US 12,449,520 B2
Automatic detection of lidar to vehicle alignment state using localization data
Xinyu Du, Oakland Township, MI (US); Yao Hu, Sterling Heights, MI (US); Wende Zhang, Birmingham, MI (US); and Hao Yu, Troy, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Nov. 10, 2021, as Appl. No. 17/523,222.
Prior Publication US 2023/0147739 A1, May 11, 2023
Int. Cl. G01S 7/497 (2006.01); G01S 17/931 (2020.01); H04W 4/44 (2018.01)
CPC G01S 7/4972 (2013.01) [G01S 17/931 (2020.01); H04W 4/44 (2018.02)] 20 Claims
OG exemplary drawing
 
1. A system in a vehicle comprising:
a lidar system configured to obtain lidar data in a lidar coordinate system; and
processing circuitry configured to obtain the lidar data and localization data, wherein the localization data indicates a location and orientation of the vehicle, and to automatically determine an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data, wherein the alignment state is determined using the localization data;
wherein the processing circuitry obtains a vehicle-to-world transformation matrix to project data from the vehicle coordinate system to a world coordinate system, which is a fixed coordinate system, based on the localization data; and
wherein the processing circuitry is configured to aggregate a plurality of frames of lidar data at corresponding time stamps to obtain aggregated lidar data, to use the lidar-to-vehicle transformation matrix and the vehicle-to-world transformation matrix to obtain the aggregated lidar data in the world coordinate system.