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
  • G01S7/4052—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
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
  • G01B11/00—Measuring arrangements characterised by the use of optical techniques
  • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
  • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
• • 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
• • 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
  • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
  • G01S7/497—Means for monitoring or calibrating
  • G01S7/4972—Alignment of sensor
• • 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
  • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
  • G01S7/52004—Means for monitoring or calibrating
• • 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
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/88—Sonar systems specially adapted for specific applications
  • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
  • G01S15/931—Sonar 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
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/88—Lidar systems specially adapted for specific applications
  • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
  • G01S17/931—Lidar 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
  • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

• the invention relates to a method and a device for aligning a calibration and adjusting means, as used for calibrating or adjusting of optoelectronic environment sensors in vehicles, especially motor vehicles.
• Driver assistant functions e.g., for a lane departure warning, object detection, or other
• Driver assistant functions e.g., for a lane departure warning, object detection, or other
• Radar sensors for automatic cruise control e.g. ACC ("Adaptive Cruise Control")
• ACC Adaptive Cruise Control
• Lane departure warning system check and calibration (“lane departure warning")
• wheel clamps 28, 30 are mounted on wheels 12, 14 of a vehicle 7, to which turn wheel plates (targets) 20, 22 are fastened with photogrammetric measuring marks.
• a measuring head 32, 46 is arranged in each case.
• Each measuring head 32, 46 contains two stereo camera systems each with two cameras 36, 38, 40, 42, 50, 52 54, 56 and a reference system 44, 58.
• the geometry of the cameras 36, 38, 40, 42, 50, 52 54, 56 of the two stereo camera systems of a measuring head 32, 46 is calibrated both intrinsically and extrinsically with regard to their relative orientation to one another.
• the calibration allows the 3 D coordinates of the measuring marks on the wheel measuring panels 20, 22 in the coordinate system X v (front) or X H (rear) of the respective measuring head 32, 46 in a common measuring head coordinate system X L (left) or X R determine (right).
• the wheel measuring tables 20, 22 used do not have to be highly accurate control point tables with measuring points measured in advance.
• the 3-D position of the wheel axle 13 can be continuously measured in all four stereo camera systems 36, 38; 40, 42; 50, 52; 54, 56 are determined. Furthermore, the reference systems 44, 58 continuously measure the toe angle between the measuring heads 32, 46 and the tilting of the measuring heads 32, 46 in space. This makes it possible to calculate the chassis sizes, such as the track and camber angle, as well as other sizes of the chassis, such as the steering geometry with spread and caster angle.
• the geometric Anlagenkoordina- tens system X is finally defined by the vehicle longitudinal axis 64, which is determined by the now measured track of the rear wheels 12, 14.
• the aim of the calibration is the determination of the position and orientation of the camera of an environment sensor 15 in the coordinate system X M of the vehicle 7.
• Vehicle 7 positioned at the point X T "FiX .
• the calibration / adjustment means 62 is observed by the camera of the surroundings sensor 15 of the driver assistance system.
• the image coordinates of measurement marks on the calibration / adjustment means 62 are measured by the driver assistance system.
• a spatial backward cut determines the absolute orientation X c of the camera with respect to the calibration / adjustment means X T'RX .
• This optical measuring step is performed by the control unit 17 of the driver assistance system in the vehicle 7.
• the calibration step is started via the diagnostic interface of the control unit 17 in the vehicle 7.
• the position of the calibration / adjustment means X T "RX in the coordinate system X M of the vehicle 7 must be present to the control unit 17 in the vehicle 7
• the software in the control unit 17 presupposes that the calibration / adjustment means 62 is located at the firmly defined position X T "RX known to the control unit 17. Only if this is the case, determined by the control unit 17 installation angle.
• a method according to the invention comprises the steps:
• step b3) determining the position of the calibration panel with respect to the vehicle from the captured image of the calibration panel target and the position and orientation of the vehicle in space determined in step a3);
• step d) determining the position and orientation of the environmental sensor with respect to the vehicle from the position and orientation of the environmental sensor with respect to the calibration panel determined in step c2) and the position of the calibration panel relative to the vehicle determined in step b3).
• At least one wheel target wherein the wheel target is adapted to be mounted on a wheel of the vehicle; at least one calibration panel having at least one calibration panel target; at least one measuring unit adapted to receive at least one image of the wheel / calibration target and to determine the spatial positions of the wheel / calibration target from the at least one captured image; and
• a controller connected to the environment sensor and configured to
• Determining the position of the calibration panel preferably also includes determining the orientation of the calibration panel in space.
• the spatial orientation of the environmental sensor is determined can be determined with high accuracy with respect to the vehicle without requiring exact manual alignment of the calibration board to a predetermined position.
• the procedure can be performed quickly, eliminating the need for time-consuming, exact manual alignment of the calibration board.
• the method has a high accuracy, since errors resulting from an inaccurate alignment of the calibration board are reliably avoided.
• the manual alignment of the calibration table is usually not completely eliminated.
• the calibration panel only needs to be aligned approximately with the vehicle type in the field of view of the cameras of the environmental sensor and the measuring units.
• the position of the calibration board determined by the measuring unit is transmitted to the control unit.
• the transmission can be wireless or wired, ie via a cable done. Wireless transmission is particularly convenient as no cables need to be laid and the mechanic's freedom of movement is not restricted by cables during the calibration process.
• the transmission of the spatial position of the calibration board via a cable is particularly simple, inexpensive and reliable.
• the controller By transferring the position of the calibration panel to the controller, the controller knows the exact position of the calibration panel and the controller can accurately determine the spatial orientation of the environmental sensor relative to the vehicle.
• the calibration panel is moved to a predetermined position by at least one mechanical adjusting means controlled by the measuring unit.
• the calibration panel is thereby aligned in a predetermined orientation.
• control unit Since the control unit knows the predetermined position and, if necessary, alignment, the control unit can determine the spatial position and orientation of the environment sensor with respect to the vehicle without the necessity of transmitting the measurement unit determined position of the calibration panel to the control unit.
• the control unit does not require a receiving device in this embodiment in order to receive the signals emitted by the measuring units, and is therefore cost-effective to implement.
• At least one of the adjusting means is designed as a compressed air, hydraulic or electric motor.
• Such motors are particularly suitable for reliably and accurately aligning the calibration board to the desired position.
• Hydraulic and pneumatic actuators are particularly suitable because the heavy components of the drive, such as the compressor, can be placed outside the calibration table and a frame supporting the calibration panel. When moving the calibration board, therefore, only a small mass is to be moved, so that only a small force is required to move the calibration board and positioning inaccuracies, which may result from inertia, are minimized.
• Electric motors are easy to control and allow a particularly simple and inexpensive to implement mechanical movement of the calibration board.
• geometric patterns on the calibration panel and / or the targets, e.g. B. have a number of points provided. Calibration charts and targets having such patterns have been found to be particularly suitable for accurate detection by optical sensors and for determining their position.
• the controller issues instructions for manual positioning of the calibration panel by the operator (automotive mechanic).
• the calibration board can thus be moved particularly quickly and reliably to a position predetermined by the control unit without the need for a mechanical adjustment means in order to move the calibration panel.
• At least one measuring device is provided on each of the two sides of the vehicle.
• image acquisition and measurement on both sides of the vehicle i.
• the position and orientation of the vehicle and the calibration board can be determined with high accuracy, so that the position and orientation of the environmental sensor with respect to the vehicle can be accurately determined.
• FIG. 1 shows a schematic diagram of an adjustment / calibration arrangement for a vehicle surroundings sensor according to an embodiment of the invention
• FIG. 2 shows a perspective view of an adjustment / calibration arrangement for a vehicle surroundings sensor according to a first exemplary embodiment of the invention
• FIG. 3 shows a perspective view of an adjustment / calibration arrangement for a vehicle surroundings sensor according to a second exemplary embodiment of the invention
• the adjusting or calibrating arrangement for a vehicle surroundings sensor shown in FIG. 1 in a schematic plan view comprises a vehicle 7, which is stationary on rails 4, 6 of a measuring station 2, with a chassis measuring device. To simplify the illustration, only the wheels 8, 10, 12 and 14 of the motor vehicle 7 are shown, and the dimensions of the body of
• Vehicle 7 are indicated by a dashed outline.
• the front axle 1 1 and the rear axle 13 of the vehicle 7 are shown by dashed transverse lines.
• the geometric vehicle longitudinal axis 64 is shown as a dashed arrow, which runs from the center of the rear axle 1 1 to the center of the front axle 13.
• the vehicle 7 has approximately in the middle of its front side a vehicle surroundings sensor 15, which is adjusted or calibrated by means of an adjustment / calibration arrangement according to the invention for a vehicle surroundings sensor.
• the chassis measuring device comprises wheel targets 20 and 22, which are fastened by means of quick-release units 28 and 30 to the rear wheels 12 and 14 of the motor vehicle 7, and a left-hand measuring unit 32 and a right-hand measuring unit 46 which are approximately centered by means of fastening adapters 34 and 48 are attached to the longitudinal extent of the rails 4 and 6 on the rails 4 and 6 and extend outwardly therefrom.
• Wheel targets 20, 22 are e.g. disc-shaped and directed outwards.
• the main extension direction of the wheel targets 20, 22 extends in a vertical plane through the axis of rotation of the wheels 12 and 14.
• the left measuring unit 32 has an outer forward facing measuring camera 36, via an inner forward facing measuring camera 38, on an outer
• the right-hand measuring unit 46 comprises an inner forward-facing measuring camera 50, an outer forward-facing measuring camera 52, an inner rear-facing measuring camera
• Each two measuring cameras 36, 38, 40, 42, 50, 52, 54, 56 thus form a forward or rearward-facing stereo camera system.
• the field of view of the rear-facing measuring cameras 40, 42, 54, 56 is in each case dimensioned such that the left-wheel target 20 and the right-wheel target 22 lie completely therein.
• the measuring units 32, 46 shown in FIG. 1 are preferably mobile measuring units 32, 46 which are suspended by means of fastening adapters on the running rails 4 and 6 or are screwed to the running rails 4 and 6; Magnetic adaptation is also possible.
• the measuring units 32 and 46 can be connected to the rails 4 and 6 in any suitable manner. Releasable connections offer the advantage that the measuring units 32 and 46 can be easily removed and used at other workstations.
• the measuring units 32 and 46 have a transverse referencing, which is carried out in the figure by transverse reference cameras 44 and 58, which are aligned in the vehicle transverse direction and optical features 34, 48 on the respectively opposite rails or measuring units 32, 46th capture, so as to determine the relative position of the measuring units 32, 46 to each other.
• these optical features 34, 48 may be formed as LEDs or reflective measuring point marks.
• the transverse reference cameras 44, 58 are so above or below the rails 4, 6, but in any case below the bottom of the vehicle 7 arranged that there is an unobstructed cross-visual connection.
• the transverse line-of-sight connection for transverse referencing between the transverse reference cameras 44 and 58 is shown in FIG. 1 by a dotted transverse line 59.
• the measuring units 32, 46 may still have tilt sensors, not shown in FIG. 1, by means of which the tilting of the measuring units 32, 46 can be determined.
• a frame 60 is arranged, which is aligned substantially transverse to the vehicle longitudinal axis 64 and extends from a width position to the left of the left running rail 4 to a width position to the right of the right running rail 6.
• receptacles are arranged in the figure for targets to be attached thereto, in each of which a target 16,18 is attached.
• a calibration board 62 is arranged, which is approximately from a width position corresponding to the right end of the left running rail 4 to a width position corresponding to the left end of the right running rail 6 corresponds, extends.
• the focal length of the front-facing measuring cameras 36, 38 of the left-hand measuring unit 32 and the focal length of the front-facing measuring cameras 50, 52 of the right-hand measuring unit 46 are each set so that the targets 16, 18 arranged on the lateral receptacles of the rack 60 are completely immersed their field of view, as shown in Figure 1 by dotted lines.
• the vehicle surroundings sensor 15 is connected to a control and signal conditioning device 17, which receives and evaluates the signals of the vehicle surroundings sensor 15 in order to determine the parameters relevant for the calibration and adjustment of the vehicle surroundings sensor 15 from the signals of the vehicle surroundings sensor 15.
• the control and evaluation device 17 is connected via a wireless connection, e.g. is formed as a radio or infrared connection, or a cable connection, not shown in the figure, connected to the measuring units 32 and 46, so that the determined by the measuring units 32 and 46 positions of the targets 16, 18, 20, 22 to the control and signal conditioning instrument 17 are transferable.
• the measuring units 32 and 46 may be equipped with an external evaluation unit, not shown in Figure 1, e.g. a personal computer, which evaluates the images of the measuring cameras 36, 38, 40, 42, 50, 52, 54, 56 in order to determine the spatial position of the targets 16, 18, 20, 22.
• the evaluation unit is designed to transmit the determined positions of the targets 16, 18, 20, 22 to the control and signal conditioning device 17.
• This formula shows the reference of the camera coordinate system X c to the coordinate system X M of the vehicle 7, taking into consideration any orientation of the calibration board 62.
• FIG. 2 shows a perspective view of a vehicle 7 with an environmental sensor 15, which is positioned in front of a calibration panel 62.
• the calibration panel 62 on which a pattern 63 is formed of a number of dots, is attached to a rack 60, which also has a calibration panel target
• the dot pattern 19 of the calibration board 62 is detected by a camera of the environmental sensor 15 disposed inside the vehicle 7, and the image taken by the camera is connected to that associated with the surroundings sensor 15
• Control unit 17 is transmitted and evaluated by this to determine the position of the calibration panel 62 with respect to the environment sensor 15 in the coordinate system X c of the environmental sensor 15.
• the dot pattern 63 of the calibration board target 16 is detected and evaluated by the cameras 36, 38 of at least one measuring unit 32 (not shown in FIG. 2) arranged laterally next to the vehicle 7 in relation to the position of the calibration board target 16 to determine the measuring unit 32. Since the position of the calibration board 62 relative to the calibration board target 16 is fixed and known by the frame 60, the position of the calibration board 62 in FIG.
• Reference to the measuring unit 32 can be determined exactly. Since the measuring unit 32, as shown in FIG. 1, also detects a wheel target 20, which is not visible in FIG. 2, attached to the rear axle of the vehicle 7, it is possible to determine the exact position X T "X of the calibration board 62 with respect to the vehicle 7 in the coordinate system X M of the vehicle 7.
• the so determined position of the calibration board 62 in the coordinate system X M of the vehicle 7 is transmitted via a wireless or not shown in the figure 2 wired connection to the controller 17 in the vehicle 7, which with the help of this information and the known position of the calibration board
• Fig. 3 shows a perspective view of an alternative embodiment of a device according to the invention.
• the second embodiment shown in FIG. 3 differs from the embodiment shown in FIG. 2 in that the calibration board 62 is movably mounted on the frame 60.
• the frame 60 is provided with a vertical rail 65 and with a horizontal rail 66, along which the calibration board 62 is movable in the vertical or horizontal direction.
• the rails 65, 66 may for example be formed with tooth rails, engage with the gears and roll when moving the calibration board 62 along the tooth rails.
• Actuators 70 are additionally provided on the frame 60, which are controllable in order to move the calibration plate 62 along the rails 65, 66 into a desired position.
• the actuators 70 may be configured to drive gears that engage tooth rails to move the calibration board 62 relative to the frame 60.
• a control unit 68 connected to the measuring units 32, 46 controls the actuators 70 in such a way that that the calibration board to a desired, predetermined position X T 62 "is moved RX. the current position of the calibration plate 62 can thereby be continuously detected by the measuring units 32, 46 and monitored so that the desired, predetermined position X T" RX of the calibration board 62 is very precisely adjustable.
• the actuators 70 may be electric motors or hydraulically or pneumatically driven actuators 70.
• the connection for transmitting the measured data from the measuring units 32, 46 to the control and regulation unit 68 or from the control and regulation unit 68 to the actuators 70 can be connected via cable connections or via wireless connections, for. B. a radio or infrared connection, be realized.
• a receiving unit 72 is provided, which receives the position data wirelessly transmitted by the measuring unit 32 and forwards via the data cable 74 to the control and regulating unit 68.
• the number of movable axes (degrees of freedom) of the calibration board 62 may be designed differently depending on the needs. In the embodiment shown in FIG. 3, the calibration board 62 has two degrees of freedom with respect to the frame 60 (displacement in the x and y directions).

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• 2010
  • 2010-12-09 DE DE102010062696A patent/DE102010062696A1/de active Pending
• 2011
  • 2011-12-05 US US13/992,979 patent/US9279670B2/en active Active
  • 2011-12-05 CN CN201180058991.3A patent/CN103250069B/zh active Active
  • 2011-12-05 EP EP11802310.0A patent/EP2649467A1/de not_active Withdrawn
  • 2011-12-05 WO PCT/EP2011/071749 patent/WO2012076468A1/de active Application Filing

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