Method for Roadside Assisted Sensor Deviation Correction in Simultaneous Localization and Mapping

An on-board unit (OBU) for a RSU broadcasting notification information that it can provide point cloud data to AVs in a cover region of the RSU;

• on receiving the notification, the OBU of the AV sending a request to said RSU for said point cloud data, said request including data defining the FOV of the LiDAR sensor of the AV;
• on receiving the request including data defining the FOV of the LiDAR sensor of the AV, the RSU selecting a subset of point cloud data generated by one of more RSU LiDAR sensors, said subset of the point cloud data comprising points located in the FOV of the LiDAR sensor of the AV;
• and
• sending the subset of point cloud data to the OBU of the AV, the OBU comprising a memory for storing machine-readable instructions and a processor for executing said machine-readable instructions such that, on receiving point cloud data for a field of view (FOV) of a Light Detection and Ranging (LiDAR) sensor of the AV from a road-side unit (RSU) LiDAR sensor of a RSU located at a fixed position within a selected coordinate system, the processor configures the OBU to implement the steps of:
• transforming the received point cloud data to a coordinate system of the AV;
• matching the transformed point cloud data with point cloud data generated by the LiDAR sensor of the AV;
• and
• using the matched point cloud data to determine a corrected position and/or deviation of the AV within the selected coordinate system.

A road-side unit (RSU) operating in a simultaneous localization and mapping (SLAM) environment, the RSU comprising a memory for storing machine-readable instructions and a processor for executing said machine-readable instructions configuring the RSU to implement the steps of:

• broadcasting notification information indicating that the RSU can provide point cloud data to autonomous vehicles (AVs) in a cover region of the RSU;
• receiving from an AV data defining a FOV of the LiDAR sensor of the AV and, in response, selecting a subset of point cloud data generated by one or more RSU LiDAR sensors, said subset of the point cloud data comprising points located in the FOV of the LiDAR sensor of the AV;
• and
• sending the subset of point cloud data to the OBU of the AV.