LiDAR Angular Position Self-Calibration via Laser Reflection
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Solution Overview
Problem
Rotating mirror LiDAR sensors in automated vehicles can experience miscalibration over time, leading to inaccurate object localization, which is safety-critical and requires costly recalibration, necessitating an automated online calibration method to ensure accurate angular position monitoring.
Innovation Solution
A method that emits and receives laser light to determine the angular position of the LiDAR system, comparing it to a predefined position, and calibrating when deviations occur, using intensity and time interval measurements to monitor and adapt the laser power for safety and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual recalibration is performed at repair shops, then calibration accuracy is restored, but cost and time loss increase
Solution Approach 1:
The LiDAR system performs self-calibration by using its own emitted laser light that reflects off its cover glass and returns to the sensor. The system automatically detects the angular position of returning light and compares it to expected values, enabling self-correction without external intervention or repair shop visits.
Solution Approach 2:
The system continuously monitors angular position during normal operation and performs calibration corrections proactively before measurement accuracy degrades to unacceptable levels. This preventive approach maintains accuracy without requiring reactive recalibration interventions.
2Measurement precision
If continuous monitoring is implemented, then measurement accuracy is maintained, but energy consumption increases
Solution Approach 1:
The system performs calibration monitoring continuously during normal LiDAR operation by utilizing laser light that is already being emitted for measurement purposes. The same laser sources and detectors used for environmental scanning are also used for self-calibration, eliminating the need for separate calibration operations and minimizing additional energy consumption.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables continuous monitoring and recalibration of LiDAR sensors in real-time, preventing safety-critical situations by ensuring accurate angular positioning and reducing the need for costly manual recalibration.
Implementation Method 1
laser light is emitted by the LiDAR system and at least partially received again by the LiDAR system. This is caused, for example, by reflection from an object.
Implementation Method 2
the angular position of the LiDAR system is determined on the basis of the measured intensity of the received laser light and/or of the time interval between the emission of the laser light and the reception of the laser light
Data Source
AI summary
A method for monitoring an angular position of a LiDAR system having at least one rotatable mirror. The method includes: a) emitting laser light by means of the LiDAR system; b) receiving laser light by means of the LiDAR system; c) determining the angular position of the LiDAR system on the basis of the received laser light; d) monitoring the angular position by comparing a predefined angular position with the angular position determined in step c). A corresponding LiDAR system, a computer program, and a machine-readable storage medium are also described.