US 11,726,191 B2
Lidar intensity calibration
Gehua Yang, Wexford, PA (US); and Michael K. Sergi-Curfman, Pittsburgh, PA (US)
Assigned to UATC, LLC, Mountain View, CA (US)
Filed by UATC, LLC, Mountain View, CA (US)
Filed on Jun. 25, 2021, as Appl. No. 17/359,000.
Application 17/359,000 is a continuation of application No. 16/100,690, filed on Aug. 10, 2018, granted, now 11,067,676.
Claims priority of provisional application 62/614,904, filed on Jan. 8, 2018.
Prior Publication US 2021/0318419 A1, Oct. 14, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 7/00 (2006.01); G01S 7/497 (2006.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G01S 7/486 (2020.01); G05D 1/02 (2020.01)
CPC G01S 7/497 (2013.01) [G01S 7/4868 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G05D 1/0212 (2013.01); G05D 1/0231 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
collecting a data set comprising a first plurality of raw intensity values output by a first channel from among a plurality of channels of a sensor, the first channel being capable of operating at a particular power level of a plurality of power levels, the first plurality of raw intensity values being output by the first channel at a first power level from among the plurality of power levels;
computing a first calibration multiplier and a first bias value for the first power level of the first channel based on a model;
assigning the first calibration multiplier and the first bias value to the first power level of the first channel;
providing, for a vehicle computing system, data indicative of the first calibration multiplier and the first bias value assigned to the first power level of the first channel;
determining, based on calibrated intensity values determined from the first plurality of raw intensity values, the first calibration multiplier and the first bias value, a motion plan for a vehicle; and
controlling, by a vehicle controller, motion of the vehicle in accordance with the motion plan.