The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 08, 2022
Filed:
May. 24, 2019
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Toshiki Matsui, Shizuoka-ken, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
An axial deviation detection device configured to detect axial deviation of a LIDAR system mounted on a vehicle is provided. The axial deviation detection device includes a storage device and a processor. The storage device stores reference plane information indicating a position of a reference plane, and LIDAR measurement information indicating positions of point clouds detected by the LIDAR system in a sensor coordinate system. The processor is configured to extract a road surface point cloud representing a road surface from the point clouds indicated in the LIDAR measurement information, approximate the road surface point cloud by an approximation plane and acquire the approximation plane as an estimated road plane, compare the estimated road plane with the reference plane indicated by the reference plane information, and determine that the axial deviation occurs when a deviation between the estimated road plane and the reference plane is larger than a threshold.