Autonomous Vehicle Sensor Calibration via Robotic 6-DOF and Dynamic Driving
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Solution Overview
Problem
The calibration of sensors in autonomous and semi-autonomous vehicles is often tedious and time-consuming due to the need for specific processes for each type of sensor, making it inefficient and labor-intensive.
Innovation Solution
A system utilizing a robotic apparatus to move sensors in six degrees of freedom, combined with a turntable and driving patterns, to comprehensively, accurately, and efficiently calibrate sensors before and after installation on vehicles, including both sensor pod assemblies and body-mounted sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional manual calibration processes are used for each sensor type, then calibration accuracy can be maintained, but the calibration process becomes tedious and time-consuming
Solution Approach 1:
The calibration process is segmented into two distinct phases: pre-installation calibration of individual sensors using a robotic apparatus, and post-installation calibration of the vehicle using sensor data collected during driving patterns. This segmentation allows each phase to be optimized independently, reducing overall calibration time while maintaining accuracy.
Solution Approach 2:
The system performs self-calibration by automatically processing sensor data collected during driving patterns through a calibration server. The calibration is performed without continuous manual intervention, allowing the system to self-adjust and reducing the time required for calibration while maintaining precision through automated algorithms.
2Measurement precision
If comprehensive calibration covering multiple poses and orientations is performed, then sensor calibration accuracy is improved, but the complexity of the calibration process increases
Solution Approach 1:
The calibration system utilizes dynamic movement of the vehicle through various driving patterns (circling, figure-eight, lane changes) to automatically expose sensors to multiple poses and orientations. This dynamic approach replaces the need for complex static positioning setups, simplifying the calibration process while achieving comprehensive sensor calibration across all orientations.
Solution Approach 2:
A calibration server acts as an intermediary that receives sensor data from multiple sources (robotic apparatus and in-vehicle sensors), processes the data, and generates calibration parameters. This intermediary simplifies the overall system complexity by centralizing the calibration logic and coordinating between different calibration phases and sensor types.
3Productivity
If pre-installation calibration is performed on sensor assemblies, then post-installation adjustment time is reduced, but the initial calibration setup complexity increases
Solution Approach 1:
Sensors are calibrated in advance using a robotic apparatus before being installed in the vehicle. This preliminary calibration establishes baseline accuracy and reduces the need for extensive post-installation adjustments, thereby improving installation efficiency and reducing overall calibration time despite the complexity of the pre-calibration setup.
Data Source
AI summary
According to one aspect, a method includes obtaining an assembly, the assembly including at least a first assembly sensor and a second assembly sensor of a plurality of assembly sensors, and calibrating the first assembly sensor and the second assembly sensor. The method also includes calibrating the first assembly sensor and the second assembly sensor together, wherein calibrating the first assembly sensor and second assembly sensor together includes placing the assembly in at least a first pose relative to a plurality of calibration targets. The assembly is coupled on a vehicle, and the plurality of assembly sensors are calibrated after coupling the assembly on the vehicle. Calibrating the plurality of assembly sensors after installing the assembly on the vehicle includes causing the vehicle to move relative to the plurality of calibration targets and using the plurality of assembly sensors to make measurements using the plurality of calibration targets.