FIELD: measuring equipment.
SUBSTANCE: invention relates to computer engineering for determination of calibration coefficients of steering angle sensor and speed sensor installed on autonomous vehicle. Wheel odometry sensors calibration method consists in the fact that location data are recorded, autonomous vehicle movement track line is formed on a virtual map, at each point of the track, performing a polynomial regression of the trajectory, determining the velocity vector, the local curvature at the point and the radius of curvature by differentiating the polynomial-regressed trajectory, velocity vector modulus is compared with the readings of the speed sensor, data are accumulated, the desired calibration coefficient of the speed sensor is determined, at the same time, at the point of the autonomous vehicle movement track line, the readings of the wheel angle sensor and the autonomous vehicle speed are monitored, the values of the wheel angle and autonomous vehicle speed sensors are obtained, polynomial regression of the set of accumulated points is carried out and a polynomial is calculated, the coefficients of which are calibration.
EFFECT: higher accuracy of calibration of steering angle sensor and speed sensor.
1 cl, 2 dwg
