Vehicle Sensor Compensation for Cab and Hood Misalignment
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Solution Overview
Problem
In autonomous vehicle navigation, sensors mounted on different parts of a semi-trailer truck, such as cameras on the roof and LiDAR sensors on the hood, experience misalignment due to the vehicle's movement, leading to inaccurate data processing and potentially unnecessary braking.
Innovation Solution
A method is implemented to measure the height of the cab relative to the chassis using a height sensor, allowing for the determination of correction values to adjust sensor data from cameras and LiDAR sensors, compensating for their movement and maintaining accurate navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If sensors are mounted on different parts of the vehicle (roof and hood), then the vehicle can operate autonomously with multiple sensing capabilities, but sensor misalignment occurs due to vehicle movement
Solution Approach 1:
The system dynamically adjusts sensor data by applying correction values based on real-time suspension movement measurements. The correction values are determined based on the measured suspension compression or extension, allowing the system to adapt to changing vehicle conditions and maintain accurate sensor alignment despite vehicle movement
Solution Approach 2:
The system uses feedback from suspension sensors that measure the actual movement and position of the vehicle body relative to the wheels. This feedback is used to determine correction values that compensate for sensor misalignment, creating a closed-loop system that continuously maintains measurement precision
2Measurement precision
If correction values are applied to sensor data based on suspension movement, then sensor alignment accuracy is maintained, but system complexity increases
Solution Approach 1:
The system determines correction values based on suspension movement measurements before processing the main sensor data for navigation decisions. By pre-calculating the correction values from suspension sensor readings, the system prepares the compensation data in advance, reducing the computational complexity during critical navigation processing
Data Source
AI summary
Techniques are described for compensating for movements of sensors. A method includes receiving two sets of sensor data from two sets of sensors, where a first set of sensors are located on a roof of a cab of a semi-trailer truck and a second set of sensor data are located on a hood of the semi-trailer truck. The method also receives from a height sensor a measured value indicative of a height of the rear of a rear portion of the cab of the semi-trailer truck relative to a chassis of the semi-trailer truck, determines two correction values, one for each of the two sets of sensor data, and compensates for the movement of the two sets of sensors by generating two sets of compensated sensor data. The two sets of compensated sensor data are generated by adjusting the two sets of sensor data based on the two correction values.