DE102021212628A1 - Test and/or calibration setup - Google Patents

Abstract

A test and/or calibration setup is proposed for testing and/or calibrating sensors (2, 3, 4) of a vehicle (5, 5') that can be operated automatically, comprising at least one movably mounted marker device (6, 6' ) for, in particular passive, information transmission to the vehicle (5, 5') that can be operated automatically, the marker device (6, 6') having at least one lidar and/or radar information unit (7), which is provided for the purpose of Angle of incidence (8) of a laser beam (9) and/or a radar beam to emit an intensity-variable radiation for the transmission of coded information.

Description

The invention relates to a test and/or calibration setup for testing and/or calibrating sensors of a vehicle that can be operated automatically. Furthermore, the invention relates to a production line for vehicles that can be operated automatically, to a computing device for a vehicle that can be operated automatically, and to a corresponding vehicle that can be operated automatically. Furthermore, the invention relates to a test and/or calibration system with a corresponding test and/or calibration structure and a corresponding vehicle that can be operated automatically. In addition, the invention also relates to a method for testing and/or calibrating sensors of a vehicle that can be operated automatically.

Test and/or calibration assemblies for testing and/or calibrating sensors of a vehicle that can be operated automatically are known from the prior art. In this case, a large number of targets are usually used, which the vehicle that can be operated automatically must be driven past in a controlled manner.

A test and/or calibration setup is proposed for testing and/or calibrating sensors of a vehicle that can be operated automatically. The test and/or calibration assembly comprises at least one movably mounted marker device for the, in particular passive, transmission of information to the vehicle that can be operated automatically. The marker device has at least one lidar and/or radar information unit, which is provided to emit intensity-variable radiation for transmitting coded information, depending on the angle of incidence of a laser beam and/or a radar beam.

The test and/or calibration assembly is preferably intended for use on a production line for vehicles that can be operated automatically. In particular, at least part of the test and/or calibration assembly can be arranged in a stationary manner on the production line, with at least the marker device being movably mounted. The test and/or calibration assembly is preferably provided for testing and/or calibrating sensors of the vehicle that can be operated automatically, in particular at one end of the production line. A surroundings detection unit of the vehicle that can be operated automatically includes the sensors. In particular, the sensors to be tested and/or calibrated are provided to detect an area surrounding the vehicle that can be operated automatically, in particular in automated driving mode. The sensors can be designed in particular as a lidar (light detection and ranging), as a radar (radio detection and ranging), as a camera and/or as other sensors that appear sensible to a person skilled in the art. The vehicle that can be operated in an automated manner preferably comprises at least two types of sensors, for example lidars and cameras. A “vehicle that can be operated automatically” is to be understood in particular as a vehicle with one of the automation levels 1 to 5 of the SAE J3016 standard. In particular, the vehicle that can be operated automatically has technical equipment that is required for these automation levels. The technical equipment includes, in particular, the environment detection unit, control units, in particular a computing device, or the like. The vehicle that can be operated automatically is preferably designed as a land vehicle. The vehicle that can be operated automatically can be designed in particular as a passenger car, preferably as a passenger transport vehicle, as a truck, as a construction site vehicle, as an agricultural vehicle or as another vehicle considered appropriate by a person skilled in the art. Alternatively, the vehicle that can be operated automatically can also be an aircraft, for example a drone, an airplane, a helicopter, a vertical take-off and landing aircraft or the like, or a watercraft, for example a boat, a ship or the like Like., Be trained. “Provided” should be understood to mean, in particular, specially programmed, specially equipped and/or specially designed. The fact that an object is provided for a function is to be understood in particular to mean that the object executes the function in at least one operating state.

The marker device is preferably designed to be static. In particular, the marker device is designed differently from a radio wave transmitter, a Morse code transmitter or the like. In particular, the marker device is intended to actively emit no or at least no variable radiation. The marker device is preferably designed as an optical marker device. The marker device is provided in particular for transmitting information to the vehicle that can be operated automatically, which information can be embodied in particular as position and/or alignment information, in particular of the marker device relative to the vehicle that can be operated automatically. The transmitted information can preferably be used to check the sensors of the vehicle that can be operated automatically, in particular with regard to detection capability of the individual sensors and/or with regard to functionality of a sensor data fusion of multiple sensors, and/or calibrated, in particular in relation to one another.

The lidar and/or radar information unit is preferably intended to use the laser beam and/or to reflect the radar beam for transmission of the encoded information. The laser beam and/or the radar beam is emitted in particular by the vehicle that can be operated automatically, in particular by at least one lidar and/or radar of the vehicle that can be operated automatically. In particular, the angle of incidence of the laser beam and/or the radar beam on the marker device, in particular on the lidar and/or radar information unit, changes as a function of a change in position and/or alignment of the marker device relative to the vehicle that can be operated automatically. In particular, the marker device is movably mounted in order to achieve different positions and/or orientations relative to the vehicle that can be operated automatically. Preferably, the marker device can be moved manually and/or by motor to the different positions and/or alignments relative to the vehicle that can be operated automatically. The radiation emitted by the lidar and/or radar information unit, in particular the reflected laser beam and/or the reflected radar beam, is preferably detected for receiving information from the vehicle that can be operated automatically, in particular by the lidar and/or the radar of the vehicle that can be operated automatically. The lidar and/or radar information unit is preferably at least partially in the form of an optically functional structure which is provided for reflecting the laser beam and/or the radar beam as a function of the angle of incidence. The optically functional structure can in particular be a prismatic arrangement, an optical lattice structure, a polarization arrangement or another optically functional structure that appears sensible to a person skilled in the art. The lidar and/or radar information unit is intended in particular to emit, in particular to reflect, radiation of different intensities as a function of different angles of incidence, in particular different angles of incidence ranges, of the laser beam and/or the radar beam.

The radiation emitted by the lidar and/or radar information unit is preferably encoded via its intensity. The emitted radiation is preferably encoded in an alternating manner. The radiation is preferably 2-bit discretized, which corresponds in particular to a resolution of four degrees of intensity. In particular, each jump in intensity from one radiation intensity to another radiation intensity corresponds to a change in a logical bit, for example from 0 to 1 or from 1 to 0. The vehicle that can be operated automatically, in particular a computing device of the vehicle that can be operated automatically, can decode the intensity-coded radiation in order to to get information. The lidar and/or radar information unit is preferably designed in such a way that it reflects, scatters and/or absorbs the laser beam and/or the radar beam in certain positions and/or alignments relative to the vehicle that can be operated automatically in such a way that the marker device is separated from the lidar and/or or radar cannot be detected, in particular appears invisible to the lidar and/or the radar.

The design of the test and/or calibration structure according to the invention advantageously allows information to be transmitted to a vehicle that can be operated automatically. A time-efficient and precise testing and/or calibration of sensors of the vehicle that can be operated automatically can advantageously be made possible. Advantageously, long training journeys for newly produced automated vehicles for checking and/or calibrating the sensors can be dispensed with, or the duration of a training journey can at least be shortened. Efficient production of vehicles that can be operated automatically can advantageously be made possible.

Furthermore, it is proposed that the lidar and/or radar information unit has at least one refractive microstructured reflection element, which is intended to reflect the laser beam and/or the radar beam with variable intensity depending on the angle of incidence of the laser beam and/or the radar beam. The reflection element is preferably designed as a microstructured refractive film, in particular made of optical glass or preferably made of a polymer material for optical elements. In particular, polymethyl methacrylate, polycarbonate, styrene-acrylonitrile, polystyrene or preferably allyl diglycol carbonate can be provided as the polymer material. The reflection element preferably has a sawtooth-like structure, in particular microstructuring. The reflection element is intended in particular to reflect radiation from an infrared spectral range, preferably from a near-infrared spectral range, and/or from a microwave range. An “infrared spectral range” is to be understood in particular as a range of an electromagnetic spectrum with wavelengths between 780 nm and 1 mm. A “near-infrared spectral range” is to be understood in particular as a range of an electromagnetic spectrum with wavelengths between 780 nm and 3 μm. A "microwave range" is to be understood in particular as a range of an electromagnetic spectrum with wavelengths between 1 mm and 30 cm. The reflection element is arranged in particular on a carrier frame of the marker device. The lidar and/or radar information unit preferably has a plurality of reflection elements which, in particular along a longitudinal axis of the marker device, are arranged one behind the other.

The lidar and/or radar information unit can preferably have at least one reflection element which is provided to reflect the laser beam, in particular radiation from the infrared spectral range. The lidar and/or radar information unit can preferably have at least one further reflection element which is provided to reflect the radar beam, in particular radiation from the microwave range. In particular, the reflection element and the further reflection element can be arranged one behind the other along a direction extending perpendicularly to a main extension plane of the marker device, with the reflection element being arranged on a surface of the marker device in particular. A “main extension plane” of an object is to be understood in particular as a plane which is parallel to a largest side surface of an imaginary cuboid which just completely encloses the object and in particular runs through the center point of the cuboid. In particular, the marker device is plate-like, panel-like or the like. Alternatively, it is conceivable that the reflection element is provided to reflect the laser beam, in particular radiation from the infrared spectral range, and the radar beam, in particular radiation from the microwave range. Efficient, variable-intensity radiation emission can advantageously be made possible.

The at least one reflection element is preferably designed as a prismatic arrangement for reflecting the laser beam and/or the radar beam by means of at least two total reflections. The reflection element is preferably designed as a reflection prism, in particular as a deflection prism. The reflection element has in particular an upper flank angle with respect to a surface normal of the reflection element, for example 48°, and a lower flank angle with respect to the surface normal, for example 6°. Preferably, the laser beam and/or the radar beam enters the reflection element on an upper flank of the reflection element, in particular a first tooth of the sawtooth-like structure. A first total reflection in the propagation direction of the laser beam and/or the radar beam preferably takes place at a rear boundary surface of the reflection element, in particular running perpendicularly to the surface normal. A second total reflection in the propagation direction of the laser beam and/or the radar beam preferably takes place on a lower edge of the reflection element, in particular on a second tooth of the sawtooth-like structure. The reflected laser beam and/or radar beam preferably emerges from the reflection element at a further upper flank of the reflection element, in particular of the second tooth. The reflection element is provided, in particular, to reflect the laser beam and/or the radar beam back parallel to an irradiation direction of the laser beam and/or the radar beam.

The reflection element preferably has a transmission of radiation that is dependent on the angle of incidence, in particular in the near-infrared spectral range and/or in the microwave range. In particular, a radiation intensity of the reflected laser beam and/or radar beam is dependent on the transmission of the reflection element at the angle of incidence of the laser beam and/or radar beam. In its transmission, the reflection element preferably has a plurality of, in particular at least four, angle of incidence ranges over which a radiation intensity of the reflected laser beam and/or radar beam is at least essentially constant. A "substantially constant" radiation intensity in an angle of incidence is to be understood in particular as a radiation intensity that has a maximum deviation from an average radiation intensity of at most 15%, preferably of at most 10% and very particularly preferably of at most 5% in the angle of incidence.

Furthermore, it is proposed that the marker device has at least one camera information unit, which is intended to transmit information to a camera and/or a lidar via an optical, in particular brightness-based, coding. The optical coding is preferably based on brightness. In particular, the camera information unit, in particular in a visible spectral range, is designed at least in sections as a reflecting surface. A "visible spectral range" is to be understood in particular as a range of an electromagnetic spectrum with wavelengths between 380 nm and 780 nm. In particular, the area can be recorded by the camera and/or the lidar. In particular, the surface can be in the form of a static monochromatic surface, for example a suitably lacquered plate, or an adjustable monochromatic surface, for example a liquid crystal display. As an alternative or in addition to a brightness-based coding, it is conceivable that the camera information unit is provided to transmit the information via a color-based, a shape-based, a number-based or via another coding that appears reasonable to a person skilled in the art. The camera information unit is preferably provided for this purpose, at least partially, in particular as a function of a position and/or alignment of the marker device to transmit the same information as the lidar and/or radar information unit to the vehicle that can be operated automatically. In particular, the information transmitted by the lidar and/or radar information unit can be compared with the information transmitted by the camera information unit in order to check and/or calibrate the sensors, in particular the camera and the lidar and/or the radar. The camera information unit is preferably arranged along the surface normal of the reflection element and/or the marker device and/or along a direction of incidence of the laser beam and/or the radar beam behind the reflection element for reflecting the laser beam and/or in front of the further reflection element for reflecting the radar beam. A redundant transmission of information can advantageously be made possible.

The lidar and/or radar information unit and the camera information unit are preferably spaced apart from one another by at least one air gap. In particular, the camera unit is spaced apart from at least one reflection element of the lidar and/or radar information unit by the air gap. The air gap is preferably arranged along the surface normal of the reflection element and/or the irradiation direction of the laser beam and/or the radar beam between the lidar and/or radar information unit, in particular the reflection element, and the camera information unit. In particular, the camera information unit can be spaced apart from the reflection element by an air gap on one side and from the further reflection element on another side by a further air gap. The reflection element preferably faces the surroundings of the marker device on a side facing away from the camera information unit. The camera information unit is preferably delimited on a side facing away from the reflection element by a carrying frame of the marker device or faces the further reflection element.

In particular, the reflection element is arranged along the irradiation direction of the laser beam and/or the radar beam in front of the air gap and the camera information unit and/or the further reflection element is arranged behind the camera information unit and the further air gap. In particular, the air gap is arranged along the irradiation direction of the laser beam and/or the radar beam after the reflection element and in front of the camera information unit and/or the further air gap is arranged after the camera information unit and in front of the further reflection element. The reflection element is preferably transparent at least in the visible spectral range. The at least one air gap is preferably provided to optically decouple the camera information unit from the lidar and/or radar information unit, in particular from the reflection element and/or the further reflection element. In particular, the air gap is provided to keep the reflection properties of the reflection element and/or the further reflection element free of interference from the influences of the camera information unit.

Furthermore, it is proposed that the test and/or calibration structure comprises at least one movement device which is provided to move the marker device at least partially automatically, in particular in a detection range of at least two different types of sensors of the vehicle that can be operated automatically. In particular, the marker device is attached to the moving device. The marker device is preferably movably mounted by the movement device. The movement device is preferably motorized, in particular designed with at least one electric motor, hydraulically, pneumatically or the like. The movement device can be designed in particular as a robot arm, as a vehicle that can be operated automatically, for example on a rail system, as an actuating device or the like. In particular, the movement device is provided to move the marker device at least partially automatically, preferably fully automatically.

The movement device is preferably arranged in a stationary manner at least at one point, in particular on a production line. The movement device is preferably provided for setting different positions and/or alignments of the marker device relative to the vehicle that can be operated automatically. In particular, the movement device is provided to move the marker device to implement an at least partial circumnavigation of the vehicle that can be operated automatically, in particular on a defined path. The moving device is preferably provided to move the marker device precisely along the same defined path in every vehicle that can be operated automatically. The movement device is preferably provided to detect the marker device in a detection range of at least two different types of sensors of the vehicle that can be operated automatically, for example at least one camera and at least one lidar, at least one camera and at least one radar and/or at least one lidar and at least one radar , to move. In particular, the movement device is intended to move the marker device in at least two, preferably in at least three, spatial dimensions move. A precise movement of the marker device can advantageously be made possible.

In addition, it is proposed that the movement device is designed as a robot arm. The robot arm is preferably designed as a multi-axis robot arm. In particular, the robot arm is intended to traverse a programmed movement path. In particular, the robot arm can be programmed for different movement paths, for example to be used to test and/or calibrate sensors of different vehicles that can be operated automatically and have different sensors, sensor detection areas and/or sensor installation positions. A particularly efficient and precise guidance of the marker device can advantageously be made possible.

Furthermore, a production line for vehicles that can be operated automatically is proposed. The production line comprises at least one test and/or calibration assembly according to the invention. The production line is arranged in particular in a production plant for vehicles that can be operated automatically. In particular, the automated vehicle is manufactured along the production line. The test and/or calibration structure is preferably arranged at one end of the production line, in particular in an area just before the vehicle that can be operated automatically leaves the production line (end of line). In particular, the production line can include a plurality of test and/or calibration assemblies, which can be arranged one behind the other along the production line, for example. For example, sensors from a number of vehicles that can be operated automatically can be tested and/or calibrated simultaneously on the production line using a number of test and/or calibration assemblies. Testing and/or calibration of sensors of vehicles that can be operated automatically can advantageously already take place in the production line.

Furthermore, a computing device for a vehicle that can be operated automatically is proposed in order to check and/or calibrate sensors of the vehicle that can be operated automatically. The computing device includes at least one interface for receiving sensor data from at least one environment detection unit of the vehicle that can be operated automatically. The computing device includes at least one computing module that is provided to determine information from an intensity-coded radiation of at least one testing and/or calibration setup according to the invention. The computing module is preferably provided to determine information from the intensity-coded radiation of the lidar and/or radar information unit and/or from the coding, in particular brightness-based, of the camera information unit. The surroundings detection unit preferably includes at least two different types of sensors, in particular at least one camera and at least one lidar, at least one camera and at least one radar and/or at least one lidar and at least one radar. In particular, the environment detection unit can include a large number of sensors. The environment detection unit can preferably also include other sensors that appear useful to a person skilled in the art, such as at least one ultrasonic sensor or the like.

In particular, a control unit, e.g. an electronic control unit, of the vehicle that can be operated automatically can include the computing device or at least partially form it. A control unit prepares data from sensors as input signals, processes them using the computing device, in particular using the computing module, for example a programmable logic component, an FPGA or ASIC component or a computer platform, and provides logic and/or power levels as a control or regulation signal ready. The control or regulating signal can be used, for example, to control or regulate actuators for longitudinal and/or lateral guidance of the vehicle that can be operated automatically, in order to keep the vehicle that can be operated automatically in lane and/or to predict a trajectory. The control device is preferably integrated into an on-board network of the vehicle that can be operated automatically, for example into a CAN bus. The control unit is, for example, an electronic control unit for automated driving functions, known in English as a domain ECU. In particular, the control unit can be an ADAS (advanced driver assistance system)/AD (autonomous driving) domain ECU for assisted to fully automated, ie autonomous, driving.

The computing device, in particular the computing module, is implemented, for example, as a system-on-a-chip with a modular hardware concept, ie all or at least a large part of the functions are integrated on a chip and can be modularly expanded. In particular, the chip can be integrated into the control unit. The computing device, in particular the computing module, includes, for example, a multi-core processor and memory modules. The multi-core processor is configured for signal/data exchange with storage media. For example, the multi-core processor includes a bus system. The memory modules form a main memory. The memory modules are, for example, RAM, DRAM, SDRAM or SRAM. A multi-core processor has multiple cores on a single chip, i.e. a semiconductor component ment, arranged. Multi-core processors achieve higher computing power and are less expensive to implement on a chip compared to multi-processor systems in which each individual core is arranged in a processor socket and the individual processor sockets are arranged on a motherboard. According to one aspect of the invention, the computing device, in particular the computing module, comprises at least one central processing processor, referred to in English as a central processing unit, or CPU for short.

The computing device, in particular the computing module, preferably also includes at least one graphics processor, referred to in English as a graphic processing unit, or GPU for short. Graphics processors have a special microarchitecture for parallel processing of processes. According to one aspect of the invention, the graphics processor comprises at least one processing unit that is specially designed to perform tensor and/or matrix multiplication. Tensor and/or matrix multiplication are the central arithmetic operations for deep learning. According to one aspect of the invention, the computing device, in particular the computing module, also includes hardware accelerators for artificial intelligence, for example so-called deep learning accelerators. According to a further aspect of the invention, a classifier in the programming technique CUDA is provided. With this, software code sections of the classifier are processed directly by the GPU. The computing device or the control unit are preferably configured to be expanded in a modular manner with a plurality of such chips, for example at least four.

The interface of the computing device is preferably provided for data exchange. In particular, the data exchange is in the form of a signal transmission of a signal, in particular an electrical signal. The data exchange at the interface is preferably wired or wireless. The interface is preferably provided for the purpose of supplying the computing module with data, in particular sensor data, from the surroundings detection unit which is connected to the computing module via the interface for data transmission. The computing device can preferably include a further interface which is provided for the purpose of outputting certain signals, in particular control or regulation signals, from the computing module. The information provided by the marker device can advantageously be processed for testing and/or calibrating the sensors.

Furthermore, a vehicle that can be operated automatically is proposed. The vehicle that can be operated automatically comprises at least one computing device according to the invention. The vehicle that can be operated automatically comprises at least one surroundings detection unit, which is provided to detect intensity-coded radiation of at least one testing and/or calibration setup according to the invention. The environment detection unit, in particular the sensors of the environment detection unit, is/are preferably provided to detect the intensity-coded radiation of the lidar and/or radar information unit and/or the, in particular brightness-based, coding of the camera information unit. A particularly roadworthy vehicle with sensors that can be efficiently checked and/or calibrated can advantageously be provided.

A test and/or calibration system is also proposed. The test and/or calibration system comprises at least one test and/or calibration structure according to the invention. The test and/or calibration system comprises at least one vehicle according to the invention that can be operated automatically. The test and/or calibration assembly is preferably provided for testing and/or calibrating the sensors of the vehicle that can be operated automatically. A testing and/or calibration system that enables efficient testing and/or calibration of the sensors of the vehicle that can be operated in an automated manner can advantageously be provided.

• - Bestrahlen des Prüf- und/oder Kalibrieraufbaus mit einem Laserstrahl und/oder einem Radarstrahl mit verschiedenen Einstrahlwinkeln, insbesondere an verschiedenen Positionen und/oder Ausrichtungen der Markervorrichtung relativ zu dem automatisiert betreibbaren Fahrzeug,
• - Empfangen von Strahlung verschiedener Intensitäten in Abhängigkeit von den verschiedenen Einstrahlwinkeln von dem Prüf- und/oder Kalibrieraufbau, und
• - Ermitteln von Informationen aus der intensitätscodierten Strahlung.

Furthermore, a method is proposed for testing and/or calibrating sensors of a vehicle that can be operated automatically by means of at least one testing and/or calibration assembly according to the invention. The process comprises the process steps:

• - Irradiating the test and/or calibration setup with a laser beam and/or a radar beam with different irradiation angles, in particular at different positions and/or orientations of the marker device relative to the vehicle that can be operated automatically,
• - receiving radiation of different intensities depending on the different angles of incidence from the test and/or calibration setup, and
• - Determination of information from the intensity-coded radiation.

The test and/or calibration structure, in particular the marker device, is preferably permanently irradiated with the laser beam and/or the radar beam and radiation, in particular the reflected laser beam and/or radar beam, is received by the test and/or calibration structure. The test and/or calibration setup, in particular the marker device, is irradiated in particular by means of the lidar and/or radar of the vehicle that can be operated automatically and the Radiation emitted and/or the calibration structure, in particular the reflected laser beam and/or radar beam, is received in particular by means of the lidar and/or radar. The information is preferably determined from the intensity-coded radiation received by means of the computing device of the vehicle that can be operated automatically. An efficient method for checking and/or calibrating the sensors of the vehicle that can be operated automatically can advantageously be provided.

It is also proposed that the different positions and/or alignments of the marker device relative to the vehicle that can be operated automatically be set by moving the marker device in an at least partially automated manner, in particular in a detection range of at least two different types of sensors of the vehicle that can be operated automatically. The marker device is preferably moved by the movement device, in particular into the different positions and/or alignments relative to the vehicle that can be operated automatically. The marker device is preferably moved along a defined movement path in the detection range of the at least two different types of sensors of the vehicle that can be operated automatically. In particular, the movement path is defined by a sequence of the different positions and/or orientations relative to the vehicle that can be operated automatically. The marker device is preferably continuously irradiated with the laser beam and/or radar beam during the movement along the movement path and continuously emits intensity-coded radiation. A possible movement path can be given, for example, by a movement of the marker device parallel to a vehicle longitudinal axis of the vehicle that can be operated automatically. In particular, with such a movement path, a viewing or irradiation angle of the sensors with respect to the marker device changes continuously. A further possible movement path can be given, for example, by a movement and an alignment adjustment of the marker device in such a way that at every point of the movement path a viewing or irradiation angle of at least one sensor with respect to the marker device remains constant. In particular, depending on the known movement path of the marker device and known installation positions of the sensors, incorrect settings of sensors can be detected using methods such as triangulation or pattern recognition in the radiation reflected by the marker device. Advantageously, different positions and/or alignments of the marker device can be set precisely relative to the vehicle that can be operated automatically.

• - Erfassen von zumindest einer optischen, insbesondere helligkeitsbasierten, Codierung des Prüf- und/oder Kalibrieraufbaus mittels zumindest einer Kamera und/oder zumindest eines Lidars an verschiedenen Positionen und/oder Ausrichtungen der Markervorrichtung relativ zu dem automatisiert betreibbaren Fahrzeug, und
• - Ermitteln von Informationen aus der Codierung.

Furthermore, it is proposed that the method further comprises the method steps:

• - detecting at least one optical, in particular brightness-based, coding of the test and/or calibration setup by means of at least one camera and/or at least one lidar at different positions and/or alignments of the marker device relative to the vehicle that can be operated automatically, and
• - Retrieving information from the coding.

The optical coding of the camera information unit of the marker device is preferably recorded. The information is preferably determined from the coding by means of the computing device of the vehicle that can be operated automatically. The optical coding, in particular the information from the coding, is preferably independent of a position and/or alignment of the marker device relative to the vehicle that can be operated automatically. In particular, the camera information unit provides the same information independently of the position and/or alignment of the marker device relative to the vehicle that can be operated automatically. Information can advantageously be determined from a further, in particular brightness-based, coding.

• - Vergleichen der anhand der empfangenen Strahlung und der anhand der optischen Codierung ermittelten, insbesondere ortsaufgelösten, Informationen, und
• - Prüfen und/oder Kalibrieren der Sensoren des automatisiert betreibbaren Fahrzeugs in Abhängigkeit von dem Vergleich.

In addition, it is proposed that the method further comprises the procedural steps:

• - Comparing the information determined on the basis of the received radiation and on the basis of the optical coding, in particular spatially resolved, and
• - Checking and/or calibrating the sensors of the vehicle that can be operated automatically as a function of the comparison.

The lidar and/or radar information unit and the camera information unit preferably provide at least partially the same information, in particular transmit it. The information is preferably compared by means of the computing device. In particular, the sensors are checked and/or calibrated as a function of the comparison using the computing device and/or another, in particular external, computing device, for example a laptop. For example, at least one lidar and/or at least one radar can be checked and/or calibrated depending on the information received from the camera information unit. For example, at least one camera can be checked and/or calibrated depending on the information received from the lidar and/or radar information unit. Testing and/or calibration of the sensors can be advantageous of the vehicle that can be operated automatically when stationary.

Furthermore, it is proposed that a detection capability of the individual sensors and/or a functional capability of a sensor data fusion of multiple sensors is checked. The marker device, in particular the camera information unit, is preferably designed in such a way and the movement path of the marker device is selected in such a way that as long as the marker device is in a detection range of a camera of the vehicle that can be operated automatically, the marker device, in particular the camera information unit, can be seen from the camera in every possible position and/or or orientation of the marker device can be detected relative to the vehicle that can be operated automatically. In particular, the camera information unit always provides the information that the marker device is present. If the marker device, in particular the camera information unit, is not recognized by the camera in sections during the testing process, for example, a conclusion can be drawn that the camera is incapable of detecting.

The marker device, in particular the lidar and/or radar information unit, is preferably designed in such a way and the movement path of the marker device is selected in such a way that, even if the marker device is located in a detection range of a lidar and/or a radar of the vehicle that can be operated automatically, the marker device in particular the lidar and/or radar information unit, which cannot be detected by the lidar and/or the radar in some positions and/or orientations of the marker device relative to the vehicle that can be operated automatically. In particular, in some positions and/or alignments relative to the vehicle that can be operated in an automated manner, the lidar and/or radar information unit provides the information that the marker device is present, and in some other positions and/or alignments relative to the vehicle that can be operated in an automated manner, the information that the marker device is absent. If the marker device, in particular the lidar and/or radar information unit, is continuously detected by the lidar and/or radar during the testing process, for example, it is possible to conclude that the lidar and/or radar is not capable of detecting properly. If, for example, during the test process, detections of the marker device between the camera and the lidar and/or radar do not differ, in particular because the marker device is continuously visible to the camera and not to the lidar and/or the radar, and a corresponding output value of the sensor data fusion is available , it can be concluded in particular that the sensor data fusion is not working properly. Real manipulation of the sensors of the vehicle that can be operated automatically can advantageously be made possible without interfering with software in the vehicle that can be operated automatically. Degradation of a functionality for automated driving of the vehicle that can be operated automatically can advantageously be checked.

It is also proposed that detections of the marker device at a plurality of different positions and/or alignments relative to the vehicle that can be operated automatically are evaluated by a plurality of sensors of the vehicle that can be operated automatically, in particular correlated with one another, in order to determine calibration values for the sensors. In particular, a comparison is made at the plurality of different positions and/or orientation of the marker device relative to the vehicle that can be operated automatically, in particular along the complete movement path of the marker device, which sensors detect the marker device and where. If, for example, a plurality of sensors detects the marker device at a specific position and one of the sensors at a position offset therefrom, it can be assumed in particular that one sensor is not working correctly, is not installed correctly or is not calibrated or the like This sensor can be used to determine calibration values with which the sensor can be calibrated in order to correctly recognize the marker device. The detections of the sensors can preferably be weighted differently depending on different tolerances of the sensors. In particular, a detection of the marker device at a specific position and/or alignment relative to the vehicle that can be operated automatically by a sensor with a low tolerance, for example a maximum deviation from a factory specification of +/- 2°, can be weighted more highly than a detection of the marker device by a sensor with a higher tolerance, for example a maximum deviation from a factory specification of +/- 4°. Extrinsic and intrinsic calibration values for the sensors are preferably determined. The extrinsic calibration values serve in particular to compensate for installation tolerances of the sensors. The intrinsic calibration values serve in particular to compensate for tolerances in the internal geometry of the sensors.

In particular, factory calibration data, in particular offline calibration data, of the sensors can be corrected or optimized by means of the calibration values. Efficient online calibration of the sensors can advantageously be made possible.

An absolute calibration of the sensors can preferably also be carried out independently of other sensors of the vehicle that can be operated in an automated manner by means of the testing and/or calibration setup. For this purpose, in particular an exact position of the vehicle that can be operated automatically, in particular a chassis of the vehicle that can be operated automatically, must be known relative to the marker device. A position and alignment of the marker device is known in particular via the movement device, in particular a control of the movement device and/or position sensors of the movement device. The test and/or calibration structure can preferably have at least one detection device in order to detect a position of the vehicle that can be operated automatically, in particular the chassis. The detection device can detect the position of the vehicle that can be operated automatically, in particular tactilely, optically, for example by measuring a profile, location and position of tires of the vehicle that can be operated automatically, or in another way that appears sensible to a person skilled in the art. In particular, calibration values for the sensors can be determined as a function of a difference between known positions and/or alignments of the marker device detected by the sensors.

• 1 eine erfindungsgemäße Produktionsstraße in einer schematischen perspektivischen Darstellung,
• 2 eine Schnittansicht einer Markervorrichtung eines erfindungsgemäßen Prüf- und/oder Kalibrieraufbaus in einer schematischen Darstellung,
• 3 einen Teil einer Lidar- und/oder Radarinformationseinheit der Markervorrichtung aus 2 in einer schematischen perspektivischen Darstellung,
• 4 ein Diagramm einer Transmission der Lidar- und/oder Radarinformationseinheit aus 3 in einer schematischen Darstellung,
• 5 eine erfindungsgemäße Rechenvorrichtung in einer schematischen Darstellung und
• 6 ein Ablaufdiagramm eines erfindungsgemäßen Verfahrens zum Prüfen und/oder Kalibrieren von Sensoren eines automatisiert betreibbaren Fahrzeugs in einer schematischen Darstellung.

The invention is illustrated in an exemplary embodiment in the following figures. Show it:

• 1 a production line according to the invention in a schematic perspective view,
• 2 a sectional view of a marker device of a test and/or calibration setup according to the invention in a schematic representation,
• 3 part of a lidar and/or radar information unit of the marker device 2 in a schematic perspective view,
• 4 a diagram of a transmission of the lidar and/or radar information unit 3 in a schematic representation,
• 5 a computing device according to the invention in a schematic representation and
• 6 a flow chart of a method according to the invention for testing and/or calibrating sensors of a vehicle that can be operated automatically in a schematic representation.

1 shows a production line 14 for automated vehicles 5, 5' in a schematic perspective view. The production line 14 comprises at least one test and/or calibration structure 1, 1'. In the present exemplary embodiment, the production line 14 includes a test and/or calibration structure 1 and a further test and/or calibration structure 1 ′, which is arranged along the production line 14 in front of the test and/or calibration structure 1 . The test and/or calibration assemblies 1, 1' each comprise a movably mounted marker device 6, 6' and a movement device 13, 13'. The production line 14 is arranged in a production plant for vehicles 5, 5' that can be operated automatically. Vehicles 5 , 5 ′ that can be operated automatically are produced along the production line 14 . The testing and/or calibration assemblies 1, 1' are arranged at one end of the production line 14, in particular in an area just before the vehicles 5, 5' that can be operated automatically leave the production line 14. Sensors 2, 3, 4 can be tested and/or calibrated simultaneously in the production line 14 by a number of vehicles 5, 5' that can be operated automatically, here by way of example two.

The test and/or calibration structure 1 and an automated vehicle 5 form a test and/or calibration system 19. The further test and/or calibration structure 1' and a further automated vehicle 5' form a further test and/or calibration system 19'. For the sake of clarity, the following description is limited to the testing and/or calibration system 19. However, the description also applies analogously to the further testing and/or calibration system 19'. The testing and/or calibration assembly 1 is provided for testing and/or calibrating the sensors 2, 3, 4 of the vehicle 5 that can be operated automatically.

The vehicle 5 that can be operated automatically is designed as a land vehicle, here by way of example as a passenger car. The vehicle 5 that can be operated automatically comprises at least one computing device 15 in order to check and/or calibrate the sensors 2, 3, 4 of the vehicle 5 that can be operated automatically (cf. 5 ). The vehicle 5 that can be operated automatically comprises at least one surroundings detection unit 17 which is provided to detect intensity-coded radiation of the testing and/or calibration setup 1 . The environment detection unit 17 includes the sensors 2, 3, 4. In the present exemplary embodiment, the environment detection unit 17 includes three sensors 2, 3, 4, for example. A first sensor 2 is a lidar, a second sensor 3 is a radar and a third sensor 4 is a trained a camera.

The movably mounted marker device 6 is provided for the, in particular passive, transmission of information to the vehicle 5 that can be operated automatically. The information is as position and/or alignment information, in particular of the marker device 6 relative to the vehicle 5 that can be operated automatically. The movement device 13 is intended to move the marker device 6 at least partially automatically, in particular in a detection range of at least two, in the present exemplary embodiment of at least three, different types of sensors 2, 3, 4 of the vehicle 5 that can be operated automatically. The marker device 6 is attached to the movement device 13. The marker device 6 is movably mounted by the movement device 13 . The movement device 13 is intended to move the marker device 6 at least partially automatically, preferably fully automatically.

The movement device 13 is arranged stationary at least at one point, in particular on the production line 14. The movement device 13 is provided for setting different positions and/or orientations of the marker device 6 relative to the vehicle 5 that can be operated automatically. The movement device 13 is intended to move the marker device 6 in order to at least partially circumnavigate the vehicle 5 that can be operated automatically, in particular on a defined path. The movement device 13 is intended to move the marker device 6 precisely along the same defined path in every vehicle 5 that can be operated automatically. The movement device 13 is intended to move the marker device 6 in at least two, in the present exemplary embodiment, for example in three, spatial dimensions. The movement device 13 is designed as a robot arm. The robot arm is designed as a multi-axis robot arm. The robot arm is intended to follow a programmed movement path. The robot arm can be programmed for different movement paths, for example to be used to test and/or calibrate sensors 2, 3, 4 of different vehicles 5 that can be operated automatically and have different sensors 2, 3, 4, sensor detection areas and/or sensor installation positions.

2 shows a sectional view of the marker device 6 of the testing and/or calibration assembly 1 in a schematic representation. A sectional plane runs perpendicular to a longitudinal axis 20 of the marker device 6 (cf. 1 ). Marker device 6 has at least one lidar and/or radar information unit 7, which is provided to emit intensity-variable radiation for transmitting coded information, depending on an angle of incidence 8 of a laser beam 9 and/or a radar beam (cf. 3 ).

The lidar and/or radar information unit 7 is provided to reflect the laser beam 9 and/or the radar beam to transmit the coded information. The laser beam 9 and/or the radar beam is emitted by the vehicle 5 that can be operated automatically, in particular by the lidar 2 and/or radar 3 of the vehicle 5 that can be operated automatically. The angle of incidence 8 of the laser beam 9 and/or the radar beam on the marker device 6, in particular on the lidar and/or radar information unit 7, changes depending on a change in position and/or alignment of the marker device 6 relative to the vehicle 5 that can be operated automatically. The marker device 6 is movably mounted in order to achieve different positions and/or alignments relative to the vehicle 5 that can be operated automatically. The radiation emitted by the lidar and/or radar information unit 7, in particular the reflected laser beam 9 and/or the reflected radar beam, is used to receive information from the vehicle 5 that can be operated automatically, in particular from the lidar 2 and/or the radar 3 of the vehicle that can be operated automatically Vehicle 5 detected. The lidar and/or radar information unit 7 is at least partially in the form of an optically functional structure which is provided for reflecting the laser beam 9 and/or the radar beam as a function of the angle of incidence. The lidar and/or radar information unit 7 is provided to emit, in particular to reflect, radiation of different intensities as a function of different angles of incidence 8, in particular different angles of incidence ranges, of the laser beam 9 and/or the radar beam.

The radiation emitted by the lidar and/or radar information unit 7 is encoded via its intensity. The emitted radiation is coded alternately. The radiation is 2-bit discretized, which corresponds in particular to a resolution of four degrees of intensity. Each jump in intensity from one radiation intensity to another radiation intensity corresponds to a change in a logical bit, for example from 0 to 1 or from 1 to 0 (cf. 4 ). The vehicle 5 that can be operated automatically, in particular the computing device 15 of the vehicle 5 that can be operated automatically, can decode the intensity-coded radiation in order to obtain the information. The lidar and/or radar information unit 7 is designed in such a way that it scatters and/or absorbs the laser beam 9 and/or the radar beam in certain positions and/or orientations relative to the vehicle 5 that can be operated automatically in such a way that the marker device 6 is separated from the lidar 2 and/or radar 3 cannot be detected, in particular appears invisible to lidar 2 and/or radar 3.

The lidar and/or radar information unit 7 has at least one refractive microstructured reflection element 10, 11, which is provided to reflect the laser beam 9 and/or the radar beam with variable intensity depending on the angle of incidence 8 of the laser beam 9 and/or the radar beam . In the present exemplary embodiment, the lidar and/or radar information unit 7 has two reflection elements 10, 11, for example. The reflection elements 10, 11 are designed as microstructured refractive films, in particular made of polycarbonate. The reflection elements 10, 11 have a sawtooth-like structure, in particular microstructuring. A reflection element 10 is provided to reflect the laser beam 9, in particular radiation from an infrared spectral range. Another reflection element 11 is provided to reflect the radar beam, in particular radiation from a microwave range. The reflection element 10 and the further reflection element 11 are arranged one behind the other along a direction extending perpendicularly to a main extension plane 21 of the marker device 6 , with the reflection element 10 being arranged on a surface of the marker device 6 . The marker device 6 is plate-like, panel-like or the like.

The marker device 6 has at least one camera information unit 12 which is intended to transmit information to the camera 4 and/or the lidar 2 via an optical, in particular brightness-based, coding. The camera information unit 12 is designed at least in sections as a reflecting surface, in particular in a visible spectral range. In particular, the area can be captured by the camera 4 and/or the lidar 2 . In particular, the surface can be in the form of a static monochromatic surface, for example a suitably lacquered plate, or an adjustable monochromatic surface, for example a liquid crystal display. As an alternative or in addition to a brightness-based coding, it is conceivable that the camera information unit 12 is provided to transmit the information via a color-based, a shape-based, a number-based or via another coding that appears reasonable to a person skilled in the art. The camera information unit 12 is intended to transmit the same information as the lidar and/or radar information unit 7 at least partially, in particular as a function of a position and/or orientation of the marker device 6 relative to the vehicle 5 that can be operated automatically. and/or radar information unit 7 can be compared with the information transmitted by camera information unit 12 in order to check and/or calibrate sensors 2, 3, 4. The camera information unit 12 is along a surface normal 22 of the reflection elements 10, 11 and/or the marker device 6 and/or along an irradiation direction of the laser beam 9 and/or the radar beam behind the reflection element 10 for reflecting the laser beam 9 and in front of the further reflection element 11 for reflection of the radar beam.

The lidar and/or radar information unit 7 and the camera information unit 12 are spaced apart from one another by at least one air gap 23, 24. The camera information unit 12 is spaced apart from the reflection element 10 by an air gap 23 on one side and from the further reflection element 11 by a further air gap 24 on another side. The reflection element 10 faces the surroundings of the marker device 6 on a side facing away from the camera information unit 12 . The camera information unit 12 faces the further reflection element 11 on a side facing away from the reflection element 10 . The further reflection element 11 is delimited on a side facing away from the camera information unit 12 by a support frame 25 of the marker device 6 .

The reflection element 10 is arranged in front of the air gap 23 and the camera information unit 12 along the irradiation direction of the laser beam 9 and/or the radar beam. The further reflection element 11 is arranged along the direction of incidence of the laser beam 9 and/or the radar beam behind the camera information unit 12 and the further air gap 24 . In particular, the air gap 23 is arranged along the direction of incidence of the laser beam 9 and/or the radar beam after the reflection element 10 and in front of the camera information unit 12, and the further air gap 24 is arranged after the camera information unit 12 and in front of the further reflection element 11. The reflection element 10 is transparent at least in the visible spectral range. The air gaps 23, 24 are provided to optically decouple the camera information unit 12 from the lidar and/or radar information unit 7, in particular from the reflection element 10 and the further reflection element 11. The air gaps 10, 11 are intended to keep the reflection properties of the reflection element 10 and/or the further reflection element 11 free of interference from the influences of the camera information unit 12.

3 shows a part of the lidar and/or radar information unit 7 of the marker device 6 2 in a schematic perspective view. A part of the reflection element 10 is shown. However, the description also applies analogously to an interaction of the further reflection lements 11 with a radar beam. The reflection element 10 is designed as a prismatic arrangement for reflecting the laser beam 9 by at least two total reflections. The reflection element 10 is designed as a reflection prism, in particular as a deflection prism. The reflection element 10 has an upper flank angle 26 with respect to the surface normal 22 of the reflection element 10, here for example 48°, and a lower flank angle 27 with respect to the surface normal 22, here for example 6°. The laser beam 9 enters the reflection element 10 at an upper flank 28 of the reflection element 10, in particular a first tooth 29 of the sawtooth-like structure. A first total reflection in the propagation direction 30 of the laser beam 9 occurs at a rear boundary surface 31 of the reflection element 10, in particular running perpendicular to the surface normal 22. A second total reflection in the propagation direction 30 of the laser beam 9 occurs at a lower flank 32 of the reflection element 10, in particular a second one Tooth 33 of the sawtooth-like structure. The reflected laser beam 9 emerges from the reflection element 10 at a further upper edge 34 of the reflection element 10 , in particular the second tooth 33 . The reflection element 10 is provided for reflecting back the laser beam 9 parallel to an irradiation direction of the laser beam 9 .

4 shows a diagram of a transmission of the lidar and/or radar information unit 7, in particular of the reflection element 10 3 in a schematic representation. However, the description also applies analogously to the further reflection element 11 in the microwave range. The diagram has an abscissa axis 35 and an ordinate axis 36 . The angle of incidence θ of the laser beam 9 is plotted on the abscissa axis 35 . The transmission of the lidar and/or radar information unit 7, in particular of the reflection element 10, is plotted on the ordinate axis 36. In addition to the radiation of the laser beam 9, the transmission also includes scattering effects and indirect light.

The reflection element 10 has a transmission of radiation that is dependent on the angle of incidence, in particular in the near-infrared spectral range. A radiation intensity of the reflected laser beam 9 is dependent on the transmission of the reflection element 10 at the angle of incidence 8 of the laser beam 9. In its transmission, the reflection element 10 has several, here by way of example four, angle of incidence areas 37, 38, 39, 40, over which a radiation intensity of the reflected Laser beam 9 is at least substantially constant. For example, the radiation intensity of the reflected laser beam 9 in a first angle of incidence range 37 can correspond to a first logical bit, e.g. 0, in a second angle of incidence range 38 to a second logical bit, e.g. 1, in a third angle of incidence range 39 to the first logical bit and in a fourth angle of incidence range 40 correspond to the second logical bit.

5 shows the computing device 15 in a schematic representation. Computing device 15 includes at least one interface 16 for receiving sensor data from surroundings detection unit 17 of vehicle 5 that can be operated automatically. Computing device 15 includes at least one computing module 18, which is provided for the purpose of generating information from intensity-coded radiation of test and/or calibration assembly 1 to determine. The computing module 18 is provided for determining information from the intensity-coded radiation of the lidar and/or radar information unit 7 and/or from the coding, in particular brightness-based, of the camera information unit 12 . The interface 16 of the computing device 15 is provided for data exchange. The data exchange is in the form of a signal transmission of a signal, in particular an electrical signal. The data exchange at the interface 16 is wired or wireless. The interface 16 is provided for the purpose of supplying the computing module 18 with data, in particular sensor data, from the surroundings detection unit 17 which is connected to the computing module 18 via the interface 16 for data transmission purposes. The computing device 15 includes here, for example, a further interface 41 which is provided for the purpose of outputting certain signals, in particular control or regulation signals, from the computing module 18 .

6 shows a flow chart of a method for testing and/or calibrating sensors 2, 3, 4 of a vehicle 5 that can be operated automatically by means of the testing and/or calibration assembly 1 in a schematic representation. The method also works analogously with the further test and/or calibration structure 1'. In a method step 42, the testing and/or calibration setup 1 is irradiated with a laser beam 9 and/or a radar beam with different irradiation angles 8, in particular at different positions and/or alignments of the marker device 6 relative to the vehicle 5 that can be operated automatically. The various positions and/or alignments of marker device 6 relative to vehicle 5 that can be operated automatically are automated by at least partially automated movement of marker device 6, in particular in a detection range of at least two, here by way of example three, different types of sensors 2, 3, 4 operable vehicle 5 set. The marker device 6 is moved by the movement device 13, in particular into the different positions and/or alignments relative to the automated vehicle 5. The marker device 6 is moved along a defined movement path in the detection range of the different types of sensors 2, 3, 4 of the automated vehicle 5. The movement path is defined by a sequence of the different positions and/or alignments relative to the vehicle 5 that can be operated automatically. The marker device 6 is continuously irradiated with the laser beam 9 and/or radar beam during the movement along the movement path and continuously emits intensity-coded radiation.

In a further method step 43, radiation of different intensities depending on the different angles of incidence 8 is received by the test and/or calibration structure 1, in particular by the marker device 6. The test and/or calibration setup 1, in particular the marker device 6, is irradiated using the lidar 2 and/or radar 3 of the vehicle 5 that can be operated automatically, and the radiation emitted by the test and/or calibration setup 1, in particular the reflected laser beam 9 and /or radar beam is received by means of the lidar 2 and/or radar 3. In a further method step 44, information is determined from the intensity-coded radiation. The information is ascertained from the intensity-coded radiation received by means of the computing device 15 of the vehicle 5 that can be operated automatically.

In a further method step 45, the camera 4 and/or the lidar 2 is used to capture the optical, in particular brightness-based, coding of the testing and/or calibration setup 1 at the various positions and/or alignments of the marker device 6 relative to the vehicle 5 that can be operated automatically . The optical coding of the camera information unit 12 of the marker device 6 is recorded. The optical coding, in particular the information from the coding, is/are independent of a position and/or orientation of the marker device 6 relative to the vehicle 5 that can be operated automatically the automated vehicle 5 ready the same information. In a further method step 46, information is determined from the coding. The information from the coding is determined by means of the computing device 15 of the vehicle 5 that can be operated automatically.

In a further method step 47, the information determined using the received radiation and the information, in particular spatially resolved, determined using the optical coding is compared. At least some of the same information is provided, in particular transmitted, by the lidar and/or radar information unit 7 and by the camera information unit 12 . The information is compared using the computing device 15 . In a further method step 48, the sensors 2, 3, 4 of the vehicle 5 that can be operated automatically are checked and/or calibrated as a function of the comparison. Depending on the comparison, the sensors 2, 3, 4 are checked and/or calibrated using the computing device 15 and/or another, in particular external, computing device, for example a laptop. For example, the lidar 2 and/or the radar 3 can be checked and/or calibrated depending on the information received from the camera information unit 12 . For example, the camera 4 can be checked and/or calibrated depending on the information received from the lidar and/or radar information unit 7 .

In the further method step 48, a detection capability of the individual sensors 2, 3, 4 and/or a functional capability of a sensor data fusion of multiple sensors 2, 3, 4 can be checked. The marker device 6, in particular the camera information unit 12, is designed in such a way and the movement path of the marker device 6 is selected in such a way that as long as the marker device 6 is in a detection range of the camera 4 of the vehicle 5 that can be operated automatically, the marker device 6, in particular the camera information unit 12, is Camera 4 can be detected in any possible position and/or orientation of the marker device 6 relative to the vehicle 5 that can be operated automatically. The camera information unit 12 always provides the information that the marker device 6 is present. If the marker device 6, in particular the camera information unit 12, is not recognized by the camera 4 in sections during the testing process, for example, it can be concluded that the camera 4 has a lack of detection capability.

The marker device 6, in particular the lidar and/or radar information unit 7, is designed in such a way and the movement path of the marker device 6 is selected in such a way that even if the marker device 6 is in a detection range of the lidar 2 and/or the radar 3 of the vehicle that can be operated automatically 5 is located, the marker device 6, in particular the lidar and/or radar information unit 7, cannot be detected by the lidar 2 and/or the radar 3 in some positions and/or orientations of the marker device 6 relative to the vehicle 5 that can be operated automatically. The lidar and/or radar information unit 7 provides in some positions and/or orientations Gen relative to the automated vehicle 5 the information that the marker device 6 is present, and in some other positions and / or orientations relative to the automated vehicle 5 the information that the marker device 6 is not available. If the marker device 6, in particular the lidar and/or radar information unit 7, is continuously detected by the lidar 2 and/or radar 3 during the testing process, for example, it can be concluded that the lidar 2 and/or radar 3 has a lack of detection capability. Should, for example, detections of the marker device 6 between the camera 4 and the lidar 2 and/or radar 3 during the test process, in particular because the marker device 6 is continuously visible to the camera 4 and not to the lidar 2 and/or the radar 3, not differ and a corresponding output value of the sensor data fusion is available, it can be concluded that the sensor data fusion is not functional.

In the further method step 48, detections of the marker device 6 at a plurality of different positions and/or orientations relative to the vehicle 5 that can be operated automatically can be evaluated by a plurality of sensors 2, 3, 4 of the vehicle 5 that can be operated automatically, in particular correlated with one another. to determine calibration values for sensors 2, 3, 4. At the plurality of different positions and/or alignment of the marker device 6 relative to the automated vehicle 5, in particular along the complete path of movement of the marker device 6, a comparison is made as to which sensors 2, 3, 4 detect the marker device 6 where. If, for example, a plurality of sensors 2, 3, 4 detects the marker device 6 at a specific position and one of the sensors 2, 3, 4 at a position offset thereto, it can be assumed that one sensor 2, 3, 4 is not working correctly , is not correctly calibrated, or the like. Calibration values can be determined for this sensor 2, 3, 4, with which the sensor 2, 3, 4 can be calibrated in order to recognize the marker device 6 correctly. The detections of the sensors 2, 3, 4 can be weighted differently depending on different tolerances of the sensors 2, 3, 4. A detection of the marker device 6 at a specific position and/or orientation relative to the vehicle 5 that can be operated automatically by a sensor 2, 3, 4 with a low tolerance, for example a maximum deviation from a factory specification of +/- 2°, can be weighted higher are considered detection of the marker device 6 by a sensor 2, 3, 4 with a higher tolerance, for example a maximum deviation from a factory specification of +/- 4°. Extrinsic and intrinsic calibration values for the sensors 2, 3, 4 are determined. Factory calibration data, in particular offline calibration data, of the sensors 2, 3, 4 can be corrected or optimized by means of the calibration values.

In further method step 48, the testing and/or calibration assembly 1 can also be used to carry out an absolute calibration of the sensors 2, 3, 4 independently of further sensors 2, 3, 4 of the vehicle 5 that can be operated automatically. For this purpose, an exact position of the vehicle 5 that can be operated automatically, in particular a chassis of the vehicle 5 that can be operated automatically, must be known relative to the marker device 6 . A position and alignment of the marker device 6 is known via the movement device 13, in particular a control of the movement device 13 and/or position sensors of the movement device 13. The test and/or calibration assembly 1 can have at least one detection device in order to detect a position of the vehicle 5 that can be operated automatically, in particular the chassis (not shown). The detection device can detect the position of automated vehicle 5 tactilely, optically, for example by measuring a profile, location and position of tires of automated vehicle 5, or in another way that appears sensible to a person skilled in the art. Calibration values for the sensors 2, 3, 4 can be determined as a function of a difference between the positions and/or alignments of the marker device 6 detected by the sensors 2, 3, 4 and known positions.

Reference List

1

Test and/or calibration setup

2

sensor

3

sensor

4

sensor

5

vehicle

6

marker device

7

Lidar and/or radar information unit

8th

angle of incidence

9

laser beam

10

reflection element

11

reflection element

12

camera information unit

13

moving device

14

production line

15

computing device

16

interface

17

environment detection unit

18

calculation module

19

Test and/or calibration system

20

longitudinal axis

21

main extension level

22

surface normal

23

air gap

24

air gap

25

carrying frame

26

flank angle

27

flank angle

28

flank

29

Tooth

30

direction of propagation

31

interface

32

flank

33

Tooth

34

flank

35

abscissa axis

36

ordinate axis

37

angle of incidence

38

angle of incidence

39

angle of incidence

40

angle of incidence

41

interface

42

process step

43

process step

44

process step

45

process step

46

process step

47

process step

48

process step

Claims (15)

Test and/or calibration setup to test and/or calibrate sensors (2, 3, 4) of an automated vehicle (5, 5'), comprising at least one movably mounted marker device (6, 6') for, in particular passive , Information transmission to the vehicle (5, 5') that can be operated automatically, the marker device (6, 6') having at least one lidar and/or radar information unit (7), which is provided for the purpose of Laser beam (9) and / or a radar beam to emit an intensity-variable radiation to transmit coded information. Test and/or calibration setup claim 1 , wherein the lidar and/or radar information unit (7) has at least one refractive, microstructured reflection element (10, 11) which is provided to reflect the laser beam as a function of the angle of incidence (8) of the laser beam (9) and/or the radar beam (9) and/or to reflect the radar beam with variable intensity. Test and/or calibration setup claim 1 or 2 , wherein the marker device (6, 6 ') has at least one camera information unit (12) which is intended to transmit information to a camera (4) and/or a lidar (2) via an optical, in particular brightness-based, coding. Test and/or calibration setup according to one of the preceding claims, comprising at least one movement device (13, 13') which is provided to move the marker device (6, 6') at least partially automatically, in particular in a detection area of at least two different types of sensors (2, 3, 4) of the vehicle (5, 5') that can be operated automatically. Test and/or calibration setup claim 4 , wherein the movement device (13) is designed as a robot arm. Production line for vehicles (5, 5') that can be operated automatically, comprising at least one test and/or calibration structure (1, 1') according to one of the preceding claims. Computing device for an automated vehicle (5, 5') to check and/or calibrate sensors (2, 3, 4) of the automated vehicle (5, 5'), comprising at least one interface (16) to a reception of sensor data from at least one environment detection unit (17) of the vehicle (5, 5') that can be operated automatically and at least one computing module (18) which is provided for the purpose of obtaining information from an intensity-coded radiation of at least one test and/or calibration structure (1, 1' ) after one of the Claims 1 until 5 to determine. Automated vehicle comprising at least one computing device (15). claim 7 and at least one environment detection unit (17) which is provided for the purpose of intensity-coded radiation of at least one test and/or calibration structure (1, 1') according to one of Claims 1 until 5 capture. Testing and/or calibration system comprising at least one testing and/or calibration structure (1, 1') according to one of Claims 1 until 5 and at least one vehicle (5, 5') that can be operated automatically claim 8 . Method for testing and/or calibrating sensors of a vehicle (5, 5') that can be operated automatically by means of at least one testing and/or calibration structure (1, 1') according to one of Claims 1 until 5 , comprising the method steps: - Irradiating the test and/or calibration structure (1, 1`) with a laser beam (9) and/or a radar beam with different irradiation angles (8), in particular at different positions and/or orientations of the marker device (6 , 6') relative to the automated vehicle (5, 5'), - receiving radiation of different intensities depending on the different irradiation angles (8) from the testing and/or calibration assembly (1, 1'), and - determining of information from the intensity-coded radiation. procedure after claim 10 , wherein the different positions and/or alignments of the marker device (6, 6') relative to the vehicle (5, 5') that can be operated automatically are determined by at least partially automated movement of the marker device (6, 6'), in particular in a detection range of at least two different types of sensors (2, 3, 4) of the vehicle (5, 5') that can be operated automatically. procedure after claim 10 or 11 , the method steps also include: - detecting at least one optical, in particular brightness-based, coding of the test and/or calibration setup (1, 1') using at least one camera (4) and/or at least one lidar (2) at different positions and /or Alignments of the marker device (6, 6') relative to the vehicle (5, 5') that can be operated automatically, and - determining information from the coding. procedure after claim 12 , further comprising the method steps: - comparing the information determined using the received radiation and the information, in particular spatially resolved, using the optical coding, and - checking and/or calibrating the sensors (2, 3, 4) of the vehicle (5, 5 ') depending on the comparison. procedure after Claim 13 , wherein a detection capability of the individual sensors (2, 3, 4) and/or a functional capability of a sensor data fusion of multiple sensors (2, 3, 4) is checked. Procedure according to one of Claims 10 until 14 , wherein detections of the marker device (6, 6 ') at a plurality of different positions and / or orientations relative to the automated vehicle (5, 5') by a plurality of sensors (2, 3, 4) of the automated vehicle ( 5, 5') are evaluated, in particular correlated with one another, in order to determine calibration values for the sensors (2, 3, 4).

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