Lidar Inter-Channel Accuracy Validation via Articulating Platform
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Solution Overview
Problem
Autonomous vehicles rely on accurate lidar sensors to operate safely, but existing methods lack effective validation of inter-channel accuracy parameters, which can lead to compromised performance due to manufacturing imperfections and tolerances.
Innovation Solution
A method and apparatus utilizing an articulating platform to rotate a lidar system, allowing beams to interact with a target at different pitch angles, enabling the estimation of vertex locations for each channel and determining if they meet specified accuracy metrics, thereby validating the inter-channel accuracy of lidar systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If lidar systems are used without validation of inter-channel accuracy parameters, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent introduces a validation system comprising an articulating platform, target object, and computing device as intermediary components to measure and verify inter-channel accuracy parameters of lidar systems. This mediator system enables precise measurement of vertex locations across multiple channels without modifying the lidar system itself, thereby achieving high measurement precision while keeping the lidar device complexity unchanged.
Solution Approach 2:
The validation system creates a digital replica or model of the physical vertex location through multiple lidar channel measurements. By processing data from each channel to estimate vertex positions and comparing these estimates against known target parameters, the system verifies inter-channel accuracy without requiring direct physical access to the lidar's internal calibration data.
2Reliability
If validation of inter-channel accuracy parameters is performed, then reliability is improved, but device complexity increases
Solution Approach 1:
The validation system is segmented into distinct functional modules: an articulating platform for positioning, a target object with known geometry, and a computing device for data processing. This segmentation allows each component to perform its specific function independently, making the overall validation system more manageable and maintainable while ensuring comprehensive reliability verification of the lidar system.
Solution Approach 2:
The validation process involves changing the pitch angle of the articulating platform to multiple different orientations, thereby collecting measurements from various angles. This parameter change enables the system to verify inter-channel accuracy under multiple conditions, improving reliability by ensuring consistent performance across different operational states.
3Measurement precision
If multiple pitch angles are used for measurement, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The validation system employs periodic action by systematically rotating the articulating platform through multiple predetermined pitch angles in a sequential manner. This periodic measurement approach ensures comprehensive data collection from each lidar channel while maintaining an efficient, repeatable measurement cycle that minimizes total validation time.
Solution Approach 2:
The target object is pre-configured with known vertex locations and geometric parameters before the validation process begins. This preliminary preparation of reference data allows for immediate comparison and verification of lidar measurements without requiring complex real-time calculations or external reference measurements during the actual validation process.
Data Source
AI summary
According to one aspect, a method includes positioning a lidar on a platform, measuring at least a first data point using the lidar, measuring at last a second data point using the lidar, processing the at least first data point and the at least second data point to identify a first estimated location of the vertex, and determining whether the first estimated location of the vertex meets the specification, wherein when it is determined that the first estimated location of the vertex meets at least one specification associated with the lidar, the lidar is verified. The platform rotates about a first axis, wherein when the platform rotates about the first axis, the lidar rotates about the first axis. The data points measured with respect to a target, the target having at least a first edge, a second edge, and a vertex at which the first edge meets the second edge.