DE-102025145382-A1 - SYSTEMS AND METHODS FOR MONITORING AND RECALITING INFRASTRUCTURE AND VEHICLE SENSORS

Abstract

One procedure involves identifying the current trajectory of an automated vehicle based on its movement through a maneuvering environment, calculating a distance-based difference between the automated vehicle's current trajectory and an expected trajectory, determining whether the distance-based difference exceeds a variation threshold, and recalibrating one or more sensors of an infrastructure system in response to the distance-based difference exceeding the variation threshold.

Inventors

• Brendan Diamond
• Vyas Darshan Shenoy
• Stuart C. Salter
• Krishna Bandi
• Mario Anthony Santillo

Assignees

• FORD GLOBAL TECHNOLOGIES, LLC

Dates

Publication Date

20260513

Application Date

20251104

Priority Date

20241112

Claims (15)

1. Method comprising: Identifying the current trajectory of an automated vehicle based on its movement through a maneuvering environment, wherein the current trajectory is based on the automated vehicle's current location and speed; Calculating a distance-based difference between the automated vehicle's current trajectory and its expected trajectory, wherein the expected trajectory is based on the automated vehicle's target path and speed; Determining whether the distance-based difference exceeds a variation threshold; and Recalibrating one or more sensors of an infrastructure system in response to the distance-based difference exceeding the variation threshold, wherein the recalibration of the one or more sensors is based on a vehicle perception analysis.
2. Procedure according to Claim 1 , furthermore comprehensively: To cause one or more sensors of the automated vehicle to be recalibrated in response to the distance-based difference exceeding the variation threshold.
3. Procedure according to Claim 2 , wherein the recalibration of one or more sensors of the infrastructure system or of one or more sensors of the automated vehicle includes intrinsic calibration, extrinsic calibration, color calibration, frequency calibration, angle calibration, power calibration or a combination thereof.
4. Procedure according to Claim 2 , where the vehicle perception analysis includes a field of view analysis, a power analysis, a signal strength of reflected rays, an identification of one or more objects, distance measurements, detection accuracy or a combination thereof.
5. Procedure according to Claim 1 , furthermore, encompassing: transmitting one or more instructions to the automated vehicle in response to the distance-based difference meeting the variation threshold; and causing the automated vehicle to move from one workstation in the shunting environment to another workstation in the shunting environment based on the one or more instructions.
6. Procedure according to Claim 1 , furthermore comprehensively: Aggregating a distance-based difference for each automated vehicle out of a large number of automated vehicles.
7. Procedure according to Claim 6 , furthermore comprehensively: Generating a statistical distribution of an expected trajectory for each automated vehicle of the multitude of automated vehicles based on the aggregated distance-based differences; and determining whether the distance-based difference exceeds the variation threshold for each automated vehicle of the multitude of automated vehicles based on the statistical distribution.
8. Procedure according to Claim 1 , furthermore comprehensively: transmitting an alarm in response to an unsuccessful recalibration of one or more sensors, wherein the alarm is a maintenance request.
9. System, comprising: an infrastructure system configured to: identify a current trajectory of an automated vehicle based on the automated vehicle's movement through a maneuvering environment, wherein the current trajectory is based on the automated vehicle's current location and speed; calculate a distance-based difference between the automated vehicle's current trajectory and an expected trajectory of the automated vehicle, wherein the expected vehicle trajectory is based on a target path and vehicle speed; determine whether the distance-based difference exceeds a variation threshold; and recalibrate one or more sensors of the infrastructure system in response to the distance-based difference exceeding the variation threshold, wherein the recalibration of the one or more sensors is based on vehicle perception analysis; and the automated vehicle configured to: recalibrate one or more sensors of the automated vehicle in response to the distance-based difference exceeding the variation threshold.
10. System according Claim 9 , wherein the recalibration of one or more sensors of the infrastructure system or of one or more sensors of the automated vehicle includes intrinsic calibration, extrinsic calibration, color calibration, frequency calibration, angle calibration, power calibration or a combination thereof.
11. System according Claim 9 , where the vehicle perception analysis includes a field of view analysis, a power analysis, a signal strength of reflected rays, an identification of one or more objects, distance measurements, detection accuracy or a combination thereof.
12. System according Claim 9 , wherein the infrastructure system is further configured to: transmit one or more instructions to the automated vehicle in response to the distance-based difference meeting the variation threshold; and cause the automated vehicle to move from one workstation in the shunting environment to another workstation in the shunting environment based on the one or more instructions.
13. System according Claim 10 , wherein the infrastructure system is further configured to: aggregate a distance-based difference for each automated vehicle of a large number of automated vehicles.
14. System according Claim 13 , wherein the infrastructure system is further configured to: generate a statistical distribution of an expected trajectory for each automated vehicle of the multitude of automated vehicles based on the aggregated distance-based differences; and determine whether the distance-based difference exceeds the variation threshold for each automated vehicle of the multitude of automated vehicles based on the statistical distribution.
15. System according Claim 10 , wherein the infrastructure system is further configured to: transmit an alarm in response to an unsuccessful recalibration of one or more sensors, wherein the alarm is a maintenance request.

Description

AREA This disclosure relates to the identification of problems associated with an infrastructure sensor suite and/or a vehicle sensor suite. More specifically, this disclosure relates to the identification of these problems and the recalibration of sensor(s) of the infrastructure sensor suite and/or the vehicle sensor suite based on the identification of these problems. GENERAL STATE OF THE ART The statements in this section merely provide background information relating to the present disclosure and may not represent the state of the art. Infrastructure-guided shunting of one or more vehicles in a shunting 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, this communication can be unreliable in some cases, leading to inefficiencies in the shunting process. For example, identifying such communication problems is time-consuming and often difficult, and thus, due to late identification, a potential recalibration of the infrastructure sensor suite and/or the vehicle sensor suite occurs too late in the shunting process. This disclosure addresses these and other problems related to the identification and/or recalibration of the infrastructure sensor suite and/or the vehicle sensor suite. SUMMARY This section provides a general summary of the revelation and is not a comprehensive revelation of its full scope or all of its features. The present disclosure provides a method comprising: identifying the current trajectory of an automated vehicle based on the automated vehicle's movement through a maneuvering environment, wherein the current trajectory is based on the automated vehicle's current location and speed; calculating a distance-based difference between the automated vehicle's current trajectory and an expected trajectory, wherein the expected trajectory is based on a target path and speed; determining whether the distance-based difference exceeds a variation threshold; and recalibrating one or more sensors of an infrastructure system in response to the distance-based difference exceeding the variation threshold, wherein the recalibration of the one or more sensors is based on a vehicle perception analysis; further comprising: causing one or more sensors of the automated vehicle to be recalibrated in response to the distance-based difference exceeding the variation threshold. wherein the recalibration of one or more sensors of the infrastructure system or of one or more sensors of the automated vehicle includes intrinsic calibration, extrinsic calibration, color calibration, frequency calibration, angle calibration, power calibration, or a combination thereof; wherein the vehicle perception analysis includes a field-of-view analysis, power analysis, signal strength of reflected rays, identification of one or more objects, distance measurements, detection accuracy, or a combination thereof; further comprising: transmitting one or more instructions to the automated vehicle in response to the distance-based difference meeting the variation threshold; and causing the automated vehicle to move from one workstation of the shunting environment to another workstation of the shunting environment based on the one or more instructions; further comprising: aggregating a distance-based difference for each automated vehicle of a plurality of automated vehicles; Generating a statistical distribution of an expected trajectory for each automated vehicle of the multitude of automated vehicles based on the aggregated distance-based differences; and determining whether the distance-based difference exceeds the variation threshold for each automated vehicle of the multitude of automated vehicles based on the statistical distribution; and further comprising: transmitting an alarm in response to an unsuccessful recalibration of one or more sensors, wherein the alarm is a maintenance request. The present disclosure provides a system comprising: an infrastructure system configured to: identify the current trajectory of an automated vehicle based on the movement of the automated vehicle through a shunting environment, wherein the current trajectory is based on the current location of the automated vehicle. and based on the 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 variation threshold, and recalibrating one or more sensors of the infrastructure system in response to the distance-based difference exceeding the variation threshold, wherein the recalibration of the one or more sensors is based on a vehicle perception analysis; and the automated vehicle configured to: recalibrate one or more sensors of the automate