| CPC B60W 50/0205 (2013.01) [G01S 7/4026 (2013.01); G01S 7/4972 (2013.01); G06T 7/80 (2017.01); G06V 20/584 (2022.01); G07C 5/008 (2013.01); B60W 2050/0215 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/06 (2013.01); B60W 2554/802 (2020.02); B60W 2555/60 (2020.02); G06T 2207/30252 (2013.01)] | 9 Claims |
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1. A method comprising:
initiating a calibration check process of an autonomous vehicle (AV) including a plurality of calibration checks, wherein during the calibration check process the AV drives along a path in an environment that provides exposure to a series of targets;
receiving, by a computing device of the AV, a set of data from a plurality of sensors on the AV to determine a status of the plurality of calibration checks, implemented by the computing device of the AV, including an odometry checker, a chassis motion Light Detection and Ranging (LiDAR) checker, a relative LiDAR checker, a camera extrinsics checker, a camera signals checker, and a Radio Detection and Ranging (RADAR) checker;
initiating the odometry checker in a turning segment of the path of the calibration check process;
in response to the initiation, comparing, by the odometry checker, an odometry trajectory to one or more reference poses of an inertial navigation system (INS); and
based on the comparison, detecting, by the odometry checker, deviations, including spatial drift and yaw drift, by the odometry trajectory and determining whether the deviations are with a determine bound;
initiating, by the computing device of the AV, the chassis motion LiDAR checker in a straight segment of the calibration check process;
determining, by the chassis motion LIDAR checker, chassis motion based on the odometry trajectory;
receiving, by the chassis motion LIDAR checker, real-time LiDAR data from a reference LiDAR sensor on the AV traveling within a specific speed limit;
comparing, by the chassis motion LIDAR checker, the real-time LiDAR data to the chassis motion for determining LiDAR-to-chassis extrinsics of the reference LiDAR sensor;
initiating, by the computing device of the AV, the relative LiDAR checker of the calibration check process;
determining, by the relative LiDAR checker, relative alignment of a plurality of LiDAR sensors with the reference LiDAR sensor;
initiating, by the computing device of the AV, the camera extrinsics checker in the calibration check process;
evaluating, by the camera extrinsics checker, extrinsics, including rotation and translation, of a plurality of cameras on the AV relative to a front central camera;
initiating, by the computing device of the AV, the camera signals checker of signal cameras in the calibration check process, wherein the signal cameras comprise a hardware filter for viewing traffic light bulbs;
detecting, by the camera signals checker, a dual traffic light target set a plurality of times during a straight drive portion of the calibration check process;
computing, by the camera signals checker, homography between dual traffic light targets each of the times, wherein a homography matrix is established to check relative pose error;
initiating, by the computing device of the AV, the RADAR checker in the calibration check process;
checking, by the RADAR checker, alignment of a plurality of RADAR sensors by comparing locations of detected target locations in the RADAR sensors against target locations detected by a LiDAR sensor on the AV; and
determining the status of the calibration checks that indicates whether the AV failed any individual sensor checkers or the calibration check process as a whole.
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