DE102015118874A1 - Method for operating a sensor system of a motor vehicle, driver assistance system and system for calibrating a sensor system of a motor vehicle - Google Patents

Abstract

The invention relates to a method for operating a sensor system (16) of a motor vehicle (15), in which a first information from a surrounding area (18) of the motor vehicle (15) with a locally at a first position (35, 37, 38, 39, 40, 41) on the motor vehicle (15) arranged first sensor (28, 29, 30, 31, 32, 33) of the sensor system (16) is detected, and a second information from the surrounding area (18) of the motor vehicle (15) with a locally at a second position (35, 37, 38, 39, 40, 41) different from the first position (35, 37, 38, 39, 40, 41) on the motor vehicle (15) arranged second sensor (28, 29, 30, 31, 32, 33) of the sensor system (16), wherein the first information and the second information related to a vehicle-side and sensor-external common reference point (69) of the first sensor (28, 29, 30, 31, 32, 33) and of the second sensor (28, 29, 30, 31, 32, 33) are detected and evaluated.

Description

The invention relates to a method for operating a sensor system of a motor vehicle. A first information item is detected by a surrounding area of a motor vehicle with a first sensor of the sensor system arranged locally at a first position on the motor vehicle. Furthermore, a second information is detected by the surrounding area of the motor vehicle with a second sensor of the sensor system arranged locally on a second position on the motor vehicle which is different from the first position. The invention also relates to a driver assistance system for a motor vehicle as well as a system for calibrating a sensor system of a motor vehicle.

Methods for operating a sensor system of a motor vehicle are known from the prior art. Sensor systems are usually subjected to a calibration procedure prior to their operational operation. Among other things, an orientation of a sensor of the sensor system relative to the motor vehicle is determined by the calibration method. For a camera as the sensor, for example, an outer orientation and an inner orientation are determined. After calibration, the data of the sensor can then be processed metrologically, so then a transformation of a 3D world coordinate system in a 3D sensor coordinate system can be performed. If there is information about an object in an environmental region of the motor vehicle detected with the sensor, then, for example, a distance from the sensor to the object can be determined. The calibration of the sensor system is usually also carried out when the sensor system comprises a plurality of sensors. The sensors of the sensor system can then be calibrated, for example, successively or simultaneously. The calibration of the sensors can be done, for example, depending on a calibration object.

From the WO 2004/003586 A1 a method for calibrating sensors in the motor vehicle is known.

It is an object of the invention to provide a method, a driver assistance system and a system with which or in which a sensor system of a motor vehicle can be operated more effectively and error-free.

This object is achieved by a method by a driver assistance system and by a system having the features according to the respective independent claims.

In a method according to the invention, a sensor system of a motor vehicle is operated. A first information item is detected by a surrounding area of the motor vehicle with a first sensor of the sensor system which is arranged locally at a first position on the motor vehicle. Furthermore, a second information is detected by the surrounding area of the motor vehicle with a second sensor of the sensor system arranged locally on a second position on the motor vehicle which is different from the first position. An essential idea of the invention is to be seen in that the first information and the second information related to a motor vehicle side and sensor external common reference point of the first sensor and the second sensor are detected and evaluated.

By the motor vehicle side common reference point, the sensor system can be operated more effectively and with reduced errors. Thus, the first information and the second information with respect to the common reference point are detected error-free and evaluated. This means, in particular, that the comparability of acquired information is made possible by different sensors in the functional principle and thus the accuracy of the statement and the comprehensiveness of the statements about objects in the surrounding area of the motor vehicle is increased.

In particular, by the use of the common reference point during the operational operation of the motor vehicle, that is not under laboratory conditions, no subsequent coordinate transformation of the first information and / or the second information is necessary. Thus, the first information and the second information are already stored in the detection in a common coordinate system defined by the common reference point. The need for a subsequent transformation of a first coordinate system of the first sensor and / or a second coordinate system of the second sensor in the common coordinate system is thereby unnecessary.

After acquiring the first information and the second information relative to the common reference point, the first information and the second information are then evaluated, in particular also together, based on the common reference point.

The evaluation comprises, for example, at least one comparison or else a fusion or merging of the first information and the second information or else the determination of a distance of an object in one Surrounding area of the motor vehicle based on the first information and the second information.

By detecting and evaluating the first information and the second information with respect to the common reference point, a step of transforming is omitted, for example, in order to match reference variables of the first sensor and reference variables of the second sensor. If the first information and the second information are not related to the common reference point, then it is usually necessary to convert the first information and the second information for joint evaluation into a common coordinate system. When transferring to the common coordinate system, deviations or residuals usually occur. The residuals are then usually introduced because a transformation equation can not be satisfied and an inaccurate approximation of the solution is required. The deviations are undesirable and are considered to be errors because the information collected by the surrounding area is thus provided less accurately. With the common reference point, however, this is not necessary and the sensor system can be operated in particular without the deviations and therefore error-free.

Due to the common reference point, the position of the sensors on the motor vehicle relative to the common reference point is known in particular. For example, an outer orientation of the first sensor and / or an outer orientation of the second sensor are related directly to the common reference point. This means in particular that the origin of a coordinate system used for the outer orientation of the first sensor, for example, is also placed on the common reference point. As a result, a subsequent translation of the origin or even transformation of the origin is dispensable.

The first position is in particular spaced from the second position.

Preferably, it is provided that the common reference point is determined by a calibration method as a function of the first sensor arranged on the motor vehicle and the second sensor arranged on the motor vehicle. So that the first information and the second information relative to the vehicle-side and sensorexternal common reference point can be detected and evaluated, the calibration procedure is performed. The calibration method, for example, performs an extrinsic calibration of the sensor system in order to determine extrinsic parameters of the sensors of the sensor system. Furthermore, in addition to the extrinsic parameters, intrinsic parameters such as, for example, a camera main point and / or a camera constant and / or a distortion can be determined. The calibration method performs a simultaneous active extrinsic calibration of the sensors of the sensor system. The calibration method is carried out in particular as a function of the common reference point. It is advantageous that the common reference point is determined more simply and more effectively by the calibration method.

Furthermore, it is preferably provided that in the calibration method, before determining the common reference point, a first reference point of the first sensor and a second reference point of the second sensor are determined. By determining the first reference point and the second reference point, the calibration process can be carried out in steps. For example, first the first sensor is calibrated and accordingly the first reference point is determined. Then, for example, the second sensor is then calibrated and the second reference point is determined. The first reference point and the second reference point can be arranged, for example, for this purpose on the respective sensor, ie inside the sensor. After determining the first reference point and the second reference point, the common reference point, which is arranged outside the sensor but on the motor vehicle side, is then determined on the basis of this. By determining the first reference point and the second reference point, the calibration process can be performed more easily.

In particular, it is provided that in the calibration method before determining the common reference point on the basis of the first reference point and the second reference point, a temporary intermediate reference point for determining the common reference point is determined. By the intermediate reference point of the first reference point and the second reference point can be represented together and, in particular motor vehicle external. Preferably, the first reference point is transformed by a first transformation rule between a first sensor coordinate system of the first sensor and a temporary intermediate coordinate system of the temporary intermediate reference point and / or the second reference point is transformed by a second transformation rule between a second sensor coordinate system of the second sensor and the temporary intermediate coordinate system. The transformation instructions used in the calibration method, in particular the first transformation rule and the second transformation rule, are no longer necessary when operating the sensor system, ie the detection and evaluation of the first information and the second information. This step only serves to provide the common reference point.

Furthermore, it is provided in particular that the calibration method is carried out as a function of at least one calibration object in the surrounding area of the motor vehicle. By means of the calibration object, the calibration method can be carried out precisely and reliably, as a result of which the common reference point is precisely determined and the detection and evaluation of the first information and of the second information takes place without errors.

Preferably, it is provided that the temporary intermediate reference point is determined locally on the calibration object in the surrounding area. Thus, the temporary intermediate reference point is preferably determined on the calibration object in the surrounding area. This has the advantage that the temporary intermediate reference point can be transformed with a third transformation rule to the common reference point on the motor vehicle. The temporary intermediate reference point to be arranged on the calibration object is also advantageous because the first reference point and the second reference point can be related to the calibration object in a simple manner, at least temporarily. Finally, in order to operate the motor vehicle with the common reference point, the temporary intermediate reference point during the calibration procedure is transformed from the calibration object to the motor vehicle or into the motor vehicle.

Furthermore, it is preferably provided that the common reference point is placed locally in a center of gravity of the positions of the sensors of the sensor system. Due to the focus of the positions, a locally uniquely determined point is given, which can be used without confusion for the reference of the acquired and evaluated first information and second information.

Furthermore, it is preferably provided that the first information and the second information are combined in the evaluation depending on the common reference point. By merging, the first information and the second information are merged. This is of particular interest if the first information is provided by a different sensor type than is the case with the second information. In this case, then a multimodal sensor data fusion is performed. Particularly in the case of multimodal sensor data fusion, errors or deviations can occur in known sensor systems. These deviations are reduced by merging the information depending on the common reference point. Thus, for example, data from a radar sensor and a camera system and a laser scanner can be combined more reliably and without error by the common reference point. The motor vehicle can thereby be provided in a comparable manner information from a plurality of sensors of the motor vehicle. The motor vehicle is operated thereby safer.

The invention also relates to a driver assistance system for a motor vehicle, which is designed to carry out a method according to the invention. The driver assistance system can be designed, for example, as a distance warning system or as an obstacle detection system or as an environmental visual system.

The invention also relates to a system for calibrating a sensor system of a motor vehicle. The sensor system comprises at least a first sensor of the motor vehicle, a second sensor of the motor vehicle and an evaluation unit, in particular of the motor vehicle. The system is designed to determine a common reference point of the first sensor and the second sensor based on a first reference point of the first sensor and a second reference point of the second sensor.

The evaluation unit can either be arranged on the motor vehicle or in a surrounding area, for example part of a vehicle-external calibration device, for example a calibration object.

It is preferably provided that the first sensor is designed as a first sensor type and the second sensor is designed as a different from the first sensor sensor type. Preferably, the sensor system is thus designed multimodal. One advantage of the different types of sensor is that it allows the surrounding area of the motor vehicle to be detected repeatedly and under different conditions. For example, the surrounding area can be detected accurately with the first type of sensor and with the second type of sensor at any time of the day. The system is designed to calibrate the first sensor with the first sensor type and the second sensor with the second sensor type, in particular simultaneously. In particular, by providing the sensors of the motor vehicle designed as different sensor types, a "cocoon" function for the motor vehicle can be provided.

In a further embodiment, it is provided that the respective sensor type is designed as a camera or laser scanner or radar sensor. For example, images or image sequences in the visible spectral range or in the infrared spectral range are provided by the camera. The laser scanner scans the surrounding area of the motor vehicle with the aid of laser beams and is designed to provide distance values to objects in the surrounding area. With the radar sensor, radar waves are emitted into the surrounding area and, for example, a distance to the object in the surrounding area can also be determined. The laser scanner, the radar sensor and the infrared camera can be operated, for example, in low light conditions or at least partially even in bad weather conditions.

In a further embodiment, it is preferably provided that the system has at least one calibration object in an environmental region of the motor vehicle, and the calibration object is arranged in a first detection region of the first sensor and / or in a second detection region of the second sensor. The calibration object can thus be detected simultaneously by the first sensor and the second sensor. If the calibration object is arranged only in the first detection area, preferably in the second detection area another calibration object is arranged. Dimensions of the calibration object are assumed to be known. Due to the calibration object, the sensor system can be easily and reliably calibrated.

In a further embodiment it can be provided that the first detection area and the second detection area have an overlap area and the calibration object is arranged in the overlap area. By placing the calibration object in the overlap area, the number of calibration objects needed for the system to calibrate the sensor system can be reduced. Furthermore, for example, errors in the process of calibration can be detected by the presence of the calibration object in the overlap area.

Preferably, it is provided that the system has a plurality of calibration objects and in each case at least one calibration object of the plurality of calibration objects is designed as a sensor-specific calibration object for the calibration of the respective sensor type. By means of the plurality of calibration objects, at least one of the calibration objects can then preferably be arranged in each detection area of the respective sensor. Furthermore, the sensor-specific calibration object can be provided by the plurality of calibration objects for each sensor type. For example, a column is provided as a calibration object in front of a radar sensor of the motor vehicle, while for a camera of the motor vehicle and / or a laser scanner of the motor vehicle, preferably a calibration panel with a calibration pattern is provided as the calibration object.

The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the driver assistance system according to the invention and to the system according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respectively specified combination but also in other combinations or in isolation, without the frame to leave the invention. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim. Moreover, embodiments and combinations of features, in particular by the embodiments set out above, are to be regarded as disclosed, which go beyond or deviate from the combinations of features set out in the back references of the claims.

The embodiments of the invention will be explained in more detail with reference to schematic drawings.

Showing:

1 a schematic plan view of a known motor vehicle with a camera and arranged in front of the known motor vehicle calibration object;

2 a schematic representation of the calibration object;

3 a schematic representation of a known calibration method of the camera based on the calibration object;

4 a schematic plan view of the known motor vehicle with a radar sensor and a calibration object arranged in addition to the known motor vehicle;

5 a schematic plan view of an embodiment of an inventive Motor vehicle with a sensor system comprising a camera, a radar sensor and a laser scanner, wherein in a surrounding region of the motor vehicle, a plurality of calibration objects is arranged;

6 a schematic representation of a calibration object of the plurality of calibration objects;

7 a schematic representation of another calibration object of the plurality of calibration objects;

8th a schematic representation of a first step of a calibration process;

9 a schematic representation of a second step of the calibration process; and

10 a schematic representation of a third step of the calibration process.

In the figures, identical or functionally identical elements are provided with the same reference numerals.

In 1 is schematically a known motor vehicle 1 with a camera 2 shown. The camera 2 is so on the known motor vehicle 1 aligned that a detection area 3 the camera 2 to a calibration object 4 is aligned. The camera 2 For example, on a windshield of the known motor vehicle 1 be arranged. Usually, the known motor vehicle 1 in a fixed vertical position and at a certain distance and height with respect to the calibration object 4 aligned.

2 shows the calibration object 4 , The calibration object 4 for example, as a blackboard 5 with test patterns 6 be educated.

3 shows the calibration of the camera 2 based on the calibration object 4 , It becomes an orientation of the camera 2 on the known motor vehicle 1 depending on the calibration object 4 certainly. For this example, a roll angle 7 , a pitch angle 8th and a yaw angle 9 certainly. For example, this can be done with one in the camera 2 integrated program. The program becomes the test pattern 6 of the calibration object 4 recognized and evaluated.

4 shows the known motor vehicle 1 with a radar sensor 10 , In a detection area 11 of the radar sensor 10 is a second calibration object 12 arranged. The second calibration object 12 is from a radar signal 13 of the radar sensor 10 detected while the radar sensor 10 when lighting a detection area 11 sweeps over an angle of 180 °. Based on the second calibration object 12 can be a correction of the angle measurement of the radar sensor 10 be performed. This is the second calibration object 12 for example, placed in different angular positions and in each case by the radar signal 13 sampled.

5 shows a system 14 , The system 14 includes a motor vehicle 15 with a sensor system 16 , Furthermore, the system includes 14 a plurality of calibration objects 17 , The majority of calibration objects 17 is in a surrounding area 18 of the motor vehicle 15 arranged. As a calibration object of the system 14 is a first sensor-specific calibration object 19 , a second sensor-specific calibration object 20 , a third sensor-specific calibration object 21 , a fourth sensor-specific calibration object 22 , a fifth sensor-specific calibration object 23 , a sixth sensor-specific calibration object 24 or a seventh sensor-specific calibration object 25 educated. The first sensor-specific calibration object 19 is according to the embodiment in a front area 26 of the surrounding area 18 arranged. The second sensor-specific calibration object 20 , the third sensor-specific calibration object 21 and the fourth sensor-specific calibration object 22 are also in the front area 26 arranged. The fifth sensor-specific calibration object 23 , the sixth sensor-specific calibration object 24 and the seventh sensor-specific calibration object 25 are in a rear area 27 of the surrounding area 18 arranged.

The sensor system 16 includes a camera 28 , a laser scanner 29 , a first radar sensor 30 , a second radar sensor 31 , a third radar sensor 32 and a fourth radar sensor 33 , The camera 28 , the laser scanner 29 , the first radar sensor 30 , the second radar sensor 31 , the third radar sensor 32 or the fourth radar sensor 33 is as a first sensor or a second sensor of the sensor system 16 educated. That's the camera 28 for example, as the first sensor formed while the laser scanner 29 is formed as the second sensor. The camera 28 is according to the embodiment in a middle, close to a roof 34 of the motor vehicle 15 arranged area 35 a windshield 36 of the motor vehicle 15 arranged. The laser scanner 29 is on a middle front 37 of the motor vehicle 15 arranged. The first radar sensor 30 is in a left front area 38 of the motor vehicle 15 arranged. The second radar sensor 31 is in a right front area 39 of the motor vehicle 15 arranged. The third radar sensor 32 is in a left rear area 40 of the motor vehicle 15 arranged. The fourth radar sensor 33 is in a right rear area 41 of the motor vehicle 15 arranged. The area 35 , the front 37 , the left front Area 38 , the right front area 39 , the left rear area 40 and the right rear area 41 each describe a first position of the first sensor or a second position of the second sensor. For example, the first position is the area 35 while the second position is the front 37 is.

The camera 28 has a detection area 42 on. The laser scanner 29 has a detection area 43 on. The first radar sensor 30 has a detection area 44 on. The second radar sensor 31 has a detection area 45 on. The third radar sensor 32 has a detection area 46 on. The fourth radar sensor 33 has a detection area 47 on. Each of the coverage areas 42 . 43 . 44 . 45 . 46 . 47 can be described as a first detection area or as a second detection area. The coverage areas 42 . 43 . 44 . 45 partially overlap in a first overlap area 48 , The coverage areas 46 . 47 partially overlap in a second overlapping area 49 ,

The first sensor-specific calibration object 19 is in the coverage area 42 the camera 28 and the coverage area 43 of the laser scanner 29 arranged. The second sensor-specific calibration object 20 is in the coverage area 44 of the first radar sensor 30 arranged. The third sensor-specific calibration object 21 is in the coverage area 44 of the first radar sensor 30 and the coverage area 45 of the second radar sensor 31 arranged. The fourth sensor-specific calibration object 22 is in the coverage area 45 of the second radar sensor 31 arranged. Furthermore, the fifth sensor-specific calibration object 23 in the detection area 46 of the third radar sensor 32 arranged and the seventh sensor-specific calibration object 25 is in the coverage area 47 of the fourth radar sensor 33 arranged. The sixth sensor-specific calibration object 24 is in the coverage area 46 of the third radar sensor 32 and in the coverage area 47 of the fourth radar sensor 33 arranged. Thus, the third sensor-specific calibration object is located 21 in the first overlap area 48 , and the sixth sensor-specific calibration object 24 is in the second overlap area 49 ,

The first sensor-specific calibration object 19 is designed to calibrate the camera 28 and the laser scanner 29 to be used. The second to the seventh sensor-specific calibration object 20 . 21 . 22 . 23 . 24 . 25 On the other hand, it is designed to calibrate the respectively associated radar sensors 30 . 31 . 32 . 33 to be used. The second to seventh sensor-specific calibration object 20 . 21 . 22 . 23 . 24 . 25 is designed for example as a cylindrical column.

6 shows an embodiment of the first sensor-specific calibration object 19 , The embodiment of the first sensor-specific calibration object 19 is especially used to the laser scanner 29 to calibrate. Again, for example, a roll angle, a pitch angle and a yaw angle are determined. The laser scanner 29 For example, it recognizes a central pattern 50 of the first sensor-specific calibration object 19 , Based on the central pattern 50 can then cross-correlate between the actual pattern of the central pattern 50 and the reconstruction of the central pattern 50 through the laser scanner 29 be performed to a pitch error of the laser scanner 29 to determine. Based on a left pattern 51 and a right pattern 52 of the first sensor-specific calibration object 19 may be a roll error of the laser scanner 29 be recognized. A yaw error of the laser scanner 29 can be detected, for example, by an angle between the first sensor-specific calibration object 19 and the motor vehicle 15 is changed, wherein after changing the angle, an error deviation of a distance between the first sensor-specific calibration object 19 and the laser scanner 19 is determined.

7 shows a further embodiment of the first sensor-specific calibration object 19 , According to the embodiment, the first sensor-specific calibration object 19 a checkerboard pattern 53 on.

The first sensor-specific calibration object 19 but also by the in 2 shown test pattern 6 be educated. Preferably, the first sensor-specific calibration object 19 formed with a special reflective surface or paint.

The exemplary embodiments of the first sensor-specific calibration object 19 according to 2 . 6 and 7 In particular, both for the calibration of the laser scanner 29 as well as for the calibration of the camera 28 be used.

In particular, the position of the sensor-specific calibration objects 19 . 20 . 21 . 22 . 23 . 24 . 25 known to each other. This reference can be provided for example by an external measuring system. For the external measuring system, for example, infrared measuring systems, stereo measuring systems or depth measuring systems come into question.

8th shows the system 14 and a first step of a calibration procedure 54 , The sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 are calibrated especially with respect to their external orientation. Thus, after the calibration, the extrinsic parameters of the respective one lie in particular sensor 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 in front. In the first step according to 8th becomes a first reference point 55 the camera 28 certainly. The first reference point 55 is the reference for a first sensor coordinate system 56 the camera 28 , The camera 28 becomes with respect to the first reference point 55 calibrated. Furthermore, a second reference point 57 of the laser scanner 29 certainly. The second reference point 57 is the reference for a second sensor coordinate system 58 of the laser scanner 29 , The laser scanner 29 becomes with respect to the second reference point 57 calibrated. For the first radar sensor 50 becomes a third reference point 59 determines which reference for a third sensor coordinate system 60 is. The first radar sensor 30 becomes with respect to the third reference point 59 calibrated. For the second radar sensor 31 becomes a fourth reference point 61 determines which reference for a fourth sensor coordinate system 62 is. The second radar sensor 31 becomes with respect to the fourth reference point 61 calibrated. For the third radar sensor 32 becomes a fifth reference point 63 determines which reference point for a fifth sensor coordinate system 64 is. The third radar sensor 32 becomes with respect to the fifth reference point 63 calibrated. For the fourth radar sensor 33 becomes a sixth reference point 65 determines which reference point for a sixth sensor coordinate system 66 is. The fourth radar sensor 33 becomes with respect to the sixth reference point 65 calibrated.

This is the first step of the calibration procedure 54 according to 8th each of the sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 calibrated. After calibration, the position of each of the sensors is 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 with respect to the first sensor-specific calibration object 19 As already mentioned, the relative positions of the sensor-specific calibration objects are known 19 . 20 . 21 . 22 . 23 . 24 . 25 are known among each other.

9 now shows a second step of the calibration process 54 , In the second step becomes a temporary intermediate reference point 67 certainly. The temporary intermediate reference point 67 is according to the embodiment of the first sensor-specific calibration object 19 certainly. The first reference point 55 , the second reference point 57 , the third reference point 59 , the fourth reference point 61 , the fifth reference point 63 and the sixth reference point 65 be on the intermediate reference point 67 placed. This is done by respective transformation rules. The intermediate reference point 67 is a reference for a temporary intermediate coordinate system 68 , The in the first step of the calibration process 54 certain respective extrinsic parameters of the sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 are now in the intermediate coordinate system 68 in front.

10 shows a third step of the calibration process 54 , In the third step becomes a motor vehicle-side and sensor-external common reference point 69 the sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 certainly. The common reference point 69 is the reference point for a common coordinate system 70 , The common reference point 69 is according to the embodiment in a focus of the sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 arranged. In the third step of the calibration procedure 54 becomes the intermediate reference point 67 , which is external to the motor vehicle, to the common reference point 69 , which exists on the motor vehicle side, placed. This is done by a transformation rule between the intermediate coordinate system 68 and the common coordinate system 70 ,

The respective transformation rule is characterized, for example, by at least one rotation and one translation.

The position of the common reference point 69 is not tied to the center of gravity, but can, for example, at a center of a rear axle of the motor vehicle 15 be arranged or varied within the motor vehicle 15 ,

Through the common reference point can now be a first information from the surrounding area 18 of the motor vehicle 15 based on the common reference point 69 with one of the sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 as the first sensor can be detected and it can be a second information from the surrounding area 18 based on the common reference point 69 with another of the sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 be detected as the second sensor. Thus, there is already the detection of information from the surrounding area with different sensors 28 . 29 . 30 . 31 . 32 . 33 of the sensor system 16 in the common coordinate system 70 instead of.

Furthermore, not only the detection of the information from the surrounding area takes place 18 in the common coordinate system 70 instead of evaluating the information collected. The common reference point thus enables a more error-free detection and evaluation of the environment 18 by means of the sensors 28 . 29 . 30 . 31 . 32 . 33 collected information. Thus, especially after the acquisition of the information no further transformation into another of the common coordinate system 70 different coordinate system needed. This reduces the risk of deviations, for example in the case of the fusion of multimodal sensor data.

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• WO 2004/003586 A1 [0003]

Claims (15)

Method for operating a sensor system ( 16 ) of a motor vehicle ( 15 ), in which a first information from a surrounding area ( 18 ) of the motor vehicle ( 15 ) with a locally at a first position ( 35 . 37 . 38 . 39 . 40 . 41 ) on the motor vehicle ( 15 ) arranged first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) of the sensor system ( 16 ), and second information from the surrounding area ( 18 ) of the motor vehicle ( 15 ) with a locally at one to the first position ( 35 . 37 . 38 . 39 . 40 . 41 ) different second position ( 35 . 37 . 38 . 39 . 40 . 41 ) on the motor vehicle ( 15 ) arranged second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) of the sensor system ( 16 ), characterized in that the first information and the second information relate to a vehicle-side and sensor-external common reference point ( 69 ) of the first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) and the second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) are recorded and evaluated. Method according to Claim 1, characterized in that the common reference point ( 69 ) by a calibration method ( 54 ) depending on the on the motor vehicle ( 15 ) arranged first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) and on the motor vehicle ( 15 ) arranged second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) is determined. Method according to claim 2, characterized in that in the calibration method ( 54 ) before determining the common reference point ( 69 ) a first reference point ( 55 . 57 . 59 . 61 . 63 . 65 ) of the first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) and a second reference point ( 55 . 57 . 59 . 61 . 63 . 65 ) of the second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) is determined. Method according to claim 3, characterized in that in the calibration method ( 54 ) before determining the common reference point ( 69 ) based on the first reference point ( 55 . 57 . 59 . 61 . 63 . 65 ) and the second reference point ( 55 . 57 . 59 . 61 . 63 . 65 ) a temporary intermediate reference point ( 67 ) for determining the common reference point ( 69 ) is determined. Method according to one of claims 2 to 4, characterized in that the calibration method ( 54 ) depending on at least one calibration object ( 19 . 20 . 21 . 22 . 23 . 24 . 25 ) in the environment area ( 18 ) of the motor vehicle ( 15 ) is carried out. Method according to Claims 4 and 5, characterized in that the temporary intermediate reference point ( 67 ) locally on the calibration object ( 19 . 20 . 21 . 22 . 23 . 24 . 25 ) in the surrounding area ( 18 ) is determined. Method according to one of the preceding claims, characterized in that the common reference point ( 69 ) locally in a focus of positions ( 35 . 37 . 38 . 39 . 40 . 41 ) of the sensors ( 28 . 29 . 30 . 31 . 32 . 33 ) of the sensor system ( 16 ) is placed. Method according to one of the preceding claims, characterized in that the first information and the second information in the evaluation depending on the common reference point ( 69 ) are merged. Driver assistance system for a motor vehicle ( 15 ), which is designed to carry out a method according to one of the preceding claims. System ( 14 ) for calibrating a sensor system ( 16 ) of a motor vehicle ( 15 ), with at least one first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) of the motor vehicle ( 15 ), a second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) of the motor vehicle ( 15 ) and an evaluation unit which is designed to have a common reference point ( 69 ) of the first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) and the second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) based on a first reference point ( 55 . 57 . 59 . 61 . 63 . 65 ) of the first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) and a second reference point ( 55 . 57 . 59 . 61 . 63 . 65 ) of the second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ). System ( 14 ) according to claim 10, characterized in that the first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) is designed as a first sensor type and the second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) as one of the first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) Different types of second sensor is formed. System ( 14 ) according to claim 11, characterized in that the respective sensor type as camera ( 28 ) or laser scanner ( 29 ) or radar sensor ( 30 . 31 . 32 . 33 ) is given. System ( 14 ) according to one of claims 10 to 12, characterized in that the system ( 14 ) at least one calibration object ( 19 . 20 . 21 . 22 . 23 . 24 . 25 ) in a surrounding area ( 18 ) of the motor vehicle ( 15 ), and the calibration object ( 19 . 20 . 21 . 22 . 23 . 24 . 25 ) in a first coverage area ( 42 . 43 . 44 . 45 . 46 . 47 ) of the first sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) and / or in a second coverage area ( 42 . 43 . 44 . 45 . 46 . 47 ) of the second sensor ( 28 . 29 . 30 . 31 . 32 . 33 ) is arranged. System ( 14 ) according to claim 13, characterized in that the first detection area ( 42 . 43 . 44 . 45 . 46 . 47 ) and the second coverage area ( 42 . 43 . 44 . 45 . 46 . 47 ) an overlap area ( 48 . 49 ), and the calibration object ( 19 . 20 . 21 . 22 . 23 . 24 . 25 ) in the overlap area ( 48 . 49 ) is arranged. System ( 14 ) according to one of claims 11 to 14, characterized in that the system ( 14 ) a plurality of calibration objects ( 17 ), and in each case at least one calibration object of the plurality of calibration objects ( 17 ) as a sensor-specific calibration object ( 19 . 20 . 21 . 22 . 23 . 24 . 25 ) is designed for the calibration of the respective sensor type.

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