US 12,467,769 B2
Vehicle-onboard computing architecture for sensor alignment
Xinyu Du, Oakland Township, MI (US); Guanlun He, Ann Arbor, MI (US); Yao Hu, Sterling Heights, MI (US); Binbin Li, Columbus, OH (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 Sep. 19, 2022, as Appl. No. 17/947,244.
Prior Publication US 2024/0095061 A1, Mar. 21, 2024
Int. Cl. G01S 17/89 (2020.01); G01C 25/00 (2006.01)
CPC G01C 25/005 (2013.01) [G01S 17/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for aligning a sensor to reference coordinate system in a vehicle, the computer-implemented method comprising:
initiating a plurality of threads, each thread executes simultaneously and independent of each other;
parsing, by a first thread, data received from the sensor mounted on the vehicle;
storing, by the first thread, the parsed data in a data buffer;
computing, by a second thread, an alignment transformation using the parsed data from the data buffer to determine alignment between the sensor and the reference coordinate system of the vehicle, the computing comprises:
checking that the data buffer contains at least predetermined amount of data;
in response to the at least predetermined amount of data in the data buffer, computing an intermediate result comprising portions of the alignment transformation using the parsed data in the data buffer;
in response to the at least predetermined amount of data not being in the data buffer, waiting for the first thread to add more data to the data buffer;
outputting, by the second thread, the intermediate result into the data buffer; and
outputting, by a third thread, the alignment transformation, in response to completion of alignment computations to facilitate accurate sensor measurements for vehicle operation.