Vehicle LIDAR Calibration Using Ground Reflective Targets
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Solution Overview
Problem
Existing vehicle sensing systems, particularly those using LIDAR sensors, face challenges in fully calibrating pitch, roll, and yaw at the end of line (EOL) during vehicle assembly, leading to potential misalignment and the need for additional calibration after the vehicle leaves the plant.
Innovation Solution
A calibration system utilizing a plurality of light reflecting targets arranged in a predetermined pattern on the ground surface, allowing LIDAR sensors to determine target locations and calibrate pitch, roll, and yaw, eliminating the need for further calibration post-assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional calibration methods are used at EOL, then calibration can be performed during assembly, but pitch, roll, and yaw cannot be fully calibrated, requiring additional calibration after vehicle leaves the plant
Solution Approach 1:
The patent introduces a vertical dimension by placing reflective targets both on the ground surface and at elevated positions. This multi-level target arrangement enables the LIDAR sensor to capture depth information across different vertical planes, allowing simultaneous calibration of pitch, roll, and yaw parameters that were previously impossible with ground-only targets.
Solution Approach 2:
The patent uses reflective targets as intermediary objects between the LIDAR sensor and the calibration process. These targets with specific reflective properties serve as mediators that enhance the LIDAR signals, enabling precise measurement of sensor orientation parameters. The targets act as reference intermediaries that facilitate the transfer of calibration information from the controlled EOL environment to the vehicle's sensing system.
2Manufacturing precision
If comprehensive calibration targets are used to calibrate all parameters, then full calibration is achieved, but the field of view required during calibration increases
Solution Approach 1:
The patent segments the calibration targets into multiple discrete reflective elements arranged in specific patterns on the ground and at elevated positions. Each segment provides specific calibration information for different parameters. This segmentation allows the LIDAR sensor to obtain complete calibration data within a reduced field of view, as each segment contributes specific orientation information without requiring the sensor to scan a large area.
Solution Approach 2:
The patent applies local quality by placing reflective targets with specific properties at strategically chosen locations within the calibration region. The targets have enhanced reflectivity and specific geometric patterns that optimize their effectiveness for measuring particular orientation parameters. This localized optimization allows comprehensive calibration with minimal field of view requirements.
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 comprehensive LIDAR sensor calibration at the EOL, ensuring accurate sensor alignment and reducing the field of view required during calibration, thereby streamlining the process and eliminating the need for additional calibration on the road.
Implementation Method 1
a plurality of light reflecting targets disposed at a ground surface
Data Source
AI summary
A calibration system for calibrating a LIDAR sensing system of a vehicle includes a plurality of light reflecting targets disposed at a ground surface at an end of line calibration region of a vehicle assembly facility. The light reflecting targets are arranged at the ground surface in a predetermined pattern. When a vehicle equipped with a LIDAR sensing system is at the calibration region, the light reflecting targets are in the field of sensing of at least one LIDAR sensor of the LIDAR sensing system of the vehicle. Responsive to processing of data sensed by the at least one LIDAR sensor, the calibration system determines the locations of the light reflecting targets and determines misalignment of the LIDAR sensor and calibrates the LIDAR sensing system to accommodate the determined misalignment.