Rear-facing perception system for vehicles
Devices, systems and methods for operating a rear-facing perception system for vehicles are described. An exemplary rear-facing perception system contains two corner units and a center unit, with each of the two corner units and the center unit including a camera module and a dual-band transceiver. A method for operating the rear-facing perception system includes pairing with a control unit by communicating, using the dual-band transceiver, over at least a first frequency band, transmitting a first trigger signal to the two corner units over a second frequency band non-overlapping with the first frequency band, and switching to an active mode. In an example, the first trigger signal causes the two corner units to switch to the active mode, which includes orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.
1. An apparatus disposed on a tractor, comprising:
a vehicle control unit (VCU);
a transceiver;
an inertial measurement unit (IMU); and
a non-transitory memory;
wherein the VCU is configured to:
detect movement of the VCU using a signal from the IMU;
transmit a synchronization signal of a synchronization process upon detecting the movement;
receive, in response to the synchronization signal, one or more signals from a rear-facing perception system that provides perception coverage of an area around a rear of the tractor based, in part, on data obtained from a camera and a distance sensor that are mounted on a center portion of the rear of the tractor;
compare the signal from the IMU with the one or more signals from the rear-facing perception system, and
selectively continue the synchronization process with the rear-facing perception system based on a result of the comparing;
wherein the rear-facing perception system comprises two corner units and a center unit, and the center unit is configured to:
pair with the control unit over at least a first frequency band; and
transmit a trigger signal to the two corner units over a second frequency band non-overlapping with the first frequency band;
wherein the first trigger signal causes the two corner units to switch to an active mode;
wherein each of the two corner units and the center unit comprises a camera module and a dual-band transceiver, wherein the active mode comprises orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.
2. The apparatus of claim 1 , wherein the one or more signals comprise IMU signals from a center integration unit (CIU), a left integration unit (LIU) and a right integration unit (RIU).
3. The apparatus of claim 2 , wherein the VCU is further configured to:
store identifiers of the CIU, the LIU and the RIU during the synchronization process.
4. The apparatus of claim 1 , wherein the VCU is configured to discontinue the synchronization process upon detecting a mismatch between the signal from the IMU and the one or more signals from the rear-facing perception system.
5. The apparatus of claim 1 , wherein the transceiver comprises a dual band transceiver configured to operate in an LTE band and an ultra high frequency (UHF) band.
6. The apparatus of claim 1 , wherein the VCU is configured to detect the movement and transmit the synchronization signal upon determining whether the signal from the IMU corresponds to an acceleration above or below a value.
7. The apparatus of claim 1 , further including a synchronization button that is configured to manually start the synchronization process upon pressing the synchronization button.
8. A non-transitory computer readable storage medium comprising executable instructions for operating a vehicle control unit (VCU) in an autonomous vehicle that, when executed by at least one processor, cause the at least one processor to perform a method, comprising:
detecting movement of the VCU using a signal from an inertial measurement unit (IMU);
transmitting a synchronization signal of a synchronization process upon detecting the movement,
receiving, in response to the synchronization signal, one or more signals from a rear-facing perception system that provides perception coverage of an area around a rear of the autonomous vehicle based, in part, on data obtained from a camera and a distance sensor that are mounted on a center portion of the rear of the autonomous vehicle;
comparing the signal from the IMU with the one or more signals from the rear-facing perception system, and
selectively continuing the synchronization process with the rear-facing perception system based on a result of the comparing;
wherein the rear-facing perception system comprises two corner units and a center unit, and the center unit is configured to:
pair with the control unit over at least a first frequency band; and
transmit a trigger signal to the two corner units over a second frequency band non-overlapping with the first frequency band;
wherein the first trigger signal causes the two corner units to switch to an active mode;
wherein each of the two corner units and the center unit comprises a camera module and a dual-band transceiver, wherein the active mode comprises orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.
9. The non-transitory computer readable storage medium of claim 8 , wherein the one or more signals comprise IMU signals from three rear-facing units.
10. The non-transitory computer readable storage medium of claim 9 , wherein the method includes:
storing identifiers of the three rear-facing units during the synchronization process.
11. The non-transitory computer readable storage medium of claim 8 , wherein the method includes discontinuing the synchronization process upon detecting a mismatch between the signal from the IMU and the one or more signals from the rear-facing perception system.
12. The non-transitory computer readable storage medium of claim 8 , wherein the method includes discontinuing the synchronization process upon detecting no acceleration is registered from the one or more signals from the rear-facing perception system.
13. The non-transitory computer readable storage medium of claim 8 , wherein the method comprises detecting the movement and transmitting the synchronization signal upon determining whether the signal from the IMU corresponds to an acceleration above or below a value.
14. A method implemented by a processor of a vehicle control unit (VCU) disposed on an autonomous vehicle, comprising:
detecting movement of the VCU using a signal from an inertial measurement unit (IMU);
transmitting a synchronization signal of a synchronization process upon detecting the movement,
receiving, in response to the synchronization signal, one or more signals from a rear-facing perception system that provides perception coverage of an area around a rear of the autonomous vehicle based, in part, on data obtained from a camera and a distance sensor that are mounted on a center portion of the rear of the autonomous vehicle;
comparing the signal from the IMU with the one or more signals from the rear-facing perception system, and
selectively continuing the synchronization process with the rear-facing perception system based on a result of the comparing;
wherein the rear-facing perception system comprises two corner units and a center unit, and the center unit is configured to:
pair with the control unit over at least a first frequency band; and
transmit a trigger signal to the two corner units over a second frequency band non-overlapping with the first frequency band;
wherein the first trigger signal causes the two corner units to switch to an active mode;
wherein each of the two corner units and the center unit comprises a camera module and a dual-band transceiver, wherein the active mode comprises orienting the camera modules on the center unit and the two corner units to provide an unobstructed view of an area around a rear of the vehicle.
15. The method of claim 14 , wherein the one or more signals comprise IMU signals from a center integration unit (CIU), a left integration unit (LIU) and a right integration unit (RIU) and the method comprises:
storing identifiers of the CIU, the LIU and the RIU during the synchronization process.
16. The method of claim 14 , wherein the method comprises at least one of:
discontinuing the synchronization process upon detecting a mismatch between the signal from the IMU and the one or more signals from the rear-facing perception system;
discontinuing the synchronization process upon detecting no acceleration is registered from the one or more signals from the rear-facing perception system; or
detecting the movement and transmitting the synchronization signal upon determining whether the signal from the IMU corresponds to an acceleration above 1 g.
17. The method of claim 14 , further comprising:
detecting occurrence of a sleep event;
transmitting, upon detecting the sleep event, a sleep signal to the rear-facing perception system such that the rear-facing perception system enters a sleep mode in which operation of the rear-facing perception system is switched off.
18. The method of claim 17 , wherein the sleep event comprises putting the autonomous vehicle in a cruise control mode.