SYSTEM AND METHOD FOR DETECTING A FLAT SURFACE CONDITION FOR SENSOR ALIGNMENT AND BIAS CORRECTION

A vehicle includes a system for calibrating a sensor of a vehicle. A first measure of road grade is determined for a road section being traversed by the vehicle based on Global Positioning Satellite (GPS) data. A second measure of road grade is determined for the road section using map data and vehicle dynamics data. An applied longitudinal force on the vehicle is controlled to maintain the vehicle at a constant velocity when the first measure and the second measure indicate that the road section is a flat horizontal surface. A third measure of road grade is determined based on the applied longitudinal force. A parameter of the sensor is adjusted when the third measure indicates that the road section is the flat horizontal surface.