JP7384043B2 - 検出器の姿勢・位置検出システムおよび検出器の姿勢・位置検出方法 - Google Patents

検出器の姿勢・位置検出システムおよび検出器の姿勢・位置検出方法 Download PDF

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Publication number
JP7384043B2
JP7384043B2 JP2020002523A JP2020002523A JP7384043B2 JP 7384043 B2 JP7384043 B2 JP 7384043B2 JP 2020002523 A JP2020002523 A JP 2020002523A JP 2020002523 A JP2020002523 A JP 2020002523A JP 7384043 B2 JP7384043 B2 JP 7384043B2
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attitude
detector
target
vehicle
position detection
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JP2021110630A5 (https=
JP2021110630A (ja
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一樹 加藤
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Denso Corp
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Denso Corp
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Priority to JP2020002523A priority Critical patent/JP7384043B2/ja
Priority to CN202080092342.4A priority patent/CN114945839B/zh
Priority to PCT/JP2020/047165 priority patent/WO2021140863A1/ja
Publication of JP2021110630A publication Critical patent/JP2021110630A/ja
Publication of JP2021110630A5 publication Critical patent/JP2021110630A5/ja
Priority to US17/811,453 priority patent/US20220342055A1/en
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    • 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
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/874—Combination of several systems for attitude determination
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • 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
    • G01S2013/93273—Sensor installation details on the top of the vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
JP2020002523A 2020-01-10 2020-01-10 検出器の姿勢・位置検出システムおよび検出器の姿勢・位置検出方法 Active JP7384043B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2020002523A JP7384043B2 (ja) 2020-01-10 2020-01-10 検出器の姿勢・位置検出システムおよび検出器の姿勢・位置検出方法
CN202080092342.4A CN114945839B (zh) 2020-01-10 2020-12-17 检测器的姿势/位置检测系统以及检测器的姿势/位置检测方法
PCT/JP2020/047165 WO2021140863A1 (ja) 2020-01-10 2020-12-17 検出器の姿勢・位置検出システムおよび検出器の姿勢・位置検出方法
US17/811,453 US20220342055A1 (en) 2020-01-10 2022-07-08 Attitude/position detection system and method for detecting attitude/position of detector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020002523A JP7384043B2 (ja) 2020-01-10 2020-01-10 検出器の姿勢・位置検出システムおよび検出器の姿勢・位置検出方法

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JP2021110630A JP2021110630A (ja) 2021-08-02
JP2021110630A5 JP2021110630A5 (https=) 2021-11-25
JP7384043B2 true JP7384043B2 (ja) 2023-11-21

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US (1) US20220342055A1 (https=)
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US12461213B2 (en) * 2021-07-20 2025-11-04 Locus Robotics Corp. Calibration of a lidar sensor
CN114265042B (zh) * 2021-12-09 2025-12-23 上海禾赛科技有限公司 标定方法、标定设备、标定系统和可读存储介质
DE102022210941B4 (de) * 2022-10-17 2024-08-01 Continental Autonomous Mobility Germany GmbH Verfahren und Anordnung zur Kalibrierung eines oder mehrerer Sensoren eines Sensorträgers
DE102023004317A1 (de) * 2022-11-14 2024-05-16 Sew-Eurodrive Gmbh & Co Kg Vorrichtung und Verfahren zur Kalibrierung einer Scanebene eines Laserscanners
WO2025170759A1 (en) * 2024-02-06 2025-08-14 Darsense, Inc. Sensor calibration systems and associated methods
US20260017824A1 (en) * 2024-07-12 2026-01-15 Caterpillar Inc. Techniques for extrinsic sensor calibration using mobile device

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JP2011117800A (ja) 2009-12-02 2011-06-16 Tokyo Denki Univ 車載レーダ点検装置とその方法
US20150134191A1 (en) 2013-11-14 2015-05-14 Hyundai Motor Company Inspection device of vehicle driver assistance systems
US20160161602A1 (en) 2014-12-09 2016-06-09 Toyota Motor Engineering & Manufacturing North America, Inc. Sensor calibration for autonomous vehicles
JP2017009574A (ja) 2015-06-24 2017-01-12 パナソニック株式会社 レーダ軸ずれ量算出装置およびレーダ軸ずれ量算出方法
US20170343654A1 (en) 2016-05-27 2017-11-30 Uber Technologies, Inc. Vehicle sensor calibration system
US20180075675A1 (en) 2016-09-13 2018-03-15 Hyundai Motor Company Apparatus for inspecting driver assistance system of vehicle and method for controlling the same
US20180231654A1 (en) 2017-02-16 2018-08-16 GM Global Technology Operations LLC Lidar-radar relative pose calibration
US20190204427A1 (en) 2017-12-28 2019-07-04 Lyft, Inc. Sensor calibration facility
US20190331482A1 (en) 2018-04-30 2019-10-31 BPG Sales and Technology Investments, LLC Vehicular alignment for sensor calibration
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KR102157993B1 (ko) * 2013-11-28 2020-09-21 현대모비스 주식회사 차량용 레이더 얼라인먼트 방법 및 시스템
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JP2010185757A (ja) 2009-02-12 2010-08-26 Toyota Motor Corp 軸調整装置及び方法
JP2011117800A (ja) 2009-12-02 2011-06-16 Tokyo Denki Univ 車載レーダ点検装置とその方法
US20150134191A1 (en) 2013-11-14 2015-05-14 Hyundai Motor Company Inspection device of vehicle driver assistance systems
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US20190204427A1 (en) 2017-12-28 2019-07-04 Lyft, Inc. Sensor calibration facility
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JP2020051793A (ja) 2018-09-25 2020-04-02 本田技研工業株式会社 センサ軸調整方法

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Publication number Publication date
CN114945839A (zh) 2022-08-26
US20220342055A1 (en) 2022-10-27
CN114945839B (zh) 2025-03-07
WO2021140863A1 (ja) 2021-07-15
JP2021110630A (ja) 2021-08-02

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