System and method for calibrating a sensor

1 . A sensor calibration system for a vehicle, the system comprising:

a first sensor positioned at a reference angle, the first sensor configured to sense an object;

a second sensor disposed within the first sensor, the second sensor configured to sense a first angle of the first sensor; and

an electronic processor in communication with the first sensor and the second sensor and configured to:

receive vehicle movement information;

determine, based on the vehicle movement information, whether the vehicle is stopped;

in response to determining that the vehicle is stopped, obtain a first signal indicative of the first angle from the second sensor;

convert the first angle to a second angle;

determine whether the second angle is within a tolerance range;

in response to determining that the second angle is within the tolerance range,

modify a calibration of the first sensor using the second angle; and

sense the object using the modified calibration of the first sensor.

2 . The sensor calibration system of claim 1 , wherein the electronic processor is configured to:

in response to determining that the second angle is not within the tolerance range, determine a fault condition.

3 . The sensor calibration system of claim 1 , wherein the reference angle is established when the vehicle is unloaded.

4 . The sensor calibration system of claim 1 , wherein the first angle comprises a deviation from the reference angle.

5 . The sensor calibration system of claim 1 , wherein the electronic processor is configured to set the second angle as the reference angle.

6 . The sensor calibration system of claim 1 , wherein the electronic processor is configured to:

receive a second signal from the first sensor;

determine, based on the second signal, a height of the first sensor;

receive a third signal from the first sensor; and

determine, based on the third signal and the second angle, a distance to the object.

7 . The sensor calibration system of claim 6 , wherein the electronic processor is configured to:

determine, based on the second angle and the height, a distance from the first sensor to the ground; and

determine, based on the distance from the first sensor to the ground, a field of view (FOV) of the first sensor.

8 . The sensor calibration system of claim 7 , wherein the electronic processor is configured to:

determine, based on the FOV and the distance to the object, whether the object is outside the FOV; and

in response to determining that the object is outside the FOV, determine a false positive.

9 . The sensor calibration system of claim 7 , wherein the electronic processor is configured to:

set, based on the second angle and the height, a sensitivity of the first sensor.

10 . The sensor calibration system of claim 1 , the system comprising:

a vehicle control system configured to provide the vehicle movement information to the electronic processor.

11 . A method for calibrating a sensor of a vehicle, the method comprising:

receiving vehicle movement information;

positioning a first sensor at a reference angle;

sensing, via a first sensor, an object;

sensing, via a second sensor, a first angle of the first sensor, wherein the second sensor is disposed within the first sensor;

determining, via an electronic processor and based on the vehicle movement information, whether the vehicle is stopped;

in response to determining that the vehicle is stopped,

obtaining a first signal indicative of the first angle from the second sensor;

converting, via the electronic processor, the first angle to a second angle;

determining, via the electronic processor, whether the second angle is within a tolerance range;

in response to determining that the second angle is within the tolerance range, modifying, via the electronic processor, a calibration of the first sensor using the second angle; and

sensing, via the first sensor, the object using the modified calibration of the first sensor.

12 . The method of claim 11 , wherein the method comprises:

in response to determining that the second angle is not within the tolerance range, determining, via the electronic processor, a fault condition.

13 . The method of claim 11 , wherein the reference angle is positioned when the vehicle is unloaded.

14 . The method of claim 11 , wherein the first angle comprises a deviation from the reference angle.

15 . The method of claim 11 , wherein the method comprises:

setting, via the electronic processor, the second angle as the reference angle.

16 . The method of claim 11 , wherein the method comprises:

receiving a second signal from the first sensor;

determining, via the electronic processor and based on the second signal, a height of the first sensor;

receiving a third signal from the first sensor; and

determining, via the electronic processor and based on the third signal and the second angle, a distance to the object.

17 . The method of claim 16 , wherein the method comprises:

determining, via the electronic processor and based on the second angle and the height, a distance from the first sensor to the ground; and

determining, via the electronic processor and based on the distance from the first sensor to the ground, a field of view (FOV) of the first sensor.

18 . The method of claim 17 , wherein the method comprises:

determining, via the electronic processor and based on the FOV and the distance to the object, whether the object is outside the FOV; and

in response to determining that the object is outside the FOV, determining, via the electronic processor, a false positive.

19 . The method of claim 17 , wherein the method comprises:

setting, via the electronic processor and based on the second angle and the height, a sensitivity of the first sensor.

20 . The method of claim 11 , wherein the method comprises:

providing, via a vehicle control system, the vehicle movement information to the electronic processor.