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US 2019/0154833 A1Published application
Vehicle sensing system with calibration/fusion of point cloud partitions
AssigneeMagna Electronics Inc.
InventorsPeter Nicke, Benjamin May
Life of this patent
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Abstract
A lidar sensing system for a vehicle includes a plurality of lidar sensor modules disposed at a vehicle, with each lidar sensor module having a laser unit and a sensor unit, and with each lidar sensor module having a respective field of sensing exterior of the vehicle. Each field of sensing is different from the other fields of sensing and partially overlaps at least one other field of sensing. An output of each lidar sensor module is communicated to a control, and the control, responsive to outputs from the lidar sensor modules, determines a combined field of sensing.
Claims20
A lidar sensing system for a vehicle, said lidar sensing system comprising:
- a plurality of lidar sensor modules disposed at a vehicle equipped with said lidar sensing system, wherein the plurality of lidar sensor modules comprises at least a first lidar sensor module and a second lidar sensor module;
- wherein said first lidar sensor module projects a first laser-generated pattern of light and senses light reflected off of objects in a first field of sensing of the first lidar sensor module;
- wherein said second lidar sensor module projects a second laser-generated pattern of light and senses light reflected off of objects in a second field of sensing of the second lidar sensor module;
- wherein the first and second fields of sensing of the first and second lidar sensor modules are different, and wherein the first field of sensing of the first lidar sensor module partially overlaps the second field of sensing of the second lidar sensor module at an overlap area;
- a control including a data processor, wherein an output of each of the first and second lidar sensor modules is communicated to the control for processing at the control;
- and
- wherein the control, responsive to processing at the control of the outputs of both of the first and second lidar sensor modules, determines a degree of misalignment of the second lidar sensor module relative to the first lidar sensor module.
4 more elements
A lidar sensing system for a vehicle, said lidar sensing system comprising:
- a plurality of lidar sensor modules disposed at a vehicle equipped with said lidar sensing system, wherein the plurality of lidar sensor modules comprises at least a first lidar sensor module and a second lidar sensor module;
- wherein said first lidar sensor module projects a first laser-generated pattern of light and senses light reflected off of objects in a first field of sensing of the first lidar sensor module;
- wherein said second lidar sensor module projects a second laser-generated pattern of light and senses light reflected off of objects in a second field of sensing of the second lidar sensor module;
- wherein each of the first and second lidar sensor modules comprises a laser unit that projects the respective laser-generated pattern of light and a sensor unit that senses the light reflected off of objects in the respective field of sensing;
- wherein the first and second fields of sensing of the first and second lidar sensor modules are different, and wherein the first field of sensing of the first lidar sensor module partially overlaps the second field of sensing of the second lidar sensor module at an overlap area;
- wherein the laser unit of the first lidar sensor module projects the first laser-generated pattern of light in the overlap area that is different than the second laser-generated pattern of light projected in the overlap area by the second lidar sensor module;
- wherein the laser unit of the first lidar sensor module and the second lidar sensor module project different laser-generated patterns of light in the overlap area by altering a laser energy;
- a control including a data processor, wherein an output of each of the first and second lidar sensor modules is communicated to the control for processing at the control;
- and
- wherein the control, responsive to processing at the control of the outputs of both of the first and second lidar sensor modules, determines a degree of misalignment of the second lidar sensor module relative to the first lidar sensor module.
7 more elements
A lidar sensing system for a vehicle, said lidar sensing system comprising:
- a plurality of lidar sensor modules disposed at a vehicle equipped with said lidar sensing system, wherein the plurality of lidar sensor modules comprises at least a first lidar sensor module and a second lidar sensor module;
- wherein said first lidar sensor module projects a first laser-generated pattern of light and senses light reflected off of objects in a first field of sensing of the first lidar sensor module;
- wherein said second lidar sensor module projects a second laser-generated pattern of light and senses light reflected off of objects in a second field of sensing of the second lidar sensor module;
- wherein the first and second fields of sensing of the first and second lidar sensor modules are different, and wherein the first field of sensing of the first lidar sensor module partially overlaps the second field of sensing of the second lidar sensor module at an overlap area;
- wherein the first field of sensing of the first lidar sensor module partially overlaps the second field of sensing of the second lidar sensor module by an amount that is equivalent to mounting tolerances of the first and second lidar sensor modules;
- wherein each of the first and second lidar sensor modules comprises a laser unit that projects the respective laser-generated pattern of light and a sensor unit that senses the light reflected off of objects in the respective field of sensing.
- wherein the laser unit of the first lidar sensor module and the second lidar sensor module project different laser-generated patterns of light in the overlap area by altering a laser energy;
- a control including a data processor, wherein an output of each of the first and second lidar sensor modules is communicated to the control for processing at the control;
- and
- wherein the control, responsive to processing at the control of the outputs of both of the first and second lidar sensor modules, determines a degree of misalignment of the second lidar sensor module relative to the first lidar sensor module.
7 more elements
Dependencies are inferred from the claim text.