US 12,351,207 B2
Inertial measurement unit (IMU) sensor data output aggregation
Joseph Brassard, Somerville, MA (US)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Jan. 18, 2023, as Appl. No. 18/156,346.
Prior Publication US 2024/0239369 A1, Jul. 18, 2024
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 2420/408 (2024.01)] 17 Claims
OG exemplary drawing
 
1. A system comprising:
a memory; and
one or more processors coupled to the memory, wherein the one or more processors are configured to:
receive a first measurement output from a first inertial measurement unit (IMU) associated with a first sensor of an autonomous vehicle (AV) and a second measurement output from a second IMU associated with a second sensor of the AV;
adjust the first measurement output based on a first offset vector corresponding to the first IMU to obtain a first adjusted measurement output, wherein the first offset vector associates the first IMU with a center of rotation of the AV;
adjust the second measurement output based on a second offset vector corresponding to the second IMU to obtain a second adjusted measurement output, wherein the second offset vector associates the second IMU with the center of rotation of the AV;
determine a pose of the AV based on the first adjusted measurement output and the second adjusted measurement output; and
perform a comparison between the first adjusted measurement output of the first IMU and an average of adjusted measurement outputs of a plurality of IMUs associated with a plurality of sensors of the AV; and
in response to a determination that a difference between the first adjusted measurement output and the average of adjusted measurement outputs exceeds an error threshold, eliminate the first adjusted measurement output of the first IMU in determining the average of adjusted measurement outputs.