Autonomous Vehicle Sensor Compensation By Monitoring Acceleration

A computer-implemented method for compensating for autonomous vehicle acceleration-related sensor mismatch, comprising:

• obtaining, by a computing system that comprises one or more computing devices, data indicative of an acceleration mismatch between a first portion and a second portion of an autonomous vehicle;
• determining, by the computing system, a sensor compensation action based at least in part on the data indicative of the acceleration mismatch, wherein the sensor compensation action is associated with sensor data acquired via an inertial measurement unit or a wheel odometry sensor of the autonomous vehicle;
• and
• implementing, by the computing system, the sensor compensation action for the autonomous vehicle.

An autonomous vehicle, comprising:

• a chassis;
• a cab mounted to the chassis;
• a throttle system configured to accelerate the autonomous vehicle;
• a brake system configured to decelerate the autonomous vehicle;
• a steering system configured to control steering of the autonomous vehicle;
• an inertial measurement unit;
• a wheel odometry sensor;
• and
• a computing system, comprising:
• one or more processors;
• and
• one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising:
• obtaining data indicative of an acceleration mismatch between the cab and the chassis;
• determining a sensor compensation action based at least in part on the data indicative of the acceleration mismatch, wherein the sensor compensation action is associated with sensor data acquired via the inertial measurement unit or the wheel odometry sensor;
• and
• determining a pose of the autonomous vehicle based at least in part on the sensor compensation action.