# US 9,719,801 B1 · Methods and systems for calibrating sensors using road map data > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,719,801 B1 - Document ID: US9719801B1 - Status: Granted - Kind: B1 - Application number: 13/948,457 - Filed: 2013-07-23 - Granted: 2017-08-01 - Earliest claimed: 2013-07-23 - Assignees: Waymo LLC - Applicants: Waymo LLC - Inventors: Dave Ferguson; Dorel Ionut Iordache - Web page: https://patentgrep.com/patent/US9719801B1 ## CPC - G01C 25/00: Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G01C 21/30: Map- or contour-matching - G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera} - G01S 7/484: Transmitters - G01S 7/4868: {Controlling received signal intensity or exposure of sensor} - G01S 7/4972: {Alignment of sensor} - G01S 11/12: using electromagnetic waves other than radio waves - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/931: of land vehicles - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G01S 19/40: Correcting position, velocity or attitude - G01S 3/781: Details - G01S 5/16: using electromagnetic waves other than radio waves - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Example methods and systems for calibrating sensors using road map data are provided. An autonomous vehicle may use various vehicle sensors to assist in navigation. Within examples, the autonomous vehicle may calibrate vehicle sensors through performing a comparison or analysis between information about the environment received by sensors with similar information provided by map data (e.g., a road map). The autonomous vehicle may compare object locations as provided by the sensors and as shown by map data. Based on the comparison, the autonomous vehicle may adjust various sensors to accurately reflect the information as provided by the road map. In some instances, the autonomous vehicle may adjust the position, height, orientation, direction-of-focus, scaling, or other parameters of a sensor based on the information provided by a road map. ## Claims ### Claim 1 A method comprising: receiving, via at least one sensor coupled to a vehicle, information indicative of an environment of the vehicle, wherein the information includes measurements of a series of lane markers extending as a lane boundary of a road that the vehicle is traveling; based on the information indicative of the environment of the vehicle, determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary; receiving map data that depicts the road that the vehicle is traveling and includes location information for the series of lane markers; determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary; performing, as the vehicle travels the road, a comparison to determine differences between the estimated locations of the series of lane markers based on the information from the at least one sensor and the given locations for the series of lane markers determined using the map data; and based on the differences determined by the comparison, providing instructions to adjust at least one of an orientation or an intensity of the at least one sensor relative to the vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein the at least one sensor includes one or more of a camera, RADAR, LIDAR, and a global positioning system (GPS). ### Claim 3 (depends on 1) The method of claim 1, wherein determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises: determining one or more features of the series of lane markers, wherein the one or more features include one or more of a reflective light intensity, a height, a color, a texture; and wherein determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises using the one or more features. ### Claim 4 (depends on 1) The method of claim 1, wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises: configuring the at least one sensor to adjust an intensity level of lasers emitted by the sensor based on differences determined by the comparison. ### Claim 5 (depends on 1) The method of claim 1, wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises: configuring the at least one sensor to adjust a position of the sensor based on differences determined by the comparison. ### Claim 6 (depends on 1) The method of claim 1, wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises: configuring the at least one sensor to adjust an operation schedule of the sensor based on differences determined by the comparison. ### Claim 7 A non-transitory computer readable storage medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising: receiving, via at least one sensor coupled to a vehicle, information indicative of an environment of the vehicle, wherein the information includes measurements of a series of lane markers extending as a lane boundary of a road that the vehicle is traveling; based on the information indicative of the environment of the vehicle, determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary receiving map data that depicts the road that the vehicle is traveling and includes location information for the series of lane markers; determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary; performing, as the vehicle travels the road, a comparison to determine differences between the estimated locations of the series of lane markers based on the information from the at least one sensor and the given locations for the series of lane markers determined using the map data; and based on the differences determined by the comparison, providing instructions to adjust at least one of an orientation or an intensity of the at least one sensor relative to the vehicle. ### Claim 8 (depends on 7) The non-transitory computer readable storage medium of claim 7, wherein the at least one sensor includes one or more of a camera, RADAR, LIDAR, and a global positioning system (GPS). ### Claim 9 (depends on 7) The non-transitory computer readable storage medium of claim 7, wherein determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises: determining one or more features of the series of lane markers, wherein the one or more features include one or more of a reflective light intensity, a height, a color, a texture; and wherein determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises using the one or more features. ### Claim 10 (depends on 7) The non-transitory computer readable storage medium of claim 7, wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises: configuring the at least one sensor to adjust an intensity level of lasers emitted by the sensor based on differences determined by the comparison. ### Claim 11 (depends on 7) The non-transitory computer readable storage medium of claim 7, wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises: configuring the at least one sensor to adjust a position of the sensor based on differences determined by the comparison. ### Claim 12 A system, comprising: at least one processor; and data storage comprising instructions executable by the at least one processor to cause the system to perform functions comprising: receiving, via at least one sensor coupled to a vehicle, information indicative of an environment of the vehicle, wherein the information includes measurements of a series of lane markers extending as a lane boundary of a road that the vehicle is traveling; based on the information indicative of the environment of the vehicle, determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary receiving map data that depicts the road that the vehicle is traveling and includes location information for the series of lane markers; determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary; performing, as the vehicle travels the road, a comparison to determine differences between the estimated locations of the series of lane markers based on the information from the at least one sensor and the given locations for the series of lane markers determined using the map data; and based on the differences determined by the comparison, providing instructions to adjust at least one of an orientation or an intensity of the at least one sensor relative to the vehicle. ### Claim 13 (depends on 12) The system of claim 12, wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises: configuring the at least one sensor to adjust an internal timing mechanism of the sensor based on differences determined by the comparison. ### Claim 14 (depends on 12) The system of claim 12, wherein providing instructions to adjust at least one of the orientation or the intensity of the at least one sensor relative to the vehicle further comprises: configuring the at least one sensor to adjust a position of the sensor based on differences determined by the comparison. ### Claim 15 (depends on 12) The system of claim 12, wherein determining estimated locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises: determining one or more features of the series of lane markers, wherein the one or more features include one or more of a reflective light intensity, a height, a color, a texture; and wherein determining, using the map data, given locations for the series of lane markers relative to the vehicle as the vehicle travels the road according to the lane boundary comprises using the one or more features. ### Claim 16 (depends on 12) The system of claim 12, wherein the at least one sensor includes one or more of a camera, RADAR, LIDAR, and a global positioning system (GPS).