Systems and methods for online doppler lidar calibration for road vehicles

At least one non-transitory computer-readable storage medium for sensor calibration of an autonomous vehicle, the at least one non-transitory computer-readable storage medium comprising computer-executable instructions stored thereon that, in response to being executed, cause a system to:

• compute a vector representing a velocity estimate of the autonomous vehicle based on data received from a first LiDAR sensor of a plurality of LiDAR sensors while the autonomous vehicle is traveling along a straight trajectory on a road, the vector including at least a lateral component;
• and
• identify the first LiDAR sensor as being misaligned based on the lateral component of the vector being greater than a threshold lateral component, wherein the autonomous vehicle is controlled based in part on identification of the first LiDAR sensor as being misaligned.

A computer-implemented method for sensor calibration, the computer-implemented method performed by at least one processor in communication with at least one memory device and a plurality of LiDAR sensors of an autonomous vehicle, the computer-implemented method comprising:

• computing a vector representing a velocity estimate of the autonomous vehicle based on data received from a first LiDAR sensor of the plurality of LiDAR sensors while the autonomous vehicle is traveling along a straight trajectory, the vector including at least a lateral component;
• and
• identifying the first LiDAR sensor as being misaligned based on the lateral component of the vector being greater than a threshold lateral component, wherein the autonomous vehicle is controlled based in part on identification of the first LiDAR sensor as being misaligned.