WO2021190823A1 - Method and device for calibrating at least one radar sensor - Google Patents

Method and device for calibrating at least one radar sensor Download PDF

Info

Publication number
WO2021190823A1
WO2021190823A1 PCT/EP2021/053847 EP2021053847W WO2021190823A1 WO 2021190823 A1 WO2021190823 A1 WO 2021190823A1 EP 2021053847 W EP2021053847 W EP 2021053847W WO 2021190823 A1 WO2021190823 A1 WO 2021190823A1
Authority
WO
WIPO (PCT)
Prior art keywords
calibration object
radar sensor
vehicle
calibration
radar
Prior art date
Application number
PCT/EP2021/053847
Other languages
German (de)
French (fr)
Inventor
Bence ERDEI
Gergely Dian
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 WO2021190823A1 publication Critical patent/WO2021190823A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • 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
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/75—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors
    • G01S13/751—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors wherein the responder or reflector radiates a coded signal
    • 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
    • G01S7/4095—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder the external reference signals being modulated, e.g. rotating a dihedral reflector or modulating a transponder for simulation of a Doppler echo

Definitions

  • the invention relates to a method for calibrating at least one radar sensor of a vehicle according to the preamble of claim 1.
  • the invention also relates to a device for carrying out the method.
  • the invention can be used in particular in autonomous or partially autonomous vehicles which are usually equipped with radar sensors as environment sensors.
  • radar sensors can be found, for example, in braking and lane change assistance systems of vehicles.
  • a method for automatically calibrating a radar sensor of a vehicle is known from the laid-open specification DE 10 2018 203 941 A1, for example, in which the vehicle is moved with the aid of a means of transport along a route past a reflector for radar waves.
  • the reflector serves as a calibration object. While the vehicle is moving along the route, the radar sensor Ra darwellen in the direction of the reflector, which are reflected by the reflector and received again by the radar sensor.
  • the position and / or alignment of the radar sensor relative to the reflector is determined from the received radar waves or who, with the help of geometric calculations, is determined at different times. ten, that is, at different vehicle positions.
  • the radar sensor is spatially calibrated, with a lateral shift and / or a deviation in the alignment of the radar sensor relative to a central axis of the vehicle being determined.
  • the distance and / or the alignment of the center axis of the vehicle with respect to the reflector is or are known. This is the case when a conveyor belt is used as the transport medium, the position of which is specified in relation to the reflector.
  • the position of the vehicle in relation to the reflector is given.
  • a complex alignment of the vehicle or the sensor in relation to the reflector can thus be dispensed with.
  • the present invention is based on the object of further increasing the degree of automation in the calibration of at least one radar sensor of a vehicle. Furthermore, the calibration of a large number of radar sensors of a vehicle is to be simplified, which are arranged in different positions and in different angular positions with respect to the central axis of the vehicle. Modern vehicles already have five to ten radar sensors, all of which have to be calibrated.
  • a method for calibrating at least one radar sensor of a vehicle in which, with the aid of the radar sensor, radar waves are transmitted in the direction of a calibration object and received again.
  • the calibration object is moved relative to the vehicle within a defined space in which the vehicle has been positioned beforehand, so that the position of the calibration object changes in space, the position of the calibration object in space being known at all times, so that on the basis of this information as well as the previously determined or the position of the vehicle and / or the radar sensor that is already known, the spatial calibration of the radar sensor can be carried out.
  • the calibration object can be optimally aligned with the radar sensor to be calibrated.
  • a large number of measurements can be carried out in a short time. All of this helps increase the accuracy of the calibration.
  • only a single calibration object is required to calibrate a large number of radar sensors.
  • the individual calibration processes are then preferably carried out one after the other with the same calibration object.
  • the space within which the calibration object is moved when the at least one radar sensor is calibrated is preferably defined by a calibration system that has the calibration object.
  • the calibration object is also moved in space with the aid of the calibration system. This ensures that the current position of the calibration object is known at all times.
  • the calibration system can have a rail system to which the calibration object is attached so that it can be moved in all three spatial directions with the aid of the rail system.
  • the calibration object be moved, rotated and / or tilted in space in all three spatial directions.
  • the position of the calibration object in space is defined by 6D position data.
  • the center of the rear axle of the vehicle is preferably used as a reference point.
  • the central axis of the vehicle runs through this point, so that the angular position of the at least one radar sensor in relation to the central axis of the vehicle can also be determined in this way.
  • the spatial position of the at least one radar sensor can also be determined using a model, for example using a CAD model. The exact position and the exact alignment or angular position of the respective radar sensor can be taken from the model.
  • the center of the rear axle and / or the center axis of the vehicle can in turn serve as a reference point.
  • the calibration object preferably with the aid of an antenna, receive radar waves, process them and send them back to the radar sensor. Before processing, the radar waves are preferably converted into an electrical signal, as this makes processing easier. Then, i.e. before sending it back, the electrical signal is converted back into radar waves.
  • the antenna of the calibration object which is preferably provided, simplifies the alignment with respect to the radar sensor to be calibrated. A central point of the antenna can serve as a reference point for determining the exact position of the calibration object in space.
  • the calibration object sends the received radar waves back to the radar sensor with at least one changed parameter, for example with a changed frequency and / or amplitude.
  • the processing of the received radar signals can accordingly also include a change in at least one parameter of the radar waves. For example, the distance and / or the speed can be changed. In this way, different types of sensors can be responded to.
  • a calibration object simulator is advantageously used as the calibration object. With its help, long distances and / or high speeds in particular can be simulated. There can be two reasons for long distances. On the one hand, in order to minimize the influence of a housing of the calibration object simulator, which is usually made of metal, and / or its fastening means on the accuracy of the calibration. On the other hand, to prevent unwanted reflections from other metallic surfaces in the vicinity of the calibration object simulator. However, if the distances become too great, the calibration object may no longer be recognized.
  • the use of a calibration object simulator also has further advantages. For example, objects located in the detection range of the radar sensor can be filtered out, so that the accuracy of the calibration increases further.
  • the filter parameters are preferably specified by software for the respective radar sensor. The filter parameters can thus be set sensor-specifically.
  • the further proposed device for calibrating at least one Ra darsensor of a vehicle comprises a calibration system with a calibration object that can be moved, rotated and tilted in all three spatial directions with the aid of the calibration system within a space defined by the calibration system.
  • the proposed device is thus suitable for carrying out the above-described method according to the invention.
  • the advantages of the device accordingly correspond to the advantages of the method described above, so that reference is made to this.
  • the calibration object of the device preferably has an antenna.
  • the antenna makes it easier to align the calibration object with respect to the at least one Ra darsensor.
  • a reference point can be defined with the aid of the antenna, the 6D coordinates of which are known in space.
  • the calibration object be suitable for receiving radar waves from the radar sensor, processing them and sending them back to the radar sensor. This is the case, for example, when - according to a preferred embodiment of the invention - the calibration object is a calibration object simulator.
  • FIG. 1 shows a perspective illustration of a device according to the invention for calibrating a radar sensor of a vehicle
  • FIG. 2 shows an enlarged section of FIG. 1
  • FIG. 3 shows an enlarged section of FIG. 2
  • Fig. 4 is a block diagram to graphically depict the sequence of a method according to the invention for calibrating a radar sensor of a vehicle.
  • the device shown in FIG. 1 comprises a calibration system 4 with a rail system 7 and a calibration object 2 attached to it, so that the calibration object 2 can be moved in all three spatial directions, namely x, y, z, with the aid of the rail system 7.
  • the rail system 7 of the calibration system 4 also defines a space 3 within which the calibration object 2 can be moved.
  • the calibration system 4 shown also includes a type of lifting platform 6 on which a vehicle 1 with at least one radar sensor (not shown) to be calibrated is positioned.
  • the position of the vehicle 1 in the room 3 is predetermined via the lifting platform 6 and is therefore known.
  • the position of the at least one radar sensor relative to a reference point of the vehicle 1, for example the center of the rear axle of the vehicle 1, can be taken from a model.
  • the at least one radar sensor can be spatially calibrated on the basis of the data already known.
  • the calibration object 2 is aligned with the radar sensor, radar waves are transmitted from the radar sensor in the direction of the calibration object 2 and sent back from the calibration object 2. This process is repeated from different positions of the calibration object 2 and / or with further radar sensors.
  • the calibration object 2 can not only be moved in all three spatial directions with the aid of the rail system 7, but can also be rotated and tilted. Furthermore, the calibration object 2 is equipped with an antenna 5, which is precisely aligned with the radar sensor when a radar sensor is calibrated. Furthermore, in the present case the calibration object 2 is designed as a calibration object simulator. The calibration object simulator is able to receive radar waves emitted by a radar sensor, process them and send them back to the radar sensor. In this way, at least one parameter of the radar waves can be changed before they are sent back.
  • FIG. 4 the sequence of a method according to the invention for calibrating at least one radar sensor of a vehicle 1 is shown as an example.
  • step 100 the vehicle 1 is first driven into the calibration system 4 and parked on the lifting platform 6. With the aid of the lifting platform 6, the position of the vehicle 1 in space can be specified. The position is therefore known. In the absence of such a lifting platform 6, the position of the vehicle 1 can optionally be determined in step 200. Subsequently, in step 300, the calibration object 2 is aligned with respect to a radar sensor of the vehicle 1 to be calibrated and the required measurements are carried out with the aid of the radar sensor and the calibration object 2. In step 400, the radar sensor is spatially calibrated on the basis of the measurement data. If several radar sensors are to be calibrated, steps 300 and 400 are repeated accordingly. After the at least one radar sensor has been calibrated, the vehicle 1 can be driven out of the calibration system 4 again in step 500.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a method for calibrating at least one radar sensor of a vehicle (1), wherein, with the aid of the radar sensor, radar waves are emitted toward a calibration object (2) and are received again. According to the invention, the calibration object (2) is moved relative to the vehicle (1) within a defined space (3), in which the vehicle (1) has been positioned in advance, such that the position of the calibration object (2) in the space (3) changes, the position of the calibration object (2) in the space (3) being known at any time such that, on the basis of this information and on the basis of the previously determined or known position of the vehicle (1) and/or of the radar sensor, the spatial calibration of the radar sensor can be carried out. The invention also relates to a device for carrying out the method.

Description

Beschreibung description
Titel: Title:
Verfahren und Vorrichtung zur Kalibrierung mindestens eines Radarsensors Method and device for calibrating at least one radar sensor
Die Erfindung betrifft ein Verfahren zur Kalibrierung mindestens eines Radarsensors eines Fahrzeugs gemäß dem Oberbegriff des Anspruchs 1. Darüber hinaus betrifft die Erfindung eine Vorrichtung zur Durchführung des Verfahrens. The invention relates to a method for calibrating at least one radar sensor of a vehicle according to the preamble of claim 1. The invention also relates to a device for carrying out the method.
Die Erfindung kann insbesondere in autonom oder teilautonom fahrenden Fahrzeugen zur Anwendung gelangen, die üblicherweise mit Radarsensoren als Umfeldsensoren ausgestattet sind. Derartige Radarsensoren finden sich beispielsweise in Brems- und Spurwechselassistenzsystemen von Fahrzeugen. The invention can be used in particular in autonomous or partially autonomous vehicles which are usually equipped with radar sensors as environment sensors. Such radar sensors can be found, for example, in braking and lane change assistance systems of vehicles.
Stand der Technik State of the art
Die Kalibrierung eines Radarsensors eines Fahrzeugs wird in der Regel manuell vor genommen, was zeitaufwendig und kostenintensiv ist. Es hat daher bereits verschie dene Ansätze gegeben, die Kalibrierung von Radarsensoren weitgehend zu automati sieren. The calibration of a radar sensor of a vehicle is usually done manually, which is time-consuming and costly. There have therefore already been various approaches to largely automate the calibration of radar sensors.
Aus der Offenlegungsschrift DE 10 2018 203 941 Al ist beispielsweise ein Verfahren zum automatischen Kalibrieren eines Radarsensors eines Fahrzeugs bekannt, bei dem das Fahrzeug mit Hilfe eines Transportmittels entlang einer Strecke vorbei an einem Reflektor für Radarwellen bewegt wird. Der Reflektor dient dabei als Kalibrierobjekt. Während das Fahrzeug entlang der Strecke bewegt wird, sendet der Radarsensor Ra darwellen in Richtung des Reflektors aus, die vom Reflektor reflektiert und vom Radar sensor wieder empfangen werden. Aus den empfangenen Radarwellen wird bzw. wer den mit Hilfe geometrischer Berechnungen die Position und/oder die Ausrichtung des Radarsensors relativ zum Reflektor ermittelt, und zwar zu unterschiedlichen Zeitpunk- ten, das heißt an unterschiedlichen Fahrzeugpositionen. Basierend auf diesen Informa tionen wird der Radarsensor räumlich kalibriert, wobei vorzugsweise eine laterale Ver schiebung und/oder eine Abweichung der Ausrichtung des Radarsensors relativ zu ei ner Mittelachse des Fahrzeugs ermittelt wird. Hierzu ist es jedoch erforderlich, dass der Abstand und/oder die Ausrichtung der Mittelachse des Fahrzeugs in Bezug auf den Re flektor bekannt ist bzw. sind. Dies ist der Fall, wenn ein Transportband als Transport mittel verwendet wird, dessen Position zum Reflektor vorgegeben ist. Durch entspre chendes Positionieren und Fixieren des Fahrzeugs auf dem Transportband, beispiels weise mittels Schienen, ist die Position des Fahrzeugs in Bezug auf den Reflektor vor gegeben. Ein aufwändiges Ausrichten des Fahrzeugs bzw. des Sensors in Bezug auf den Reflektor kann somit entfallen. A method for automatically calibrating a radar sensor of a vehicle is known from the laid-open specification DE 10 2018 203 941 A1, for example, in which the vehicle is moved with the aid of a means of transport along a route past a reflector for radar waves. The reflector serves as a calibration object. While the vehicle is moving along the route, the radar sensor Ra darwellen in the direction of the reflector, which are reflected by the reflector and received again by the radar sensor. The position and / or alignment of the radar sensor relative to the reflector is determined from the received radar waves or who, with the help of geometric calculations, is determined at different times. ten, that is, at different vehicle positions. Based on this information, the radar sensor is spatially calibrated, with a lateral shift and / or a deviation in the alignment of the radar sensor relative to a central axis of the vehicle being determined. To do this, however, it is necessary that the distance and / or the alignment of the center axis of the vehicle with respect to the reflector is or are known. This is the case when a conveyor belt is used as the transport medium, the position of which is specified in relation to the reflector. By appropriately positioning and fixing the vehicle on the conveyor belt, for example by means of rails, the position of the vehicle in relation to the reflector is given. A complex alignment of the vehicle or the sensor in relation to the reflector can thus be dispensed with.
Ausgehend von dem vorstehend genannten Stand der Technik liegt der vorliegenden Erfindung die Aufgabe zugrunde, den Automatisierungsgrad bei der Kalibrierung min destens eines Radarsensors eines Fahrzeugs weiter zu erhöhen. Ferner soll die Kalib rierung einer Vielzahl von Radarsensoren eines Fahrzeugs vereinfacht werden, die in unterschiedlichen Positionen und in unterschiedlichen Winkellagen in Bezug auf die Mittelachse des Fahrzeugs angeordnet sind. Moderne Fahrzeuge besitzen bereits heu te fünf bis zehn Radarsensoren, die alle kalibriert werden müssen. Starting from the above-mentioned prior art, the present invention is based on the object of further increasing the degree of automation in the calibration of at least one radar sensor of a vehicle. Furthermore, the calibration of a large number of radar sensors of a vehicle is to be simplified, which are arranged in different positions and in different angular positions with respect to the central axis of the vehicle. Modern vehicles already have five to ten radar sensors, all of which have to be calibrated.
Zur Lösung der Aufgabe wird das Verfahren mit den Merkmalen des Anspruchs 1 vor geschlagen. Vorteilhafte Weiterbildungen der Erfindung sind den Unteransprüchen zu entnehmen. Darüber hinaus wird eine Vorrichtung zur Durchführung des Verfahrens angegeben. To solve the problem, the method with the features of claim 1 is proposed. Advantageous further developments of the invention can be found in the subclaims. In addition, a device for carrying out the method is specified.
Offenbarung der Erfindung Disclosure of the invention
Vorgeschlagenen wird ein Verfahren zur Kalibrierung mindestens eines Radarsensors eines Fahrzeugs, bei dem mit Hilfe des Radarsensors Radarwellen in Richtung eines Kalibrierobjekts ausgesendet und wieder empfangen werden. Erfindungsgemäß wird das Kalibrierobjekt innerhalb eines definierten Raums, in dem das Fahrzeug vorab po sitioniert worden ist, relativ zum Fahrzeug bewegt, so dass sich die Position des Kalib rierobjekts im Raum ändert, wobei zu jedem Zeitpunkt die Position des Kalibrierobjekts im Raum bekannt ist, so dass auf Basis dieser Information sowie der zuvor ermittelten oder bereits bekannten Position des Fahrzeugs und/oder des Radarsensors die räumli che Kalibrierung des Radarsensors durchführbar ist. A method is proposed for calibrating at least one radar sensor of a vehicle, in which, with the aid of the radar sensor, radar waves are transmitted in the direction of a calibration object and received again. According to the invention, the calibration object is moved relative to the vehicle within a defined space in which the vehicle has been positioned beforehand, so that the position of the calibration object changes in space, the position of the calibration object in space being known at all times, so that on the basis of this information as well as the previously determined or the position of the vehicle and / or the radar sensor that is already known, the spatial calibration of the radar sensor can be carried out.
Bei dem vorgeschlagenen Verfahren wird demnach nicht das Fahrzeug, sondern das Kalibrierobjekt bewegt. Das Kalibrierobjekt kann dabei optimal auf den jeweils zu kalib rierenden Radarsensor ausgerichtet werden. Zudem können in kurzer Zeit eine Viel zahl an Messungen durchgeführt werden. All dies trägt dazu bei, dass die Genauigkeit der Kalibrierung steigt. Ferner bedarf es nur eines einzigen Kalibrierobjekts, um eine größere Zahl von Radarsensoren zu kalibrieren. Die einzelnen Kalibriervorgänge wer den dann bevorzugt zeitlich nacheinander mit demselben Kalibrierobjekt durchgeführt. In the proposed method, it is therefore not the vehicle but rather the calibration object that is moved. The calibration object can be optimally aligned with the radar sensor to be calibrated. In addition, a large number of measurements can be carried out in a short time. All of this helps increase the accuracy of the calibration. Furthermore, only a single calibration object is required to calibrate a large number of radar sensors. The individual calibration processes are then preferably carried out one after the other with the same calibration object.
Der Raum, innerhalb dessen das Kalibrierobjekt beim Kalibrieren des mindestens ei nen Radarsensors bewegt wird, wird vorzugsweise durch eine das Kalibrierobjekt auf weisende Kalibrieranlage definiert. Mit Hilfe der Kalibrieranlage wird zudem das Kalib rierobjekt im Raum bewegt. Dadurch ist sichergestellt, dass die aktuelle Position des Kalibrierobjekts zu jeder Zeit bekannt ist. Zum Bewegen des Kalibrierobjekts kann bei spielsweise die Kalibrieranlage ein Schienensystem aufweisen, an dem das Kalib rierobjekt befestigt ist, so dass es mit Hilfe des Schienensystems in alle drei Raumrich tungen bewegbar ist. The space within which the calibration object is moved when the at least one radar sensor is calibrated is preferably defined by a calibration system that has the calibration object. The calibration object is also moved in space with the aid of the calibration system. This ensures that the current position of the calibration object is known at all times. To move the calibration object, for example, the calibration system can have a rail system to which the calibration object is attached so that it can be moved in all three spatial directions with the aid of the rail system.
Gemäß einer bevorzugten Ausführungsform der Erfindung wird vorgeschlagen, dass das Kalibrierobjekt im Raum in alle drei Raumrichtungen bewegt, gedreht und/oder ge kippt wird. Das heißt, dass die Position des Kalibrierobjekts im Raum durch 6D- Positionsdaten definiert ist. Demzufolge ist auch die exakte Ausrichtung des Kalib rierobjekts bekannt und/oder eine exakte Ausrichtung des Kalibrierobjekts auf den je weils zu kalibrierenden Radarsensor möglich. According to a preferred embodiment of the invention, it is proposed that the calibration object be moved, rotated and / or tilted in space in all three spatial directions. This means that the position of the calibration object in space is defined by 6D position data. As a result, the exact alignment of the calibration object is known and / or an exact alignment of the calibration object on the radar sensor to be calibrated is possible.
Sofern die Position des Fahrzeugs und/oder des Radarsensors nicht bereits bekannt ist, wird sie vorab ermittelt. Dabei wird vorzugsweise die Mitte der Hinterachse des Fahrzeugs als Bezugspunkt genutzt. Die Mittelachse des Fahrzeugs verläuft durch die sen Punkt, so dass hierüber auch die Winkellage des mindestens einen Radarsensors in Bezug auf die Mittelachse des Fahrzeugs bestimmbar ist. Die räumliche Position des mindestens einen Radarsensors kann auch anhand eines Modells, beispielsweise anhand eines CAD-Modells, bestimmt werden. Dem Modell können die exakte Position und die exakte Ausrichtung bzw. Winkellage des jeweiligen Radarsensors entnommen werden. Als Bezugspunkt kann bzw. können wiederum die Mitte der Hinterachse und/oder die Mittelachse des Fahrzeugs dienen. If the position of the vehicle and / or the radar sensor is not already known, it is determined in advance. The center of the rear axle of the vehicle is preferably used as a reference point. The central axis of the vehicle runs through this point, so that the angular position of the at least one radar sensor in relation to the central axis of the vehicle can also be determined in this way. The spatial position of the at least one radar sensor can also be determined using a model, for example using a CAD model. The exact position and the exact alignment or angular position of the respective radar sensor can be taken from the model. The center of the rear axle and / or the center axis of the vehicle can in turn serve as a reference point.
In Weiterbildung der Erfindung wird vorgeschlagen, dass das Kalibrierobjekt, vorzugs weise mit Hilfe einer Antenne, Radarwellen empfängt, verarbeitet und an den Radar sensor zurücksendet. Vor dem Verarbeiten werden die Radarwellen bevorzugt in ein elektrisches Signal umgewandelt, da dieses das Verarbeiten erleichtert. Anschließend, das heißt vor dem Rücksenden, wird das elektrische Signal wieder in Radarwellen um gewandelt. Die vorzugsweise vorgesehene Antenne des Kalibrierobjekts vereinfacht die Ausrichtung in Bezug auf den zu kalibrierenden Radarsensor. Ein zentraler Punkt der Antenne kann als Bezugspunkt zur Bestimmung der exakten Position des Kalib rierobjekts im Raum dienen. In a further development of the invention, it is proposed that the calibration object, preferably with the aid of an antenna, receive radar waves, process them and send them back to the radar sensor. Before processing, the radar waves are preferably converted into an electrical signal, as this makes processing easier. Then, i.e. before sending it back, the electrical signal is converted back into radar waves. The antenna of the calibration object, which is preferably provided, simplifies the alignment with respect to the radar sensor to be calibrated. A central point of the antenna can serve as a reference point for determining the exact position of the calibration object in space.
Des Weiteren wird vorgeschlagen, dass das Kalibrierobjekt die empfangenen Radar wellen mit mindestens einem veränderten Parameter, beispielsweise mit veränderter Frequenz und/oder Amplitude, an den Radarsensor zurücksendet. Das Verarbeiten der empfangenen Radarsignale kann demnach auch eine Änderung mindestens eines Pa rameters der Radarwellen umfassen. Beispielsweise können die Distanz und/oder die Geschwindigkeit geändert werden. Auf diese Weise kann auf unterschiedliche Sen sorentypen reagiert werden. It is also proposed that the calibration object sends the received radar waves back to the radar sensor with at least one changed parameter, for example with a changed frequency and / or amplitude. The processing of the received radar signals can accordingly also include a change in at least one parameter of the radar waves. For example, the distance and / or the speed can be changed. In this way, different types of sensors can be responded to.
Vorteilhafterweise wird ein Kalibrierobjekt-Simulator als Kalibrierobjekt verwendet. Mit dessen Hilfe können insbesondere lange Distanzen und/oder hohe Geschwindigkeiten simuliert werden. Für lange Distanzen kann es zwei Gründe geben. Zum Einen, um den Einfluss eines üblicherweise aus Metall gefertigten Gehäuses des Kalibrierobjekt- Simulators und/oder dessen Befestigungsmittel auf die Genauigkeit der Kalibrierung zu minimieren. Zum Anderen, um unerwünschte Reflexionen von anderen metallischen Flächen im Umfeld des Kalibrierobjekt-Simulators zu verhindern. Werden allerdings die Distanzen zu groß, wird unter Umständen das Kalibrierobjekt nicht mehr erkannt. Die Verwendung eines Kalibrierobjekt-Simulators weist darüber hinaus weitere Vorteile auf. Beispielsweise können im Erfassungsbereich des Radarsensors befindliche Objek te herausgefiltert werden, so dass die Genauigkeit der Kalibrierung weiter steigt. Die Filterparameter werden dabei bevorzugt durch eine Software des jeweiligen Radar sensors vorgegeben. Die Filterparameter können somit sensorspezifisch eingestellt werden. A calibration object simulator is advantageously used as the calibration object. With its help, long distances and / or high speeds in particular can be simulated. There can be two reasons for long distances. On the one hand, in order to minimize the influence of a housing of the calibration object simulator, which is usually made of metal, and / or its fastening means on the accuracy of the calibration. On the other hand, to prevent unwanted reflections from other metallic surfaces in the vicinity of the calibration object simulator. However, if the distances become too great, the calibration object may no longer be recognized. The use of a calibration object simulator also has further advantages. For example, objects located in the detection range of the radar sensor can be filtered out, so that the accuracy of the calibration increases further. The filter parameters are preferably specified by software for the respective radar sensor. The filter parameters can thus be set sensor-specifically.
Die darüber hinaus vorgeschlagene Vorrichtung zur Kalibrierung mindestens eines Ra darsensors eines Fahrzeugs umfasst eine Kalibrieranlage mit einem Kalibrierobjekt, das innerhalb eines durch die Kalibrieranlage definierten Raums mit Hilfe der Kalibrier anlage in alle drei Raumrichtungen bewegbar, drehbar und kippbar ist. Die vorgeschla gene Vorrichtung ist somit zur Durchführung des zuvor beschriebenen erfindungsge mäßen Verfahrens geeignet. Die Vorteile der Vorrichtung entsprechen demnach den Vorteilen des zuvor beschriebenen Verfahrens, so dass hierauf verwiesen wird. The further proposed device for calibrating at least one Ra darsensor of a vehicle comprises a calibration system with a calibration object that can be moved, rotated and tilted in all three spatial directions with the aid of the calibration system within a space defined by the calibration system. The proposed device is thus suitable for carrying out the above-described method according to the invention. The advantages of the device accordingly correspond to the advantages of the method described above, so that reference is made to this.
Das Kalibrierobjekt der Vorrichtung weist bevorzugt eine Antenne auf. Die Antenne er leichtert das Ausrichten des Kalibrierobjekts in Bezug auf den mindestens einen Ra darsensor. Ferner kann mit Hilfe der Antenne ein Bezugspunkt definiert werden, des sen 6D- Koordinaten im Raum bekannt sind. The calibration object of the device preferably has an antenna. The antenna makes it easier to align the calibration object with respect to the at least one Ra darsensor. Furthermore, a reference point can be defined with the aid of the antenna, the 6D coordinates of which are known in space.
Alternativ oder ergänzend wird vorgeschlagen, dass das Kalibrierobjekt geeignet ist, Radarwellen des Radarsensors zu empfangen, zu verarbeiten und wieder an den Ra darsensor zurückzusenden. Dies ist beispielsweise der Fall, wenn - gemäß einer be vorzugten Ausführungsform der Erfindung - das Kalibrierobjekt ein Kalibrierobjekt- Simulator ist. As an alternative or in addition, it is proposed that the calibration object be suitable for receiving radar waves from the radar sensor, processing them and sending them back to the radar sensor. This is the case, for example, when - according to a preferred embodiment of the invention - the calibration object is a calibration object simulator.
Die Erfindung wird nachfolgend anhand der beigefügten Zeichnungen näher erläutert. Diese zeigen: The invention is explained in more detail below with reference to the accompanying drawings. These show:
Fig. 1 eine perspektivische Darstellung einer erfindungsgemäßen Vorrichtung zur Kalibrierung eines Radarsensors eines Fahrzeugs, 1 shows a perspective illustration of a device according to the invention for calibrating a radar sensor of a vehicle,
Fig. 2 einen vergrößerten Ausschnitt der Fig. 1, Fig. 3 einen vergrößerten Ausschnitt der Fig. 2, und FIG. 2 shows an enlarged section of FIG. 1, FIG. 3 shows an enlarged section of FIG. 2, and
Fig. 4 ein Blockschaltdiagramm zur graphischen Darstellung des Ablaufs eines er findungsgemäßen Verfahrens zur Kalibrierung eines Radarsensors eines Fahrzeugs. Fig. 4 is a block diagram to graphically depict the sequence of a method according to the invention for calibrating a radar sensor of a vehicle.
Ausführliche Beschreibung der Zeichnungen Detailed description of the drawings
Die in der Fig. 1 dargestellte Vorrichtung umfasst eine Kalibrieranlage 4 mit einem Schienensystem 7 und einem hieran befestigten Kalibrierobjekt 2, so dass mit Hilfe des Schienensystems 7 das Kalibrierobjekt 2 in alle drei Raumrichtungen, nämlich x, y, z, bewegbar ist. Das Schienensystem 7 der Kalibrieranlage 4 definiert zugleich einen Raum 3, innerhalb dessen das Kalibrierobjekt 2 bewegt werden kann. Die dargestellte Kalibrieranlage 4 umfasst zudem eine Art Hebebühne 6, auf welcher ein Fahrzeug 1 mit mindestens einem zu kalibrierenden Radarsensor (nicht dargestellt) positioniert ist. Über die Hebebühne 6 ist die Position des Fahrzeugs 1 im Raum 3 vorgegeben und somit bekannt. Die Position des mindestens einen Radarsensors relativ zu einem Be zugspunkt des Fahrzeugs 1, beispielsweise der Mitte der Hinterachse des Fahr zeugs 1, kann einem Modell entnommen werden. The device shown in FIG. 1 comprises a calibration system 4 with a rail system 7 and a calibration object 2 attached to it, so that the calibration object 2 can be moved in all three spatial directions, namely x, y, z, with the aid of the rail system 7. The rail system 7 of the calibration system 4 also defines a space 3 within which the calibration object 2 can be moved. The calibration system 4 shown also includes a type of lifting platform 6 on which a vehicle 1 with at least one radar sensor (not shown) to be calibrated is positioned. The position of the vehicle 1 in the room 3 is predetermined via the lifting platform 6 and is therefore known. The position of the at least one radar sensor relative to a reference point of the vehicle 1, for example the center of the rear axle of the vehicle 1, can be taken from a model.
Auf Basis der bereits bekannten Daten kann der mindestens eine Radarsensor räum lich kalibriert werden. Hierzu wird das Kalibrierobjekt 2 auf den Radarsensor ausgerich tet, Radarwellen vom Radarsensor in Richtung des Kalibrierobjekts 2 ausgesendet und vom Kalibrierobjekt 2 zurückgesendet. Dieser Vorgang wird von unterschiedlichen Po sitionen des Kalibrierobjekts 2 aus und/oder mit weiteren Radarsensoren wiederholt. The at least one radar sensor can be spatially calibrated on the basis of the data already known. For this purpose, the calibration object 2 is aligned with the radar sensor, radar waves are transmitted from the radar sensor in the direction of the calibration object 2 and sent back from the calibration object 2. This process is repeated from different positions of the calibration object 2 and / or with further radar sensors.
Wie insbesondere den Figuren 2 und 3 zu entnehmen ist, kann das Kalibrierobjekt 2 mit Hilfe des Schienensystems 7 nicht nur in alle drei Raumrichtungen bewegt werden, sondern ferner gedreht und gekippt werden. Ferner ist das Kalibrierobjekt 2 mit einer Antenne 5 ausgestattet, die beim Kalibrieren eines Radarsensors exakt auf den Radar sensor ausgerichtet wird. Des Weiteren ist vorliegend das Kalibrierobjekt 2 als Kalib- rierobjekt-Simulator ausgebildet. Der Kalibrierobjekt-Simulator ist in der Lage von ei nem Radarsensor ausgestrahlte Radarwellen zu empfangen, zu verarbeiten und an den Radarsensor zurückzusenden. Auf diese Weise kann mindestsens ein Parameter der Radarwellen vor dem Zurücksenden geändert werden. In der Fig. 4 ist beispielhaft der Ablauf eines erfindungsgemäßen Verfahrens zur Kalib rierung mindestens eines Radarsensors eines Fahrzeugs 1 dargestellt. In Schritt 100 wird zunächst das Fahrzeug 1 in die Kalibrieranlage 4 gefahren und auf der Hebebüh- ne 6 abgestellt. Mit Hilfe der Hebebühne 6 kann die Position des Fahrzeugs 1 im Raum vorgegeben werden. Die Position ist somit bekannt. In Ermangelung einer solchen He bebühne 6 kann optional in Schritt 200 die Position des Fahrzeugs 1 ermittelt werden. Anschließend, in Schritt 300, wird das Kalibrierobjekt 2 in Bezug auf einen zu kalibrie renden Radarsensor des Fahrzeugs 1 ausgerichtet und die erforderlichen Messungen mit Hilfe des Radarsensors und des Kalibrierobjekts 2 durchgeführt. In Schritt 400 wird auf Basis der Messdaten der Radarsensor räumlich kalibriert. Sofern mehrere Radar sensoren zu kalibrieren sind, werden die Schritte 300 und 400 entsprechend wieder holt. Nach erfolgter Kalibrierung des mindestens einen Radarsensors kann in Schritt 500 das Fahrzeug 1 aus der Kalibrieranlage 4 wieder herausgefahren werden. As can be seen in particular from FIGS. 2 and 3, the calibration object 2 can not only be moved in all three spatial directions with the aid of the rail system 7, but can also be rotated and tilted. Furthermore, the calibration object 2 is equipped with an antenna 5, which is precisely aligned with the radar sensor when a radar sensor is calibrated. Furthermore, in the present case the calibration object 2 is designed as a calibration object simulator. The calibration object simulator is able to receive radar waves emitted by a radar sensor, process them and send them back to the radar sensor. In this way, at least one parameter of the radar waves can be changed before they are sent back. In FIG. 4, the sequence of a method according to the invention for calibrating at least one radar sensor of a vehicle 1 is shown as an example. In step 100, the vehicle 1 is first driven into the calibration system 4 and parked on the lifting platform 6. With the aid of the lifting platform 6, the position of the vehicle 1 in space can be specified. The position is therefore known. In the absence of such a lifting platform 6, the position of the vehicle 1 can optionally be determined in step 200. Subsequently, in step 300, the calibration object 2 is aligned with respect to a radar sensor of the vehicle 1 to be calibrated and the required measurements are carried out with the aid of the radar sensor and the calibration object 2. In step 400, the radar sensor is spatially calibrated on the basis of the measurement data. If several radar sensors are to be calibrated, steps 300 and 400 are repeated accordingly. After the at least one radar sensor has been calibrated, the vehicle 1 can be driven out of the calibration system 4 again in step 500.

Claims

Ansprüche Expectations
1. Verfahren zur Kalibrierung mindestens eines Radarsensors eines Fahrzeugs (1), bei dem mit Hilfe des Radarsensors Radarwellen in Richtung eines Kalibrierobjekts (2) ausgesendet und wieder empfangen werden, dadurch gekennzeichnet, dass das Kalibrierobjekt (2) innerhalb eines definierten Raums (3), in dem das Fahrzeug (1) vorab positioniert worden ist, relativ zum Fahr zeug (1) bewegt wird, so dass sich die Position des Kalibrierobjekts (2) im Raum (3) ändert, wobei zu jedem Zeitpunkt die Position des Kalibrierobjekts (2) im Raum (3) be kannt ist, so dass auf Basis dieser Information sowie der zuvor ermittelten oder bereits bekannten Position des Fahrzeugs (1) und/oder des Radarsensors die räumliche Kalib rierung des Radarsensors durchführbar ist. 1. A method for calibrating at least one radar sensor of a vehicle (1), in which, with the aid of the radar sensor, radar waves are transmitted in the direction of a calibration object (2) and received again, characterized in that the calibration object (2) is within a defined space (3) , in which the vehicle (1) has been positioned in advance, is moved relative to the vehicle (1) so that the position of the calibration object (2) changes in space (3), the position of the calibration object (2 ) is known in room (3), so that the spatial calibration of the radar sensor can be carried out on the basis of this information and the previously determined or already known position of the vehicle (1) and / or the radar sensor.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der Raum (3) durch eine das Kalibrierobjekt (2) auf weisende Kalibrieranlage (4) definiert wird, mit deren Hilfe das Kalibrierobjekt (2) im Raum (3) bewegt wird. 2. The method according to claim 1, characterized in that the space (3) is defined by a calibration device (4) pointing to the calibration object (2), with the aid of which the calibration object (2) is moved in the space (3).
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Kalibrierobjekt (2) im Raum (3) in alle drei Raum richtungen bewegt, gedreht und/oder gekippt wird. 3. The method according to claim 1 or 2, characterized in that the calibration object (2) in space (3) is moved, rotated and / or tilted in all three spatial directions.
4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Position des Fahrzeugs (1) und/oder des Radar sensors ermittelt wird, wobei vorzugsweise die Mitte der Hinterachse des Fahr zeugs (1) als Bezugspunkt genutzt wird. 4. The method according to any one of the preceding claims, characterized in that the position of the vehicle (1) and / or the radar sensor is determined, preferably the center of the rear axle of the vehicle (1) is used as a reference point.
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die räumliche Position des Radarsensors anhand ei nes Modells, beispielsweise eines CAD-Modells, bestimmt wird. 5. The method according to any one of the preceding claims, characterized in that the spatial position of the radar sensor is determined using a model, for example a CAD model.
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Kalibrierobjekt (2), vorzugsweise mit Hilfe einer Antenne (5), Radarwellen empfängt, verarbeitet und an den Radarsensor zurücksen det. 6. The method according to any one of the preceding claims, characterized in that the calibration object (2), preferably with the aid of an antenna (5), receives radar waves, processes them and sends them back to the radar sensor.
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Kalibrierobjekt (2) die empfangenen Radarwellen mit mindestens einem veränderten Parameter, beispielsweise mit veränderter Fre quenz und/oder Amplitude, an den Radarsensor zurücksendet. 7. The method according to any one of the preceding claims, characterized in that the calibration object (2) sends the received radar waves back to the radar sensor with at least one changed parameter, for example with a changed frequency and / or amplitude.
8. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Kalibrierobjekt-Simulator als Kalibrierobjekt (2) verwendet wird, mit dessen Hilfe lange Distanzen und/oder hohe Geschwindigkeiten simulierbar sind. 8. The method according to any one of the preceding claims, characterized in that a calibration object simulator is used as the calibration object (2), with the aid of which long distances and / or high speeds can be simulated.
9. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass im Erfassungsbereich des Radarsensors befindliche Objekte herausgefiltert werden, wobei vorzugsweise die Filterparameter durch eine Software des Radarsensors vorgegeben werden. 9. The method according to any one of the preceding claims, characterized in that objects located in the detection range of the radar sensor are filtered out, the filter parameters preferably being specified by software of the radar sensor.
10. Vorrichtung zur Kalibrierung mindestens eines Radarsensors eines Fahr zeugs (1), die zur Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 9 geeignet ist und eine Kalibrieranlage (4) mit einem Kalibrierobjekt (2) umfasst, das in nerhalb eines durch die Kalibrieranlage (4) definierten Raums (3) mit Hilfe der Kalib rieranlage (4) in alle drei Raumrichtungen bewegbar, drehbar und kippbar ist. 10. A device for calibrating at least one radar sensor of a vehicle (1), which is suitable for carrying out a method according to one of claims 1 to 9 and comprises a calibration system (4) with a calibration object (2) which is within one through the calibration system (4) defined space (3) can be moved, rotated and tilted in all three spatial directions with the help of the calibration system (4).
11. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass das Kalibrierobjekt (2) eine Antenne (5) aufweist und/oder geeignet ist, Radarwellen des Radarsensors zu empfangen, zu verarbeiten und wieder an den Radarsensor zurückzusenden. 11. The device according to claim 10, characterized in that the calibration object (2) has an antenna (5) and / or is suitable for receiving, processing and sending back to the radar sensor radar waves.
12. Vorrichtung nach Anspruch 10 oder 11, dadurch gekennzeichnet, dass das Kalibrierobjekt (2) ein Kalibrierobjekt-Simulator ist. 12. The device according to claim 10 or 11, characterized in that the calibration object (2) is a calibration object simulator.
PCT/EP2021/053847 2020-03-27 2021-02-17 Method and device for calibrating at least one radar sensor WO2021190823A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020204034.6 2020-03-27
DE102020204034.6A DE102020204034A1 (en) 2020-03-27 2020-03-27 Method and device for calibrating at least one radar sensor

Publications (1)

Publication Number Publication Date
WO2021190823A1 true WO2021190823A1 (en) 2021-09-30

Family

ID=74672297

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/053847 WO2021190823A1 (en) 2020-03-27 2021-02-17 Method and device for calibrating at least one radar sensor

Country Status (2)

Country Link
DE (1) DE102020204034A1 (en)
WO (1) WO2021190823A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022204240A1 (en) 2022-04-29 2023-11-02 Robert Bosch Gesellschaft mit beschränkter Haftung Method for calibrating a sensor for a driver assistance system and control unit

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19946161A1 (en) * 1999-09-27 2001-04-26 Siemens Ag Distance measurement method
DE102018203941A1 (en) 2018-03-15 2019-09-19 Robert Bosch Gmbh Automatic calibration of a vehicle radar sensor
DE102018208464A1 (en) * 2018-05-29 2019-12-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Method for functional testing of a radar sensor and device suitable for carrying out the method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19946161A1 (en) * 1999-09-27 2001-04-26 Siemens Ag Distance measurement method
DE102018203941A1 (en) 2018-03-15 2019-09-19 Robert Bosch Gmbh Automatic calibration of a vehicle radar sensor
DE102018208464A1 (en) * 2018-05-29 2019-12-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Method for functional testing of a radar sensor and device suitable for carrying out the method

Also Published As

Publication number Publication date
DE102020204034A1 (en) 2021-09-30

Similar Documents

Publication Publication Date Title
DE19900362C2 (en) Method for adjusting the axis of an in-vehicle radar
DE102018203941A1 (en) Automatic calibration of a vehicle radar sensor
DE60001528T2 (en) Method and device for motor vehicle radar alignment
DE69820370T2 (en) Alignment device for automotive radar
DE102009009046A1 (en) Measuring device for aligning sensor unit of driver assistance system of vehicle, comprises detection units, which receive signal from sensor unit, and center point of measuring device is arranged on geometrical driving axis of vehicle
DE102019220049A1 (en) Method and device for calibrating at least one sensor
DE102018133693B3 (en) Procedure for calibrating the alignment of a moving object sensor
DE102010015723B4 (en) Method and device for detecting movement of a road vehicle
EP3060942B1 (en) Method for determining a position of at least two sensors, and sensor network
EP1953520A2 (en) Method and device for aligning a vehicle surroundings sensor or headlamp
DE102011087177A1 (en) Method for positioning a measuring system and measuring system for carrying out the method
EP3410145A1 (en) Method for calibrating a radar sensor of a motor vehicle during a movement of the motor vehicle, radar sensor, driver assistance system and motor vehicle
EP1766431B1 (en) Method and device for compensating mounting tolerances of a proximity sensor
DE102018220782A1 (en) Localization of a vehicle based on dynamic objects
WO2021190823A1 (en) Method and device for calibrating at least one radar sensor
DE102020206593A1 (en) Method and device for calibrating at least one sensor
DE102019113441A1 (en) Method for assigning the intrinsic coordinate system of a first unit of a vehicle for recording the space to the side of the vehicle relative to a vehicle-related coordinate system and device for carrying out the method
DE19707591C1 (en) Monitoring alignment of beam characteristic of object sensor
WO2005071434A1 (en) Method and device for adjusting the angle of a sensor in a motor vehicle
WO2022243218A1 (en) Method, computer program product, control unit and vehicle
DE102007058241A1 (en) Evaluation method, in particular for a driver assistance system of a motor vehicle, for object detection by means of a radar sensor
DE10200945B4 (en) Method for automatically correcting output values of a distance sensor in a vehicle
DE10210472B4 (en) Method for adjusting the alignment of a sensor unit and apparatus for carrying out the method
EP3326891B1 (en) Method for location of a vehicle along a route in a parking space environment
DE102017101772A1 (en) Method for detecting an object in an environmental region of a motor vehicle by means of a radar sensor with determination of dimensions of the object, radar sensor, driver assistance system and motor vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21706876

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21706876

Country of ref document: EP

Kind code of ref document: A1