Autonomous Vehicle Sensor Self-Calibration With Mobile Targets
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Solution Overview
Problem
Autonomous vehicles (AVs) face challenges in maintaining accurate sensor calibration, which is time-consuming and requires specialized labor, leading to reduced utilization and increased operational costs due to the need for frequent recalibration of multiple sensors.
Innovation Solution
A service facility and mobile platform are introduced to enable AVs to self-calibrate their sensors using calibration targets, allowing for concurrent calibration of multiple types of sensors during routine downtime or in the field, minimizing downtime and reducing the need for dedicated calibration time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual sensor recalibration is performed, then measurement precision is improved, but loss of time increases and productivity decreases
Solution Approach 1:
The autonomous vehicle performs self-calibration of its sensors using a mobile platform that brings calibration targets to the vehicle. The vehicle's computing system automatically processes calibration data from multiple sensors without human intervention, enabling the system to calibrate itself while minimizing downtime and maintaining measurement precision.
2Measurement precision
If manual sensor recalibration is performed, then measurement precision is improved, but productivity decreases
Solution Approach 1:
The autonomous vehicle automatically calibrates its own sensors using the mobile platform system, eliminating the need for specialized calibration personnel. This self-service approach maintains calibration accuracy while significantly improving vehicle utilization by reducing the time vehicles are taken offline for calibration.
Solution Approach 2:
The mobile platform is designed to calibrate multiple types of sensors (cameras, LiDAR, radar) simultaneously using a single integrated system. This multi-functional capability improves productivity by calibrating all sensors in one operation rather than requiring separate calibration processes for each sensor type.
3Measurement precision
If multiple sensors are calibrated sequentially, then measurement precision is maintained, but loss of time increases
Solution Approach 1:
The mobile platform combines multiple calibration targets for different sensor types (camera calibration patterns, LiDAR targets, radar reflectors) into a single integrated structure. This allows all sensors to be calibrated simultaneously in one positioning operation rather than sequentially, reducing total calibration time while maintaining the precision required for each sensor type.
Solution Approach 2:
The calibration system uses a mobile platform that moves in three-dimensional space to present calibration targets at multiple positions and angles. This spatial dimensionality allows simultaneous calibration of multiple sensors by capturing calibration data from various perspectives in a single operation, rather than requiring sequential one-dimensional calibration processes.
Data Source
AI summary
In one embodiment, a method includes receiving sensor data from one or more sensors of an autonomous vehicle (AV); determining that a first sensor of the one or more sensors needs recalibration based on the sensor data. The first sensor being of a first sensor type. The method also includes sending a request to a remote management system indicating that one or more of the sensors of the AV need recalibration and a location of the AV; determining the presence of a service vehicle having a calibration target configured to calibrate sensors of the first sensor type; and initiating a calibration routine using the calibration target.