US 12,403,918 B2
Apparatus for validating a position or orientation of a sensor of an autonomous vehicle
Jeno Boka, Dunakeszi (HU); Zsolt Dudas, Szeged (HU); Tamas Gyenis, Budapest (HU); Laszlo Lindenmaier, Budaors (HU); Huba Nemeth, Budapest (HU); Szabo Lorant, Kecskemet (HU); Andras Szappanos, Budajeno (HU); Adam Szoellosi, Budapest (HU); and Daniel Voeroes, Budapest (HU)
Assigned to KNORR-BREMSE Systeme fuer Nutzfahrzeuge GmbH, Munich (DE)
Appl. No. 18/008,822
Filed by KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH, Munich (DE)
PCT Filed May 21, 2021, PCT No. PCT/EP2021/063647
§ 371(c)(1), (2) Date Dec. 7, 2022,
PCT Pub. No. WO2021/249747, PCT Pub. Date Dec. 16, 2021.
Claims priority of application No. 20178711 (EP), filed on Jun. 8, 2020.
Prior Publication US 2023/0242132 A1, Aug. 3, 2023
Int. Cl. B60W 50/02 (2012.01)
CPC B60W 50/0205 (2013.01) [B60W 2300/125 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2552/53 (2020.02)] 10 Claims
OG exemplary drawing
 
1. An apparatus for validating a position or an orientation of one or more sensors of an autonomous vehicle, the one or more sensors providing consecutive sensor data of surroundings of the vehicle, the apparatus comprising:
a validation module configured to compare the consecutive sensor data, and
to validate a position or an orientation of at least one sensor of the one or more sensors based on a deviation in the consecutive sensor data, wherein: the validation module is configured to find a structural feature of the vehicle in surroundings of the sensor by localizing the feature as a pattern in the sensor data by way of a pattern recognition algorithm,
the validation module is further configured to issue a warning to alert a driver or a workshop to correct the deviation,
the one or more sensors are multiple sensors providing a surround view of the vehicle in multiple coverings and the structural feature of the vehicle is observed by at least two different sensors, and
the validation module is configured to validate a position or an orientation of one sensor of the multiple sensors by sensor data of another sensor of the multiple sensors and by comparing a difference between localizations of the structural feature of the vehicle in the sensor data provided by the at least two different sensors to a difference determined previously.