US 12,698,988 B2 · Precision multi-point sensor position and attitude calibration brackets

Abstract

Disclosed herein are systems, methods, and apparatuses for calibrating sensors of automated vehicles using calibration targets. A bracket holds the calibration targets and attaches to the automated vehicle proximate to a sensor being calibrated. For some sensors, such as GNSS antennas or similar device for receiving location data from a GNSS, a two-target bracket is fixed at the top of the automated vehicle, nearby the GNSS antenna. For IMUs or similar sensors, a three-target bracket is fixed at location of the automated vehicle proximate to the particular IMU, such as a passenger cabin or on the chassis of the automated vehicle. The calibration targets include a retroreflective surface that reflect signals, such as infrared signals, back to a theodolite (or total station). The theodolite or computer includes preprogrammed offset values indicating the relative positions of the sensor being calibrated and each of the calibration targets of the bracket.

Claims14

Dependent claims

A system comprising:

a bracket comprising two or more reflective targets, the bracket configured to be attached to an autonomous vehicle;
a theodolite positioned with line-of-sight access to the two or more reflective targets and lacking line-of-sight access to a sensor of the autonomous vehicle, the theodolite comprising a controller and configured to generate a plurality of calibration measurements for the sensor of the autonomous vehicle according to two or more signal reflections returned from the two or more reflective targets;
and
a computing device comprising a processor and configured to:
for each reflective target, identify a preconfigured offset value between the particular target and the sensor;
for each reflective target, generate a calibrating value using the preconfigured offset value and a calibration measurement for the sensor;
generate a calibration setting for the sensor based upon each calibrating value generated for each reflective target;
and
calibrate the sensor, based on the calibration setting.

6 more elements

A system comprising:

an autonomous vehicle comprising a sensor;
a bracket comprising two or more reflective targets, the bracket configured to be attached to the autonomous vehicle;
a theodolite positioned with line-of-sight access to the two or more reflective targets and lacking line-of-sight access to a sensor of the autonomous vehicle, the theodolite comprising a controller and configured to generate a plurality of calibration measurements for the sensor of the autonomous vehicle according to two or more signal reflections returned from the two or more reflective targets;
and
a computing device comprising at least one processor in communication with at least one memory, the at least one processor programmed to:
for each reflective target, identify a preconfigured offset value between the particular target and the sensor;
for each reflective target, generate a calibrating value using the preconfigured offset value and a calibration measurement of the sensor;
generate a calibration setting of the sensor, based on each calibrating value generated for each reflective target;
and
calibrate the sensor, based on the calibration setting.

7 more elements

Dependencies are inferred from the claim text.

Precision multi-point sensor position and attitude calibration brackets

Life of this patent

Precision multi-point sensor position and attitude calibration brackets

Life of this patent

Abstract

Claims14