EP3513161A1 - Banc d'essai pour véhicule destiné à étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra et procédé pour étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra - Google Patents

Banc d'essai pour véhicule destiné à étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra et procédé pour étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra

Info

Publication number
EP3513161A1
EP3513161A1 EP17780300.4A EP17780300A EP3513161A1 EP 3513161 A1 EP3513161 A1 EP 3513161A1 EP 17780300 A EP17780300 A EP 17780300A EP 3513161 A1 EP3513161 A1 EP 3513161A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
cameras
images
vehicle test
test bench
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP17780300.4A
Other languages
German (de)
English (en)
Inventor
Jörg Neumann
Christian Petzinger
Holger-Thorsten Pfeil
Thomas Tentrup
Martin Wagner
Rainer Weisgerber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Assembly Products GmbH
Original Assignee
Duerr Assembly Products GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Assembly Products GmbH filed Critical Duerr Assembly Products GmbH
Publication of EP3513161A1 publication Critical patent/EP3513161A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • Vehicle test bench for calibrating and / or testing systems of a vehicle, which include at least one camera and
  • the present invention relates to a vehicle test bench for calibrating and / or testing systems of a vehicle comprising at least one camera and to a method for performing the calibration and / or testing of systems of a vehicle comprising at least one camera.
  • Cameras are used at the front, on the sides and possibly also in the rear area of vehicles, among other things for driver assistance systems.
  • the cameras can also be provided in the upper area (roof area) as well as for the underfloor area (especially on rough terrain).
  • These cameras are known for example as lane departure warning or to detect obstacles that pose a risk of collision.
  • warnings are output from the evaluation of the camera images-possibly taking into account the evaluation of further sensor signals-if an operating state is recognized as critical.
  • Such cameras also play an increasingly important role in systems that have the autonomous driving of a vehicle to the destination. Such systems must be able to correctly detect complex situations in order to be able to intervene properly in the vehicle's control means (acceleration, braking, steering).
  • the radar sensors can be installed in the center of the front or rear (referred to as the front radar sensor) or laterally in the front or rear (referred to as the side radar sensor) of the vehicle.
  • the front radar sensors measure the area of the lane of the vehicle Vehicle (distance to objects or vehicles in front or behind).
  • the side radar sensors relate to the measurement of objects and in particular of vehicles that are located laterally behind the lane of the vehicle. These side radar sensors can detect obstacles and other vehicles that are relevant be when changing the lane.
  • the optical distance sensors work, for example, on an infrared basis.
  • the corresponding measuring means of the vehicle dynamometer should generally be referred to as targets in connection with this protective right. These targets are different for the individual sensors of the vehicle. As discussed below, the targets for the radar sensors may be fixed or tiltable mirrors, corner reflectors - hereafter referred to as "mirrors" - or even Doppler generators, for optical distance sensors these targets may be so-called light boxes.
  • Radar beam-reflecting surfaces are usually used for this purpose. These mirrors have a defined orientation with respect to the orientation of the vehicle.
  • the radar beam reflected from the mirror hits the front radar sensor again. If the mirror is oriented so that the perpendicular to its surface is oriented parallel to the geometric travel axis of the vehicle, calibration may be accomplished by adjusting the front radar sensor so that the radar beam reflected from the mirror is just back to the front radar sensor incident. The adjustment of the radar sensors can be done by the radar sensor itself, or be performed by a manual adjustment.
  • the side radar sensors are usually calibrated and tested by means of double generators. These Doppler generators are positioned in a defined direction relative to the position of the vehicle as well as the geometric driving axis of the vehicle. During calibration and testing of the side radar sensors, these radar sensors are calibrated by adjusting them so that the side radar sensors detect the Doppler generators in the correct (i.e., in the defined) direction. By means of the Doppler generators, a function test can also be carried out in such a way that a moving object is simulated. It can be tested whether the side radar sensor correctly detects the simulated motion of the object.
  • the front radar sensors can also be calibrated as targets by means of Doppler generators and, in this case, also be tested as to whether they correctly recognize the simulated speed of a preceding vehicle.
  • the side radar sensors are only to be calibrated and not to be tested in their function, this can also be done using mirrors as targets.
  • light boxes For the adjustment of headlights of a vehicle so-called light boxes are known. These are positioned in front of the headlight with a defined orientation on the axis of symmetry of the vehicle With such a light box can be checked whether the emission direction of the vehicle headlights is set correctly.
  • a comparable measuring device can be used. With such a light box - designed for the detection of light of the wavelength of the optical distance sensor - can be checked whether the optical distance sensor is aligned correctly.
  • the object of the present invention is to be able to carry out a calibration of cameras and / or a performance of tests of systems comprising at least one camera in the case of vehicles.
  • Claims 1 and 2 relate to a method for testing systems comprising at least two cameras. The cameras are evaluated in a coordinated way for the acquisition of three-dimensional scenes (or objects).
  • Claims 1 and 2 each relate to a method for carrying out tests of systems of a vehicle which comprise at least two cameras for capturing images by means of the at least two cameras and for the coordinated evaluation of the images captured by the at least two cameras for the three-dimensional evaluation of the captured images ,
  • a three-dimensional object or a three-dimensional scene is simulated by the image representation of several associated two-dimensional images whose number corresponds to the number of cameras whose images are evaluated in a coordinated manner.
  • Each of the associated two-dimensional images corresponds to the projection of the three-dimensional object or the three-dimensional scene in a plane perpendicular to the viewing direction of one of the cameras onto the simulated three-dimensional object or the three-dimensional scene.
  • the pertinent images represent when viewing with the participating cameras and the subsequent evaluation and evaluation of the with the involved cameras captured images of the three-dimensional object or the three-dimensional scene at the same time.
  • a test is thus also advantageously possible if the images "seen" by the cameras are spatially superimposed, but a test can nevertheless be carried out by intervening in the evaluation of the camera images.
  • the evaluation of the camera images is carried out according to claim 1 advantageous in that this evaluation of the images of the individual cameras with the representation of the images is synchronized in time. This allows images of a camera to be evaluated only if an image belonging to this camera is also displayed.
  • shutter glasses There are - known for example from 3D television - so-called shutter glasses. With these shutter glasses, the transmitted images can be synchronized accordingly.
  • the cameras are each assigned a "shutter glasses" for temporal synchronization of the images.
  • the separation of the representations of the associated images is carried out according to claim 2, in that these different images are represented by light of different polarization directions and / or by light of different wavelengths.
  • the cameras are each assigned a filter system which is a polarization filter and / or a color filter.
  • Claim 3 relates to a vehicle test bench for performing tests of systems of a vehicle, comprising at least one camera.
  • the vehicle test stand has a desired position for the vehicle.
  • the cameras of systems to be tested are assigned at least one area representing an image representation and / or an image representation.
  • a plurality of scattered light absorbing elements are arranged, each consisting of a wall-shaped delimitation of the vehicle dynamometer, which reduce the penetration of light into the vehicle dynamometer.
  • light conditions defined by lighting units can be displayed for tests.
  • a support structure is present with at least one elongate support element arranged above the vehicle.
  • the vehicle test stand furthermore has adjusting means for moving at least one of the at least one areas representing an image representation and / or an image representation and / or at least one unit for testing a radar sensor reflecting unit and / or at least one unit for testing an optical distance sensor and / or at least a unit for testing a night-vision device of the vehicle in the horizontal direction along the at least one support element.
  • the systems comprising at least one camera may be configured to include a plurality of cameras.
  • the number of cameras can be two, for example. With such a system, three-dimensional images and also three-dimensional scenes can be recorded and evaluated by means of the two cameras by means of a stereophotogram image evaluation.
  • the systems can also be designed such that they comprise one or more radar sensors and / or one or more optical distance sensors.
  • the target position of the vehicle can be defined by the vehicle test stand having a positioning system by which an exact positioning of the vehicle in the vehicle test bench is possible. This can be achieved, for example, by positioning the vehicle exactly on a positioning unit.
  • the position of the geometric driving axis relative to the vehicle geometry is known, the position of the geometric driving axis of the vehicle can be determined from a defined position of the vehicle geometry.
  • the calibration can be made by displaying a reference image to the respective camera.
  • the cameras are set automatically via ECU communication.
  • Adjustment of front radar sensors Measurement of the beam angle to the geometric
  • Driving axle with a mirror Setting automatically via ECU communication or manually via set screws.
  • Adjustment of optical distance sensors Measurement of the beam angle to the geometric
  • Driving axle with a light box Setting automatically via ECU communication or manually via set screws.
  • the at least one surface can display an image representation when an image is projected onto the surface by means of an image output device (for example a projector or a projector) so that this image is displayed on the surface.
  • an image representation can also be displayed by the surface is designed as a screen, which is controlled so that the image is displayed on the screen. It is also possible that a reference pattern is applied to the surface. This area also represents a target in the sense of this property right.
  • An image can also consist of several partial images. For example, it is possible to provide a larger area on which - spatially separated - images for different cameras with different viewing directions are displayed side by side or one above the other. With such a vehicle test stand, it is possible to detect whether images displayed on the at least one surface are correctly recognized by the cameras of the systems of the vehicle.
  • a test of the overall system may also include that the vehicle dynamometer also has the functionality of a steerable rolling test.
  • the vehicle dynamometer also has the functionality of a steerable rolling test.
  • German patent application DE 10 2015 115 607.5 which is not previously published.
  • the functionality of a subsystem can be tested by comparing the propulsion signal for the propelling means of the vehicle with a desired value which depends on the reference image or reference images.
  • this drive signal must be tapped from the overall system.
  • a separate examination of the part of the overall system can be carried out, which relates to the detection of the reference image and its evaluation of the part of the overall system, which relates to the mechanical actuation of the actuating means of the vehicle.
  • the multiple scattered light absorbing elements advantageously increases the contrast of the image representation and reduces the influence of stray light.
  • the absorption of stray light can be improved if the walls are made high enough. This is especially true for a design that is not completed by a cover-shaped cover up. If such a cover-like cover is present, resulting in any case a more or less closed box, so that it no longer depends on the absorption of stray light on the height of the side walls.
  • the support structure of the vehicle test bench can be used in addition to guiding at least one of the at least one image representation reproducing and / or visual representation representing surfaces and / or at least one unit for testing a radar sensor in their movement in the horizontal direction also to carry the scattered light absorbing elements , In such a double use of the support structure of the design effort in the design of the vehicle test is advantageously minimized.
  • the corresponding systems can be moved out of the lane of the vehicle.
  • lighting means are present as part of the vehicle dynamometer for the defined illumination of the interior of the vehicle dynamometer.
  • the vehicle test stand on a measuring arrangement which consists of measuring probes, these measuring probes a vehicle located in the vehicle dynamometer by means of optical means with respect to the position and / or orientation in the vehicle dynamometer.
  • the measuring arrangement is movable in such a way that the parts of the measuring arrangement are movable to a first position (measuring position) in the vehicle test bench at defined positions of the vehicle test bench and that the parts of the measuring arrangement are movable to a second position (calibration and / or test position) is out of the field of view of cameras that are part of systems under test.
  • the position and / or the orientation of the vehicle in the vehicle test bench are derived.
  • the parts of the measuring arrangement are moved to defined positions in the vehicle test bench such that the orientation of the measuring probes is defined in terms of orientation and position.
  • these probes are calibrated to the reference frame of the vehicle test bench.
  • the at least one area representing an image representation and / or representing an image representation is in a position and / or with an orientation in the vehicle test bench that the reference system of the image representation is aligned with the position and / or orientation of the vehicle.
  • the measuring arrangement can consist of measuring probes, which are offered by the applicant, for example, under the name x-wheel. These are also described for example in the patent application WO 2010/025723 AI.
  • the measuring arrangement can be removed after the measurement of the vehicle.
  • the measuring arrangement does not disturb the subsequent tests of the cameras and possibly radar sensors.
  • Such disturbances can consist in that parts of the measuring arrangement are directly in the field of vision of cameras or in the detection range of radar sensors which are to be calibrated and / or tested.
  • Another disturbance could be that light is scattered by the measuring arrangement in the vehicle test bench, so that it could lead to disturbances of the representation of the images.
  • the target position of the vehicle in the vehicle test bench can be defined by a centering unit for the vehicle, as already described in connection with claim 1.
  • the measuring arrangement according to claim 3 has the purpose to check again the position and orientation of the vehicle.
  • the centering unit is normally the target position of the vehicle of the actual position accordingly.
  • this embodiment corresponds to the target orientation of the actual orientation in the normal case.
  • the target position of the vehicle can also be defined less accurately by marks are present in the vehicle test bench, for example, that serve the orientation of a worker who drove the vehicle in the Anlagenprüf stand.
  • the vehicle position and the vehicle orientation are less accurately defined in the vehicle test bench. After retraction of the vehicle, therefore, a determination of the position and / or orientation of the vehicle takes place (actual position / actual orientation) by means of the measuring arrangement.
  • Claim 6 relates to a further embodiment of the vehicle dynamometer according to one of claims 3 to 5, with a measurement of the position and / or orientation of the vehicle inrangrüf was possible.
  • the vehicle test bench has reference objects which are located at defined positions in the vehicle test stand. These reference objects can be detected by means of vehicle-specific sensors in such a way that a vehicle located in the vehicle test bench is measured with regard to the position and / or orientation in the vehicle test bench.
  • Claim 6 describes a way to be able to make a measurement of the position and / or orientation of the vehicle in the vehicle dynamometer with a structurally lower cost than in the embodiment according to claim 5. It is only necessary to position reference objects at defined positions in the vehicle test bench. These reference objects can be, for example, markings on the walls of the vehicle test bench, which remain permanently in these positions. These markers can be targets that are detected with the respective vehicle-specific sensors. Such markings can be measured with cameras that are installed in the vehicle. The reference objects can also be three-dimensional objects. This makes it possible to measure these objects by means of radar sensors of the vehicle or by means of optical distance sensors.
  • the embodiment according to claim 6 can be made alternatively or additionally to the embodiment of the measurement of the vehicle according to claim 5.
  • the sensors of the vehicle by means of which the determination of the position and / or orientation of the vehicle is to be made in the vehicle test bench, are already calibrated.
  • the at least one surface representing an image representation and / or an image representation and / or at least one unit for testing a radar sensor reflecting unit can be positioned depending on the actual position and / or the actual orientation of the vehicle such that the at least one Image representing reproducing and / or an image representation representing surface and / or at least one unit for testing a radar sensor reflecting unit in the detection range of the respective sensor of the vehicle.
  • the positioning of the corresponding surface may already be sufficient. This applies in particular when the adaptation of the representation of the image to the orientation of the vehicle is carried out by reproducing the image with a corresponding distortion from the surface.
  • the distortion factor depends on the orientation of the surface relative to the orientation of the vehicle.
  • the orientation of the vehicle relative to the vehicle test stand is known about the centering unit or via the measuring arrangement.
  • the orientation of the areas for image reproduction or image output is also known via the reference system of these Areas in the vehicle test stood. From this, the distortion factor can be directly determined for the image representation.
  • Claim 8 relates to an embodiment of the vehicle test stand in which positioning means are provided for adjusting the orientation of at least one of at least one an image representation reproducing and / or an image representing surfaces and / or at least one unit for testing a radar sensor reflective unit and / or at least one unit for testing an optical distance sensor.
  • the orientation of the systems is set to the orientation of the vehicle. This proves particularly advantageous in a unit for testing a radar sensor reflecting unit. These units return reflected beams or even converted beams with a frequency shift to the respective sensor. In order for these beams to impinge on the respective sensor of the vehicle, the orientation of the corresponding units must be aligned with the orientation of the vehicle.
  • the areas that render an image representation or display an image are also rotated so that their orientation is adjusted to the orientation of the vehicle, the images do not need to be converted with distortion.
  • a ceiling-shaped demarcation of the vehicle test stand is still present, which reduces the penetration of light into the vehicle test bench.
  • At least one opening closable with a cover for retracting and / or extending a vehicle into or out of the vehicle test bench is provided.
  • the inside surface of the cover is one of the at least one an image representation reproducing and / or an image representation representing surfaces.
  • the cover can be designed as a roll-up door or as overhead door or as a pivot. It is also possible to move the cover laterally to open and close the entrance or the exit. It proves to be advantageous for the image representation when the cover is not sectioned but at least in the closed state represents a uniform surface.
  • the cover can be wound, for example, by making it comparable to a screen known from the representation of slide pictures. In the closed state, the cover is advantageously tensioned in order to obtain a defined plane for the image display.
  • the cover can for example also consist of a film which is provided for an electrical drive for the active output of images. Such films are known as OLED films of organic materials.
  • Claim 11 relates to a method for performing the calibration and / or testing of systems of a vehicle, comprising at least one camera, by means of a vehicle test stand according to one of the preceding claims.
  • the orientation of the vehicle is known by the positioning and centering system and / or by the measurement by means of the measuring arrangement.
  • the reference frame of the image representation is aligned with the orientation of the vehicle by aligning the at least one image rendering and / or image representative surface according to the orientation of the vehicle.
  • the procedure according to this method makes particular use of the embodiment of the vehicle test stand according to claim 8, as far as there the positioning means are also configured to adjust the orientation of at least one of at least one image representation reproducing and / or an image representation representing surfaces.
  • Claim 12 relates to a method for carrying out the calibration and / or testing of systems of a vehicle comprising at least one camera by means of a vehicle test stand according to one of claims 3 to 10.
  • the orientation of the vehicle is known by the positioning and centering system and / or by the measurement by means of the measuring arrangement.
  • the reference system of the image representation is aligned in the embodiment according to claim 10 on the orientation of the vehicle in the vehicle dynamometer, in that the image representation is reproduced on the at least one image-depicting and / or image-depicting surface with a distortion that depends on the orientation of the surface relative to the orientation of the vehicle.
  • the structural design of the test stand is simplified, because the number of degrees of freedom for a movement of the surfaces can be reduced for image display.
  • the surfaces in the vehicle test bench can be mounted stationary and with a defined orientation.
  • the adaptation to the respective orientation and position of the vehicle in the test bench is carried out by converting the image representation accordingly and adapted. Even if the vehicle test bench is designed so that the surfaces are movable in the horizontal direction, it is still advantageous in terms of design, if the surfaces in their orientation need not be rotatable (about the vertical axis). Reference is also made to the corresponding explanations in connection with claim 7.
  • FIG. 1 is a perspective view of a vehicle test stand with opened entry opening for a vehicle
  • FIG. 2 shows a perspective view of a vehicle test stand with open entry opening and open ceiling
  • FIG. 3 is a perspective view of affyprüf stand with open ceiling and without
  • FIG. 1 shows a perspective view of a vehicle test stand 1 with an opened entry opening 2 for a vehicle.
  • the ceiling-shaped cover 6 further reduces the penetration of light from the outside into the vehicle test bench 1.
  • FIG. 2 shows a perspective view of a vehicle test bench 1 with an opened entry opening 2 and an open ceiling. It can be seen a support structure having horizontally in the longitudinal direction of the vehicle dynamometer 1 extending elongate support members 202.
  • the elongate support elements 202 extend in the longitudinal direction of the vehicle test bench 1.
  • fasteners 212 are movable via guide members 211 by the guide members 211 along the support member 202 are slidable.
  • Targets 201, 207, 208, 213 are fastened to the fastening elements 212.
  • the targets 201 are the areas for image display for the cameras
  • the targets 207 are Doppler generators for side radar sensors
  • the targets 208 are light boxes for the optical distance sensors
  • the targets 213 are mirrors for the front radar sensors.
  • the fasteners 212 are vertical rods to which the targets 201, 207, 208, 213 are attached.
  • At least the fastening elements 212, to which Doppler generators 207, mirrors 213 or light boxes 208 are fastened, can advantageously be rotated about the vertical axis in order to be able to align the corresponding targets 207, 208, 213 with the geometric travel axis of the vehicle.
  • the light boxes 208 and the mirrors 213 are attached to the same fastener 212. With this, one of the targets 208, 213 for performing the calibration or carrying out tests for the vehicle can be rotated by turning this fastening element 212 correspondingly far (up to 180 °).
  • An orientation of the target is also possible by the individual targets is assigned its own twist mechanism. This proves to be particularly advantageous when multiple targets are attached to the same fastener 211. Then the targets can be aligned independently of each other with respect to the vehicle.
  • support elements 203, 204, 205, 206 are attached to the support element 202 by means of guide elements 214. These support elements 203, 204, 205, 206 also extend in the horizontal direction, but transversely to the longitudinal direction ofugaprüf Standes 1. About the attachment by means of the guide elements 214, the support members 203, 204, 205, 206 along the support members 202 in the longitudinal direction of the vehicle dynamometer 1 slidably.
  • a rail 209 can be seen, which is arranged in the bottom region of the vehicle dynamometer 1.
  • a measuring probe 210 is displaceable, with which the position and orientation of the vehicle in the vehicle test bench 1 can be measured.
  • the measuring probe 210 can be moved to defined positions along the rail 209, for example to detect the position of characteristic points of the vehicle body and / or the parameters of the chassis geometry such as lane and camber angle of the wheels of the vehicle.
  • FIG. 3 shows a perspective view of a vehicle test stand 1 with an open ceiling and without side walls. Identical parts as in the illustration of Figure 2 are provided with identical reference numerals.
  • the support structure of the vehicle test bench 1 is defined.
  • the fastening elements 212 are fastened by means of the guide elements 211, so that the fastening elements 212 are displaceable along the support elements. These fasteners end above the floor.
  • the vehicle test bench 1 also has a positioning system 302. When the vehicle ascends onto this positioning system 302, the vehicle body has a defined orientation and also a defined position with respect to the vehicle test stand 1.
  • the side walls and - if available - even a ceiling-shaped cover of the vehicle dynamometer 1 can be attached to this support structure.
  • Figure 4 shows a plan view of affyprüf stand 1 with an open ceiling. Identical parts to the figures 1 to 3 are again provided with identical reference numerals.
  • Figure 5 shows a first embodiment of a temporal separation of the representation of images which are associated with each other as a stereophotogrammetric representation of a three-dimensional structure.
  • a sequence consisting of a synchronization image and a subsequent image representation is alternately displayed for the left camera and the right camera.
  • Block 501 symbolizes the synchronization image for the left camera.
  • Block 502 symbolizes the image representation of the first scene for the left camera.
  • Block 503 symbolizes the synchronization image for the right camera.
  • Block 504 symbolizes the image representation of the first scene for the right camera.
  • the synchronization image for the left camera is displayed again, subsequently the image representation of the second scene for the left camera, subsequently the synchronization image for the right camera and subsequently the image representation of the second scene for the right camera, etc.
  • FIG. 6 shows a further exemplary embodiment of a temporal separation of the representation of images which are associated with one another as a stereophotogrammetric representation of a three-dimensional structure.
  • the pairwise associated images are not displayed directly one after the other. Rather, the complete scene is first shown for the presentation of the left camera. This presentation also starts again with a synchronization image for the left camera. This corresponds to the function block 601. Following this, the function block 602 does not correspond to the representation of a single image but to the representation of the image sequence of the scene from the viewing direction of the left camera.
  • the corresponding scene corresponding to the function block 604 is shown from the viewing direction of the right camera.
  • the synchronization images 601 and 603 it can be separated in the evaluation of the image sequences which image sequence 602 or 604 is assigned to which of the cameras.
  • FIGS. 5 and 6 relate to exemplary embodiments for carrying out tests of the cameras with the units for evaluation.
  • the evaluation units therefore comprise a working mode in which the images of the cameras are continuously evaluated as they are recorded.
  • Figures 5 and 6 relate to the operation in a test mode, in which the evaluation of the cameras is synchronized so that only the images are assigned, which are assigned to the corresponding cameras.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

L'invention concerne un banc d'essai destiné à étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra. Le banc d'essai pour véhicule présente une position théorique pour le véhicule. Une surface restituant une image et/ou représentant une image est associée aux caméras des systèmes à tester. Plusieurs éléments absorbant la lumière parasite sont agencés, lesquels se composent respectivement d'une séparation de type paroi du banc d'essai pour véhicule, qui réduit la pénétration de lumière dans le banc d'essai pour véhicule. Plusieurs séparations de type paroi forment une limitation latérale fermée du banc d'essai pour véhicule. En outre, une structure porteuse est présente, avec au moins un élément porteur longitudinal agencé au-dessus du véhicule ainsi qu'un moyen de réglage pour déplacer au moins l'une des surfaces restituant une image et/ou représentant une image et/ou au moins une unité pour tester un capteur radar et/ou au moins une unité pour tester un capteur optique de mesure de distance et/ou au moins une unité pour tester un appareil de vision nocturne du véhicule dans la direction horizontale le long du/des élément(s) porteur(s). L'invention concerne également un procédé selon lequel deux caméras devant détecter une structure en trois dimensions lors d'une évaluation stéréophotogrammétrique, sont testées de manière coordonnée en représentant dans l'ordre chronologique les différentes images vues respectivement par les deux caméras pour détecter la structure en trois dimensions. Les différentes images des deux caméras peuvent être également séparées grâce à la direction de polarisation de la lumière ou à différentes longueurs d'ondes.
EP17780300.4A 2016-09-16 2017-09-15 Banc d'essai pour véhicule destiné à étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra et procédé pour étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra Ceased EP3513161A1 (fr)

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DE102016117444.0A DE102016117444A1 (de) 2016-09-16 2016-09-16 Fahrzeugprüfstand zum Kalibrieren und/oder Testen von Systemen eines Fahrzeugs, die wenigstens eine Kamera umfassen sowie Verfahren zur Durchführung der Kalibrierung und / oder Tests von Systemen eines Fahrzeugs, die wenigstens eine Kamera umfassen
PCT/DE2017/100792 WO2018050173A1 (fr) 2016-09-16 2017-09-15 Banc d'essai pour véhicule destiné à étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra et procédé pour étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra

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EP3513161A1 true EP3513161A1 (fr) 2019-07-24

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EP17780300.4A Ceased EP3513161A1 (fr) 2016-09-16 2017-09-15 Banc d'essai pour véhicule destiné à étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra et procédé pour étalonner et/ou tester les systèmes d'un véhicule qui comprennent au moins une caméra

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US (1) US20190204184A1 (fr)
EP (1) EP3513161A1 (fr)
JP (1) JP2019537703A (fr)
KR (1) KR20190047028A (fr)
CN (1) CN109863383A (fr)
DE (1) DE102016117444A1 (fr)
WO (1) WO2018050173A1 (fr)

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DE102016117444A1 (de) 2018-03-22
JP2019537703A (ja) 2019-12-26
US20190204184A1 (en) 2019-07-04
KR20190047028A (ko) 2019-05-07
WO2018050173A1 (fr) 2018-03-22
CN109863383A (zh) 2019-06-07

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