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System and method of correcting orientation errors

An orientation error and orientation technology, applied in the field of correcting orientation errors accumulated in orientation instruments, can solve problems such as increasing costs and reducing reliability

Pending Publication Date: 2021-08-13
APTIV TECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, adding another sensor increases the cost and reduces the reliability associated with the vehicle

Method used

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  • System and method of correcting orientation errors
  • System and method of correcting orientation errors
  • System and method of correcting orientation errors

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Embodiment Construction

[0011] Orientation sensors are used on vehicles to provide information about the orientation of the vehicle to on-board systems. Over time, these systems may accumulate errors, which degrades the overall performance of the vehicle. According to some aspects of the present disclosure, relative distance data received from one or more distance sensors is used to correct errors accumulated in the orientation sensors. More specifically, relative distance data is analyzed to detect planar surfaces (eg, sides of buildings, road signs, etc.). For those planar surfaces that are approximately aligned with the vehicle's orientation axis, it is assumed that these surfaces are aligned with the vehicle axis. For example, a building located near a vehicle is likely to have a planar surface that is approximately vertical with respect to the ground. The vertical axis defined by the sides of the building is likely to be aligned with the vertical axis of the vehicles in the vicinity of the bui...

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Abstract

An orientation system comprises an orientation sensor, a distance sensor, and vehicle processing unit. The orientation sensor is configured to generate orientation data. The distance sensor is configured to generate relative distance data measuring relative distances to objects external to the vehicle. The vehicle processing unit is configured to receive the orientation data from the orientation sensor and the relative distance data from the distance sensor, wherein the vehicle processing unit detects orientation errors based on the relative distance data.

Description

technical field [0001] The present disclosure relates generally to correcting orientation errors accumulated in orientation instruments, and more particularly to utilizing object detection feedback to correct orientation errors. Background technique [0002] Vehicles, especially autonomous or self-driving vehicles, utilize orientation sensors (sometimes referred to as inertial measurement units or IMUs) to determine the vehicle's orientation (i.e., roll, pitch, Yaw (yaw)). For example, orientation sensors may include one or more of accelerometers, gyroscopes, and magnetometers to determine and maintain the orientation of the vehicle. The orientation of a vehicle may be utilized by many vehicular systems, including vehicle localization systems and object detection systems. For example, in some embodiments, orientation information is used to provide a dead-reckoning estimate of the vehicle's position where satellite-based positioning systems are not available. Additionally,...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/165G01C25/00G01C25/005G01S7/4808G01S13/86G01S13/931G01S17/89G01S17/86G01S17/931B60W50/00B60W2050/0008G01S7/4026G01S7/481G01S7/4972
Inventor E·P·克努森J·N·特兰
Owner APTIV TECH LTD