US 11,815,915 B2
Systems and methods for calibrating vehicular sensors
Arne Stoschek, Palo Alto, CA (US); and Zachary Lovering, Sunnyvale, CA (US)
Assigned to A'by Airbus LLC, Sunnyvale, CA (US)
Appl. No. 16/499,078
Filed by A^3 by Airbus LLC, Sunnyvale, CA (US)
PCT Filed Mar. 31, 2017, PCT No. PCT/US2017/025592
§ 371(c)(1), (2) Date Sep. 27, 2019,
PCT Pub. No. WO2018/182737, PCT Pub. Date Oct. 4, 2018.
Prior Publication US 2021/0089058 A1, Mar. 25, 2021
Int. Cl. G05D 1/10 (2006.01); G01S 7/497 (2006.01); G01S 17/931 (2020.01); G01S 17/933 (2020.01)
CPC G05D 1/106 (2019.05) [G01S 7/497 (2013.01); G01S 17/931 (2020.01); G01S 17/933 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A system, comprising:
a first sensor configured to sense objects external to a vehicle within a first field of view, the first sensor positioned on the vehicle such that a feature of the vehicle is within the first field of view, the first sensor configured to provide first sensor data indicative of the sensed objects within the first field of view, wherein the first sensor data from the first sensor includes a first sample indicative of a first object within a region of the first field of view;
a second sensor positioned on the vehicle and configured to sense objects within a second field of view overlapping with the first field of view, the second sensor configured to provide second sensor data indicative of the sensed objects within the second field of view, wherein the second sensor data includes a second sample indicative of the first object within the region;
memory for storing calibration data indicative of a location of the feature within a global coordinate system for the vehicle; and
at least one processor configured to receive the first sensor data and the second sensor data and to detect objects external to the vehicle based on the first sensor data and the second sensor data, the at least one processor configured to perform a first comparison between a location of the feature indicated by the first sensor data and the location of the feature indicated by the calibration data, the at least one processor further configured to calibrate the first sensor based on the first comparison and to determine a location of the first object within the global coordinate system based on the first sample after the first sensor has been calibrated using the first comparison, the at least one processor configured to determine a location of the first object within a local coordinate system for the second sensor based on the second sample, the at least one processor configured to receive the second sensor data and to perform a second comparison between the location of the first object within the global coordinate system determined from the first sample and the location of the first object within the local coordinate system for the second sensor indicated by the second sample, wherein the at least one processor is configured to calibrate the second sensor based on the second comparison.