Vehicle Sensor Calibration via Rotating Turntable
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Solution Overview
Problem
Autonomous vehicles face challenges in accurately calibrating sensors due to manufacturing discrepancies and environmental factors, leading to inconsistent data interpretation and potential safety risks.
Innovation Solution
A dynamic scene calibration system using a motorized turntable and sensor targets for both intrinsic and extrinsic calibration of vehicle sensors, allowing for comprehensive and consistent calibration by rotating the vehicle to capture data from various orientations and positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional static calibration methods are used, then the calibration process is simple, but the calibration accuracy and consistency are poor due to manufacturing discrepancies and environmental factors
Solution Approach 1:
The patent implements a dynamic calibration system where the vehicle is rotated to multiple orientations (0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°) and positioned at different distances from the calibration target. This dynamic approach allows sensors to capture data from various angles and positions, compensating for manufacturing discrepancies and improving calibration accuracy compared to static methods.
Solution Approach 2:
The calibration system extends from traditional 2D planar calibration to 3D spatial calibration by rotating the vehicle around the calibration target and positioning it at multiple distances. This adds rotational and translational dimensions to the calibration process, enabling comprehensive calibration of sensors in three-dimensional space and improving accuracy.
2Reliability
If comprehensive calibration at multiple orientations is performed, then calibration consistency improves, but calibration time and processing complexity increase
Solution Approach 1:
The calibration system uses periodic rotation of the vehicle at standard angular intervals (0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°). This periodic action ensures comprehensive coverage of all orientations while maintaining a systematic and efficient calibration process, balancing consistency improvement with time management.
Solution Approach 2:
The calibration target is pre-positioned at a specific distance from the vehicle's center of rotation, and the rotation angles are predetermined. This preliminary setup allows the calibration process to proceed systematically without real-time adjustments, reducing calibration time while maintaining consistency across multiple orientations.
3Productivity
If manual calibration procedures are used, then equipment requirements are minimal, but calibration efficiency and precision are insufficient
Solution Approach 1:
The patent replaces manual mechanical calibration procedures with an automated rotational positioning system that rotates the vehicle to predetermined angles. This mechanical substitution improves calibration efficiency and precision by eliminating human error and ensuring consistent positioning, though it increases equipment complexity.
Solution Approach 2:
The calibration system uses the vehicle's own sensors to detect and process calibration target features autonomously. The sensors capture images and range data, and the computing system automatically performs calibration calculations without requiring external manual intervention, improving efficiency while managing equipment complexity.
Data Source
AI summary
Sensors coupled to a vehicle are calibrated using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. The sensors capture data at each vehicle orientation along the rotation. The vehicle's computer identifies representations of the sensor targets within the data captured by the sensors, and calibrates the sensor based on these representations, for example by comparing these representations to previously stored information about the sensor targets and generating a correction based on differences, the correction applied to post-calibration sensor data.