Control of dynamic scene motion by vehicle based on vehicle sensor capture

{
  "publication_number": "US10742969B1",
  "country": "US",
  "kind": "B1",
  "title": "Control of dynamic scene motion by vehicle based on vehicle sensor capture",
  "abstract": "Sensors coupled to a vehicle are calibrated using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. The sensors capture data at each orientation along the rotation. The vehicle's computer identifies representations of the sensor targets within the data captured by the sensors, and calibrates the sensor based on these representations. The motorized turntable may confirm that rotation has stopped to the vehicle to trigger sensor capture, and the vehicle may communicate completion of sensor capture at an orientation to the motorized turntable to trigger further rotation.",
  "claims": [
    "1. A system for vehicle sensor calibration, the system comprising: a turntable having a platform that is rotatable about a base of the turntable; a motor configured to rotate the platform of the turntable about the base of the turntable in response to activation of the motor; a wireless communication interface; a memory storing instructions; and a processor that executes the instructions, wherein execution of the instructions by the processor causes the processor to: activate the motor while a vehicle is on the platform and before receipt of a sensor capture confirmation signal, causing the platform to rotate about the base from a previous orientation to a first orientation, deactivate the motor while the vehicle is on the platform and before receipt of the sensor capture confirmation signal, causing the platform to stop rotating about the base with the platform in the first orientation, send a rotation stop signal to a vehicle computing system associated with the vehicle via the wireless communication interface before receipt of the sensor capture confirmation signal, the rotation stop signal indicating that the platform has stopped rotating about the base following deactivation of the motor, receive the sensor capture confirmation signal from the vehicle computing system via the wireless communication interface while the vehicle is on the platform and while the platform is stationary in the first orientation relative to the base, wherein the sensor capture confirmation signal indicates that one or more sensors associated with the vehicle have captured sensor calibration data corresponding to the first orientation, and activate the motor automatically in response to receipt of the sensor capture confirmation signal and while the vehicle is on the platform, thereby rotating the platform about the base from the first orientation to a second orientation.",
    "2. The system of claim 1, further comprising a pressure sensor coupled to the turntable, wherein the pressure sensor identifies that the vehicle is on the platform, wherein the motor is activated to rotate the platform about the base from the previous orientation to the first orientation in response to the pressure sensor identifying that the vehicle is on the platform.",
    "3. The system of claim 1, wherein the wireless communication interface receives a vehicle position signal from the vehicle computing system, the vehicle position signal indicating that a positioning receiver associated with the vehicle has identified that the vehicle is on the platform, wherein the motor is activated to rotate the platform about the base from the previous orientation to the first orientation in response to receipt of the vehicle position signal.",
    "4. The system of claim 1, further comprising a motion sensor coupled to the turntable, wherein execution of the instructions by the processor causes the processor to also: receive a motion sensor signal from the turntable before receipt of the sensor capture confirmation signal, the motion sensor signal indicating that the motion sensor has confirmed that rotation of the platform about the base has stopped, wherein sending of the rotation stop signal to the vehicle computing system via the wireless communication interface is performed in response to receipt of the motion sensor signal.",
    "5. The system of claim 1, wherein execution of the instructions by the processor causes the processor to also: receive a camera sensor signal from a camera before receipt of the sensor capture confirmation signal, the camera sensor signal indicating that the camera has visually confirmed that rotation of at least one of the vehicle or the platform about the base has stopped, wherein sending of the rotation stop signal to the vehicle computing system via the wireless communication interface is performed in response to receipt of the camera sensor signal.",
    "6. The system of claim 1, wherein execution of the instructions by the processor causes the processor to also: receive a vehicle signal from the vehicle computing system before receipt of the sensor capture confirmation signal, the vehicle signal indicating that one or more sensors associated with the vehicle have confirmed that rotation of the vehicle has stopped, wherein sending of the rotation stop signal to the vehicle computing system via the wireless communication interface is performed in response to receipt of the vehicle signal.",
    "7. The system of claim 1, wherein execution of the instructions by the processor causes the processor to also: deactivate the motor after receipt of the sensor capture confirmation signal and while the vehicle is on the platform, causing the platform to stop rotating about the base with the platform in the second orientation, wherein the second orientation orients a side of the vehicle toward an unoccluded exit from the platform, the side of the vehicle being one of a front side of the vehicle or a rear side of the vehicle.",
    "8. A method for vehicle sensor calibration, the method comprising: activating a motor while a vehicle is on a platform and before receipt of a sensor capture confirmation signal, causing the platform to rotate about a base from a previous orientation to a first orientation; deactivating the motor while the vehicle is on the platform and before receipt of the sensor capture confirmation signal, causing the platform to stop rotating about the base with the platform in the first orientation; sending a rotation stop signal wirelessly to a vehicle computing system associated with the vehicle, the rotation stop signal indicating that the platform has stopped rotating about the base following deactivation of the motor; receiving the sensor capture confirmation signal wirelessly from the vehicle computing system while the vehicle is on a platform of a turntable and while the platform is stationary and in a first orientation relative to a base of the turntable, wherein the sensor capture confirmation signal indicates that one or more sensors associated with the vehicle have captured sensor calibration data corresponding to the first orientation; and activating the motor automatically in response to receipt of the sensor capture confirmation signal and while the vehicle is on the platform, thereby rotating the platform about the base from the first orientation to a second orientation.",
    "9. The method of claim 8, further comprising: receiving a pressure sensor signal from a pressure sensor coupled to the turntable, the pressure sensor signal indicating that the pressure sensor has identified that the vehicle is on the platform, wherein activating the motor to rotate the platform about the base from the previous orientation to the first orientation is performed in response to receipt of the pressure sensor signal.",
    "10. The method of claim 8, further comprising: receiving a vehicle position signal wirelessly from the vehicle computing system, the vehicle position signal indicating that a positioning receiver associated with the vehicle has identified that the vehicle is on the platform, wherein activating the motor to rotate the platform about the base from the previous orientation to the first orientation is performed in response to receipt of the vehicle position signal.",
    "11. The method of claim 8, further comprising: receiving a motion sensor signal from a motion sensor coupled to the turntable after deactivation of the motor, the motion sensor signal indicating that the motion sensor has confirmed that rotation of the platform about the base has stopped, wherein sending of the rotation stop signal wirelessly to the vehicle computing system occurs in response to receiving the motion sensor signal from the motion sensor.",
    "12. The method of claim 8, further comprising: receiving a camera signal from a camera after deactivation of the motor, the camera signal indicating that the camera has visually confirmed that rotation of at least one of the vehicle or the platform about the base has stopped, wherein sending of the rotation stop signal wirelessly to the vehicle computing system occurs in response to receiving the camera signal from the camera.",
    "13. The method of claim 8, further comprising: receiving a vehicle signal wirelessly from the vehicle computing system after deactivation of the motor, the vehicle signal indicating that one or more sensors associated with the vehicle have confirmed that rotation of the vehicle has stopped, wherein sending of the rotation stop signal wirelessly to the vehicle computing system occurs in response to receiving the vehicle signal from the vehicle computing system.",
    "14. The method of claim 8, further comprising: deactivating the motor after receipt of the sensor capture confirmation signal and while the vehicle is on the platform, causing rotation of the platform about the base to stop with the platform in the second orientation, wherein the second orientation orients a side of the vehicle toward an unoccluded exit from the platform, the side of the vehicle being one of a front side of the vehicle or a rear side of the vehicle.",
    "15. A non-transitory computer readable storage medium having embodied thereon a program, wherein the program is executable by a processor to perform a method of vehicle sensor calibration, the method comprising: activating a motor while a vehicle is on a platform and before receipt of a sensor capture confirmation signal, causing the platform to rotate about a base from a previous orientation to a first orientation; deactivating the motor while the vehicle is on the platform and before receipt of the sensor capture confirmation signal, causing the platform to stop rotating about the base with the platform in the first orientation; sending a rotation stop signal wirelessly to a vehicle computing system associated with the vehicle, the rotation stop signal indicating that the platform has stopped rotating about the base following deactivation of the motor; receiving the sensor capture confirmation signal wirelessly from the vehicle computing system while the vehicle is on a platform of a turntable and while the platform is stationary and in a first orientation relative to a base of the turntable, wherein the sensor capture confirmation signal indicates that one or more sensors associated with the vehicle have captured sensor calibration data corresponding to the first orientation; and activating the motor automatically in response to receipt of the sensor capture confirmation signal and while the vehicle is on the platform, thereby rotating the platform about the base from the first orientation to a second orientation."
  ],
  "description_excerpt": "The present invention generally pertains to calibration of sensors that are used by vehicles. More specifically, the present invention pertains to use of a dynamic scene to perform intrinsic and extrinsic calibrations of various sensors, such as cameras and range sensors, that are coupled to a vehicle and used by the vehicle to identify its surroundings.\n\nAn autonomous vehicle is a motorized vehicle that can navigate without a human driver. An exemplary autonomous vehicle includes a plurality of sensor systems, such as, but not limited to, a camera sensor system, a light detection and ranging (LIDAR) sensor system, or a radio detection and ranging (RADAR) sensor system, amongst others, wherein the autonomous vehicle operates based upon sensor signals output by the sensor systems. Specifically, the sensor signals are provided to an internal computing system in communication with the plurality of sensor systems, wherein a processor executes instructions based upon the sensor signals to control a mechanical system of the autonomous vehicle, such as a vehicle propulsion system, a braking system, or a steering system. Such sensors may also be mounted on other vehicles, such as vehicles that are used to generate or update street maps as they drive.\n\nA wide range of manufacturing defects or discrepancies can exist in vehicles, sensors, and mounting hardware that affixes the sensors to the vehicles. Because of these discrepancies, different sensors mounted to different vehicles may capture slightly different data, even when those vehicles are at the exact same position, and even when the vehicles are brand new.",
  "cpc": [
    "H04N 17/002",
    "G01S 13/931",
    "G01S 15/931",
    "G01S 17/931",
    "G01S 7/40",
    "G01S 7/4026",
    "G01S 7/4086",
    "G01S 7/497",
    "G01S 7/4972",
    "G01S 7/52004",
    "G06T 2207/30252",
    "G06T 7/20",
    "G06T 7/80",
    "H04W 4/02",
    "H04W 4/024",
    "H04W 4/027",
    "H04W 4/029",
    "H04W 4/38",
    "H04W 4/40",
    "H04W 4/44",
    "H04W 4/80"
  ],
  "ipc": [
    "G06T 7/20",
    "G06T 7/80",
    "H04N 17/00",
    "H04N 7/00",
    "H04N 7/18",
    "H04W 4/029",
    "H04W 4/44"
  ],
  "assignees": [
    "GM Cruise Holdings LLC"
  ],
  "inventors": [
    "Ankit Rohatgi",
    "Jun-Wei Hew",
    "Adam Cadien",
    "Haven Lau",
    "Nick Semansky",
    "Zhichang Yan",
    "Zhi Yuan Sherwin Lau"
  ],
  "filing_date": "2019-06-28",
  "publication_date": "2020-08-11",
  "grant_date": "2020-08-11",
  "priority_date": "2019-06-28",
  "application_number": "US-201916457832-A",
  "family_id": "71994208",
  "cited_by_count": 43,
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  ]
}