Method and apparatus for on-vehicle calibration and orientation of object-tracking systems
OwnerShuqing Zeng, Mark Wolskiinventors
Life of this patent
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Abstract
The invention includes a method and associated apparatus to perform on-line fine alignment of multiple object-locating sensors. Up to three geometrical parameters, two for location, one for bearing alignment, can be computed for each sensor based upon object trajectories. The method includes establishing initial values for alignments of each sensor relative to a vehicle coordinate system, and determining positions for a target object for each of the object-locating sensors. A trajectory is determined for the target object. The alignment of each of the object-locating sensors is adjusted relative to the coordinate system for the vehicle based upon the trajectory for the target object.
Claims18
Article of manufacture, comprising a storage medium having a computer program encoded therein for effecting a method to align one of a plurality of object-locating sensors mounted on a vehicle, the program comprising:
- code for establishing initial values for alignments of each of the object-locating sensors relative to a coordinate system for the vehicle;
- code for determining a plurality of positions for a target object for each of the object-locating sensors;
- code for determining a trajectory for the target object;
- and,
- code for adjusting the alignment of each of the object-locating sensors relative to the coordinate system for the vehicle based upon the trajectory for the target object.
Method for aligning one of a plurality of object-locating sensors mounted on a vehicle relative to the vehicle, comprising:
- establishing initial values for alignments of each of the object-locating sensors relative to a coordinate system for the vehicle;
- determining a plurality of positions for a target object for each of the object-locating sensors;
- determining a trajectory for the target object;
- and,
- adjusting the alignment of each of the object-locating sensors relative to the coordinate system for the vehicle based upon the trajectory for the target object.
System for locating a target object, comprising:
- a vehicle equipped with a control system operably connected to a plurality of object-locating sensors each operable to generate a signal output characterizing location of the target object in terms of a range, a time-based change in range, and an angle measured from a coordinate system oriented to the vehicle;
- the control system operable to fuse the plurality of signal outputs of the object-locating sensors to locate the target object;
- the control system including an algorithm for aligning the signal outputs of each of the object-locating sensors, the algorithm comprising:
- a) code for establishing initial values for alignments of each of the object-locating sensors relative to a coordinate system for the vehicle;
- b) code for determining a plurality of positions for the target object for each of the object-locating sensors;
- c) code for determining a trajectory for the target object;
- and,
- d) code for adjusting the alignment of each of the object-locating sensors relative to the coordinate system for the vehicle based upon the trajectory for the target object.
Dependencies are inferred from the claim text.