Aptiv Technologies Limited

Aptiv Technologies Ag

Aptiv Technologies (2) S.à R.l.

Bradley S Coon

Eric Paul Knutson

Christopher David Ruppel

Linh Ngoc Pham

Linh N Pham

Described are techniques and systems for secure camera based IMU calibration for stationary systems, including vehicles. Existing vehicle camera systems are employed, with enhanced security to prevent malicious attempts by hackers to try and cause a vehicle to enter IMU calibration mode. IMU calibration occurs when a calibration system determines the vehicle is parked in a controlled environment; calibration targets are positioned at different viewing angles to vehicle cameras to act as sources of optical patterns of encoded data. Features of the patterns are for security as well as for alignment functionality. Images of the calibration targets enable inference of a vehicle coordinate system, from which calculations for IMU mounting error compensations are performed. A relative rotation between the IMU and the vehicle coordinate system are applied to IMU data to compensate for relative rotations between the vehicle and the IMU, thereby improving vehicle slope and bank metrics.

Secure camera based inertial measurement unit calibration for stationary systems

A system for generating a 3D reflective surface map includes a positioning system, one or more antennas co-located with the positioning system, and a processing system. The positioning system calculates a position estimate. The one or more antennas co-located with the positioning system are configured to receive at least one reflected global navigation satellite system (GNSS) signal associated with a respective GNSS satellite and wherein a pseudo-range to the GNSS satellite is determined based on the reflected GNSS signal. The processing system is configured to receive the position estimate and the pseudo-ranges calculated with respect to each reflected GNSS signal, wherein the processing system maps a reflective surface based on the calculated pseudo-range provided by the reflected GNSS signals, the position estimate, angle-of-arrival of each reflected GNSS signal, and known satellite location of each respective GNSS satellite.

System and method for GNSS reflective surface mapping and position fix estimation

Responsive to determining that a quality of a V2V connection between a host vehicle and a target does not satisfy a threshold, a following position of the host vehicle relative to the target and whether the following position is within a predicted null position of the V2V connection and closer to the target than a selected position are determined. The following position is then controlled based on whether the following position is within the predicted null position and whether the following position is closer to the target than the selected position. By controlling the following position based on the quality of the V2V connection and the null position, more-reliable V2V connections may be maintained, thus enabling better performance of downstream operations.

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Russiaville, IN, United States of America

Bradley S Coon