LANE-BASED AUTOMATIC CALIBRATION OF LIDAR ON A VEHICLE

A method of calibration for a vehicle comprises: obtaining speed data from at least one vehicle controller of the vehicle during travel; determining that the speed data satisfies a speed threshold; while the speed threshold is satisfied, and from a light detection and ranging (LiDAR) of the vehicle, collecting first and second pluralities of LIDAR data frames; calculating a first yaw angle using the first plurality of LIDAR data frames; calculating a second yaw angle using the second plurality of LIDAR data frames; determining whether the first and second yaw angles satisfy a consistency criterion; in response to the consistency criterion being satisfied, determining a third yaw angle for the LiDAR using the first and second yaw angles; and calibrating the LiDAR using the third yaw angle.