US 11,891,073 B2
Systems and methods for detecting and compensating camera yaw angle offset for autonomous vehicles
Gabriel T. Choi, Novi, MI (US); Paul A. Adam, Milford, MI (US); Jeffrey S. Parks, Ann Arbor, MI (US); and Lance A. Smith, Farmington Hills, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Oct. 25, 2019, as Appl. No. 16/664,109.
Prior Publication US 2021/0122379 A1, Apr. 29, 2021
Int. Cl. B60W 40/114 (2012.01); B60W 30/12 (2020.01); B60W 40/072 (2012.01); G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC B60W 40/114 (2013.01) [B60W 30/12 (2013.01); B60W 40/072 (2013.01); G05D 1/0088 (2013.01); G05D 1/0246 (2013.01); B60W 2420/42 (2013.01); B60W 2540/18 (2013.01); B60W 2552/30 (2020.02); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control system for a vehicle using a forward-facing camera, comprising:
a look ahead circuit configured to determine a look ahead point of the forward-facing camera and a distance from the vehicle to the look ahead point;
a lane center circuit configured to determine a location of a lane center line of a lane of a road occupied by the vehicle;
a vehicle center line circuit configured to determine a location of a vehicle center line;
a first lateral offset circuit configured to determine a first lateral offset between the determined location of the lane center line and the look ahead point at a first longitudinal distance from the vehicle;
a second lateral offset circuit configured to determine a second lateral offset between the vehicle and the determined location of the center lane at a second longitudinal distance from the vehicle, wherein the first and second longitudinal distances are different, the first longitudinal distance is a distance in front of the vehicle based on the look ahead point, and the second longitudinal distance corresponds to a location of the vehicle;
a yaw angle offset calculating circuit configured to:
receive N samples of the first lateral offset, N samples of the second lateral offset, and the distance to the look ahead point, where N is an integer greater than one;
calculate a yaw angle offset of the forward-facing camera using both the N samples of the first lateral offset and the N samples of the second lateral offset and the distance to the look ahead point, wherein the yaw offset angle of the forward-facing camera corresponds to alignment of the forward-facing camera relative to the vehicle,
the calculation of the yaw angle offset being performed using the equation:
Θyaw=arctan [(Σ(YLH+YC0)/XLH)/N],
where Θyaw is the yaw angle offset, YLH are the samples of the first lateral offset, Yc0 are
the samples of the second lateral offset, XLH is the look ahead distance, and N is the integer greater than one; and
compensate a yaw angle error of the forward-facing camera in response to the calculation of the yaw angle offset of the forward-facing camera; and
an autonomous driving circuit configured to, based on the yaw angle offset, control at least one of acceleration of the vehicle, application of brakes of the vehicle of the vehicle, and steering of the vehicle.