Sensor Angular Offset Calibration via V2X Synchronization
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Solution Overview
Problem
Environmental sensor systems, such as radar and LIDAR sensors, face calibration challenges in accurately determining the angular offset between their azimuth and the North direction, which affects the transformation of measurements into global latitude and longitude positions, especially in V2X communication scenarios.
Innovation Solution
The method involves measuring the distance and angle between a vehicle and a sensor, receiving V2X communication positional information, synchronizing these data to determine the angular offset between the sensor's azimuth and the North direction, and applying this offset to transform measurements into a global frame for accurate reporting of vehicle positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor calibration is performed using traditional methods, then the calibration process can be completed, but the angular offset determination accuracy is insufficient affecting global position transformation
Solution Approach 1:
The patent introduces a mediator object (a known reference vehicle or calibration target) with precisely known global coordinates as an intermediary between the sensor and the calibration process. This mediator provides reference measurement data that enables accurate determination of the angular offset by serving as a bridge between the local sensor coordinate system and the global coordinate system, thereby resolving the accuracy contradiction.
Solution Approach 2:
The patent implements a feedback mechanism where the sensor measures the mediator object, compares the measured position with the known global position, and uses this feedback information to iteratively adjust and determine the angular offset. This feedback loop continues until the transformation accuracy meets the required threshold, simultaneously improving both measurement precision and transformation reliability.
2Adaptability or versatility
If multiple calibration parameters are determined simultaneously, then comprehensive calibration is achieved, but the computational complexity and synchronization difficulty increase
Solution Approach 1:
The patent segments the calibration process into distinct sequential steps: first determining the angular offset, then determining the distance, and finally determining the elevation angle. Each step focuses on calibrating one parameter at a time using simplified measurement geometries, avoiding the complexity of simultaneous multi-parameter calibration while achieving comprehensive calibration coverage.
Solution Approach 2:
The patent performs preliminary actions by pre-positioning the mediator object at specific known locations and pre-configuring the sensor at specific attitudes before each calibration step. This preliminary setup simplifies the actual measurement and calculation processes, reducing synchronization complexity while ensuring comprehensive calibration.
Data Source
AI summary
A method includes measuring, with a sensor, a distance between a vehicle in a field of view of the sensor and the sensor, receiving a V2X communication from the vehicle indicative of the positional information of the vehicle, synchronizing the measurement from the sensor with the positional information received from the vehicle, and, using the synchronized data, determining an angular offset of the sensor, the angular offset being the angle between an azimuth of the sensor and the North direction.