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Method for calibrating the orientation of a moving object sensor

A sensor and object technology, applied in the field of orientation of object sensors, can solve the problem of time-consuming calibration process

Active Publication Date: 2020-07-07
VOLKSWAGEN AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Calibration procedures are often also very time-consuming and require specially trained personnel, since especially the validation of calibration methods can usually only be carried out with special technical aids

Method used

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  • Method for calibrating the orientation of a moving object sensor
  • Method for calibrating the orientation of a moving object sensor
  • Method for calibrating the orientation of a moving object sensor

Examples

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Embodiment Construction

[0048] figure 1 An object sensor S is shown, which can detect objects in the sensor's surroundings. For the calculation of the detected sensor data it is assumed that the sensor is oriented in the direction of movement of the sensor along arrow 10 . However, the actual sensor orientation deviates laterally from the assumed sensor orientation 10 and is indicated by the arrow 11 . The angle Δα between the assumed sensor orientation 10 and the actual sensor orientation 11 is thus an azimuth error, in the example shown the object data detection takes place in the plane of the illustration. That is, the azimuth error Δα is the error in the lateral orientation of the sensor S.

[0049] figure 2 A schematic diagram of the detection of an object O by a moving vehicle 12 equipped with a sensor S is shown. During the first measurement, the sensor is in position S 1 . Object O looks at azimuth α 1 Down. But due to sensor error Δα, the object actually appears to be at angle α 1 ...

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PUM

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Abstract

This disclosure relates, e.g., to a method for calibrating the alignment of a moving object sensor that comprises the steps: detection of the movement of the object sensor, multiple detection of at least one static object by the moving object sensor at different positions of the object sensor, calculation of the relative positions of the static object with respect to the corresponding positions ofthe object sensor, calculation of anticipated positions of the static object from the relative positions while assuming an alignment error of the object sensor, calculation of an error parameter fromthe anticipated positions, and minimization of the error parameter by adapting the alignment error of the object sensor.

Description

technical field [0001] The invention relates to a method for calibrating the orientation of a moving object sensor, in particular an object sensor moving in a vehicle, for example an object sensor installed in the vehicle. Background technique [0002] In modern motor vehicles, in particular semi-autonomous or autonomous motor vehicles, various sensors are installed which serve to position the vehicle itself relative to the vehicle environment. For this purpose, unique static structures and patterns (musters), so-called positional features, are detected in the vehicle's surroundings by means of special sensor systems, and are used to localize the vehicle relative to these positional features. Typical sensors are camera, radar, ultrasonic or laser scanner devices. During driving, structures of interest can be identified by processing sensor data detected by the sensor system and associated with corresponding entries in the map in order to calculate the vehicle's vehicle posi...

Claims

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Application Information

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IPC IPC(8): G01D18/00
CPCG01D18/00G01S7/4972G01S17/931B60W50/00B60W2050/0083G01S7/40G01S7/52004
Inventor N.科赫U.凯克C.默费尔斯
Owner VOLKSWAGEN AG
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