Autonomous Vehicle LIDAR Calibration via Turntable Range Variation
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Solution Overview
Problem
Current full vehicle calibration techniques for autonomous vehicle sensor systems are labor-intensive, prone to inconsistencies due to manual handling and environmental factors, leading to imperfect sensor system calibration which can impact data processing and safety.
Innovation Solution
A LIDAR calibration system that operates on-board the autonomous vehicle or remotely, utilizing a turntable and actuatable platform to vary the range and angle of laser scanners, allowing for precise calibration of intrinsic parameters through fiducial targets and planar surfaces, enabling dynamic adjustment of calibration transforms to account for variations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual full vehicle calibration techniques are used, then calibration can be performed with simple equipment, but the process becomes labor-intensive and prone to inconsistencies
Solution Approach 1:
The calibration system enables the vehicle to perform self-calibration through automated processes. The processor executes calibration algorithms using data from sensors and fiducial markers, eliminating the need for manual intervention while maintaining high precision in sensor calibration.
Solution Approach 2:
The patent replaces manual mechanical calibration procedures with an automated computational system. The processor uses image data from cameras and LIDAR point cloud data to automatically calculate and adjust sensor parameters, substituting human operators with algorithm-driven processing.
2Reliability
If manual calibration handling is used, then equipment complexity is reduced, but inconsistencies and inaccuracies increase
Solution Approach 1:
The calibration system incorporates feedback mechanisms where the processor analyzes sensor data, compares it against expected values from fiducial markers, and automatically adjusts calibration parameters. This closed-loop feedback ensures consistent and reliable calibration results while managing system complexity through automated control.
Solution Approach 2:
The calibration system is designed to work with multiple sensor types (cameras, LIDAR, radar) and various fiducial marker configurations. This multi-functional approach increases reliability across different vehicle models and sensor configurations while maintaining a unified calibration framework that doesn't excessively increase complexity.
3Measurement precision
If on-board processing is used, then calibration accuracy is improved, but processing load increases
Solution Approach 1:
The system performs preliminary processing of sensor data during normal vehicle operation, continuously collecting and pre-processing calibration data without requiring intensive computation at critical moments. This allows accurate intrinsic parameter calibration while distributing processing load over time, reducing peak energy consumption.
Data Source
AI summary
A LIDAR calibration module can detect a set of return signals from a plurality of fiducial targets for a set of laser scanners of an autonomous vehicle's LIDAR module. The autonomous vehicle can rest on an inclined platform of a rotating turntable to increase range variation in the return signals. Based on the set of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.