The invention provides a vehicle sensor fusion. A computer, including a processor and a memory, the memory including instructions to be executed by the processor to obtain velocity lidar point cloud data acquired with a frequency modulated continuous wave (FMCW) lidar sensor, wherein the velocity lidar point cloud data includes a speed with which a data point is moving with respect to the FMCW lidar sensor, filter the velocity lidar point cloud data to select static velocity data points, wherein the static velocity data points are velocity data points each correspond to a point on a roadway around a vehicle. The instructions can include further instructions to determine FMCW lidar sensor accelerations in six degrees of freedom based on the static velocity lidar data points and determine FMCW lidar sensor rotations and translations in six degrees of freedom based on the FMCW lidar sensor accelerations in six degrees of freedom. The instructions can include further instructions to determine vehicle rotations and translations in six degrees of freedom based on inertial measurement unit (IMU) data, determine FMCW lidar sensor mis-alignment based on comparing the FMCW lidar sensor rotations and translations with the vehicle rotations and translations and align the FMCW lidar sensor based on the FMCW lidar sensor mis-alignment. The instructions can include further instructions to operate a vehicle based on the aligned FMCW lidar sensor.
本公开提供车辆传感器融合。一种计算机包括处理器和存储器,存储器包括由处理器执行的指令以:获得利用调频连续波(FMCW)激光雷达传感器获取的速度激光雷达点云数据,该云数据包括数据点相对于该传感器移动的速度;对该云数据进行滤波以选择静态速度数据点,该静态速度数据点各自对应于道路上车辆周围的点。指令还包括进行以下操作的指令:基于静态速度数据点来确定六自由度上的FMCW激光雷达传感器加速度;基于该加速度来确定传感器旋转和平移;基于惯性测量单元数据来确定六自由度上的车辆旋转和平移;基于传感器旋转和平移与车辆旋转和平移比较来确定传感器的未对准;基于传感器的未对准来对准传感器;基于对准的传感器来操作车辆。
VEHICLE SENSOR FUSION
车辆传感器融合
2021-08-24
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |