Device for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle

Abstract

An apparatus (1) for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle (9) located in a service area (8), comprising: a support structure (3); a vehicle calibration auxiliary structure (4), which is mounted on the support structure (3) and includes calibration equipment (41, 42), the calibration equipment (41, 42) being used to facilitate alignment or calibration of the ADAS sensor of the vehicle (9); a positioning system; a computer (102), the computer (102) being able to access a database (101) and being used to: receive one or more information items as input; query the database (101) to retrieve reference parameters (111) and geometric parameters (112) based on the input information; and process the reference parameters (111) and the geometric parameters (112) to generate derived data (114) related to a reference position of the vehicle calibration auxiliary structure (4).

Description

Technical Field

[0001] The present invention relates to an apparatus and method for calibrating an advanced driver assistance system sensor of a vehicle. Background Art

[0002] In the field of driver assistance systems, a target unit used in a process for aligning and calibrating sensors of an advanced driver assistance system may be mounted on a dolly-like structure.

[0003] For example, patent document WO 2018 / 067354 A1 provides a structure for supporting an optical target for calibrating a vehicle camera and a metal target for calibrating a radar sensor of the vehicle.

[0004] Other structures for calibrating vehicle sensors are described in patent documents US2018 / 0188022A1, WO2017 / 016541 and WO2018 / 153722A1.

[0005] These structures must be positioned in front of the vehicle at a predetermined distance and oriented in a predetermined manner relative to a reference point of the vehicle. The reference point of the vehicle can be, for example, the logo of the vehicle or an axle of the vehicle. Each vehicle manufacturer specifies the optimal position of the target unit; that is, the geometric distance at which the structure supporting the target unit is located must be positioned relative to a reference point on the vehicle predetermined by the manufacturer; depending on the manufacturer or the model of the vehicle, the reference point is usually different. The operator in charge of the calibration must therefore move the structure to the optimal position specified by the vehicle manufacturer.

[0006] For operators in the field, continually changing the locations of structures and reference points on the vehicle to accommodate the manufacturer's specifications is tedious and time consuming.

[0007] Furthermore, the operator needs to have multiple different alignment systems to locate the structure using points selected by the manufacturer from multiple different points on the vehicle as reference. Thus, the operator must have a front alignment system for the vehicle whose reference point is a landmark, another side alignment system for the vehicle whose reference point is on a wheel, etc. The operator must then select the appropriate alignment system among the multiple different alignment systems for each vehicle undergoing ADAS calibration, according to the manufacturer's specifications for that vehicle. Summary of the invention

[0008] An object of the present invention is to provide an apparatus and a method for calibrating an advanced driver assistance system sensor of a vehicle in order to overcome at least one of the above-mentioned disadvantages of the prior art.

[0009] This object is fully achieved by an apparatus and method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle as described in the attached claimed technical solution.

[0010] According to one aspect, the present disclosure relates to an apparatus for calibrating (at least one) ADAS sensor. ADAS sensor refers to a sensor forming part of an advanced driver assistance system of a vehicle.

[0011] The device comprises a base unit. Preferably, the base unit comprises a plurality of wheels rotating about respective rotation axes. Preferably, at least one wheel of the plurality of wheels is rotatable about the respective rotation axis. More preferably, all wheels of the plurality of wheels are rotatable about the respective rotation axis. The rotation axis of each wheel is preferably at right angles to the respective rotation axis. The rotation axis is oriented in a vertical direction, parallel to gravity.

[0012] In one embodiment, the wheel is spherical; in this case, the wheel can rotate (and turn) about an axis of rotation parallel to the ground, and can also rotate (and turn) about multiple axes of rotation, wherein at least one of the multiple axes of rotation is at right angles to the axis of rotation.

[0013] The vehicle is located in a service area. A "service area" is an area that accommodates vehicles during a service procedure (e.g., calibrating ADAS sensors, aligning headlights, or balancing wheels).

[0014] Thus, the base unit is movable on wheels. In particular, the wheels are used to move the device from its rest position, remote from the service area, to its working position, close to and pointing towards the service area. Indeed, when the device is in the rest position, the service area can be used for other wheel service operations, such as wheel balancing.

[0015] In other embodiments, the base unit is mounted on a track.

[0016] The device comprises a support structure. The support structure is connected to (or integral with) the base unit.

[0017] The apparatus comprises a vehicle calibration assistance structure. The vehicle calibration assistance structure is mounted on the support structure. The vehicle calibration assistance structure comprises a calibration device. The calibration device is used to facilitate alignment or calibration of the (at least one) ADAS sensor of the vehicle.

[0018] In one embodiment, the support structure can be driven by a person (i.e., an operator responsible for calibration) in such a way that the vehicle sensor can "detect" (or "illuminate" or "observe" - ​​these terms are used synonymously in the context of this disclosure) the calibration device. It should be noted that the use of the verbs "detect" or "observe" is not intended to limit the present disclosure to optical sensors; in fact, the vehicle sensor may also be a radar sensor or other type of sensor, as described in this disclosure.

[0019] In one embodiment, the device comprises a positioning system. The positioning system is used to assist the relative positioning between the vehicle and the vehicle calibration auxiliary structure.

[0020] The device comprises a computer. The computer is capable of accessing a database.

[0021] The database itself may be part of the device.

[0022] The database may also be part of an external server (which itself may be the object of protection of the present disclosure). In fact, according to one aspect of the present disclosure, the present disclosure relates to a server. The server includes a database. The server includes a processor.

[0023] In one embodiment, the database comprises a plurality of reference parameters. Each of the plurality of reference parameters relates to a predetermined position of a reference calibration device for calibrating a predetermined ADAS sensor relative to a first reference element (the first element being referenced to a reference vehicle). Preferably, for each type of ADAS sensor and / or for each type of vehicle, the database comprises a corresponding reference parameter.

[0024] The reference vehicle is associated with (ie corresponds to) the vehicle located in the service area. In one embodiment, the reference vehicle is a vehicle of the same type as the vehicle located in the service area.

[0025] The predetermined ADAS sensor is associated with (i.e., corresponds to) the ADAS sensor to be calibrated. In one embodiment, the ADAS sensor is a sensor of the same type as the ADAS sensor to be calibrated. The ADAS sensor to be calibrated (and the predetermined ADAS sensor) may be selected from one of the following types: a distance sensor (e.g., a radar or a laser), a parking sensor (e.g., a camera), a lane change sensor (e.g., a camera), a dusk sensor, an automatic road sign recognition sensor (e.g., a camera), a blind spot sensor (e.g., a camera).

[0026] In one embodiment, each reference parameter relates to a specification provided by the vehicle manufacturer for aligning or calibrating a respective predetermined ADAS sensor of a respective reference vehicle. In one embodiment, the specification comprises a reference distance of the calibration aid structure (or the support structure) from the first reference element. The first reference element may be, for example, a front logo, a front end (i.e., a front end of a bonnet), a front camera, a front axle (i.e., a reference point on a front wheel), or a rear axle (i.e., a reference point on a rear wheel) of the reference vehicle.

[0027] In one embodiment, the specification comprises a reference orientation of the calibration aid structure (or the support structure) relative to the first reference element. In one embodiment, the specification comprises a reference height of the calibration aid structure (or the support structure) relative to the first reference element.

[0028] In one embodiment, the specification comprises a reference height of the alignment aid structure (or of the support structure) relative to the alignment aid structure and a flat support surface on which the vehicle is positioned.

[0029] In one embodiment, the database comprises a plurality of geometric parameters. Each of the plurality of geometric parameters relates to a geometric relationship existing between a first element and a second element (of the reference vehicle). For each first element and / or each second element, the database preferably comprises a corresponding geometric parameter.

[0030] The processor (of the server) is programmed to select a reference parameter from the plurality of reference parameters from the database in response to a query. The processor is programmed to select a geometric parameter from the plurality of geometric parameters from the database in response to the query.

[0031] In one embodiment, the processor (of the server) is used to: receive one or more information items as input; query the database to retrieve the reference parameters and the geometric parameters based on the one or more input information items; and process the reference parameters and the geometric parameters to generate derived data.

[0032] In one embodiment, the computer of the device is connected to the processor of the server.

[0033] In one embodiment, the computer of the device is consistent with the processor of the server.

[0034] According to one aspect of the present disclosure, the present disclosure relates to a system for calibrating an ADAS sensor, which includes an apparatus according to one or more aspects of the present disclosure and a server according to one or more aspects of the present disclosure.

[0035] The computer is configured to receive as input one or more information items. The one or more input information items consider at least one of the following parameters: the type of vehicle located in the service area; the type of ADAS sensor (to be calibrated); a second reference element of the vehicle located in the service area.

[0036] The second reference element may be, for example, a front logo of the vehicle, a front camera, a front axle (i.e., a reference point on the front wheels) or a rear axle (i.e., a reference point on the rear wheels). Thus, in one embodiment, the second reference element and the first reference element are different elements that can be selected from the same list.

[0037] In one embodiment, the one or more input information items include a first input information item relating to the second reference element of the vehicle located in the service area.

[0038] In one embodiment, the one or more input information items include a second input information item relating to a type of ADAS sensor to be calibrated.

[0039] In one embodiment, the one or more input information items include a third input information item relating to the type of vehicles located in the service area.

[0040] Therefore, the database comprises a plurality of records. Preferably, each record is associated with a predetermined type of vehicle and a predetermined type of ADAS sensor to be calibrated. Each record comprises positioning specifications for positioning a predetermined type of vehicle to calibrate a predetermined type of ADAS sensor; these specifications are established by the manufacturer, constitute the reference parameters and refer to a first reference element. For each type of vehicle, the database also comprises one or more geometric parameters relating to the geometric relationship between the first reference element present in the vehicle and other reference elements (different from the first reference element) that can be used as a reference by the operator. The operator then selects the reference element that they wish to use as a reference and that will constitute the second reference element.

[0041] An excerpt from a database according to a possible implementation is provided below by way of example; the excerpt includes an indication of the fields of a table and an example of the content of the fields of one record (a row of a table).

[0042]

[0043] In this example, the reference parameters then include a distance of 2.7 meters of the calibration device from the vehicle's front sign (in this case the first reference element); the geometric parameters include a distance of 1 meter between the front sign and the vehicle's front camera (in this case the second reference element); the derived data, referenced to the vehicle's front camera, will give a distance of 3.7 meters of the auxiliary structure from the vehicle's front camera and a right-angle orientation of the auxiliary structure relative to the vehicle's axis of symmetry.

[0044] The computer is configured to query the database. In one embodiment, the computer queries the database via the processor of the server. The computer is programmed to retrieve the reference parameter (of the plurality of reference parameters) from the database. The processor is configured to retrieve the geometric parameter (of the plurality of geometric parameters) from the database.

[0045] The computer is configured to process the reference parameters and the geometric parameters in order to generate derived data. The derived data relates to the reference position of the vehicle calibration auxiliary structure (or the calibration device or the support structure) relative to the second reference element of the vehicle located in the service area. Therefore, the solution of the present disclosure aims to allow an operator to use a reference element to position the vehicle calibration auxiliary structure to perform positioning of a reference element different from the reference element specified by the vehicle manufacturer. Therefore, the solution of the present disclosure aims to give the operator a higher degree of freedom of manipulation in ADAS calibration.

[0046] In one embodiment, the derived data comprises a reference distance of the calibration aid structure (or the support structure) from the second reference element of the vehicle. In one embodiment, the derived data comprises a reference orientation of the calibration aid structure (or the support structure) relative to the second reference element of the vehicle. In one embodiment, the derived data comprises a height of the calibration aid structure (or the support structure) relative to the second reference element of the vehicle.

[0047] In this way, the operator can use a reference element different from that specified by the manufacturer, thereby minimizing the possibility of erroneously converting measurements (from a first reference element to a second reference element).

[0048] Thus, starting from a predetermined position relative to a first reference element, the computer derives a reference position relative to a second reference element different from the first reference element. This allows the use of positioning reference elements different from those predetermined according to the data contained in the database. Thus, it is possible to always use the same reference element or to use the reference element most suitable for the available equipment, regardless of the fact that the database refers to a plurality of different reference elements. This facilitates the operations of positioning the calibration equipment and saves operators time in performing these operations, since they can use the reference element that is more convenient for them, independently of the reference element of the database.

[0049] In one embodiment, the support structure comprises (in addition to or in lieu of a motion actuator) a graspable portion that can be grasped by an individual (or operator) to manually drive the support structure. Preferably, the graspable portion comprises one or more handles.

[0050] In one embodiment, the device comprises a remote control operatively connected to the motion actuator to send drive commands to the motion actuator. Thus, in this embodiment, the support structure can be driven by an individual using the remote control (in addition to or in lieu of the possibility of manual driving with the grippable portion or automatic driving with a processing unit to control the motion actuator).

[0051] In other conceivable embodiments, the support structure can be driven by a person (using the grippable portion and / or using the remote control or automatically by means of the remote control; as the case may be, the person can select a manual mode (in which the structure is moved manually using the grippable portion), a semi-automatic mode (in which the structure comprises a motion actuator or a self-propelled unit driven by the remote control) or an automatic mode (in which the structure comprises a motion actuator or a self-propelled unit driven by the processing unit). In one embodiment, the interface comprises a touch screen and also serves as a remote control.

[0052] In one embodiment, the vehicle alignment aid structure is moved along the support structure in a vertical direction by means of an actuator (e.g. an electric motor). The actuator is controlled (or controllable) by the individual via a drive unit (e.g. a switch panel or a joystick). In one embodiment, the drive unit is preferably associated with the support structure in the vicinity of the grippable portion.

[0053] In one embodiment, the vehicle alignment aid structure may be manually moved along the support structure in the vertical direction. In one embodiment, the support structure defines a plurality of heights at which the alignment aid structure may be positioned.

[0054] In one embodiment, the device comprises an interface. The interface is connected to the computer. The interface preferably comprises a processor.

[0055] In one embodiment, the interface is used to present to the user a request for data related to a plurality of predetermined options for the second reference element. In one embodiment, the plurality of predetermined options for the second reference element include at least one of the following options: a front logo of the vehicle; a front end of the vehicle; a camera of the vehicle; a front axle of the vehicle; a rear axle of the vehicle.

[0056] In one embodiment, the interface is used to receive preferences related to the second reference element from a user. In one embodiment, the preferences are defined by options selected from the plurality of predetermined options.

[0057] In one embodiment, the interface is used to send one or more input information items about the second reference element to the computer according to the preference.Thus, in one embodiment, the user can advantageously select a preferred second reference element from a plurality of available options.

[0058] In one embodiment, the device comprises a sensor (eg an optical sensor) for detecting a second reference element of the vehicle. The sensor is connected to the computer.

[0059] In one embodiment, the interface is connected to the sensor to receive data related to the second reference element from it. Therefore, the interface is used to ask the user for confirmation about the detected second reference element; in response to the confirmation (affirmative) from the user, the interface is used to send an input information item of the one or more input information items about the second reference element to the computer according to the confirmation.

[0060] In one embodiment, the interface is for presenting to the user a request for data associated with a plurality of predetermined options for the second reference element in response to a failure of the user's confirmation.

[0061] In one embodiment, said computer is connected to said sensor detecting said second reference element and is arranged to receive said first input information item from said sensor (without confirmation from a user).

[0062] In one embodiment, the vehicle calibration aid structure includes a plurality of calibration devices for facilitating alignment or calibration of a corresponding plurality of ADAS sensors.

[0063] In one embodiment, the interface is used to present to the user a (further) request for data relating to a plurality of predetermined options of the ADAS sensor to be calibrated among the plurality of ADAS sensors.

[0064] In one embodiment, the interface is configured to receive (further) preferences from a user relating to the ADAS sensor to be calibrated among the plurality of ADAS sensors.

[0065] In one embodiment, the interface is configured to send a second (input) item of information regarding the type of ADAS sensor to be calibrated to the computer according to the (further) preference.

[0066] Therefore, in one embodiment, the user may easily select the ADAS sensor to be calibrated from the plurality of available options.

[0067] In another embodiment, it is not necessary to select the ADAS sensor to be calibrated. For example, in one embodiment, the vehicle located in the service area may include only one sensor; in this case, the computer may be used to select the calibration device required to calibrate the unique sensor of the vehicle based on the third input information item about the vehicle type and retrieve reference parameters related to the predetermined position of the reference calibration device from the database, the reference calibration device being used to calibrate the predetermined ADAS sensor associated with (or corresponding to) the unique ADAS sensor present on the vehicle.

[0068] Furthermore, in one embodiment, the vehicle calibration aid may include only one calibration device and thus be used to facilitate alignment or calibration of a single ADAS sensor of the vehicle.

[0069] Furthermore, in one embodiment, the predetermined position (defined by the reference parameters) may be independent of the type of ADAS sensor to be calibrated.

[0070] In one embodiment, the second input information item may also be preset during an initial step of configuring the computer. In one embodiment, the operator may set the type of ADAS sensor to be calibrated so that the computer no longer requires the selection of the ADAS sensor to be calibrated; at any time thereafter, the operator may change the set type of ADAS sensor.

[0071] In one embodiment, the interface is used to make the exported data available to a user.

[0072] In one embodiment, the type of vehicle comprises a make and / or model of the vehicle. In one embodiment, the computer is connectable to an electronic control unit of the vehicle (e.g., wired or via a dongle connected to an OBD port of the vehicle) to obtain the third input information item from the electronic control unit of the vehicle. In one embodiment, the computer is connectable to an electronic control unit of the vehicle (e.g., wired or via a dongle) to obtain an identification number (VIN) of the vehicle. The identification number of the vehicle comprises a third input information item of one or more input information items related to the type of vehicle.

[0073] In one embodiment, the computer comprises (or has access to) a customer database; the customer database comprises a plurality of customer records, wherein each record is associated with a particular vehicle and comprises a vehicle license plate number and items of information relating to ADAS sensors present on the vehicle.

[0074] The customer database may be integrated in the databases already mentioned in the present disclosure, or the customer database may be a different database (in the latter case, the two databases are preferably related to each other).

[0075] In one embodiment, the records of the customer database may be manually entered into the database by an operator.

[0076] In one embodiment, the device comprises a license plate number reader (comprising, for example, a still camera and an optical character recognition (OCR) device). In one embodiment, the device comprises a barcode and / or QR code reader (comprising, for example, a still camera and code recognition software). In one embodiment, the interface is used to allow an operator to manually input the license plate number.

[0077] In one embodiment, the computer may be configured to store, for each new vehicle located in the service area, a record in the customer database containing the corresponding license plate number (entered manually by an operator or read by a reader) and one or more ADAS sensors selected by the operator (by selecting a second input information item) for calibration.

[0078] In one embodiment, when the vehicle is located in the service area, the computer is used to receive the vehicle's license plate number (from a license plate number reader or manually entered) and query the customer database to check whether the license plate number is associated with a record already entered therein.

[0079] If the license plate number is associated with an existing record in the customer database, the computer is used to derive the second input information item based on an information item related to the ADAS sensor present on the vehicle, which information item is recorded in the customer database. More specifically, the computer is used to retrieve the reference parameters related to the predetermined position for calibrating the ADAS sensor actually present on the vehicle. If the vehicle has more than one ADAS sensor, the computer may be configured to select the reference parameters required for calibrating one ADAS sensor at a time.

[0080] If the license plate number is not associated with an existing record in the customer database, the computer is operable to prompt the operator to select the second input information item and preferably save a corresponding new record in the customer database.

[0081] It should be noted that the above description regarding the vehicle registration number can apply, mutatis mutandis, to other numbers or identification codes of the vehicle, such as a barcode or QR code (applied to the vehicle or on the vehicle title certificate).

[0082] In one embodiment, said interface comprises an input unit for receiving said preference and / or said confirmation and / or said further preference from a user.

[0083] In one embodiment, the interface comprises an output unit for making the exported data available.

[0084] In one embodiment, the output unit comprises a screen. In one embodiment, the screen is associated with (integrated with) the support structure. The screen displays the derived data (eg in numerical form and / or with arrows).

[0085] In one embodiment, the output unit comprises a speaker.

[0086] In one embodiment, the output unit comprises a printer for creating a report document (e.g., in the form of a file or adhesive label containing a barcode or QR code). The report document helps to provide evidence of the locations where calibration procedures have been performed so that these locations can be used for future calibration procedures, or to determine liability in the event of an incident, if necessary.

[0087] In one embodiment, the arrangement comprises at least one altimeter for measuring the height of a wheel arch of the vehicle relative to a flat supporting surface on which the vehicle is located in the area of ​​the service bay.

[0088] Preferably, the surface on which the vehicle is supported is the same flat surface that also supports the base unit (in one embodiment, the flat support surface is detected by a height rangefinder associated with the calibration aid).

[0089] The altimeter is used to send a signal representing the altitude to the computer.

[0090] "Wheel arch" means the part of the vehicle chassis (or bumper) located above the wheel relative to the vertical direction through the center of the wheel.

[0091] In one embodiment, the device comprises at least one altimeter for measuring the height of a wheel arch. The altimeter is movable and can be positioned at the wheel arch to be measured. The altimeter is used to measure the height of two front wheel arches and / or rear wheel arches of the vehicle relative to a flat supporting surface. The altimeter is used to send a signal representing the measured height to the computer.

[0092] The computer is used to transmit the wheel arch height to the electronic control unit of the vehicle. In fact, in one embodiment, the electronic control unit requires input of the effective height of the wheel arch in order to be able to calibrate the ADAS sensor with high accuracy.

[0093] In one embodiment, the interface is used to allow a user to manually input one or more wheel arch heights.

[0094] In one embodiment, the altimeter comprises a height telemeter applicable to the wheel arch so as to measure the effective height of the wheel arch from the flat support surface and to send a signal to the computer in dependence on the measured effective height.

[0095] In one embodiment, the height range finder is an optical distance sensor. In one embodiment, the height range finder is an acoustic distance sensor (eg, an ultrasonic sensor). In one embodiment, the height range finder is a laser distance meter.

[0096] In one embodiment, the altitude range finder is wirelessly connected to the computer (eg, via Bluetooth or Wi-Fi) to transmit a signal representative of the measured altitude.

[0097] In one embodiment, the device comprises (or has access to) a wheel balancing database; the wheel balancing database comprises information for adjusting the wheel balancing of the vehicle (e.g., for each type of vehicle, including reference ranges indicating acceptable values ​​for specific wheel balancing parameters (e.g., toe, camber or other)). The wheel balancing database may be integrated in the databases already mentioned in the present disclosure, or the customer database may be a different database (in the latter case, the two databases are preferably related to each other). In one embodiment, the wheel balancing database comprises a field indicating the presence of an ADAS device for each vehicle.

[0098] Thus, for each vehicle or vehicle type, the apparatus is able to access both information for adjusting wheel balance and information described in the context of the present disclosure to adjust the ADAS device. According to another aspect, the (wheel balance) database may include correlations (if any) related to the effect of wheel balance on the positioning of the ADAS device. For example, if adjusting the wheel balance value determines (or may cause) misalignment of an ADAS device (sensor), the processing system may provide (through an interface) a warning signal indicating that as a result of adjusting the wheel balance, it may be necessary or advisable to calibrate one or more ADAS devices (the processing system is equipped with a processing unit programmed to generate such a warning). For example, the processing unit is programmed to prompt an operator to check the calibration of the ADAS sensor in response to a situation in which an operation performed on the wheel balance has caused the thrust axis of the vehicle to change.

[0099] In one embodiment, the positioning system includes a positioning device spaced apart from the support structure. In one embodiment, the positioning device is movable on wheels or on tracks extending parallel to the direction of travel of the vehicle located in the service area. In one embodiment, the positioning device includes an optical device of the positioning device, which is oriented in a second lateral direction to observe graphic features of the vehicle (e.g., wheels of the vehicle). In one embodiment, the positioning device includes a matching camera of the positioning device, which is oriented in a rearward direction opposite to a forward direction to observe positioning target elements. The positioning device provides a relative reference system relative to the vehicle for positioning the support structure. The processing unit is connected to the optical device and to the matching camera of the positioning device to process image data captured by the optical device and the matching camera of the positioning device so as to derive information about the actual position of the support structure relative to the vehicle.

[0100] In one embodiment, the positioning system is configured to capture in real time the value of a position parameter representing the position of the support structure and / or the vehicle alignment aid structure relative to the vehicle.

[0101] In one embodiment, the positioning system comprises at least one distance meter for measuring the distance of the support structure from the vehicle (or from a target panel associated with the vehicle).

[0102] The rangefinder is used to measure (in non-contact mode) the distance of an object relative to a reference point of the rangefinder itself (eg the middle point of the rear side).

[0103] In one embodiment, the range finder is an optical distance sensor (eg, a camera). In one embodiment, the range finder is an acoustic distance sensor (eg, an ultrasonic sensor).

[0104] In one embodiment, the rangefinder is a laser rangefinder that projects a laser beam onto the object whose distance is to be measured. In one embodiment, the rangefinder further comprises an accelerometer (e.g., a three-axis accelerometer) that allows the distance in the horizontal direction (at right angles to the vertical direction) and / or in the vertical direction to be calculated when the measuring direction is inclined.

[0105] In one embodiment, the rangefinder is preferably removably mounted on the support structure. In one embodiment, the positioning system comprises a positioning target element associated with one of the wheels of the vehicle (preferably one of the front wheels). The rangefinder is used to observe the positioning target element (or a surface thereof or a graphical feature represented thereon).

[0106] In another embodiment, the distance meter is preferably removably mounted on the positioning target element associated with the wheel. Thus, the distance meter is used to observe the graphical features of the support structure.

[0107] In one embodiment, the positioning system comprises a pair of rangefinders and a pair of positioning target elements associated with respective wheels (preferably front wheels) of the vehicle; each of the pair of rangefinders is used to measure the distance of respective positioning target elements in the pair of positioning target elements.

[0108] In one embodiment, at least one rangefinder (or a pair of rangefinders) is associated with a wheel (or wheels), and a corresponding positioning target element (or corresponding positioning target elements) is associated with the support structure.

[0109] In one embodiment, the positioning system comprises a first pair of heads mounted on the support structure. In one embodiment, the positioning system comprises a second pair of heads associated with respective wheels, preferably rear wheels, of the vehicle.

[0110] Each head of the first pair of heads includes an emitter / transmitter (an LED in one embodiment; a laser in another embodiment) directed toward a corresponding head of the second pair of heads.

[0111] Each head of the first pair of heads comprises a first end and a second end; the first end and the second end are each provided with a receiver and / or a transmitter for communicating with a corresponding transmitter or receiver of the other head. For these transmitters / receivers, various different technical solutions can be used: for example, CCD and / or laser and / or LED. More specifically, in one embodiment, an LED transmitter and a CCD receiver are used.

[0112] In one embodiment, each of the heads may include a first receiver directed toward (to receive signals from) a corresponding head of the second pair of heads. Each head of the first pair of heads may include a first transmitter / transmitter operably directed toward another head of the first pair of heads.

[0113] In one embodiment, each of the first pair of heads may include a second receiver that is operably directed toward the other of the first pair of heads. Each of the first pair of heads may include a second transmitter / sender that is operably directed toward the other of the first pair of heads.

[0114] The above description about the first pair of heads also applies to the second pair of heads.

[0115] The first pair of heads and the second pair of heads are used to measure the orientation of the support structure relative to the thrust axis of the vehicle when the first pair of heads and the second pair of heads are connected to a structure and a vehicle in such a manner that the heads are in communication with each other, those mounted on the structure are in communication with each other, and each head mounted on the vehicle is in communication with a corresponding head mounted on the structure.

[0116] The at least one rangefinder may be used in combination with the head.

[0117] In one embodiment, the calibration device comprises a target panel having a surface carrying a combination of predetermined graphic features. The predetermined graphic features of the target panel are provided by the vehicle manufacturer and may therefore vary from vehicle to vehicle. In this embodiment, the calibration device is used to calibrate an ADAS camera of the vehicle.

[0118] In one embodiment, the graphical features are pre-printed on the target panel. In one embodiment, the target panel is defined by a screen for displaying a combination of predetermined graphical features. In one embodiment, the calibration device comprises a projector for projecting the predetermined graphical features onto the target panel.

[0119] In one embodiment, the calibration device comprises a reflector having a metal surface or a surface capable of reflecting electromagnetic waves at a frequency at which the radar sensor of the ADAS system operates. In this embodiment, the calibration device is used to facilitate alignment or calibration of the ADAS radar sensor of the vehicle.

[0120] In one embodiment, the calibration device comprises a target panel for calibrating a LIDAR sensor or camera of the advanced driver assistance system of the vehicle. The target panel for calibrating the LIDAR sensor is reflective in one embodiment and retroreflective in another embodiment.

[0121] In one embodiment, the calibration device comprises a device for calibrating or aligning an infrared ADAS sensor.

[0122] In one embodiment, the apparatus comprises a plurality of calibration devices of the above-described type, which are designed to be removably coupled to the support structure (in one embodiment, one calibration device replaces another calibration device). In another embodiment, the apparatus comprises a plurality of calibration devices of the above-described type fixed to respective parts of the support structure.

[0123] In one embodiment, the positioning system comprises a laser blade. The laser blade is preferably associated with the support structure and directed toward the service area. In one embodiment, the laser blade is oriented perpendicular to the target panel and / or the reflector. In one embodiment, the laser blade is used to facilitate alignment of the support structure relative to the axis of symmetry of the vehicle.

[0124] In one embodiment, the laser blade can be rotated about at least one axis integral to the support structure to illuminate a point or line of the vehicle to help an individual orient or locate the support structure. More specifically, the laser blade is used to locate the support structure relative to an axis of symmetry (in effect, the laser blade detects a front mark and / or a front end).

[0125] In one embodiment, where a structure must be positioned relative to the axis of symmetry of the vehicle, the laser blade is useful for performing this positioning operation.

[0126] In one embodiment, where the structure must be positioned relative to the thrust axis of the vehicle, the laser blade is useful for pre-positioning the structure relative to the axis of symmetry of the vehicle; other instruments (such as the head described herein) can then be used to position relative to the thrust axis.

[0127] The present disclosure also relates to a method for calibrating a sensor (at least one) of an advanced driver assistance system (ADAS) of a vehicle. The vehicle is located within a service area.

[0128] The method comprises the step of preparing a base unit.

[0129] The method comprises the step of preparing a support structure integral with the base unit.The vehicle calibration aid structure comprises (at least one) calibration device for facilitating alignment or calibration of the ADAS sensor of the vehicle.

[0130] The method comprises the step of positioning the support structure in the vicinity of the service area in such a way that the sensors of the vehicle can "see" (or "illuminate" or "detect") the calibration device.

[0131] The method comprises the step of sending a calibration command to an electronic control unit of the vehicle.

[0132] The method comprises the step of detecting (or observing) the calibration device by means of a sensor of the vehicle to be calibrated.

[0133] The method comprises the step of processing data received from the electronic control unit of the vehicle.

[0134] The method comprises a step of receiving in a computer of the device for calibrating sensors (or in a processor of a server) one or more input information items. The one or more input information items take into account at least one of the following parameters: the type of vehicle located in the service area; the type of ADAS sensor; a second reference element of the vehicle located in the service area.

[0135] The method comprises the step of querying a database. In one embodiment, the query comprises retrieving reference parameters based on input information. In one embodiment, the query comprises retrieving geometric parameters based on the input information. The query may be performed by the computer of the device or the processor of the server, or by the computer of the device and the processor of the server jointly.

[0136] The method comprises the step of processing the reference parameters and the geometric parameters in order to generate derived data. The derived data relates to a reference position of the vehicle calibration aid structure relative to the second reference element of the vehicle located in the service area.

[0137] The processing may be performed by the computer of the device or the processor of the server, or jointly by the computer of the device and the processor of the server.

[0138] In one embodiment, the method comprises the step of providing the exported data to a user via an interface.

[0139] In one embodiment, the method comprises the step of submitting, via the interface, a request to a user for data relating to a plurality of predetermined options for the second reference element.

[0140] In one embodiment, the method comprises the step of receiving, by an interface, a preference from a user related to the second reference element.

[0141] In one embodiment, the method comprises the step of an interface sending the first input information item regarding the second reference element to the computer according to the preference.

[0142] In one embodiment, the method comprises the step of capturing a second reference element by means of a sensor.

[0143] In one embodiment, the method comprises the step of the interface receiving data about the second reference element from the sensor. In one embodiment, the method comprises the step of the interface prompting a user for confirmation about the captured second reference element.

[0144] In one embodiment, the method comprises the step of sending the first input information item concerning the second reference element to the computer in response to a (affirmative) confirmation from a user.

[0145] In one embodiment, the interface is used to submit a request to the user for data related to a plurality of predetermined options of the second reference element in response to a failure of the user's confirmation.

[0146] In one embodiment, the method comprises the step of submitting, via the interface, a request to a user for data relating to a plurality of predetermined options of ADAS sensors to be calibrated.

[0147] In one embodiment, the method comprises the step of receiving (further) preferences from a user relating to the ADAS sensor to be calibrated.

[0148] In one embodiment, the method comprises the step of sending a third one of the one or more input information items regarding the type of ADAS sensor to be calibrated to the computer in accordance with the further preference.

[0149] In one embodiment, the positioning step comprises moving the support structure to a reference position indicated by the derived data.

[0150] In one embodiment, moving the support structure is done manually by a user by pushing or pulling the structure.

[0151] In one embodiment, moving the support structure is performed by a self-propelled unit associated with the support structure, the self-propelled unit comprising a processor for receiving the derived data and moving the support structure in accordance with the derived data. BRIEF DESCRIPTION OF THE DRAWINGS

[0152] These and other features will become more apparent from the following detailed description of a preferred non-limiting embodiment thereof, illustrated by way of example in the accompanying drawings, in which:

[0153] - Figure 1 An apparatus for calibrating an ADAS sensor of a vehicle located in a service area according to the present disclosure is shown in a top view;

[0154] - Figure 2A and Figure 2B shows the Figure 1 Devices;

[0155] - Figure 3 A system for calibrating ADAS sensors of a vehicle located in a service area according to the present disclosure is schematically illustrated. DETAILED DESCRIPTION

[0156] Referring to the drawings, numeral 1 denotes an apparatus for calibrating an ADAS sensor of a vehicle 9 .

[0157] A vehicle 9 is located in a service area 8 .

[0158] The device 1 comprises a base unit 2. The base unit 2 comprises a plurality of wheels 20. The plurality of wheels 20 rotate or are rotatable about respective rotation axes. The wheels 20 also rotate about respective rotation axes, which are oriented perpendicular to the respective rotation axes. The rotation axis of each wheel is at right angles (or substantially at right angles) to the respective rotation axis. The expression at right angles or substantially at right angles is used to indicate an inclination between 80° and 110°, preferably an inclination between 85° and 100°, more preferably an inclination at 90°. Preferably, the rotation axis is oriented in a vertical direction, parallel to gravity (or in a substantially vertical direction).

[0159] In one embodiment, the base unit comprises (at least one) stabilizer foot that can be moved between a raised position and a lowered position. The stabilizer foot can be moved by hand or by an actuator controlled by a person or a processing unit. When the structure is moving, the foot remains in the raised position; when the structure reaches a predetermined distance from a reference point, the foot is lowered to hold the base unit in place.

[0160] The stabilizer feet in the lowered position can serve as pivots for rotating the structure.

[0161] In one embodiment, the stabilizer foot comprises a locking device for locking the foot in the lowered position (or raised position).

[0162] The device 1 comprises a support structure 3 mounted on a base unit 2 .

[0163] The device 1 comprises a vehicle alignment aid structure 4 . The vehicle alignment aid structure 4 is mounted on a support structure 3 .

[0164] In one embodiment, the vehicle calibration aid structure 4 includes a target panel 42. The target panel 42 carries predetermined graphical features to perform (or assist in performing) calibration of the camera of the vehicle 9.

[0165] In one embodiment, the vehicle calibration aid structure 4 includes a reflector 41. The reflector 41 is capable of reflecting electromagnetic waves for performing (or aiding in performing) calibration of a radar sensor of the vehicle 9. In one embodiment, the reflector 41 can be moved in a horizontal direction (on a carriage) at right angles to the vertical direction V.

[0166] In one embodiment, the vehicle alignment aid structure 4 includes a carriage 43 slidably coupled to the support structure 3 . More specifically, the carriage 43 is slidable along the vertical direction V to adjust the height of the vehicle alignment aid structure 4 relative to the support structure 3 .

[0167] In one embodiment, the vehicle alignment aid structure 4 is tiltable relative to the support structure 3 (about a vertical tilt axis) to change the orientation of the vehicle alignment aid structure 4 relative to the support structure 3 .

[0168] In one embodiment, the support structure 3 is tiltable relative to the base unit 2 (about a vertical tilt axis) to change the orientation of the support structure 3 relative to the base unit 2 .

[0169] In one embodiment, the device 1 comprises an optical projection system comprising a laser emitter for projecting a laser blade or a laser beam onto a vehicle 9 located in the service area 8 .

[0170] The support structure 3 can be driven manually by an individual. In practice, the individual pushes or pulls the support structure 3 moving on the wheels 20.

[0171] In one embodiment, the support structure 3 includes a grippable portion 31 for allowing (or making it easier for) an individual to grip the grippable portion 31 with at least one hand. In one embodiment, the support structure 3 includes a first grippable portion 31 and a second grippable portion 31 for allowing (or making it easier for) an individual to grip the first grippable portion 31 and the second grippable portion 31 with a first hand and a second hand, respectively.

[0172] The device 1 comprises a positioning system.

[0173] In one embodiment, the positioning system includes a first pair of heads 34, 34' associated with the support structure 3 (preferably at opposite ends of the horizontal rod 30 of the support structure 3, oriented perpendicular to the vertical direction) and a second pair of heads 35, 35' associated with a bracket that can be operably connected (or connected) to the corresponding rear wheels of the vehicle 9. In this embodiment, the positioning system uses the rear axle 94 of the vehicle 9 as its reference point.

[0174] In one embodiment, the heads 34, 34' and 35, 35' are laser heads, and in other embodiments are LED / CCD heads.

[0175] The heads 34, 34' associated with the support structure 3 each comprise a first transmitter 34A, 34A' and a respective first receiver 340A, 340A' for detecting a respective laser head 35, 35' associated with a wheel of the vehicle 9 (in order to detect the orientation of the support structure 3 relative to the thrust axis of the vehicle 9). The heads 34, 34' associated with the support structure 3 each comprise a second transmitter 34B, 34B' directed towards the other head 34, 34' of the first pair of heads and a respective second receiver 340B, 340B' in order to observe it.

[0176] Each of the second pair of heads 35, 35' associated with the wheel comprises a first transmitter 35A, 35A' and a corresponding first receiver 350A, 350A' directed towards the support structure 3 to observe the corresponding head 34, 34' of the first pair of heads (or its transmitter 34A, 34A'). Each of the second pair of heads 35, 35' associated with the wheel comprises a second transmitter 35B, 35B' and a corresponding second receiver 350B, 350B' directed towards the other head 35, 35' of the second pair of heads to observe it.

[0177] The first transmitter 34A, 34A', the first receiver 340A, 340A', the second transmitter 34B, 34B' and the second receiver 340B, 340B' of the first pair of heads 34, 34' are preferably mounted on arms pointing at a direction that is at least 90° to each other. The first transmitter 35A, 35A', the first receiver 350A, 350A', the second transmitter 35B, 35B' and the second receiver 350B, 350B' of the second pair of heads 35, 35' are preferably mounted on arms pointing at a direction that is at least 90° to each other.

[0178] In one embodiment, the positioning system includes a pair of rangefinders 36 associated with the support structure 3 (preferably on the horizontal rod 30, at a position further inward than the head 34, 34') and a pair of positioning target elements 37 coupled to the front wheels of the vehicle 9. In this embodiment, the positioning system uses the front axle 93 of the vehicle 9 as its reference point. The rangefinders 36 are used to observe each positioning target element 37 to measure the distance of the support structure 3 from the vehicle 9.

[0179] In one embodiment, the positioning system includes a rangefinder 36 and a positioning target element 37 coupled to the front wheels of the vehicle 9 .

[0180] The heads 34 , 34 ′, 35 , 35 ′ and the distance meter 36 may be provided in combination with one another.

[0181] In one embodiment, the rangefinder 36 is used to observe the target element 37 and thereby measure the distance and orientation of the support structure 3 relative to the vehicle 9 .

[0182] In one embodiment, heads 34, 34', 35, 35' and only one rangefinder 36 are used; in fact, the heads 34, 34', 35, 35' measure the angular orientation of the support structure 3 and the rangefinder 36 measures the distance of the support structure 3 relative to the vehicle 9 (more specifically, relative to a second reference parameter of the vehicle 9).

[0183] In one embodiment, the head 34, 34', 35, 35' is used to measure the angular orientation and the camera (mounted on the support structure 3) is used to measure the distance of the support structure 3 from the vehicle 9. The camera may use the (front) logo 91 or the front camera 92 or the front end 910 of the vehicle as a reference point.

[0184] In one embodiment, the positioning system comprises a height distance meter 38, which is mounted on the vehicle calibration aid structure 4 and pointed at the ground on which the base unit 2 is located, so as to measure the height of the vehicle calibration aid structure 4 relative to the ground (and therefore relative to the support structure 3, which is fixed in height from the ground). The height distance meter 38 is particularly useful in the case where the vehicle calibration aid structure 4 can slide along the support structure 3 in a vertical direction (on a carriage 43).

[0185] In another embodiment, no height distance meter 38 is provided; in this embodiment, the height of the calibration aid structure 4 is known (or manually measured and entered by the individual).

[0186] In an embodiment not shown in the accompanying drawings, the positioning system includes a positioning target element of a support structure connected to the support structure 3. In one embodiment, the positioning system includes a positioning device spaced apart from the support structure. In one embodiment, the positioning device can be moved on a corresponding trolley. In one embodiment, the positioning device can be moved on a corresponding track. The positioning device includes an optical device oriented in a lateral direction to see the graphic features of the vehicle (preferably on one of the wheels of the vehicle). The optical device of the positioning device preferably includes a first camera and a second camera in a stereo configuration. The positioning device is positioned at the front axle of the vehicle (if the graphic features of the front wheel are to be observed) or at the rear axle of the vehicle (if the graphic features of the rear wheel are to be observed). The positioning device includes a matching camera oriented toward the positioning target element of the support structure (i.e., oriented in a backward direction opposite to the forward direction).

[0187] The apparatus 1 comprises a computer 102. The computer 102 has access to a database 101. The database 101 may form part of the apparatus 1 or part of a remote server connected to the apparatus 1.

[0188] The device 1 comprises an interface 10 connected to a computer 102 .

[0189] In one embodiment, the computer 102 is configured to receive a third input information item 113C relating to the type of vehicle 9 located in the service area 8 . The third input information item 113C comprises the make and / or model of the vehicle 9 .

[0190] In one embodiment, the computer 102 is connectable to the electronic control unit 95 of the vehicle 9 to receive therefrom a vehicle identification code, the vehicle identification code comprising the third input information item 113C.

[0191] In one embodiment, the interface 10 is configured to receive a third input information item 113C from a user.

[0192] In one embodiment, the computer 102 is used to receive a second input information item 113B related to the type of ADAS sensor to be calibrated. In one embodiment, the interface 10 is used to present a request to the user for data related to a plurality of predetermined options of ADAS sensors to be calibrated, receive preferences related to the ADAS sensors to be calibrated from the user, and send the second input information item 113B to the computer 102 according to the preferences.

[0193] In one embodiment, the computer 102 is configured to receive a first input information item 113A relating to a second reference element of a vehicle 9 located in the service area 8. The second reference element of the reference vehicle corresponds to an element of the vehicle 9 to be used as a reference for positioning the support structure 3.

[0194] For example, the second reference element may be a front logo of the reference vehicle (corresponding to front logo 91 of vehicle 9), a front end of the reference vehicle (corresponding to front end 910 of vehicle 9), a front camera of the reference vehicle (corresponding to front camera 92 of vehicle 9), a front axle of the reference vehicle (corresponding to camera 93 of vehicle 9 or a reference point on the front wheel), or a rear axle of the reference vehicle (corresponding to rear axle 94 of vehicle 9 or a reference point on the rear wheel).

[0195] In one embodiment, the interface 10 is used to present a request to the user for data related to a plurality of predetermined options for the second reference element, receive preferences related to the second reference element from the user, and send a first input information item 113A to the computer 102 according to the preferences.

[0196] The computer 102 is used to query the database 101 to retrieve the reference parameters 111 and the geometric parameters 112 according to the first input information item 113A, the second input information item 113B and the third input information item 113C.

[0197] The reference parameters 111 represent a predetermined position of a reference calibration device for calibrating a predetermined ADAS sensor (of the same type as the ADAS sensor to be calibrated) relative to a first element of a reference vehicle (of the same type as the vehicle 9 located in the service area 8). The reference parameters 111 are defined by the manufacturer's specifications. The reference parameters 111 may include a distance and / or orientation and / or a predetermined height of the reference calibration device relative to a first reference element of a reference vehicle (of the same type as the vehicle 9 located in the service area 8). The first reference element may be, for example, a front logo, a front end, a front camera, a front axle (i.e., a reference point on the front wheels), or a rear axle (i.e., a reference point on the rear wheels) of the reference vehicle.

[0198] The geometric parameter 112 represents the geometric relationship between the first reference element of the reference vehicle (reference parameter 111) and the second reference element of the reference vehicle (which can be preset or selected by the user according to the specific situation). The second reference element of the reference vehicle is uniquely related to the corresponding second reference element of the vehicle 9 located in the service area 8.

[0199] For example, if the first reference element is the front axle of the reference vehicle and the option selected for the second reference element is the front mark 91 of the vehicle 9, the geometric parameters 112 include the geometric relationship between the front axle of the reference vehicle and the front mark of the reference vehicle. The geometric relationship is preferably defined in a spatial coordinate system.

[0200] The computer 102 is used to process the reference parameters 111 and the geometric parameters 112 in order to generate derived data 114. The derived data 114 relates to a reference position of the vehicle calibration aid structure 4 relative to a second reference element of the vehicle 9 located in the service area 8.

[0201] In one embodiment, the database 101 comprises reference heights of wheel arches relative to a flat supporting surface.

[0202] Thus, in the example where the first reference element (referenced by reference parameter 111) is the front axle of the reference vehicle and the option selected for the second reference element is the front marker 91 of the vehicle 9, the derived data 114 represents the reference position of the vehicle calibration aid structure 4 relative to the front marker 91 of the vehicle 9.

[0203] Preferably, the interface 10 is used to make the export data 114 available to a user.

[0204] The present disclosure also relates to a server comprising a database 101. The database 101 comprises a plurality of reference parameters 111 (or more generally, at least one reference parameter 111). More specifically, for each type of vehicle and for each ADAS sensor to be calibrated, the database 101 comprises a corresponding reference parameter 111 representing a predetermined position of a corresponding calibration device for calibrating the sensor relative to a reference vehicle associated with the type of vehicle.

[0205] The database 101 includes a plurality of geometric parameters 112. More specifically, for each option of a second reference element selectable by a user and each ADAS sensor of each type of vehicle, the database 101 includes a geometric parameter 112 indicating a geometric relationship existing between the first reference element 111 and the second reference element, and the data of the database 101 for the ADAS sensor of the type of vehicle refers to the first reference element 111.

[0206] In one embodiment, the server includes a processor programmed to select a reference parameter 111 of the plurality of reference parameters 111 and a geometric parameter 112 of the plurality of geometric parameters 112 from the database 101 in response to a query.

[0207] The present disclosure also relates to a system 100 for calibrating an ADAS sensor. The system 100 comprises an apparatus 1 and a server.

[0208] In one embodiment, the computer 102 can access the database 101 through a processor of a server. In one embodiment, the processor of the server is consistent with the computer 102 of the device 1.

[0209] The present disclosure also relates to a method for calibrating sensors of an advanced driver assistance system (ADAS) of a vehicle 9 . The vehicle 9 is positioned in a service area 8 .

[0210] The method comprises the step of preparing the base unit 2 .

[0211] The method comprises the step of preparing a support structure 3 integral with a base unit 2. The method comprises the step of preparing a vehicle calibration aid structure 4 mounted on the support structure 3. The vehicle calibration aid structure 4 comprises a calibration device for facilitating alignment or calibration of an ADAS sensor of a vehicle 9.

[0212] The method comprises the step of positioning the support structure 3 near the service area 8 in such a way that the sensors of the vehicle 9 can detect the calibration device.

[0213] The method comprises the following steps: sending a calibration command to an electronic control unit of the vehicle 9 ; detecting the calibration device by means of sensors of the vehicle 9 to be calibrated; and processing data received from the electronic control unit of the vehicle 9 .

[0214] The method comprises a step where the computer 102 receives one or more input information items 113A, 113B, 113C regarding at least one of the following parameters: the type of vehicle 9 located in the service area 8; the type of ADAS sensor; a second reference element of the vehicle 9 located in the service area 8.

[0215] More specifically, in one embodiment, the one or more input information items 113A, 113B, 113C include a first input information item 113A related to a second reference element of the vehicle 9 .

[0216] In one embodiment, the one or more input information items include a second input information item 113B related to the type of ADAS sensor to be calibrated.

[0217] In one embodiment, the one or more input information items include a third input information item 113C related to the type of vehicle 9 located in the service area 8 .

[0218] The method comprises the step of querying a database 101 to retrieve reference parameters 111 and geometric parameters 112 according to input information.

[0219] The method comprises the step of processing reference parameters 111 and geometric parameters 112 in order to generate derived data 114 .

[0220] With regard to reference parameters 111 , geometric parameters 112 and derived data 114 , what has been described herein with regard to the apparatus and the system also applies to the method.

Claims

1. An apparatus for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle located in a service area, the apparatus comprising: - base unit; - a support structure, which is integral with the base unit; - a vehicle calibration aid structure mounted on said support structure and comprising a calibration device for facilitating alignment or calibration of said ADAS sensors of said vehicle; - a positioning system, the positioning system is used to assist the relative positioning between the vehicle calibration auxiliary structure and the vehicle; The device comprises a computer capable of accessing a database and configured to: receiving one or more input information items including a first input information item associated with a second reference element of the vehicle located in the service area; querying the database to retrieve reference parameters and geometric parameters based on the one or more input information items, wherein the reference parameters relate to a predetermined position of a calibration device for calibrating a predetermined ADAS sensor, the predetermined ADAS sensor corresponding to the ADAS sensor of the vehicle located in the service area, the predetermined position being referenced to a first reference element, and wherein, for a given type of vehicle, the geometric parameters relate to a geometric relationship between the first reference element and a second reference element different from the first reference element; processing the reference parameters and the geometric parameters to generate derived data related to a reference position of the vehicle calibration aid structure relative to the second reference element of the vehicle located in the service area; The vehicle calibration auxiliary structure includes a plurality of calibration devices, the plurality of calibration devices being used to facilitate alignment or calibration of a corresponding plurality of ADAS sensors, wherein the one or more input information items include a second input information item related to a type of ADAS sensor to be calibrated, The one or more input information items include a third input information item related to a type of vehicle located in the service area, wherein the type of vehicle includes a make and / or model of the vehicle.

2. The apparatus according to claim 1, comprising an interface connected to the computer and configured to: - showing a user a request for data related to a plurality of predetermined options of said second reference element; - receiving from said user a preference associated with said second reference element; - sending said first input information item to said computer according to said preferences.

3. The device according to claim 2, wherein: The plurality of predetermined options for the second reference element include at least the following options: - the front emblem of the vehicle; - the front end of the vehicle; - a front camera of the vehicle; - the front axle of the vehicle; - the rear axle of the vehicle.

4. The device according to claim 3, wherein: The interface is used to: - showing the user a further request for data relating to a plurality of predetermined options of ADAS sensors to be calibrated among the plurality of ADAS sensors; - receiving from the user further preferences related to the ADAS sensor to be calibrated among the plurality of ADAS sensors; - sending said second input information item to said computer according to said further preference.

5. The device according to any one of claims 2 to 4, wherein: The interface is for making the exported data available to the user.

6. The device according to claim 1, wherein: The computer is connectable to an electronic control unit of the vehicle to acquire a vehicle identification code including the first input information item from the electronic control unit of the vehicle.

7. The device according to any one of claims 2 to 4, wherein: The exported data includes one or more of the following data items: - a reference distance between the vehicle calibration aid structure and the second reference element of the vehicle located in the service area; - a reference orientation of the vehicle alignment aid structure relative to the second reference element of the vehicle located in the service area.

8. The device according to any one of claims 2 to 4, wherein: The derived data includes a reference height of the vehicle calibration aid structure relative to the second reference element of the vehicle located in the service area.

9. An apparatus according to any one of claims 2 to 4, comprising at least one altimeter for measuring the height of a wheel arch of the vehicle relative to a flat surface supporting the vehicle in the service area and sending a signal representative of this height to the computer.

10. A server, comprising: - A database comprising: a plurality of reference parameters, wherein each reference parameter of the plurality of reference parameters relates to a predetermined position of a calibration device for calibrating a predetermined ADAS sensor, the predetermined position being referenced to a first reference element; a plurality of geometric parameters, wherein each geometric parameter of the plurality of geometric parameters relates to a geometric relationship between the first reference element of a reference vehicle and a second reference element of the reference vehicle; - a processor programmed to select, from said database, a reference parameter of said plurality of reference parameters and a geometric parameter of said plurality of geometric parameters in response to a query; Wherein, the processor is used for: receiving one or more input information items regarding at least one of the following parameters: a type of vehicle located in a service area; a type of ADAS sensor; a second reference element of the vehicle located in the service area; querying the database to retrieve reference parameters from the plurality of reference parameters and geometric parameters from the plurality of geometric parameters based on the one or more input information items; The reference parameters and the geometric parameters are processed to generate derived data related to a reference position of a vehicle calibration aid structure relative to the second reference element of the vehicle located in the service area.

11. A system for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle located in a service area, the system comprising: - a device according to claim 1 or 2 or 3 or 4; - A server according to claim 10.

12. A method for calibrating a sensor of an advanced driver assistance system of a vehicle, wherein: The vehicle is located in a service area, and the method comprises the following steps: - Prepare the base unit; - preparing a support structure and a vehicle calibration aid structure mounted on the support structure, the support structure being integral with the base unit, the vehicle calibration aid structure comprising a calibration device for facilitating alignment or calibration of an ADAS sensor of the vehicle; - positioning the support structure near the service area in such a way that the calibration device can be detected by the sensors of the vehicle; - sending a calibration command to an electronic control unit of the vehicle; - detecting the calibration device by means of the sensors of the vehicle to be calibrated; - processing data received from said electronic control unit of said vehicle; The method further comprises the following steps: - receiving at a computer one or more input information items, the one or more input information items comprising a first input information item relating to a second reference element of said vehicle, said vehicle being located in said service area; - querying a database to retrieve reference parameters and geometric parameters according to said input information item, wherein said reference parameters relate to a predetermined position of a reference calibration device for calibrating a predetermined ADAS sensor, said predetermined ADAS sensor corresponding to said ADAS sensor of said vehicle located in said service area, said predetermined position being referenced to a first reference element, and wherein, for a given type of vehicle, said geometric parameters relate to a geometrical relationship between said first reference element and a second reference element different from said first reference element; - processing said reference parameters and said geometrical parameters to generate derived data relating to a reference position of said vehicle calibration aid structure relative to said second reference element of said vehicle located in said service area; The vehicle calibration auxiliary structure includes a plurality of calibration devices, the plurality of calibration devices being used to facilitate alignment or calibration of a corresponding plurality of ADAS sensors, wherein the one or more input information items include a second input information item related to a type of ADAS sensor to be calibrated, The one or more input information items include a third input information item related to a type of vehicle located in the service area, wherein the type of vehicle includes a make and / or model of the vehicle.

13. The method according to claim 12, comprising the step of providing the exported data to a user via an interface.

14. The method according to claim 12 or 13, comprising the steps of: - submitting, through an interface, a request to a user for data related to a plurality of predetermined options of said second reference element; - receiving, at the interface, from the user, preferences related to the second reference element; - sending said first item of input information about said second reference element from said interface to said computer according to said preference.

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