DE102004026044B3 - Radar sensor radiation axis alignment testing method for motor vehicle, involves adjusting radiation axis parallel to rear axis of vehicle when distances of image locations of laser beams are different - Google Patents
Radar sensor radiation axis alignment testing method for motor vehicle, involves adjusting radiation axis parallel to rear axis of vehicle when distances of image locations of laser beams are different Download PDFInfo
- Publication number
- DE102004026044B3 DE102004026044B3 DE102004026044A DE102004026044A DE102004026044B3 DE 102004026044 B3 DE102004026044 B3 DE 102004026044B3 DE 102004026044 A DE102004026044 A DE 102004026044A DE 102004026044 A DE102004026044 A DE 102004026044A DE 102004026044 B3 DE102004026044 B3 DE 102004026044B3
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- Germany
- Prior art keywords
- vehicle
- radar sensor
- measuring
- laser
- axis
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Prüfung der Ausrichtung der Strahlungsachse eines Radarsensors an einem Fahrzeug nach dem Oberbegriff des Anspruchs 1 und eine Anlage zur Prüfung der Ausrichtung der Strahlungsachse eines Radarsensors an einem Fahrzeug nach dem Oberbegriff des Anspruchs 5.The The invention relates to a method for checking the alignment of the radiation axis a radar sensor on a vehicle according to the preamble of the claim 1 and an annex to the examination of Alignment of the radiation axis of a radar sensor on a vehicle according to the preamble of claim 5.
Zur Erhöhung der Sicherheit im Straßenverkehr werden Fahrzeuge mit Abstandmessgeräten ausgestattet, die mittels Radartechnik den Abstand zu einem vorausfahrenden Fahrzeug oder in Fahrtrichtung liegenden Hindernis messen und abhängig von der eigenen Geschwindigkeit bei Gefahr Warnsignale erzeugen und/oder automatisch die Bremse betätigen.to increase safety in traffic Vehicles are equipped with distance measuring devices, which by means of Radar technology the distance to a preceding vehicle or Measure the obstacle in the direction of travel and depend on generate your own speed in case of danger warning signals and / or automatically apply the brake.
Damit innerhalb dieses Abstandsbereichs nur Fahrzeuge oder Hindernisse auf der eigenen Fahrspur, nicht aber auf benachbarten Spuren erfasst werden, muss die Strahlungsachse des Radarsensors exakt in Geradeausfahrtrichtung weisen. Eine Ab weichung von nur wenigen Winkelminuten führt bereits zu Fehlfunktionen.In order to within this distance range only vehicles or obstacles recorded on the own lane, but not on adjacent lanes be, the radiation axis of the radar sensor must be exactly in the straight ahead point. A deviation of only a few minutes of an angle already leads to malfunction.
Aus
der
Ferner
ist aus der
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Anlage zur Prüfung der Ausrichtung der Strahlungsachse eines Radarsensors an einem Fahrzeug zu schaffen, mit der eine schnelle und exakte Prüfung bei Neufabrikation als auch bei Wartungs- und Reparaturarbeiten möglich ist.Of the Invention is based on the object, a method and a system for testing the orientation of the radiation axis of a radar sensor on a To create a vehicle with a fast and accurate test Neufabrikation as well as during maintenance and repair work is possible.
Diese Aufgabe wird bei einem Verfahren nach dem Oberbegriff des Anspruchs 1 und einer Anlage nach dem Oberbegriff des Anspruchs 5 durch die Merkmale der jeweiligen Ansprüche gelöst.These Task is in a method according to the preamble of the claim 1 and a system according to the preamble of claim 5 by the Characteristics of the respective claims solved.
Weiterbildungen und vorteilhafte Ausgestaltungen ergeben sich aus den Unteransprüchen.further developments and advantageous embodiments will become apparent from the dependent claims.
Die Erfindung ermöglicht es, mit optischen Mitteln einen Bezug zwischen der Strahlungsachse des Radarsensors und einer Referenzachse für die Geradeausfahrtrichtung herzustellen und die Achsen gemeinsam so abzubilden, dass ein direkter Vergleich vorgenommen werden kann. Ergibt der Vergleich, dass die beiden Achsen nicht parallel sind, kann der Radarsensor justiert werden, um Parallelität zwischen den Achsen herzustellen.The Invention allows it, by optical means a relation between the radiation axis of the Radar sensor and a reference axis for the straight-ahead direction and to represent the axes together so that a direct Comparison can be made. The comparison shows that the Both axes are not parallel, the radar sensor can be adjusted be to parallelism between to produce the axles.
Die Geradeausfahrtrichtung wird durch die nicht lenkbare Hinterachse des Fahrzeugs vorgegeben. Die Hinterachse ist deshalb die erste Wahl für die Referenzachse. Nur wenn die Hinterachse korrekt im rechten Winkel zur Fahrzeuglängsachse eingebaut ist, kann auch die Fahrzeuglängsachse als Referenzachse genutzt werden.The Straight ahead is the non-steerable rear axle of the vehicle specified. The rear axle is therefore the first Choice for the Reference axis. Only if the rear axle is correct at right angles to the vehicle longitudinal axis is installed, can also be the vehicle longitudinal axis as a reference axis be used.
Gemäß einer Weiterbildung kann jeweils eine Referenzlaserquelle auf jeder Seite des Fahrzeugs angeordnet werden.According to one Continuing can each be a reference laser source on each side of the vehicle are arranged.
Dadurch lässt sich die Ausrichtung der Hinterachse an zwei Messorten erfassen und aus den beiden Komponenten eine Resultierende bilden, die als gemeinsame Referenz genutzt wird.Thereby let yourself Detect and align the orientation of the rear axle at two locations The two components form a resultant, as a common Reference is used.
Zweckmäßig kann die Referenzlaserquelle an der Felge oder den Felgen der Hinterachse angeordnet werden.Appropriately the reference laser source on the rim or rims of the rear axle to be ordered.
Dieser Messort ist frei zugänglich hat den Vorteil dass von dort freie Sicht nach vorn auf die Messskalen besteht. Ferner wird eine Prüfung des Radarsensors zur geometrischen Fahrachse des Fahrzeugs ermöglicht.This measuring location is freely accessible has the advantage that from there free view forward on the Measuring scales exists. Furthermore, a test of the radar sensor to the geometric travel axis of the vehicle is made possible.
Alternativ können die Referenzlaserquellen gleichzeitig zur Rahmenmittellinie des Fahrzeugs justiert werden. Dies kann geschehen, in dem sie mit Zentriervorrichtungen an der Hinterachse angebracht werden. Hierbei werden die Referenzlaserquellen mittels Rahmenlineale zur geometrischen Rahmenmittellinie ausgerichtet.alternative can the reference laser sources simultaneously to the frame centerline of the Vehicle to be adjusted. This can be done by using centering devices be attached to the rear axle. In this case, the reference laser sources by means of Frame rulers aligned to the geometric frame centerline.
Dies setzt allerdings voraus, dass die Hinterachse korrekt im Fahrgestell ausgerichtet ist und der Referenzort damit auch wirklich repräsentativ ist.This However, this assumes that the rear axle is correctly in the chassis and the reference site is truly representative is.
Die Messlaserquelle kann durch eine Schnellspannvorrichtung am Radarsensor angebracht werden. Dabei kann die Schnellspannvorrichtung einen Rahmen mit Dreipunktauflagefüßen für die Vorderseite des Radarsensors und schwenkbare Klammerarme zum Hintergreifen des Radarsensors und Auflage an deren Rückseite umfassen.The Measuring laser source can by a quick release device on the radar sensor be attached. In this case, the quick release device a Frame with three-point support feet for the front of the radar sensor and pivotable bracket arms for engaging behind the Include radar sensor and support on the back.
In dieser Ausgestaltung lässt sich die Messlaserquelle in einer eindeutigen reproduzierbaren Position am Radarsensor anbringen und für die Dauer der Prüfung vorübergehend fixieren. Eine spezielle Anpassung des Radarsensors an die Messlaserquelle ist hierbei nicht erforderlich. In this embodiment leaves the measuring laser source in a unique reproducible position attach to the radar sensor and for the duration of the exam temporarily fix. A special adaptation of the radar sensor to the measuring laser source is not required here.
Die Klammerarme können schwenkbeweglich an Griffarmen und die Griffarme wiederum schwenkbeweglich am Rahmen angeordnet sein. Zwischen Ansätzen der Griffarme kann eine Feder angeordnet sein.The Staple arms can pivotable on grip arms and the handle arms in turn pivot be arranged on the frame. Between approaches of the handle arms can a Be arranged spring.
Dadurch erhalten die Klammerarme eine ausreichende Beweglichkeit, den Radarsensor zuerst zu übergreifen und anschließend zur Schaffung einer Anlagefläche zu hintergreifen.Thereby the brackets receive sufficient mobility, the radar sensor to overlap first and subsequently to create a contact surface to reach behind.
Nachfolgend wird die Erfindung anhand der Zeichnungen erläu- tert. Darin zeigen:following The invention will be explained with reference to the drawings. Show:
In
Vor
dem Fahrzeug
Zur
Durchführung
der Prüfung
werden die Abbildungsorte
Für die Genauigkeit
der Prüfung
ist es nicht nötig,
dass der Messwagen
Die
Messlaserquelle
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102004026044A DE102004026044B3 (en) | 2004-05-25 | 2004-05-25 | Radar sensor radiation axis alignment testing method for motor vehicle, involves adjusting radiation axis parallel to rear axis of vehicle when distances of image locations of laser beams are different |
Applications Claiming Priority (1)
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DE102004026044A DE102004026044B3 (en) | 2004-05-25 | 2004-05-25 | Radar sensor radiation axis alignment testing method for motor vehicle, involves adjusting radiation axis parallel to rear axis of vehicle when distances of image locations of laser beams are different |
Publications (1)
Publication Number | Publication Date |
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DE102004026044B3 true DE102004026044B3 (en) | 2005-12-08 |
Family
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DE102004026044A Active DE102004026044B3 (en) | 2004-05-25 | 2004-05-25 | Radar sensor radiation axis alignment testing method for motor vehicle, involves adjusting radiation axis parallel to rear axis of vehicle when distances of image locations of laser beams are different |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006035534A1 (en) * | 2006-07-27 | 2008-01-31 | Werner Rogg | Laser attaching device for adjusting distance control system i.e. distance sensor, in motor vehicle i.e. automobile, has bases, and fitting arranged at end of bar, so that laser jet direction runs perpendicular to longitudinal axis of bar |
EP2113787A1 (en) | 2008-05-02 | 2009-11-04 | Harro Koch | Device for monitoring the alignment of radar sensors |
EP2210780A1 (en) * | 2009-01-26 | 2010-07-28 | Robert Bosch GmbH | Alignment system and method for vehicle-mounted devices |
WO2014037117A1 (en) | 2012-09-10 | 2014-03-13 | Haweka Ag | Method for adjusting a distance sensor on a vehicle, and measuring traverse |
EP2818890A3 (en) * | 2013-06-29 | 2015-05-06 | MAN Truck & Bus AG | Test assembly for ensuring the functional reliability of a radar sensor installed at the front or at the rear of a motor vehicle |
CN104890608A (en) * | 2014-03-05 | 2015-09-09 | 株式会社万都 | Wheel fixing unit for car sensor calibration and calibration device using the same |
EP3373040A1 (en) * | 2017-03-07 | 2018-09-12 | MAN Truck & Bus AG | Calibration method for calibrating environment sensors of a vehicle environment sensor system in vehicle production and inspection system and vehicle for performing the method |
CN108710120A (en) * | 2018-07-31 | 2018-10-26 | 天津清智科技有限公司 | A kind of car radar installation caliberating device and method |
DE102017118454A1 (en) | 2017-08-14 | 2019-02-14 | Wms Wagner Gmbh | Method and device for aligning a calibration board in front of a vehicle |
US20190154787A1 (en) * | 2017-11-20 | 2019-05-23 | Ford Motor Company | System and method for aligning a sensor assembly |
Citations (2)
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DE19927573C1 (en) * | 1999-06-17 | 2000-09-21 | Bosch Gmbh Robert | Setting arrangement for adjusting distance sensor or headlamp mounted on vehicle determines vehicle axis with light projection arrangement mounted on unsteered wheels and reflector |
DE19911017A1 (en) * | 1999-03-12 | 2000-10-19 | Daimler Chrysler Ag | Method for adjusting a distance sensor of a motor vehicle |
-
2004
- 2004-05-25 DE DE102004026044A patent/DE102004026044B3/en active Active
Patent Citations (2)
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DE19911017A1 (en) * | 1999-03-12 | 2000-10-19 | Daimler Chrysler Ag | Method for adjusting a distance sensor of a motor vehicle |
DE19927573C1 (en) * | 1999-06-17 | 2000-09-21 | Bosch Gmbh Robert | Setting arrangement for adjusting distance sensor or headlamp mounted on vehicle determines vehicle axis with light projection arrangement mounted on unsteered wheels and reflector |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006035534A1 (en) * | 2006-07-27 | 2008-01-31 | Werner Rogg | Laser attaching device for adjusting distance control system i.e. distance sensor, in motor vehicle i.e. automobile, has bases, and fitting arranged at end of bar, so that laser jet direction runs perpendicular to longitudinal axis of bar |
EP1884796A1 (en) * | 2006-07-27 | 2008-02-06 | Werner Rogg | Device for attaching a laser and a method of adjusting a distance control system |
EP2113787A1 (en) | 2008-05-02 | 2009-11-04 | Harro Koch | Device for monitoring the alignment of radar sensors |
EP2210780A1 (en) * | 2009-01-26 | 2010-07-28 | Robert Bosch GmbH | Alignment system and method for vehicle-mounted devices |
US8020307B2 (en) | 2009-01-26 | 2011-09-20 | Robert Bosch Gmbh | Alignment system and method for vehicle-mounted devices |
WO2014037117A1 (en) | 2012-09-10 | 2014-03-13 | Haweka Ag | Method for adjusting a distance sensor on a vehicle, and measuring traverse |
DE102013001449A1 (en) | 2012-09-10 | 2014-03-13 | Haweka Ag | Method for adjusting a distance sensor on a vehicle and measuring traverse |
EP2818890A3 (en) * | 2013-06-29 | 2015-05-06 | MAN Truck & Bus AG | Test assembly for ensuring the functional reliability of a radar sensor installed at the front or at the rear of a motor vehicle |
CN104890608A (en) * | 2014-03-05 | 2015-09-09 | 株式会社万都 | Wheel fixing unit for car sensor calibration and calibration device using the same |
US9719817B2 (en) | 2014-03-05 | 2017-08-01 | Mando Corporation | Wheel fixing unit for car sensor calibration and calibration device using the same |
EP3373040A1 (en) * | 2017-03-07 | 2018-09-12 | MAN Truck & Bus AG | Calibration method for calibrating environment sensors of a vehicle environment sensor system in vehicle production and inspection system and vehicle for performing the method |
DE102017002195A1 (en) | 2017-03-07 | 2018-09-13 | Man Truck & Bus Ag | Calibration method for calibrating environmental sensors of a vehicle ambient sensor system in vehicle production and test system and vehicle for carrying out the method |
DE102017118454A1 (en) | 2017-08-14 | 2019-02-14 | Wms Wagner Gmbh | Method and device for aligning a calibration board in front of a vehicle |
EP3444561A1 (en) | 2017-08-14 | 2019-02-20 | WMS Wagner GmbH | Method and device for aligning a calibration chart in front of a vehicle |
US20190154787A1 (en) * | 2017-11-20 | 2019-05-23 | Ford Motor Company | System and method for aligning a sensor assembly |
US11131740B2 (en) * | 2017-11-20 | 2021-09-28 | Ford Motor Company | System and method for aligning a sensor assembly |
CN108710120A (en) * | 2018-07-31 | 2018-10-26 | 天津清智科技有限公司 | A kind of car radar installation caliberating device and method |
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