Autonomous Vehicle Sensor Calibration via Onboard Target Tracking
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Solution Overview
Problem
Autonomous vehicles face challenges in maintaining accurate sensor data due to independent movements of vehicle portions, which can lead to erroneous sensor readings and compromised navigation performance.
Innovation Solution
An onboard computing system that detects movements of vehicle portions using targets and adjusts sensors accordingly, implementing sensor correction actions such as physical adjustments or data transformations to maintain accurate sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If sensors are mounted on different portions of the autonomous vehicle that move independently, then the vehicle can navigate complex environments, but sensor calibration accuracy deteriorates due to relative movements between portions
Solution Approach 1:
The system performs preliminary calibration by mounting known targets on vehicle portions and using sensors to capture their positions before independent movement occurs. This establishes a reference state that enables later correction of sensor data to account for relative movements between vehicle portions.
Solution Approach 2:
The system continuously monitors the positions of targets on moving vehicle portions using sensors, detects deviations from expected positions caused by independent movement, and uses this feedback to dynamically adjust sensor calibration parameters, maintaining measurement accuracy despite vehicle portion movements.
2Measurement precision
If sensor correction actions are implemented in real-time onboard, then navigation accuracy improves, but system complexity increases
Solution Approach 1:
The autonomous vehicle performs its own sensor calibration using onboard sensors, processors, and targets. The system autonomously detects movements, calculates correction parameters, and adjusts sensor data without requiring external calibration equipment or manual intervention, thereby managing complexity through self-contained functionality.
Solution Approach 2:
The onboard computing system performs multiple functions: it controls vehicle navigation, processes sensor data for environmental perception, and simultaneously manages sensor calibration by tracking targets and computing correction parameters. This multi-functionality consolidates complexity into a single integrated system rather than requiring separate dedicated calibration hardware.
Data Source
AI summary
Systems and methods for automatically calibrating autonomous vehicle sensors are provided. In one example embodiment, a computer implemented method includes obtaining data associated with one or more targets located onboard an autonomous vehicle. The data associated with the targets is acquired via one or more first sensors located onboard a first portion of the autonomous vehicle. The targets are located onboard a second portion of the autonomous vehicle. The method includes determining a movement associated with the second portion of the autonomous vehicle based at least in part on the data associated with the targets. The method includes determining a sensor correction action associated with one or more second sensors located onboard the second portion of the autonomous vehicle based at least in part on the movement. The method includes implementing the sensor correction action for the second sensors located onboard the second portion of the autonomous vehicle.