Method and device for calibrating and adjusting a vehicle surroundings sensor

Patent metadata

Field	Value
Publication number	US-9279670-B2
Application number	US-201113992979-A
Country	US
Kind code	B2
Filing date	Dec 5, 2011
Priority date	Dec 9, 2010
Publication date	Mar 8, 2016
Grant date	Mar 8, 2016

Abstract

A method for adjusting and/or calibrating a surroundings sensor in a vehicle using a measuring unit and a calibration panel.

First claim

What is claimed is:

1. A method for adjusting or calibrating a surroundings sensor in a vehicle, comprising:
a1) attaching at least one wheel target to at least one wheel of the vehicle;
a2) recording at least one image of the wheel target with the aid of at least one measuring unit;
a3) determining a position and an orientation of the vehicle in space from the image of the wheel target recorded by the measuring unit;
b1) placing at least one calibrating panel having at least one calibrating panel target in a field of vision of the at least one measuring unit;
b2) recording at least one image of the at least one calibrating panel target with the aid of the measuring unit;
b3) determining a position of the calibrating panel in relation to the vehicle from the recorded image of the calibrating panel target and the determined position and orientation of the vehicle;
c1) recording at least one image of the calibrating panel with the aid of the surroundings sensor of the vehicle;
c2) determining a position and an orientation of the surroundings sensor in relation to the calibrating panel from the image of the calibrating panel recorded with the aid of the surroundings sensor; and
d) determining a position and an orientation of the surroundings sensor in relation to the vehicle from the determined position and orientation of the surroundings sensor in relation to the calibrating panel and the determined position of the calibrating panel in relation to the vehicle.

2. The method as recited in claim 1 , further comprising:
transmitting the position of the calibrating panel determined in step b3) to a control unit.

3. The method as recited in claim 2 , wherein the transmission of the position of the calibrating panel to the control unit takes place via one of: i) at least one cable, or ii) wirelessly.

4. The method as recited in claim 2 , wherein the control unit outputs instructions on positioning of the calibrating panel.

5. The method as recited in claim 4 , further comprising:
activating at least one actuator acting upon the calibrating panel in such a way that the calibrating panel is moved at least one of: i) to a predefined position, and ii) into a predefined spatial orientation.

6. A device for adjusting or calibrating a surroundings sensor in a vehicle, comprising:
at least one wheel target designed for mounting on a wheel of the vehicle;
at least one calibrating panel which has at least one calibrating panel target;
at least one measuring unit which is designed to record at least one image of the wheel target and the calibrating panel and to determine a spatial position of the wheel target and the calibrating panel from the recorded image; and
a control unit which is connected to the surroundings sensor and is designed to
(a) determine the spatial position of the calibrating panel in relation to the surroundings sensor from an image of the calibrating panel recorded by the surroundings sensor; and
(b) determine the position and orientation of the surroundings sensor in relation to the vehicle from the position and orientation of the surroundings sensor in relation to the calibrating panel and the position of the calibrating panel in relation to the vehicle determined by the measuring unit.

7. The device as recited in claim 6 , wherein the at least one measuring unit and the control unit are designed to transmit the position of the calibrating panel target determined by the measuring unit to the control unit.

8. The device as recited in claim 6 , further comprising:
at least one actuator which is connected to the calibrating panel in such a way that at least one of the position and the orientation of the calibrating panel is alterable by driving the actuator.

9. The device as recited in claim 8 , wherein at least one measuring unit is coupled with the actuator and is designed to activate the actuator in such a way that the calibrating panel is movable at least one of to a predefined spatial position, and into a predefined spatial orientation by driving the actuator.

10. The device as recited in claim 6 , wherein at least one of the measuring devices is provided on both sides of the vehicle.

Assignees

• Schommer Stefan
• Wagmann Christian
• Wendt Axel
• Bosch Gmbh Robert

Inventors

• Schommer Stefan
• Wagmann Christian
• Wendt Axel

Classifications

• G01S7/40

  Means for monitoring or calibrating · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S7/52004

  Means for monitoring or calibrating (short-range imaging G01S7/5205) · CPC title

• G01B11/27 Primary

  for testing the alignment of axes {(means for centering or aligning a light guide within a ferrule G02B6/3834)} · CPC title

• G01S17/931

  of land vehicles · CPC title