WO2018158073A1 - Calibration base, measuring device and method for calibrating driver assistance systems - Google Patents

Calibration base, measuring device and method for calibrating driver assistance systems Download PDF

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Publication number
WO2018158073A1
WO2018158073A1 PCT/EP2018/053525 EP2018053525W WO2018158073A1 WO 2018158073 A1 WO2018158073 A1 WO 2018158073A1 EP 2018053525 W EP2018053525 W EP 2018053525W WO 2018158073 A1 WO2018158073 A1 WO 2018158073A1
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WO
WIPO (PCT)
Prior art keywords
calibration
vehicle
measuring device
base
pattern
Prior art date
Application number
PCT/EP2018/053525
Other languages
German (de)
French (fr)
Inventor
Aleksandar Popovic
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2018158073A1 publication Critical patent/WO2018158073A1/en

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Classifications

    • 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
    • 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
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/143—One or more cameras on each side of a vehicle in the main embodiment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/30—Reference markings, reflector, scale or other passive device
    • G01B2210/303—Reference markings, reflector, scale or other passive device fixed to the ground or to the measuring station
    • 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

Definitions

  • the invention relates to a calibration base, a measuring device and a method for vehicle measurement, in particular for the calibration of
  • Motor vehicles increasingly have driver assistance systems, for example via a lane departure warning system, a lane change warning, a lane departure warning, a thermal imaging camera (night vision) and / or a parking aid.
  • driver assistance systems for example via a lane departure warning system, a lane change warning, a lane departure warning, a thermal imaging camera (night vision) and / or a parking aid.
  • the at least one camera of the driver assistance system provides a precise, consistent with the reality and correctly aligned to the vehicle image of the environment.
  • the cameras of the driver assistance system must be calibrated.
  • a camera-based system can be used, in which the orientation of the wheels on the rear axle of the vehicle with the aid of patterns that are plugged onto the hubs of a rear axle of the vehicle, is measured accurately.
  • a calibration base for vehicle measurement in particular for the calibration of driver assistance systems, has at least one positioning pattern which is designed so that it is possible for a measuring device arranged on the calibration base to unambiguously determine its current position on the calibration base on the basis of the positioning pattern.
  • a mobile measuring device for vehicle measurement in particular for the calibration of driver assistance systems, according to an embodiment of the invention is characterized in that it is able to uniquely determine its current position on a calibration bottom according to the invention formed on the calibration bottom at least one positioning pattern.
  • Embodiments of the invention also include a system for vehicle measurement, in particular for calibrating driver assistance systems with a calibration base according to the invention and at least one mobile measuring device according to an embodiment of the invention, and a method for determining the chassis geometry of a vehicle, in particular for calibrating driver assistance systems, the method comprising : to apply a vehicle to the calibration tray; to arrange at least one measuring device on the calibration tray; determine the position of the at least one measuring device on the calibration base by means of the at least one positioning pattern formed on the calibration base; at least one image comprising at least one area, in particular a wheel of the vehicle, to be received; and evaluate the at least one image to determine the chassis geometry of the vehicle.
  • a method for calibrating a driver assistance system comprises determining the chassis geometry of a vehicle as described above; to record at least one image of a calibration pattern formed on the calibration base by the driver assistance system; and to calibrate the driver assistance system on the basis of the thus determined chassis geometry and the at least one recorded image of the calibration pattern.
  • the at least one positioning pattern comprises a pattern, in particular a uniform grid and / or a dot pattern, which allows the local position of the measuring device on the
  • the at least one positioning pattern comprises at least one non-homogeneous element that makes it possible to determine the global position of the measuring device on the calibration base.
  • the at least one positioning pattern may comprise a non-homogeneous pattern, in particular a grid and / or a dot pattern with a variable grid constant.
  • the at least one positioning pattern is monochrome, in particular designed as a black / white pattern.
  • a monochrome pattern can also be captured with a low-cost black and white camera.
  • the positioning pattern is multicolored.
  • a multicolor positioning pattern may additionally be color coded
  • the positioning pattern may, in particular, contain additional information that makes it possible to determine the position of the measuring device on the calibration base with high accuracy.
  • the calibration tray has at least one
  • Calibration pattern which can be detected by the driver assistance system, in particular a camera of the driver assistance system, to the
  • the calibration tray has at least one replaceable element.
  • the replaceable element can in particular a
  • the calibration pattern can be easily changed by exchanging the at least one exchangeable element.
  • the calibration pattern can thus be easily adapted to different vehicle types and / or types of driver assistance systems.
  • the replaceable element may in particular be designed as a tile / plate which can be inserted into a corresponding recess which is formed in the calibration base.
  • the position of the calibration pattern with respect to the positioning pattern is predetermined Position of the recess clearly defined. This ensures that the calibration pattern is located at the correct position.
  • the calibration tray is designed as a carpet.
  • a carpet can be easily and conveniently laid out on a measuring station and, if necessary, also removed from the measuring station, especially if the space of the measuring station is required for other tasks.
  • the calibration floor / carpet is preferably designed so that it does not substantially, under the weight of a vehicle to be measured and in the usual temperature range at the measuring station, i. not outside a permissible tolerance range, deformed. In this way, it is ensured that the measurement results and the calibration based on the measurement results are not distorted by deforming the calibration base beyond permissible tolerances.
  • the calibration base is firmly applied to the bottom of the measuring station and / or integrated into the ground.
  • the patterns can in particular be painted on the bottom of the measuring station, imprinted or embedded in the ground.
  • a measuring device has at least one image recording device (camera), which is designed to receive at least one image of the calibration base.
  • camera image recording device
  • the measuring device also has at least one image recording device which is designed to accommodate at least one (partial) region of a vehicle arranged on the calibration floor.
  • the measuring device may comprise a single image pickup device, which is designed to record both images of the calibration base and images of the vehicle.
  • at least two image recording devices may be provided in the measuring device, of which at least one is in each case designed to record images of the calibration surface as and to record images of the vehicle.
  • an inventive system for vehicle measurement in particular for the calibration of driver assistance systems, at least two measuring devices, so that the wheels can be viewed on an axis of the vehicle simultaneously on both sides of the vehicle.
  • Figure 1 shows a schematic plan view
  • Figure 2 shows a schematic
  • FIG. 1 Front view of a measuring station 2 for vehicle measurement according to an embodiment of the invention with a vehicle to be measured 12 and two mobile measuring devices 10.
  • the measuring station 2 has in particular a calibration base 4. On a central region of the calibration base 4 is a lattice-shaped
  • Positioning pattern 6 is formed.
  • the positioning pattern 6 makes it possible for the mobile measuring devices 10 arranged on the calibration base 4 to determine their respective position on the calibration base 4 exactly.
  • the positioning pattern 6 is exemplified as a homogeneous grid, i. as a grid with a constant lattice constant, shown.
  • the positioning pattern 6 may also be another positioning pattern 6, in particular a dot pattern.
  • the positioning pattern 6 can in particular not homogeneous elements
  • the non-homogeneous elements 7a, 7b may in particular be designed such that they make it possible to roughly determine the position of the measuring devices 10, in particular to determine an area in which the respective measuring device 10 is arranged, while the homogeneous point or
  • Grid pattern 6 is formed to determine the position of the respective measuring device 10 within the predetermined range with high accuracy.
  • the grid or dot pattern 6 is not homogeneous, z. B. with a variable lattice constant and / or in different colors be formed so that each measuring device 10 can accurately determine their current position based on the local characteristics of the positioning pattern 6.
  • Position of the respective measuring device 10 can be accurately determined on the calibration tray 4.
  • the captured image of the vehicle 12, in particular the wheel 16 of the vehicle 12 makes it possible to determine the chassis geometry of the vehicle 12 exactly.
  • the measuring devices 10 may in particular be designed such that the image recording devices 14 are always aligned at a predetermined angle, for example parallel, to the plane of the calibration base 4.
  • the chassis geometry of the vehicle 12 can be determined either by means of a 3D
  • Models of the wheel 16 which is generated from the images taken by the image pickup devices 14, or based on the shadow done by the wheel 16 on the calibration base 4, in particular on the
  • Positioning pattern 6 raises. For this purpose, e.g. on the ceiling above the
  • Measuring station 2 a lighting device not shown in the figures may be provided, which illuminates the measuring station 2 and the vehicle 12 in a suitable manner.
  • each may
  • Measuring device 10 may be formed with at least two image pickup devices 14, at least one of which is provided for receiving an image of the positioning pattern 6 of the calibration base 4, while at least one further image pickup device 14 for receiving an image of the vehicle 12, in particular the wheel 16 of the vehicle 12 is provided and is aligned.
  • Positioning pattern 6 a plurality of calibration patterns 8 provided by at least one image recording device 18 of a driver assistance system installed in the vehicle 12 in order to calibrate the driver assistance system in conjunction with the values of the chassis geometry determined by the measuring device 10.
  • the calibration pattern 8 shown schematically in FIG. 1 can be any calibration pattern 8 shown schematically in FIG. 1 .
  • the calibration patterns 8 are therefore interchangeable.
  • the calibration pattern 8 can
  • the calibration base 4 can be designed in particular as exchangeable plates or elements of the calibration base 4. In this way, the calibration base 4 can be adapted by replacing the plates or elements to the respective manufacturer of the vehicle 12 or the calibration system.
  • the positioning pattern 6 can be firmly applied to the bottom of the measuring station 2, e.g. be painted on.
  • the calibration base 4 can be designed as a roll-out carpet, which in particular has recesses for receiving the exchangeable calibration pattern 8.
  • the calibration base 4 is preferably made of a material that does not deform beyond the permissible tolerances due to the weight of conventional vehicles 12 and in the range of the usual temperatures for the measuring station 2, so that the positioning pattern 6 is not distorted and among all

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a calibration base (4) for vehicle measurement, in particular for the calibration of driver assistance systems, which is provided with at least one positioning pattern (6) that allows a measuring device arranged on the calibration base (4) to clearly determine its current position on the calibration base (4) on the basis of the at least one positioning pattern (6) formed on the calibration base (4).

Description

Titel  title
Kalibrierboden, Messvorrichtung und Verfahren zur Kalibrierung von Calibration tray, measuring device and method for calibrating
Fahrerassistenzsystemen Driver assistance systems
Die Erfindung betrifft einen Kalibrierboden, eine Messvorrichtung und ein Verfahren zur Fahrzeugvermessung, insbesondere zur Kalibrierung von The invention relates to a calibration base, a measuring device and a method for vehicle measurement, in particular for the calibration of
Fahrerassistenzsystemen. Driver assistance systems.
Stand der Technik State of the art
Kraftfahrzeuge verfügen zunehmend über Fahrerassistenzsysteme, beispielsweise über einen Spurhalteassistenten, eine Spurwechselwarnung („lane change warning"), über eine Spurverlassenswarnung („lane departure warning"), über eine Wärmebildkamera („night vision") und/oder über eine Einparkhilfe. Motor vehicles increasingly have driver assistance systems, for example via a lane departure warning system, a lane change warning, a lane departure warning, a thermal imaging camera (night vision) and / or a parking aid.
Insbesondere bei optischen, d.h. kamerabasierten, Fahrerassistenzsystemen ist es erforderlich, dass die wenigstens eine Kamera des Fahrerassistenzsystems ein präzises, mit der Realität übereinstimmendes und korrekt auf das Fahrzeug ausgerichtetes Bild der Umgebung liefert. Hierfür müssen die Kameras des Fahrerassistenzsystems kalibriert werden. Dazu ist es insbesondere erforderlich, die geometrische Fahrachse des Fahrzeugs zu bestimmen. In particular, in optical, i. camera-based, driver assistance systems, it is necessary that the at least one camera of the driver assistance system provides a precise, consistent with the reality and correctly aligned to the vehicle image of the environment. For this, the cameras of the driver assistance system must be calibrated. For this purpose, it is particularly necessary to determine the geometric travel axis of the vehicle.
Hierfür kann beispielsweise ein kamerabasiertes System verwendet werden, bei dem die Ausrichtung der Räder an der Hinterachse des Fahrzeugs mit Hilfe von Mustern, die auf die Radnaben einer Hinterachse des Fahrzeugs aufgesteckt werden, genau vermessen wird. For this purpose, for example, a camera-based system can be used, in which the orientation of the wheels on the rear axle of the vehicle with the aid of patterns that are plugged onto the hubs of a rear axle of the vehicle, is measured accurately.
Die bisher bekannten Systeme zur Kalibrierung optischer Fahrerassistenzsysteme haben einen großen Platzbedarf. The previously known systems for calibrating optical driver assistance systems have a large footprint.
Es ist eine Aufgabe der vorliegenden Erfindung, den bei der Kalibrierung von optischen Fahrerassistenzsystemen benötigten Raum zu reduzieren. It is an object of the present invention to reduce the space required in the calibration of driver assistance optical systems.
Offenbarung der Erfindung Gemäß einem Ausführungsbeispiel der Erfindung hat ein Kalibrierboden zur Fahrzeugvermessung, insbesondere zur Kalibrierung von Fahrerassistenzsystemen, wenigstens ein Positionierungsmuster, das so ausgebildet ist, dass es einer auf dem Kalibrierboden angeordneten Messvorrichtung möglich ist, ihre aktuelle Position auf dem Kalibrierboden anhand des Positionierungsmusters eindeutig zu bestimmen. Disclosure of the invention According to one exemplary embodiment of the invention, a calibration base for vehicle measurement, in particular for the calibration of driver assistance systems, has at least one positioning pattern which is designed so that it is possible for a measuring device arranged on the calibration base to unambiguously determine its current position on the calibration base on the basis of the positioning pattern.
Eine mobile Messvorrichtung zur Fahrzeugvermessung, insbesondere zur Kalibrierung von Fahrerassistenzsystemen, ist gemäß einem Ausführungsbeispiel der Erfindung dadurch gekennzeichnet, dass sie in der Lage ist, ihre aktuelle Position auf einem erfindungsgemäßen Kalibrierboden anhand des auf dem Kalibrierboden ausgebildeten wenigstens einen Positionierungsmusters eindeutig zu bestimmen. A mobile measuring device for vehicle measurement, in particular for the calibration of driver assistance systems, according to an embodiment of the invention is characterized in that it is able to uniquely determine its current position on a calibration bottom according to the invention formed on the calibration bottom at least one positioning pattern.
Ausführungsbeispiele der Erfindung umfassen auch ein System zur Fahrzeugvermessung, insbesondere zur Kalibrierung von Fahrerassistenzsystemen mit einem erfindungsgemäßen Kalibrierboden und wenigstens einer mobilen Messvorrichtung gemäß einem Ausführungsbeispiel der Erfindung, sowie ein Verfahren zum Bestimmen der Fahrwerksgeometrie eine Fahrzeugs, insbesondere zum Kalibrieren von Fahrerassistenzsystemen, wobei das Verfahren umfasst: ein Fahrzeug auf den Kalibrierboden aufzubringen; wenigstens einer Messvorrichtung auf dem Kalibrierboden anzuordnen; die Position der wenigstens einen Messvorrichtung auf dem Kalibrierboden mit Hilfe des wenigstens einen auf dem Kalibrierboden ausgebildeten Positionierungsmusters zu bestimmen; wenigstens ein Bild, das wenigstens einen Bereich, insbesondere ein Rad, des Fahrzeugs, umfasst, aufzunehmen; und das wenigstens eine Bild auszuwerten, um die Fahrwerksgeometrie des Fahrzeugs zu bestimmen. Embodiments of the invention also include a system for vehicle measurement, in particular for calibrating driver assistance systems with a calibration base according to the invention and at least one mobile measuring device according to an embodiment of the invention, and a method for determining the chassis geometry of a vehicle, in particular for calibrating driver assistance systems, the method comprising : to apply a vehicle to the calibration tray; to arrange at least one measuring device on the calibration tray; determine the position of the at least one measuring device on the calibration base by means of the at least one positioning pattern formed on the calibration base; at least one image comprising at least one area, in particular a wheel of the vehicle, to be received; and evaluate the at least one image to determine the chassis geometry of the vehicle.
Ein Verfahren zum Kalibrieren eines Fahrerassistenzsystems umfasst gemäß einem Ausführungsbeispiel der Erfindung, die Fahrwerksgeometrie eines Fahrzeugs wie zuvor beschrieben zu bestimmen; wenigstens ein Bild eines auf dem Kalibrierboden ausgebildeten Kalibriermusters durch das Fahrerassistenzsystem aufzunehmen; und das Fahrerassistenzsystem anhand der so bestimmten Fahrwerksgeometrie und des wenigstens einen aufgenommenen Bildes des Kalibriermusters zu kalibrieren. A method for calibrating a driver assistance system according to an embodiment of the invention comprises determining the chassis geometry of a vehicle as described above; to record at least one image of a calibration pattern formed on the calibration base by the driver assistance system; and to calibrate the driver assistance system on the basis of the thus determined chassis geometry and the at least one recorded image of the calibration pattern.
In einer Ausführungsform umfasst das wenigstens eine Positionierungsmuster ein Muster, insbesondere ein gleichmäßiges Gitter- und/oder ein Punktmuster, das es ermöglicht, die lokale Position der Messvorrichtung auf dem In one embodiment, the at least one positioning pattern comprises a pattern, in particular a uniform grid and / or a dot pattern, which allows the local position of the measuring device on the
Kalibrierboden mit hoher Genauigkeit zu bestimmen. Calibration bottom to determine with high accuracy.
In einer Ausführungsform umfasst das wenigstens eine Positionierungsmuster wenigstens ein nicht homogenes Element, das es ermöglicht, die globale Position der Messvorrichtung auf dem Kalibrierboden zu bestimmen. Alternativ oder zusätzlich kann das wenigstens eine Positionierungsmuster ein nicht homogenes Muster, insbesondere ein Gitter- und/oder ein Punktmuster mit einer variablen Gitterkonstante, umfassen. In one embodiment, the at least one positioning pattern comprises at least one non-homogeneous element that makes it possible to determine the global position of the measuring device on the calibration base. Alternatively or additionally, the at least one positioning pattern may comprise a non-homogeneous pattern, in particular a grid and / or a dot pattern with a variable grid constant.
In einer Ausführungsform ist das wenigstens eine Positionierungsmuster einfarbig, insbesondere als schwarz/weiss-Muster ausgebildet. Ein einfarbiges Muster kann auch mit einer kostengünstigen schwarz/weiss- Kamera erfasst werden. In one embodiment, the at least one positioning pattern is monochrome, in particular designed as a black / white pattern. A monochrome pattern can also be captured with a low-cost black and white camera.
In einer Ausführungsform ist das Positionierungsmuster mehrfarbig ausgebildet. Ein mehrfarbiges Positionierungsmuster kann zusätzlich farbkodierte In one embodiment, the positioning pattern is multicolored. A multicolor positioning pattern may additionally be color coded
Informationen enthalten. Das Positionierungsmuster kann insbesondere zusätzliche Informationen enthalten, die es ermöglichen, die Position der Messvorrichtung auf dem Kalibrierboden mit hoher Genauigkeit zu bestimmen. Information included. The positioning pattern may, in particular, contain additional information that makes it possible to determine the position of the measuring device on the calibration base with high accuracy.
In einer Ausführungsform weist der Kalibrierboden wenigstens ein In one embodiment, the calibration tray has at least one
Kalibriermuster auf, das von dem Fahrerassistenzsystem, insbesondere einer Kamera des Fahrerassistenzsystems, erfasst werden kann, um das Calibration pattern, which can be detected by the driver assistance system, in particular a camera of the driver assistance system, to the
Fahrerassistenzsystem zu kalibrieren. Driver assistance system to calibrate.
In einer Ausführungsform weist der Kalibrierboden wenigstens ein austauschbares Element auf. Das austauschbare Element kann insbesondere ein In one embodiment, the calibration tray has at least one replaceable element. The replaceable element can in particular a
Kalibriermuster aufweisen. Dadurch kann das Kalibriermuster durch Austauschen des wenigstens einen austauschbaren Elements einfach verändert werden. Das Kalibriermuster kann so auf einfache Weise an verschiedene Fahrzeugtypen und/oder Typen von Fahrerassistenzsystemen angepasst werden. Have calibration pattern. Thereby, the calibration pattern can be easily changed by exchanging the at least one exchangeable element. The calibration pattern can thus be easily adapted to different vehicle types and / or types of driver assistance systems.
Das austauschbare Element kann insbesondere als Kachel/Platte ausgebildet sein, die in eine entsprechende Aussparung, die in dem Kalibrierboden ausgebildet ist, eingesetzt werden kann. In diesem Fall ist die Position des Kalibriermusters in Bezug auf das Positionierungsmuster durch die vorgegebene Position der Aussparung eindeutig festgelegt. Auf diese Weise ist sichergestellt, dass das Kalibriermuster an der korrekten Position angeordnet ist. The replaceable element may in particular be designed as a tile / plate which can be inserted into a corresponding recess which is formed in the calibration base. In this case, the position of the calibration pattern with respect to the positioning pattern is predetermined Position of the recess clearly defined. This ensures that the calibration pattern is located at the correct position.
In einer Ausführungsform ist der Kalibrierboden als Teppich ausgebildet. Ein Teppich kann einfach und bequem auf einem Messplatz ausgelegt und bei Bedarf auch wieder vom Messplatz entfernt werden, insbesondere wenn der Raum des Messplatzes für andere Aufgaben benötigt wird. In one embodiment, the calibration tray is designed as a carpet. A carpet can be easily and conveniently laid out on a measuring station and, if necessary, also removed from the measuring station, especially if the space of the measuring station is required for other tasks.
Der Kalibrierboden / Teppich ist vorzugsweise so ausgebildet, dass er sich unter dem Gewicht eines zu vermessenden Fahrzeugs und in dem am Messplatz üblichen Temperaturbereich nicht wesentlich, d.h. nicht außerhalb eines zulässigen Toleranzbereiches, verformt. Auf diese Weise wird sichergestellt, dass die Messergebnisse und die auf den Messergebnissen beruhende Kalibrierung nicht durch Verformen des Kalibrierbodens über zulässige Toleranzen hinaus verfälscht werden. The calibration floor / carpet is preferably designed so that it does not substantially, under the weight of a vehicle to be measured and in the usual temperature range at the measuring station, i. not outside a permissible tolerance range, deformed. In this way, it is ensured that the measurement results and the calibration based on the measurement results are not distorted by deforming the calibration base beyond permissible tolerances.
In einer anderen Ausführungsform ist der Kalibrierboden fest auf den Boden des Messplatzes aufgebracht und/oder in den Boden integriert. Die Muster können insbesondere auf den Boden des Messplatzes aufgemalt, aufgedruckt oder in den Boden eingelassen sein. In another embodiment, the calibration base is firmly applied to the bottom of the measuring station and / or integrated into the ground. The patterns can in particular be painted on the bottom of the measuring station, imprinted or embedded in the ground.
In einer Ausführungsform weist eine erfindungsgemäße Messvorrichtung wenigstens eine Bildaufnahmevorrichtung (Kamera) auf, die zur Aufnahme wenigstens eines Bildes des Kalibrierbodens ausgebildet ist. In one embodiment, a measuring device according to the invention has at least one image recording device (camera), which is designed to receive at least one image of the calibration base.
Die Messvorrichtung weist auch wenigstens eine Bildaufnahmevorrichtung auf, die zur Aufnahme wenigstens eines (Teil-) Bereichs eines auf dem Kalibrierboden angeordneten Fahrzeugs ausgebildet ist. The measuring device also has at least one image recording device which is designed to accommodate at least one (partial) region of a vehicle arranged on the calibration floor.
Die Messvorrichtung kann eine einzige Bildaufnahmevorrichtung aufweisen, die ausgebildet ist, sowohl Bilder des Kalibrierbodens als auch Bilder des Fahrzeugs aufzunehmen. Alternativ können in der Messvorrichtung wenigstens zwei Bildaufnahmevorrichtungen vorgesehen sein, von denen jeweils wenigstens eine zur Aufnahme von Bildern des Kalibrierbodens als und zur Aufnahme von Bildern des Fahrzeugs ausgebildet ist. The measuring device may comprise a single image pickup device, which is designed to record both images of the calibration base and images of the vehicle. Alternatively, at least two image recording devices may be provided in the measuring device, of which at least one is in each case designed to record images of the calibration surface as and to record images of the vehicle.
In einer Ausführungsform weist ein erfindungsgemäßes System zur Fahrzeugvermessung, insbesondere zur Kalibrierung von Fahrerassistenzsystemen, wenigstens zwei Messvorrichtungen auf, so dass die Räder an einer Achse des Fahrzeugs gleichzeitig auf beiden Seiten des Fahrzeugs betrachtet werden können. Figurenbeschreibung In one embodiment, an inventive system for vehicle measurement, in particular for the calibration of driver assistance systems, at least two measuring devices, so that the wheels can be viewed on an axis of the vehicle simultaneously on both sides of the vehicle. figure description
Im Folgenden wird ein Ausführungsbeispiel der Erfindung unter Bezugnahme auf die beigefügten Figuren näher beschrieben. Figur 1 zeigt eine schematische Draufsicht und Figur 2 zeigt eine schematischeIn the following an embodiment of the invention will be described in more detail with reference to the accompanying figures. Figure 1 shows a schematic plan view and Figure 2 shows a schematic
Frontansicht eines Messplatzes 2 zur Fahrzeugvermessung gemäß einem Ausführungsbeispiel der Erfindung mit einem zu vermessenden Fahrzeug 12 und zwei mobilen Messvorrichtungen 10. Der Messplatz 2 weist insbesondere einen Kalibrierboden 4 auf. Auf einem zentralen Bereich des Kalibrierbodens 4 ist ein gitterförmig dargestelltes Front view of a measuring station 2 for vehicle measurement according to an embodiment of the invention with a vehicle to be measured 12 and two mobile measuring devices 10. The measuring station 2 has in particular a calibration base 4. On a central region of the calibration base 4 is a lattice-shaped
Positionierungsmuster 6 ausgebildet. Das Positionierungsmuster 6 ermöglicht es den auf dem Kalibrierboden 4 angeordneten mobilen Messvorrichtungen 10, ihre jeweilige Position auf dem Kalibrierboden 4 exakt zu bestimmen. Positioning pattern 6 is formed. The positioning pattern 6 makes it possible for the mobile measuring devices 10 arranged on the calibration base 4 to determine their respective position on the calibration base 4 exactly.
In dem in der Figur 1 gezeigten Ausführungsbeispiel ist das Positionierungsmuster 6 beispielhaft als homogenes Gitter, d.h. als Gitter mit einer konstanten Gitterkonstante, dargestellt. Das Positionierungsmuster 6 kann jedoch auch ein anderes Positionierungsmuster 6, insbesondere ein Punktmuster sein. Das Positionierungsmuster 6 kann insbesondere nicht homogene ElementeIn the embodiment shown in Figure 1, the positioning pattern 6 is exemplified as a homogeneous grid, i. as a grid with a constant lattice constant, shown. However, the positioning pattern 6 may also be another positioning pattern 6, in particular a dot pattern. The positioning pattern 6 can in particular not homogeneous elements
7a, 7b aufweisen, die es den mobilen Messvorrichtungen 10 ermöglichen, ihre Position auf dem Positionierungsmuster 6 exakt zu bestimmen. 7a, 7b, which allow the mobile measuring devices 10 to determine their position on the positioning pattern 6 exactly.
Die nicht-homogenen Elemente 7a, 7b können insbesondere so ausgebildet sein, dass sie es ermöglichen, die Position der Messvorrichtungen 10 grob zu bestimmen, insbesondere einen Bereich zu bestimmen, in dem die jeweilige Messvorrichtung 10 angeordnet ist, während das homogene Punkt- oder The non-homogeneous elements 7a, 7b may in particular be designed such that they make it possible to roughly determine the position of the measuring devices 10, in particular to determine an area in which the respective measuring device 10 is arranged, while the homogeneous point or
Gittermuster 6 ausgebildet ist, die Position der jeweiligen Messvorrichtung 10 innerhalb des zuvor bestimmten Bereiches mit hoher Genauigkeit zu bestimmen. Grid pattern 6 is formed to determine the position of the respective measuring device 10 within the predetermined range with high accuracy.
Alternativ oder zusätzlich kann das Gitter- bzw. Punktmuster 6 nicht homogen, z. B. mit einer variablen Gitterkonstante und/oder in verschiedenen Farben ausgebildet sein, so dass jede Messvorrichtung 10 ihre aktuelle Position anhand der lokalen Eigenschaften des Positionierungsmusters 6 exakt bestimmen kann. Alternatively or additionally, the grid or dot pattern 6 is not homogeneous, z. B. with a variable lattice constant and / or in different colors be formed so that each measuring device 10 can accurately determine their current position based on the local characteristics of the positioning pattern 6.
Die Messvorrichtungen 10, die wie in der Figur 2 gezeigt, z.B. als auf dem Kalibrierboden 5 bewegliche Pylone ausgebildet sein können, weisen jeweils wenigstens eine Bildaufnahmevorrichtung 14 auf, die ausgebildet ist, Bilder eines Bereichs des Kalibrierbodens 4, insbesondere des Positionierungsmusters 6, sowie des Fahrzeugs 12 aufzunehmen. Anhand des aufgenommenen Bildes des Positionierungsmusters 6 kann dieThe measuring devices 10, as shown in Figure 2, e.g. When movable pylons can be formed on the calibration base 5, in each case at least one image recording device 14, which is designed to record images of a region of the calibration base 4, in particular of the positioning pattern 6, as well as the vehicle 12. On the basis of the recorded image of the positioning pattern 6, the
Position der jeweiligen Messvorrichtung 10 auf dem Kalibrierboden 4 exakt bestimmt werden. Position of the respective measuring device 10 can be accurately determined on the calibration tray 4.
Das aufgenommene Bild des Fahrzeugs 12, insbesondere des Rades 16 des Fahrzeugs 12 ermöglicht es, die Fahrwerksgeometrie des Fahrzeugs 12 exakt zu bestimmen. Die Messvorrichtungen 10 können insbesondere so ausgebildet sein, dass die Bildaufnahmevorrichtungen 14 immer in einem vorgegebenen Winkel, beispielsweise parallel, zur Ebene des Kalibrierbodens 4 ausgerichtet sind. Die Fahrwerksgeometrie des Fahrzeugs 12 kann entweder mithilfe eines 3D-The captured image of the vehicle 12, in particular the wheel 16 of the vehicle 12 makes it possible to determine the chassis geometry of the vehicle 12 exactly. The measuring devices 10 may in particular be designed such that the image recording devices 14 are always aligned at a predetermined angle, for example parallel, to the plane of the calibration base 4. The chassis geometry of the vehicle 12 can be determined either by means of a 3D
Models des Rades 16, das aus den von den Bildaufnahmevorrichtungen 14 aufgenommenen Bildern erzeugt wird, oder anhand des Schattens erfolgen, den das Rad 16 auf dem Kalibrierboden 4, insbesondere auf dem Models of the wheel 16, which is generated from the images taken by the image pickup devices 14, or based on the shadow done by the wheel 16 on the calibration base 4, in particular on the
Positionierungsmuster 6, wirft. Dafür kann, z.B. an der Decke über dem Positioning pattern 6, raises. For this purpose, e.g. on the ceiling above the
Messplatz 2, eine in den Figuren nicht gezeigte Beleuchtungsvorrichtung vorgesehen sein, die den Messplatz 2 und das Fahrzeug 12 auf geeignete Art und Weise beleuchtet. Measuring station 2, a lighting device not shown in the figures may be provided, which illuminates the measuring station 2 and the vehicle 12 in a suitable manner.
In einem nicht in den Figuren gezeigten Ausführungsbeispiel kann jede In an embodiment not shown in the figures, each may
Messvorrichtung 10 jeweils mit wenigstens zwei Bildaufnahmevorrichtungen 14 ausgebildet sein, von denen wenigstens eine zur Aufnahme eines Bildes des Positionierungsmusters 6 des Kalibrierbodens 4 vorgesehen ist, während wenigstens eine weitere Bildaufnahmevorrichtung 14 zur Aufnahme eines Bildes des Fahrzeugs 12, insbesondere des Rades 16 des Fahrzeugs 12 vorgesehen und ausgerichtet ist. Measuring device 10 may be formed with at least two image pickup devices 14, at least one of which is provided for receiving an image of the positioning pattern 6 of the calibration base 4, while at least one further image pickup device 14 for receiving an image of the vehicle 12, in particular the wheel 16 of the vehicle 12 is provided and is aligned.
Auf dem Kalibrierboden 4 sind zusätzlich, insbesondere außerhalb des On the calibration base 4 are in addition, in particular outside the
Positionierungsmusters 6, mehrere Kalibriermuster 8 vorgesehen, die von wenigstens einer Bildaufnahmevorrichtung 18 eines in dem Fahrzeug 12 installierten Fahrerassistenzsystems aufgenommen werden, um das Fahrerassistenzsystem in Verbindung mit den durch die Messvorrichtung 10 bestimmten Werten der Fahrwerksgeometrie zu kalibrieren. Positioning pattern 6, a plurality of calibration patterns 8 provided by at least one image recording device 18 of a driver assistance system installed in the vehicle 12 in order to calibrate the driver assistance system in conjunction with the values of the chassis geometry determined by the measuring device 10.
Die in der Figur 1 schematisch dargestellten Kalibriermuster 8 können The calibration pattern 8 shown schematically in FIG. 1 can
herstellerspezifisch sein. In einem Ausführungsbeispiel der Erfindung sind die Kalibriermuster 8 daher austauschbar. Die Kalibriermuster 8 können be manufacturer specific. In one embodiment of the invention, the calibration patterns 8 are therefore interchangeable. The calibration pattern 8 can
insbesondere als austauschbare Platten bzw. Elemente des Kalibrierbodens 4 ausgebildet sein. Auf diese Weise kann der Kalibrierboden 4 durch Austausch der Platten bzw. Elemente an den jeweiligen Hersteller des Fahrzeugs 12 bzw. des Kalibriersystems angepasst werden. be designed in particular as exchangeable plates or elements of the calibration base 4. In this way, the calibration base 4 can be adapted by replacing the plates or elements to the respective manufacturer of the vehicle 12 or the calibration system.
Das Positionierungsmuster 6 kann fest auf den Boden des Messplatzes 2 aufgebracht, z.B. aufgemalt sein. Alternativ kann der Kalibrierboden 4 als ausrollbarer Teppich ausgebildet sein, der insbesondere Aussparungen zur Aufnahme der austauschbaren Kalibriermuster 8 aufweist. The positioning pattern 6 can be firmly applied to the bottom of the measuring station 2, e.g. be painted on. Alternatively, the calibration base 4 can be designed as a roll-out carpet, which in particular has recesses for receiving the exchangeable calibration pattern 8.
Der Kalibrierboden 4 ist vorzugsweise aus einem Material gefertigt, das sich durch das Gewicht üblicher Fahrzeuge 12 und im Bereich der für den Messplatz 2 üblichen Temperaturen nicht über zulässige Toleranzen hinaus verformt, so dass das Positionierungsmuster 6 nicht verzerrt wird und unter allen The calibration base 4 is preferably made of a material that does not deform beyond the permissible tolerances due to the weight of conventional vehicles 12 and in the range of the usual temperatures for the measuring station 2, so that the positioning pattern 6 is not distorted and among all
Betriebsbedingungen eine hinreichend genaue Bestimmung der Positionen der Messvorrichtungen 10 ermöglicht. Operating conditions allows a sufficiently accurate determination of the positions of the measuring devices 10.

Claims

Patentansprüche claims
1. Kalibrierboden (4) zur Fahrzeugvermessung, insbesondere zur Kalibrierung von Fahrerassistenzsystemen, 1. Calibration base (4) for vehicle measurement, in particular for the calibration of driver assistance systems,
5 dadurch gekennzeichnet, dass der Kalibrierboden (4) mit wenigstens einem Positionierungsmuster (6) ausgebildet ist, das es einer auf dem Kalibrierboden (4) angeordneten Messvorrichtung (10) ermöglicht, ihre Position auf dem Kalibrierboden (4) anhand des auf dem Kalibrierboden (4) ausgebildeten wenigstens einen Positionierungsmusters (6) eindeutig zu bestimmen. o  5 characterized in that the calibration base (4) is formed with at least one positioning pattern (6) which allows a measuring device (10) arranged on the calibration base (4) to determine its position on the calibration base (4) on the basis of the calibration base (4). 4) at least one positioning pattern (6) to be determined uniquely. O
2. Kalibrierboden (4) nach Anspruch 1, wobei das wenigstens eine Positionierungsmuster (6) ein Gitter- und/oder Punktmuster umfasst.  2. calibration base (4) according to claim 1, wherein the at least one positioning pattern (6) comprises a grid and / or dot pattern.
3. Kalibrierboden (4) nach Anspruch 1 oder 2, wobei das wenigstens eine5 Positionierungsmuster (6) ein homogenes Positionierungsmuster (6) ist The calibration tray (4) according to claim 1 or 2, wherein the at least one positioning pattern (6) is a homogeneous positioning pattern (6)
4. Kalibrierboden (4) nach einem der vorangehenden Ansprüche, wobei das wenigstens eine Positionierungsmuster (6) wenigstens ein nicht homogenes Element (7a, 7b) aufweist.4. calibration base (4) according to one of the preceding claims, wherein the at least one positioning pattern (6) has at least one non-homogeneous element (7a, 7b).
0 0
5. Kalibrierboden (4) nach einem der vorangehenden Ansprüche, wobei der Kalibrierboden (4) wenigstens ein Kalibriermuster aufweist, wobei das Kalibriermuster insbesondere auf einem austauschbaren Element (8) des Kalibrierbodens (4) ausgebildet ist. 5. calibration base (4) according to any one of the preceding claims, wherein the calibration base (4) has at least one calibration pattern, wherein the calibration pattern is formed in particular on an exchangeable element (8) of the calibration base (4).
5 5
6. Kalibrierboden (4) nach einem der vorangehenden Ansprüche, wobei der Kalibrierboden (4) als Teppich ausgebildet ist.  6. calibration tray (4) according to any one of the preceding claims, wherein the calibration tray (4) is designed as a carpet.
7. Mobile Messvorrichtung (10) zur Fahrzeugvermessung, insbesondere 0 zur Kalibrierung von Fahrerassistenzsystemen, dadurch gekennzeichnet, dass die Messvorrichtung (10) ausgebildet ist, ihre Position auf einem Kalibrierboden (4) nach einem der vorangehenden Ansprüche anhand des auf dem Kalibrierboden (4) ausgebildeten wenigstens einen Positionierungsmusters (6) eindeutig zu bestimmen. 7. Mobile measuring device (10) for vehicle measurement, in particular 0 for the calibration of driver assistance systems, characterized in that the measuring device (10) is formed, its position on a calibration base (4) according to one of the preceding claims on the basis of the calibration (4) trained at least one positioning pattern (6) to determine clearly.
8. Mobile Messvorrichtung (10) nach Anspruch 7, wobei die Messvorrichtung (10) wenigstens eine Bildaufnahmevorrichtung (14) aufweist, die zur Aufnahme eines Bildes des Kalibrierbodens (4) ausgebildet ist, und wobei die Messvorrichtung (10) wenigstens eine Bildaufnahmevorrichtung (14) aufweist, die zur Aufnahme eines auf dem Kalibrierboden (4) angeordneten Fahrzeugs ausgebildet ist. 8. Mobile measuring device (10) according to claim 7, wherein the measuring device (10) comprises at least one image pickup device (14), the Recording of an image of the calibration base (4) is formed, and wherein the measuring device (10) has at least one image pickup device (14) which is adapted to receive a vehicle arranged on the calibration bottom (4).
9. System zur Fahrzeugvermessung, insbesondere zur Kalibrierung von Fahrerassistenzsystemen, mit 9. System for vehicle measurement, in particular for the calibration of driver assistance systems, with
einem Kalibrierboden (4) nach einem der vorangehenden Ansprüche 1 bis 6, und  a calibration base (4) according to one of the preceding claims 1 to 6, and
wenigstens einer Messvorrichtung (10) nach einem der Ansprüche 7 oder 8.  at least one measuring device (10) according to one of claims 7 or 8.
10. System nach Anspruch 9, wobei das System wenigstens zwei Messvorrichtungen (10) nach einem der Ansprüche 7 oder 8 aufweist. 10. The system of claim 9, wherein the system comprises at least two measuring devices (10) according to one of claims 7 or 8.
11. Verfahren zum Bestimmen der Fahrwerksgeometrie eines Fahrzeugs (10), insbesondere zur Kalibrierung von Fahrerassistenzsystemen mit einem System nach Anspruch 9 oder 10, wobei das Verfahren umfasst: 11. A method for determining the chassis geometry of a vehicle (10), in particular for calibrating driver assistance systems with a system according to claim 9 or 10, the method comprising:
- Aufbringen des Fahrzeugs (10) auf den Kalibrierboden (4); - applying the vehicle (10) to the calibration base (4);
- Anordnen wenigstens einer Messvorrichtung (10) auf dem Kalibrierboden (4); Arranging at least one measuring device (10) on the calibration base (4);
- Bestimmen der Position der wenigstens einen Messvorrichtung (10) auf dem Kalibrierboden (4) anhand des wenigstens einen auf dem Kalibrierboden (4) ausgebildeten Positionierungsmusters (6); - Determining the position of the at least one measuring device (10) on the calibration base (4) based on the at least one on the calibration bottom (4) formed positioning pattern (6);
- Aufnehmen wenigstens eines Bildes, das wenigstens einen Bereich des Fahrzeugs (10), insbesondere ein Rad (16) des Fahrzeugs (10), umfasst; und - taking at least one image comprising at least a portion of the vehicle (10), in particular a wheel (16) of the vehicle (10); and
- Bestimmen der Fahrwerksgeometrie des Fahrzeugs (10) durch Auswerten des wenigstens einen aufgenommenen Bildes. - Determining the chassis geometry of the vehicle (10) by evaluating the at least one recorded image.
12. Verfahren zum Kalibrieren eines Fahrerassistenzsystems, wobei das Verfahren umfasst: 12. A method of calibrating a driver assistance system, the method comprising:
- Bestimmen der Fahrwerksgeometrie eines Fahrzeugs (10) gemäß Anspruch - Aufnehmen wenigstens eines Bildes eines auf dem Kalibrierboden (4) ausgebildeten Kalibriermusters (8) durch das Fahrerassistenzsystem; und - Kalibrieren des Fahrerassistenzsystems anhand der bestimmten Fahrwerks- geometrie und des wenigstens einen aufgenommenen Bildes des - Determining the chassis geometry of a vehicle (10) according to claim - taking at least one image of a calibration pattern (8) formed on the calibration base (4) by the driver assistance system; and - calibrating the driver assistance system based on the determined chassis geometry and the at least one recorded image of the
Kalibriermusters (8). Calibration pattern (8).
PCT/EP2018/053525 2017-03-02 2018-02-13 Calibration base, measuring device and method for calibrating driver assistance systems WO2018158073A1 (en)

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