US 12,360,206 B2
Calibration courses and targets
Aaron Low Weng Soon, Singapore (SG); Marius Lukas Brühlmeier, Singapore (SG); and Huy Dinh Nguyen, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Sep. 22, 2021, as Appl. No. 17/448,431.
Prior Publication US 2023/0089832 A1, Mar. 23, 2023
Int. Cl. G01S 7/40 (2006.01); B60W 50/06 (2006.01); B60W 60/00 (2020.01); G01S 7/497 (2006.01); G01S 13/93 (2020.01); G01S 13/931 (2020.01); G01S 17/89 (2020.01); G01S 17/93 (2020.01); G01S 17/931 (2020.01)
CPC G01S 7/40 (2013.01) [B60W 50/06 (2013.01); B60W 60/001 (2020.02); G01S 7/497 (2013.01); G01S 13/931 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); B60W 2420/408 (2024.01)] 16 Claims
OG exemplary drawing
 
1. A system for calibrating at least one sensor of a vehicle, the system comprising:
a drivable path comprising a plurality of turns;
a plurality of calibration targets proximate to the drivable path, wherein the plurality of calibration targets are positioned so as to be detectable by at least one sensor of a vehicle as the vehicle traverses the drivable path, wherein at least one calibration target of the plurality of calibration targets comprises:
a top surface,
a base surface, wherein the base surface comprises a horizontal surface configured to support the calibration target, and
at least four side surfaces extending between the top surface and the base surface,
wherein an angle difference between the base surface and a first side surface of the at least four side surfaces is different from an angle difference between the base surface and a second side surface of the at least four side surfaces, wherein the second side surface is adjacent to the first side surface;
a plurality of obstacles in the drivable path, wherein at least one particular obstacle of the plurality of obstacles is configured to such that the vehicle driving over the at least one particular obstacle causes a change in an angle of the at least one sensor relative to at least one calibration target as the vehicle traverses the drivable path;
at least one memory and at least one processor, the at least one memory storing instructions that configure the at least one processor to:
receive sensor data representing an environment in which the vehicle is operating from at least one sensor of the vehicle traversing the drivable path, including sensor data generated as the vehicle drives over that at least one obstacle that changes the angle of the at least one sensor relative to the at least one calibration target; and
calibrate the at least one sensor of the vehicle based on the sensor data.