US 12,270,936 B2
Multiple sensor calibration in autonomous vehicles performed in an undefined environment
Juan Fasola, San Francisco, CA (US); Ankit Rohatgi, Pacifica, CA (US); and Zhonghua Ma, San Jose, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Jul. 7, 2022, as Appl. No. 17/859,067.
Prior Publication US 2024/0012106 A1, Jan. 11, 2024
Int. Cl. G01S 7/40 (2006.01); B60W 50/00 (2006.01); B60W 50/02 (2012.01); B60W 60/00 (2020.01); G01S 13/931 (2020.01)
CPC G01S 7/40 (2013.01) [B60W 50/0205 (2013.01); B60W 60/0015 (2020.02); G01S 13/931 (2013.01); B60W 2050/0088 (2013.01); B60W 2050/0215 (2013.01); B60W 2420/408 (2024.01); B60W 2520/10 (2013.01); B60W 2554/801 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
18. An autonomous vehicle (AV) comprising:
a storage configured to store instructions;
an electric drivetrain configured to move the AV; and
a processor configured to execute the instructions and cause the processor to:
calibrate a plurality of sensors of the AV based on performing a plurality of training steps of increasing complexity within the undefined environment, wherein performance of a training step in the plurality of training steps is carried out only after successful performance of a previous training step from the plurality of training steps, and wherein the plurality of sensors of the AV are uncalibrated with respect to each other;
determine that the AV satisfies an open road requirement to navigate an open road based on completing the plurality of training steps in the undefined environment;
operate the AV on open roads subject to at least one constraint based on the completing the plurality of training steps, wherein the at least one constraint comprises a list of restricted maneuvers that limit operation of the AV on open roads;
while navigating on the open roads, identifying a maneuver of the AV in the list of restricted maneuvers that the AV can perform in specific circumstances;
determining that road conditions permit the maneuver;
performing the maneuver while measuring quality of performance of the maneuver, including measuring at least one distance between the AV and an object within the undefined environment while performing the maneuver;
removing the maneuver from the list of restricted maneuvers in response to the at least one distance meeting a threshold distance; and
modifying a set of specific circumstances associated with the maneuver in the list of restricted maneuvers in response to the at least one distance failing to meet the threshold distance.