CN-122015933-A - System and method for monitoring and recalibrating infrastructure and vehicle sensors

Abstract

The present invention provides a system and method for monitoring and recalibrating infrastructure and vehicle sensors. A method includes identifying a current trajectory of an automated vehicle based on movement of the automated vehicle through a consist environment, calculating a distance-based difference between the current trajectory of the automated vehicle and an expected trajectory of the automated vehicle, determining whether the distance-based difference exceeds a change threshold, and recalibrating one or more sensors of an infrastructure system in response to the distance-based difference exceeding the change threshold.

Inventors

• B. Diamond
• V. D. Shenoi
• S.C.SARTHE
• K. Bandy
• M A Santee

Assignees

• 福特全球技术公司

Dates

Publication Date

20260512

Application Date

20251106

Priority Date

20241112

Claims (15)

1. 1. A method, comprising: identifying a current trajectory of an automated vehicle based on movement of the automated vehicle through a consist environment, wherein the current trajectory is based on a current location of the automated vehicle and a current speed of the automated vehicle; Calculating a distance-based difference between the current trajectory of the automated vehicle and an expected trajectory of the automated vehicle, wherein the expected vehicle trajectory is based on a target path of the automated vehicle and a target speed of the automated vehicle; determining whether the distance-based difference exceeds a change threshold, and Recalibrating one or more sensors of an infrastructure system in response to the distance-based difference exceeding the change threshold, wherein the recalibration of the one or more sensors is based on vehicle perception analysis.
2. 2. The method of claim 1, further comprising: one or more sensors of the automated vehicle are caused to be recalibrated in response to the distance-based difference exceeding the change threshold.
3. 3. The method of claim 2, wherein the recalibration of the one or more sensors of the infrastructure system and/or the one or more sensors of the automated vehicle comprises an intrinsic calibration, an external calibration, a color calibration, a frequency calibration, an angular calibration, a power calibration, or a combination thereof.
4. 4. The method of claim 2, wherein the vehicle perception analysis comprises field of view analysis, power analysis, signal strength of reflected beams, identification of one or more objects, distance measurement, detection accuracy, or a combination thereof.
5. 5. The method of claim 1, further comprising: Transmitting one or more instructions to the automated vehicle in response to the distance-based difference satisfying the change threshold, and The automated vehicle is caused to move from one workstation of the consist environment to another workstation of the consist environment based on the one or more instructions.
6. 6. The method of claim 1, further comprising: Aggregating the distance-based differences for each of the plurality of automated vehicles.
7. 7. The method of claim 6, further comprising: Generating a statistical distribution of the expected trajectory of each of the plurality of automated vehicles based on the aggregated distance-based differences, and Determining whether the distance-based difference for each of the plurality of automated vehicles exceeds the change threshold based on the statistical distribution.
8. 8. The method of claim 1, further comprising: an alert is transmitted in response to an unsuccessful recalibration of the one or more sensors, wherein the alert is a service request.
9. 9. A system, comprising: The system of the infrastructure is provided with a plurality of modules, the infrastructure system is configured to: identifying a current trajectory of an automated vehicle based on movement of the automated vehicle through a consist environment, wherein the current trajectory is based on a current location of the automated vehicle and a current speed of the automated vehicle, Calculating a distance-based difference between the current trajectory of the automated vehicle and an expected trajectory of the automated vehicle, wherein the expected vehicle trajectory is based on a target path and a target vehicle speed, Determining whether the distance-based difference exceeds a change threshold, and Recalibrating one or more sensors of the infrastructure system in response to the distance-based difference exceeding the change threshold, wherein the recalibration of the one or more sensors is based on vehicle perception analysis, and The vehicle in question is to be regarded as an automated vehicle, the automated vehicle is configured to: one or more sensors of the automated vehicle are recalibrated in response to the distance-based difference exceeding the change threshold.
10. 10. The system of claim 9, wherein the recalibration of the one or more sensors of the infrastructure system and/or the one or more sensors of the automated vehicle comprises an intrinsic calibration, an external calibration, a color calibration, a frequency calibration, an angular calibration, a power calibration, or a combination thereof.
11. 11. The system of claim 9, wherein the vehicle perception analysis comprises field of view analysis, power analysis, signal strength of reflected beams, identification of one or more objects, distance measurement, detection accuracy, or a combination thereof.
12. 12. The system of claim 9, wherein the infrastructure system is further configured to: Transmitting one or more instructions to the automated vehicle in response to the distance-based difference satisfying the change threshold, and The automated vehicle is caused to move from one workstation of the consist environment to another workstation of the consist environment based on the one or more instructions.
13. 13. The system of claim 10, wherein the infrastructure system is further configured to: Aggregating the distance-based differences for each of the plurality of automated vehicles.
14. 14. The system of claim 13, wherein the infrastructure system is further configured to: Generating a statistical distribution of the expected trajectory of each of the plurality of automated vehicles based on the aggregated distance-based differences, and Determining whether the distance-based difference for each of the plurality of automated vehicles exceeds the change threshold based on the statistical distribution.
15. 15. The system of claim 10, wherein the infrastructure system is further configured to: an alert is transmitted in response to an unsuccessful recalibration of the one or more sensors, wherein the alert is a service request.

Description

System and method for monitoring and recalibrating infrastructure and vehicle sensors Technical Field The present disclosure is directed to identifying problems associated with infrastructure sensor suites and/or vehicle sensor suites. More particularly, the present disclosure relates to identifying such problems and recalibrating sensors of an infrastructure sensor suite and/or a vehicle sensor suite based on the identification of such problems. Background The statements in this section merely provide background information related to the present disclosure and may not constitute prior art. Infrastructure-guided consist of one or more vehicles in a consist environment typically relies on communication between a sensor suite associated with the infrastructure and a sensor suite associated with each of the one or more vehicles. However, in some cases, the communication may be unreliable, which may result in inefficiency of the grouping process. For example, identifying such communication problems is time consuming and often difficult, and thus potential recalibration of the infrastructure sensor suite and/or the vehicle sensor suite occurs too late in the consist process due to late identification. The present disclosure addresses these and other problems associated with identifying and/or recalibrating infrastructure sensor kits and/or vehicle sensor kits. Disclosure of Invention This section provides a general summary of the disclosure and is not a comprehensive disclosure of its full scope or all of its features. The present disclosure provides a method comprising identifying a current trajectory of an automated vehicle based on movement of the automated vehicle through a consist environment, wherein the current trajectory is based on a current position of the automated vehicle and a current speed of the automated vehicle, calculating a distance-based difference between the current trajectory of the automated vehicle and an expected trajectory of the automated vehicle, wherein the expected vehicle trajectory is based on a target path and the target vehicle speed, determining whether the distance-based difference exceeds a change threshold, and recalibrating one or more sensors of an infrastructure system in response to the distance-based difference exceeding the change threshold, wherein recalibration of the one or more sensors is based on a vehicle perception analysis, the method further comprising causing the one or more sensors of the automated vehicle to be recalibrated in response to the distance-based difference exceeding the change threshold, wherein recalibration of the one or more sensors of the infrastructure system or the one or more sensors of the automated vehicle comprises intrinsic calibration, external calibration, color calibration, frequency calibration, angular calibration, power perception calibration, or a combination thereof, wherein the vehicle analysis comprises a visual field of view, a reflected power analysis, a power measurement, a power analysis, a beam analysis, a distance analysis, a beam analysis, or a combination thereof, the method further includes transmitting one or more instructions to the automated vehicles in response to the difference in distance-based values meeting a change threshold, and causing the automated vehicles to move from one workstation of the consist environment to another workstation of the consist environment based on the one or more instructions, aggregating the difference in distance-based values for each of the plurality of automated vehicles, generating a statistical distribution of expected trajectories for each of the plurality of automated vehicles based on the aggregated difference in distance-based values, and determining whether the difference in distance-based values exceeds the change threshold for each of the plurality of automated vehicles based on the statistical distribution, and transmitting an alert in response to an unsuccessful recalibration of the one or more sensors, wherein the alert is a service request. The present disclosure provides a system comprising an infrastructure system configured to identify a current trajectory of an automated vehicle based on movement of the automated vehicle through a consist environment, wherein the current trajectory is based on a current location of the automated vehicle and a current speed of the automated vehicle; calculating a distance-based difference between a current trajectory of the automated vehicle and an expected trajectory of the automated vehicle, wherein the expected vehicle trajectory is based on the target path and the target vehicle speed; determining whether the distance-based difference exceeds a change threshold; and recalibrating one or more sensors of the infrastructure system in response to the difference in distance exceeding the change threshold, wherein the recalibration of the one or more sensors is based on a vehicle perception analysis, and an automated vehicle con