle to facilitate autonomous driving of the ego vehicle needs to be calibrated and sends, if it is determined that the sensor needs to be calibrated, a request for assistance in collaborative calibration of the sensor, with a first position of the ego vehicle or a first configuration of the sensor with respect to the ego vehicle. When a response of the request is received, an assisting vehicle is indicated to travel to be near the ego vehicle to facilitate the calibration of the sensor by collaborating with the moving ego vehicle and the ego vehicle coordinates with the assisting vehicle to enable the sensor to acquire information of a target present on the assisting vehicle for the collaborative calibration of the sensor. ## Claims ### Claim 1 A system, comprising: at least one processor; and a memory operably coupled to the at least one processor and storing instructions to cause the system to perform operations comprising: sending, from a vehicle in motion, a request for assistance in calibration of a sensor disposed with the vehicle; receiving a response to the request, the response comprising a calibration assistant package to facilitate the calibration of the sensor, the calibration assistant package including information concerning at least one landmark located along a future route of the vehicle and specifying how the at least one landmark is to be used to perform calibration with respect to the sensor; and while the vehicle is in motion, facilitating the calibration of the sensor by enabling the sensor to acquire information of the at least one landmark. ### Claim 2 (depends on 1) The system of claim 1, the operations further comprising; including, in the request for assistance, a position of the vehicle. ### Claim 3 (depends on 1) The system of claim 1, the operations further comprising; including, in the request for assistance, information about the sensor. ### Claim 4 (depends on 1) The system of claim 1, wherein the sensor is a first sensor, and wherein the request for calibration includes a request for calibration of a second sensor disposed with the vehicle. ### Claim 5 (depends on 4) The system of claim 4, wherein the calibration assistant package comprises: a first landmark and an association between the first sensor and the first landmark; and a second landmark and an association between the second sensor and the second landmark. ### Claim 6 (depends on 5) The system of claim 5, wherein facilitating the calibration of the sensor comprises: enabling the first sensor to acquire information of the first landmark; and enabling the second sensor to acquire information of the second landmark. ### Claim 7 (depends on 4) The system of claim 4, wherein the calibration assistant package specifies how each landmark is to be used to perform collaborative calibration with respect to each sensor. ### Claim 8 (depends on 1) The system of claim 1, the operations further comprising: determining whether the sensor should be calibrated; and responsive to determining the sensor should be calibrated, sending the request for assistance in calibration of the sensor. ### Claim 9 (depends on 8) The system of claim 8, the operations further comprising: determining whether the sensor should be calibrated based on at least one of (1) sensor information acquired by the sensor from a surrounding of the vehicle, and (2) a schedule specifying an interval by which the sensor is to be calibrated. ### Claim 10 (depends on 1) The system of claim 1, the operations further comprising: determining whether a second vehicle is available to collaborate in calibrating the sensor; and responsive to determining the second vehicle is not available to collaborate in calibrating the sensor, sending the request for assistance in calibration of the sensor. ### Claim 11 A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform operations comprising: sending, from a vehicle in motion, a request for assistance in calibration of a sensor disposed with the vehicle; receiving a response to the request, the response comprising a calibration assistant package to facilitate the calibration of the sensor, the calibration assistant package including information concerning at least one landmark located along a future route of the vehicle and specifying how the at least one landmark is to be used to perform calibration with respect to the sensor; and while the vehicle is in motion, facilitating the calibration of the sensor by enabling the sensor to acquire information of the at least one landmark. ### Claim 12 (depends on 11) The non-transitory computer-readable storage medium of claim 11, the operations further comprising; including, in the request for assistance, a position of the vehicle. ### Claim 13 (depends on 11) The non-transitory computer-readable storage medium of claim 11, the operations further comprising; including, in the request for assistance, information about the sensor. ### Claim 14 (depends on 11) The non-transitory computer-readable storage medium of claim 11, wherein the sensor is a first sensor, and wherein the request for calibration includes a request for calibration of a second sensor disposed with the vehicle. ### Claim 15 (depends on 14) The non-transitory computer-readable storage medium of claim 14, wherein the calibration assistant package comprises: a first landmark and an association between the first sensor and the first landmark; and a second landmark and an association between the second sensor and the second landmark. ### Claim 16 A computer-implemented method comprising: sending, from a vehicle in motion, a request for assistance in calibration of a sensor disposed with the vehicle; receiving a response to the request, the response comprising a calibration assistant package to facilitate the calibration of the sensor, the calibration assistant package including information concerning at least one landmark located along a future route of the vehicle and specifying how the at least one landmark is to be used to perform calibration with respect to the sensor; and while the vehicle is in motion, facilitating the calibration of the sensor by enabling the sensor to acquire information of the at least one landmark. ### Claim 17 (depends on 16) The computer-implemented method of claim 16, the operations further comprising; including, in the request for assistance, a position of the vehicle. ### Claim 18 (depends on 16) The computer-implemented method of claim 16, the operations further comprising; including, in the request for assistance, information about the sensor. ### Claim 19 (depends on 16) The computer-implemented method of claim 16, wherein the sensor is a first sensor, and wherein the request for calibration includes a request for calibration of a second sensor disposed with the vehicle. ### Claim 20 (depends on 19) The computer-implemented method of claim 19, wherein the calibration assistant package comprises: a first landmark and an association between the first sensor and the first landmark; and a second landmark and an association between the second sensor and the second landmark.