Object Detection Sensor Alignment

Abstract

An illustrative example object detection system includes a sensor having a field of view. The sensor is configured to emit radiation and to detect at least some of the radiation reflected by an object within the field of view. A panel in the field of view allows the radiation to pass through the panel. The panel being is configured to be set in a fixed position relative to a vehicle coordinate system. A plurality of reflective alignment markers are situated on the panel in the field of view. The reflective alignment markers reflect radiation emitted by the sensor back toward the sensor. A processor is configured to determine an alignment of the sensor with the vehicle coordinate system based on an indication from the sensor regarding radiation reflected by the reflective alignment markers and detected by the sensor.

What is claimed is: 
     
         1 . A system comprising:
 a processor configured to:
 cause a sensor of a vehicle to emit radiation through a panel of the vehicle that is transparent to the radiation, the panel disposed in a fixed position relative to a vehicle coordinate system of the vehicle; 
 receive, from the sensor, information about reflected radiation caused by the radiation being reflected off a plurality of reflective alignment markers that are disposed on the panel; and 
 determine, based on the information about the reflected radiation, an alignment of the sensor relative to the vehicle coordinate system. 
   
     
     
         2 . The system of  claim 1 , wherein:
 the processor is further configured to determine, based on the information about the reflected radiation from the reflective alignment markers, respective distances between the sensor and the reflective alignment markers; and   the determination of the alignment of the sensor relative to the vehicle coordinate system is based on the respective distances between the sensor the reflective alignment markers.   
     
     
         3 . The system of  claim 2 , wherein:
 the processor is further configured to determine, based on the respective distances between the sensor and the reflective alignment markers, a position of the sensor relative to the reflective alignment markers; and   the determination of the alignment of the sensor relative to the vehicle coordinate system is based on the position of the sensor relative to the reflective alignment markers.   
     
     
         4 . The system of  claim 1 , wherein the processor is further configured to:
 determine, based on the alignment, that the sensor is misaligned relative to the vehicle coordinate system; and   output an indication of the misalignment.   
     
     
         5 . The system of  claim 4 , wherein the indication of the misalignment comprises at least one of: an indication to perform sensor pose compensation for the sensor, an indication to obtain service for the sensor, or an alarm corresponding to the misalignment. 
     
     
         6 . The system of  claim 5 , wherein:
 the indication of the misalignment comprises the indication to perform sensor pose compensation for the sensor; and   the processor is further configured to perform the sensor pose compensation.   
     
     
         7 . The system of  claim 6 , wherein the sensor pose compensation comprises at least one of an execution of software or a control of an actuator effective to improve the alignment between the sensor and the vehicle coordinate system. 
     
     
         8 . A vehicle comprising:
 a sensor configured to emit radiation and receive reflections of the radiation reflected off objects within a field of view of the sensor;   a panel:
 in a fixed position relative to a vehicle coordinate system of the vehicle, 
 within the field of view of the sensor, and 
 transparent to the radiation; 
   a plurality of reflective alignment markers disposed on the panel between the panel and the sensor, the alignment markers configured to reflect the radiation back to the sensor; and   a processor configured to:
 cause the sensor to emit radiation; 
 receive, from the sensor, information about reflected radiation caused by the radiation being reflected off the reflective alignment markers; and 
 determine, based on the information about the reflected radiation, an alignment of the sensor relative to the vehicle coordinate system. 
   
     
     
         9 . The vehicle of  claim 8 , wherein the reflective alignment markers comprise a film applied to the panel. 
     
     
         10 . The vehicle of  claim 8 , wherein the reflective alignment markers comprise a focusing shape that focuses the reflected radiation from the alignment markers towards the sensor. 
     
     
         11 . The vehicle of  claim 8 , wherein the reflective alignment markers comprise a surface treatment on corresponding portions of the panel. 
     
     
         12 . The vehicle of  claim 8 , wherein the reflective alignment markers comprise at least three reflective alignment markers that are configured to allow for alignment in at least two dimensions. 
     
     
         13 . The vehicle of  claim 12 , wherein:
 at least one of the reflective alignment markers is aligned with at least one other of the reflective alignment markers along a first axis; and   at least one of the reflective alignment markers is aligned with at least one other of the reflective alignment markers along a second axis.   
     
     
         14 . The vehicle of  claim 13 , wherein the reflective alignment markers are arranged on a rectangle. 
     
     
         15 . A method comprising:
 causing, by a processor, a sensor of a vehicle to emit radiation through a panel of the vehicle that is transparent to the radiation, the panel disposed in a fixed position relative to a vehicle coordinate system of the vehicle;   receiving, by the processor and from the sensor, information about reflected radiation caused by the radiation being reflected off a plurality of reflective alignment markers that are disposed on the panel; and   determining, by the processor and based on the information about the reflected radiation, an alignment of the sensor relative to the vehicle coordinate system.   
     
     
         16 . The method of  claim 15 , wherein the determining the alignment comprises comparing the information about the reflected radiation to baseline alignment information that corresponds to the sensor being aligned with the vehicle coordinate system. 
     
     
         17 . The method of  claim 15 , wherein the reflected radiation is focused relative to a field of view of the sensor. 
     
     
         18 . The method of  claim 15 , further comprising:
 determining, by the processor and based on the alignment, that the sensor is misaligned relative to the vehicle coordinate system; and   outputting, by the processor, an indication of the misalignment.   
     
     
         19 . The method of  claim 18 , wherein the indication of the misalignment comprises at least one of: an indication to perform sensor pose compensation for the sensor, an indication to obtain service for the sensor, or an alarm corresponding to the misalignment. 
     
     
         20 . The method of  claim 19 , wherein:
 the indication of the misalignment comprises the indication to perform sensor pose compensation for the sensor; and   the method further comprises performing, by the processor, the sensor pose compensation by at least one of executing software or controlling an actuator effective to improve the alignment between the sensor and the vehicle coordinate system.