Granted Patent B2

US 12,591,064 · App. 17/697,967 · Granted Mar 31, 2026

Inventors: Giancarlo Baldan (Somerville, MA); Timothy O'Donnell (West Newton, MA); William Buono (Pittsburgh, PA)

Assignee: Motional AD LLC

G01S17/931B60W50/06B60W60/001B60W2420/408

Abstract

Claims (52)

1 . A method comprising:

obtaining, using at least one processor, first location data indicative of a first component of an autonomous vehicle on which a first sensor is located;

determining, using the at least one processor, based on the first location data, a first vertical orientation of the first sensor with respect to a ground level;

determining a first rotational direction of the first sensor relative to the ground level based at least in part on the first vertical orientation of the first sensor;

receiving from a second sensor a second configuration parameter indicative of a second rotational direction of the second sensor relative to the ground level based at least in part on a second vertical orientation of the second sensor to enable synchronization with respect to the second sensor, wherein the second sensor is located on a second component of the autonomous vehicle, different from the first component;

automatically adjusting the first rotational direction of the first sensor based on the second rotational direction of the second sensor and the first vertical orientation of the first sensor; and

synchronously operating, using the at least one processor, the first sensor and the second sensor.

2 . The method of claim 1 , the method further comprising:

obtaining, using the at least one processor, second location data of the second sensor indicative of the second component;

determining, using the at least one processor, based on the second location data, the second vertical orientation of the second sensor with respect to the ground level; and

determining, using the at least one processor the second configuration parameter based on the second vertical orientation of the second sensor.

3 . The method of claim 2 , wherein operating the second sensor comprises operating the second sensor based on the first vertical orientation of the first sensor and the second configuration parameter.

4 . The method of claim 2 , wherein synchronously operating the second sensor and the first sensor comprises synchronously rotating the second sensor and the first sensor.

5 . The method of claim 2 , further comprising:

obtaining, using the at least one processor, first sensor data from the first sensor, the first sensor data associated with an environment in which the autonomous vehicle is operating;

obtaining, using the at least one processor, second sensor data from the second sensor, the second sensor data associated with the environment; and

generating, using the at least one processor, based on the first sensor data and the second sensor data, a combined sensor view data indicative of the environment.

6 . The method of claim 5 , wherein the combined sensor view data is indicative of vertical coverage from the ground level to a pre-determined height from the ground level.

7 . The method of claim 2 , wherein the first sensor is a first LIDAR sensor and the second sensor is a second LIDAR sensor.

8 . The method of claim 1 , wherein the first location data is indicative of the first sensor being located on one or more of: a side of the autonomous vehicle, a front of the autonomous vehicle, and a back of the autonomous vehicle.

9 . The method of claim 1 , further comprising:

determining that the first vertical orientation of the first sensor is indicative of a non-inverted position; and

in response to determining that the first vertical orientation of the first sensor is indicative of a non-inverted position, determining the first rotational direction as a clockwise direction.

10 . The method of claim 1 , further comprising:

determining that the first vertical orientation of the first sensor is indicative of an inverted position; and

in response to determining that the first vertical orientation of the first sensor is indicative of an inverted position, determining the first rotational direction as a counterclockwise direction.

11 . A non-transitory computer readable medium comprising instructions stored thereon that, when executed by at least one processor, cause the at least one processor to carry out operations comprising:

obtaining, using at least one processor, first location data indicative of a first component of an autonomous vehicle on which a first sensor is located;

determining, using the at least one processor, based on the first location data, a first vertical orientation of the first sensor with respect to a ground level;

determining a first rotational direction of the first sensor relative to the ground level based at least in part on the first vertical orientation of the first sensor;

receiving from a second sensor a second configuration parameter indicative of a second rotational direction of the second sensor relative to the ground level based at least in part on a second vertical orientation of the second sensor to enable synchronization with respect to the second sensor, wherein the second sensor is located on a second component of the autonomous vehicle, different from the first component;

automatically adjusting the first rotational direction of the first sensor based on the second rotational direction of the second sensor and the first vertical orientation of the first sensor; and

synchronously operating, using the at least one processor, the first sensor and the second sensor.

12 . A system, comprising at least one processor; and at least one memory storing instructions thereon that, when executed by the at least one processor, cause the at least one processor to:

obtain, using at least one processor, first location data indicative of a first component of an autonomous vehicle on which a first sensor is located;

determine, using the at least one processor, based on the first location data, a first vertical orientation of the first sensor with respect to a ground level;

determine a first rotational direction of the first sensor relative to the ground level based at least in part on the first vertical orientation of the first sensor;

receive from a second sensor a second configuration parameter indicative of a second rotational direction of the second sensor relative to the ground level based at least in part on a second vertical orientation of the second sensor to enable synchronization with respect to the second sensor, wherein the second sensor is located on a second component of the autonomous vehicle, different from the first component;

automatically adjust the first rotational direction of the first sensor based on the second rotational direction of the second sensor and the first vertical orientation of the first sensor; and

synchronously operate, using the at least one processor, the first sensor and the second sensor.

13 . The system of claim 12 , wherein the at least one memory storing instructions thereon further cause the at least one processor to:

obtain, using the at least one processor, second location data of the second sensor indicative of the second component;

determine, using the at least one processor, based on the second location data, the second vertical orientation of the second sensor with respect to the ground level; and

determine, using the at least one processor, based on the second vertical orientation of the second sensor, the second configuration parameter.

14 . The system of claim 13 , wherein to operate the second sensor, the instructions, when executed by the at least one processor, cause the at least one processor to operate the second sensor based on the first vertical orientation of the first sensor and second configuration parameter.

15 . The system of claim 13 , wherein to operate the second sensor, the instructions, when executed by the at least one processor, cause the at least one processor to synchronously rotate the second sensor and the first sensor.

16 . The system of claim 13 , wherein the instructions, when executed by the at least one processor, further cause the at least one processor to:

obtain, using the at least one processor, first sensor data from the first sensor, the first sensor data associated with an environment in which the autonomous vehicle is operating;

obtain, using the at least one processor, second sensor data from the second sensor, the second sensor data associated with the environment; and

generate, using the at least one processor, based on the first sensor data and the second sensor data, a combined sensor view data indicative of the environment.

17 . The system of claim 16 , wherein the combined sensor view data is indicative of vertical coverage from the ground level to a pre-determined height from the ground level.

18 . The system of claim 13 , wherein the first sensor is a first LIDAR sensor and the second sensor is a second LIDAR sensor.

Assignments (4)

Continuity (1)

References Cited (16)