Patent ID: 11965978
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A calibration pipeline for estimating six degrees of freedom (6DoF) alignment parameters for an autonomous vehicle, the calibration pipeline comprising:
one or more radar sensors;
an automated driving controller in electronic communication with the one or more radar sensors, where the automated driving controller is instructed to:
receive inertial measurement unit (IMU) poses and final radar poses, wherein the IMU poses are based on data collected by an IMU and a global positioning system (GPS) of the autonomous vehicle and the final radar poses are based on data collected from the one or more radar sensors of the autonomous vehicle;
determine smoothened IMU poses from the IMU poses and smoothened final radar poses from the final radar poses based on either a moving average filter or a moving median filter;
align the smoothened IMU poses and the smoothened final radar poses with one another to create a plurality of radar-IMU A, B relative pose pairs;
determine a solution yielding a threshold number of inliers of further filtered radar-IMU A, B relative pose pairs based on the plurality of radar-IMU A, B relative pose pairs;
randomly sample the further filtered radar-IMU A, B relative pose pairs with replacements more than two times to determine a stream of filtered radar-IMU A, B relative pose pairs;
solve for a solution X for the stream of filtered radar-IMU A, B relative pose pairs, wherein the solution X indicates the 6DoF alignment parameters, and wherein the solution X indicates the 6DoF alignment parameters of the autonomous vehicle and the 6DoF alignment parameters represent radar-to-vehicle calibration parameters; and
align the one or more radar sensors with a center of gravity of the autonomous vehicle based on the 6DoF alignment parameters.