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1.发明公开公开(公告)号：US20240011775A1
公开(公告)日：2024-01-11
申请号：US17859313
申请日：2022-07-07
CPC分类号： G01C21/1652 , G01S17/89 , G01C25/005 , B60W60/001 , B60W50/06 , B60W40/06 , B60W2552/00 , B60W2520/18 , B60W2520/16
摘要： The subject disclosure relates to estimating a grade of a road and calibrating sensors of an autonomous vehicle based on the grade. A process of the disclosed technology can include effectuating an autonomous vehicle to perform one or more maneuvers that cause the autonomous vehicle to face different directions along a road, obtaining a first set of sensor measurements of an autonomous vehicle in a first pose, wherein the first set of sensor measurements includes a first measured specific force, obtaining a second set of sensor measurements of the autonomous vehicle in a second pose, wherein the second set of sensor measurements includes a second measured specific force, determining a direction of gravity based on the first measured specific force and the second measured specific force, and calibrating at least one sensor of the autonomous vehicle based on the determined direction of gravity.
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公开(公告)号：US20240010213A1
公开(公告)日：2024-01-11
申请号：US17858831
申请日：2022-07-06
发明人： Hyungjin Kim , Adria Serra Moral , Ankit Rohatgi
CPC分类号： B60W50/06 , B60W60/001
摘要： The subject disclosure relates to estimating a chassis frame of an autonomous vehicle. A process of the disclosed technology can include receiving a position for each of a plurality of sensors on an autonomous vehicle, determining an ideal chassis point in relation to a constellation of model sensors in a CAD model associated with the autonomous vehicle, generating a constellation of the plurality of sensors based on the positions of the plurality of sensors in relation to the ideal chassis point, minimizing distortion between measured values associated with the constellation of the plurality of sensors and ideal values associated with the constellation of model sensors, determining an estimated real chassis point based on the minimized distortion between the measured values and the ideal values, and calibrating at least one of the plurality of sensors based on the estimated real chassis point.
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