EP3906398A4 - Robotic target alignment for vehicle sensor calibration - Google Patents

Robotic target alignment for vehicle sensor calibration Download PDF

Info

Publication number
EP3906398A4
EP3906398A4 EP19907988.0A EP19907988A EP3906398A4 EP 3906398 A4 EP3906398 A4 EP 3906398A4 EP 19907988 A EP19907988 A EP 19907988A EP 3906398 A4 EP3906398 A4 EP 3906398A4
Authority
EP
European Patent Office
Prior art keywords
vehicle sensor
sensor calibration
target alignment
robotic target
robotic
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.)
Pending
Application number
EP19907988.0A
Other languages
German (de)
French (fr)
Other versions
EP3906398A1 (en
Inventor
Jon D. Lawrence
Ryan M. Jefferies
Nicholas R. Nelson
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.)
BPG Sales and Technology Investments LLC
Original Assignee
BPG Sales and Technology Investments LLC
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
Priority claimed from US16/398,404 external-priority patent/US11624608B2/en
Application filed by BPG Sales and Technology Investments LLC filed Critical BPG Sales and Technology Investments LLC
Publication of EP3906398A1 publication Critical patent/EP3906398A1/en
Publication of EP3906398A4 publication Critical patent/EP3906398A4/en
Pending 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
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/0072—Wheeled or endless-tracked vehicles the wheels of the vehicle co-operating with rotatable rolls
    • G01M17/0074—Details, e.g. roller construction, vehicle restraining devices
    • 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
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves
EP19907988.0A 2018-12-31 2019-12-31 Robotic target alignment for vehicle sensor calibration Pending EP3906398A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862786896P 2018-12-31 2018-12-31
US16/398,404 US11624608B2 (en) 2018-04-30 2019-04-30 Vehicular alignment for sensor calibration
PCT/IB2019/061464 WO2020141455A1 (en) 2018-12-31 2019-12-31 Robotic target alignment for vehicle sensor calibration

Publications (2)

Publication Number Publication Date
EP3906398A1 EP3906398A1 (en) 2021-11-10
EP3906398A4 true EP3906398A4 (en) 2022-09-28

Family

ID=71407383

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19907988.0A Pending EP3906398A4 (en) 2018-12-31 2019-12-31 Robotic target alignment for vehicle sensor calibration

Country Status (7)

Country Link
EP (1) EP3906398A4 (en)
JP (1) JP2022515519A (en)
KR (1) KR20210110858A (en)
CN (1) CN113544485A (en)
AU (1) AU2019419248A1 (en)
CA (1) CA3125281A1 (en)
WO (1) WO2020141455A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020122563B4 (en) 2020-08-28 2023-05-25 Beissbarth Gmbh Measuring head and fastening device therefor
CN114019465A (en) * 2021-11-03 2022-02-08 蔚来汽车科技(安徽)有限公司 Sensor combined calibration system and method, vehicle and storage medium
DE102022118260B3 (en) * 2022-07-21 2023-10-05 Dürr Assembly Products GmbH Method for calibrating and/or adjusting the intrinsic coordinate system of a vehicle unit relative to a coordinate system of the vehicle and vehicle test bench for carrying out the method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060274303A1 (en) * 2005-05-13 2006-12-07 Jackson David A Wheel aligner measurement module attachment system
US20120092654A1 (en) * 2007-05-04 2012-04-19 Verhaert New Products & Services Nv Non contact wheel alignment sensor and method
US20150134191A1 (en) * 2013-11-14 2015-05-14 Hyundai Motor Company Inspection device of vehicle driver assistance systems
US20180276910A1 (en) * 2017-03-27 2018-09-27 GM Global Technology Operations LLC Methods and systems for integrated vehicle sensor calibration and maintenance

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10022355C2 (en) * 2000-05-08 2003-03-13 Audi Ag dynamometer
JP2005055389A (en) * 2003-08-07 2005-03-03 Banzai Ltd Wheel support device for vehicle testing machine, and wheel support system therefor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060274303A1 (en) * 2005-05-13 2006-12-07 Jackson David A Wheel aligner measurement module attachment system
US20120092654A1 (en) * 2007-05-04 2012-04-19 Verhaert New Products & Services Nv Non contact wheel alignment sensor and method
US20150134191A1 (en) * 2013-11-14 2015-05-14 Hyundai Motor Company Inspection device of vehicle driver assistance systems
US20180276910A1 (en) * 2017-03-27 2018-09-27 GM Global Technology Operations LLC Methods and systems for integrated vehicle sensor calibration and maintenance

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2020141455A1 *

Also Published As

Publication number Publication date
JP2022515519A (en) 2022-02-18
CN113544485A (en) 2021-10-22
EP3906398A1 (en) 2021-11-10
CA3125281A1 (en) 2020-07-09
WO2020141455A1 (en) 2020-07-09
AU2019419248A1 (en) 2021-08-12
KR20210110858A (en) 2021-09-09

Similar Documents

Publication Publication Date Title
EP3788341A4 (en) Vehicular alignment for sensor calibration
EP3770631A4 (en) Vehicle calibration apparatus
EP3619080A4 (en) Automobile calibration device
EP3734319A4 (en) On-board radar calibration apparatus
EP3699628A4 (en) Calibration device for automobile assistant system
EP3646129A4 (en) Sensor configuration for an autonomous semi-truck
GB2588535B (en) Steering angle calibration
EP3782767A4 (en) Automobile calibration device
EP4026049A4 (en) Vehicular sensor system calibration
EP3931048A4 (en) Sensor assembly for autonomous vehicles
EP3737342A4 (en) Sensor system
EP3608687A4 (en) Vehicle advanced assisted driving calibration device
EP3906398A4 (en) Robotic target alignment for vehicle sensor calibration
EP3699050A4 (en) Calibration device for lane keeping assist system
EP3805698A4 (en) Gyro sensor calibration method
EP3882658A4 (en) Sensor system
EP3732367A4 (en) Sensor assembly for vehicles
EP3792892A4 (en) Sensor system
EP3870931A4 (en) Multibend sensor
EP3709279A4 (en) Target detection device for vehicle
EP3903063A4 (en) Mobile vehicular alignment for sensor calibration
EP3951103A4 (en) Calibration operation assisting system
EP3866130A4 (en) Sensor
EP3614168A4 (en) Vehicle advanced assisted driving calibration apparatus
EP3964856A4 (en) Calibration device

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210729

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Free format text: PREVIOUS MAIN CLASS: G01M0017007000

Ipc: G01B0011275000

A4 Supplementary search report drawn up and despatched

Effective date: 20220830

RIC1 Information provided on ipc code assigned before grant

Ipc: G01M 17/007 20060101ALI20220824BHEP

Ipc: G01S 7/40 20060101ALI20220824BHEP

Ipc: G01B 11/275 20060101AFI20220824BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS