Method, computer program and apparatus for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle

Abstract

A method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle (9) comprises the following steps: (A) deriving posture parameters of the vehicle (9); receiving the derived posture parameters in a control unit (11); (B) comparing the derived posture parameters with corresponding reference parameters; (C) facilitating positioning of a support structure (3) close to a service area (8), wherein a calibration device (41) is mounted on the support structure (3); sending a calibration command from the control unit (11) to an electronic control unit (95) of the vehicle (9) to determine the interaction between the ADAS sensor and the calibration device (41); and processing data received from the electronic control unit (95) of the vehicle (9) in the control unit (11).

Description

Technical Field

[0001] The present invention relates to a method for calibrating an Advanced Driver Assistance System (ADAS) sensor of a vehicle.

[0002] In particular, the field of the present application is the calibration or alignment of vehicle sensors, which are used in systems such as safety systems for preventing frontal collisions, lane detection systems, cruise speed control systems, safe stopping distance systems, such as radar sensors, LIDAR sensors, optical sensors (cameras) or other sensors.

[0003] In the field of driver assistance systems, target units used in procedures for aligning and calibrating sensors for advanced driver assistance systems can be mounted on a trolley-like structure. Background Art

[0004] For example, patent document WO2018 / 067354A1 provides a structure for supporting an optical target for calibrating a vehicle camera and a metal target for calibrating a vehicle's radar sensor.

[0005] Other structures for calibrating vehicle sensors are described in patent documents DE10114799B4, EP1016873B1, US8244024B2 and WO2018 / 153722A1, US7121011B2, US2004 / 049930A1, US4718759A, WO2019 / 211756A1.

[0006] These structures must be positioned at a predetermined distance in front of the vehicle and oriented in a predetermined manner relative to a reference point of the vehicle. The predetermined distance and orientation are specified by the vehicle manufacturer and refer to the optimal position of the structure relative to the vehicle in which the attitude values ​​(e.g., toe and camber) fall within an optimal range (the manufacturer considers these values ​​to be acceptable). Therefore, in order for the support structure to be correctly positioned relative to the vehicle, the vehicle must have an optimal (or acceptable) attitude value, that is, a correct value; if the attitude value of the vehicle is incorrect, a wheel alignment must be performed to modify the attitude value. Therefore, before calibrating the ADAS sensor, a procedure for checking the wheel attitude of the vehicle may be required (a procedure that is usually performed according to the manufacturer's specifications); the procedure for checking the attitude is different from the procedure for calibrating the ADAS sensor, that is, it is performed with a different system. For example, the procedure for checking the attitude can be performed using the system described in patent document EP2302318B1 in the name of the present applicant.

[0007] The distinction between the posture check system and the ADAS sensor calibration system means that the shop needs to have two different devices that are used in sequence. In fact, if the shop does not have a system for checking posture (which is often the case in automotive glass repair shops), the shop will not be able to calibrate the ADAS sensors, which is detrimental to vehicle safety. In addition, there is a general need to reduce the procedural time of calibration while ensuring that the procedure is performed correctly. Summary of the invention

[0008] An object of the present disclosure is to provide a method and apparatus for calibrating (or aligning) an ADAS sensor of an advanced driver assistance system of a vehicle, so as to overcome at least one of the above-mentioned deficiencies of the prior art.

[0009] This object is fully achieved by a method and a device for calibrating (or aligning) ADAS sensors of an advanced driver assistance system of a vehicle as characterized in the appended claims.

[0010] According to one aspect, the present disclosure relates to an apparatus for calibrating (at least one) ADAS sensor of a vehicle. ADAS sensor refers to a sensor that forms part of an advanced driver assistance system of the vehicle. For example, the sensor to be aligned or calibrated may be a radar sensor, an optical sensor (camera), an ultrasonic sensor or a LIDAR sensor.

[0011] During the execution of the steps of the method, the vehicle is preferably positioned in a service area. In order to calibrate the ADAS sensors, the method further comprises the step of the control unit facilitating the positioning of the support structure close to the service area (or at a position in front of the vehicle).

[0012] The method comprises the step of deriving (at least one) attitude parameter of the vehicle. More specifically, the attitude parameter comprises a wheel alignment or characteristic wheel angle, such as a toe angle and / or a camber angle of the front and / or rear wheels. The attitude parameter is derived from measurements taken, such as the relative position of the wheels of the vehicle to each other or between the wheels and a reference point outside the vehicle.

[0013] In one embodiment, the method comprises the step of requesting an operator to confirm the start of the step of deriving the posture parameters.Thus, in one embodiment, the step of deriving the posture parameters is conditional on receiving a confirmation from the operator.

[0014] The method comprises the step of receiving the derived posture parameters in the control unit. In one embodiment, the posture parameters are derived by the control unit; in another embodiment, the posture parameters are transmitted to the control unit after being derived.

[0015] The method comprises the step of comparing the derived attitude parameters with corresponding (attitude) reference parameters.

[0016] In one embodiment, the method includes the step of the control unit identifying the vehicle. The step of identifying the vehicle includes receiving information uniquely associated with the vehicle (e.g., type, including make and model) in the control unit. To this end, a user interface is provided for an operator to input information related to the vehicle and the information is received as input by the control unit. Additionally or alternatively, the control unit captures a code uniquely associated with the vehicle (e.g., an identification number or VIN and / or registration number of the vehicle or other code associated with the make, model and owner of the vehicle. The code uniquely associated with the vehicle may be transmitted to the control unit by the operator (via an interface) or by an electronic control unit of the vehicle.

[0017] In one embodiment, the method comprises the following steps: a control unit queries one or more databases to obtain data useful (necessary) for one or more steps of detecting posture, helping to position a support structure (i.e., an ADAS sensor calibration device mounted on the support structure) and actually calibrating the ADAS sensor according to the type of vehicle (i.e., in response to the result of the identification step).

[0018] Regarding the data useful (necessary) for the step of detecting the posture, the control unit (in response to the result of the identification step) queries the database to derive (acquire) the value of the reference parameter according to the type (brand and / or model) of the vehicle. The reference parameter represents a reference value of the posture parameter. The reference parameter is provided by the vehicle manufacturer. More specifically, in one embodiment, the reference parameter represents a reference range (from a minimum value to a maximum value) of the posture parameter; the comparison step includes checking whether the derived posture parameter falls within the reference range. In one embodiment, the reference parameter represents a reference value and a corresponding tolerance relative to the reference value; the comparison step includes checking whether the derived posture parameter falls within a range defined between the reference value minus the tolerance and the reference value plus the tolerance.

[0019] Preferably, it is provided that the control unit performs the step of assisting positioning only when the comparison step outputs a posture parameter of the vehicle within the reference range or within the tolerance range of the reference value. Thus, it is provided that the control unit performs the step of assisting positioning only when the comparison between the posture parameter and the reference parameter shows that the posture parameter is sufficiently close to the reference parameter. Otherwise, if the posture parameter is not close enough to the reference parameter, the control unit will not perform the step of assisting positioning and will suggest correcting the posture of the vehicle until the posture parameter is sufficiently close to the reference parameter.

[0020] Data useful (necessary) for assisting in positioning the support structure constitutes information relating to parts of the vehicle that can be used as positioning references (e.g., axis of symmetry or thrust axis, front axle, front landmark or other) and the permissible range of the relative positioning (e.g., reference distance or relative direction).

[0021] Data useful (necessary) for the actual calibration of the ADAS sensor includes information that enables the control unit to communicate with the electronic control unit of the vehicle; in fact, the control unit of the device must communicate with the electronic control unit of the vehicle (so that the electronic control unit in turn drives or calibrates the ADAS sensor). In addition, the control unit of the device can communicate with the electronic control unit of the vehicle to capture (read) the vehicle's self-diagnostic information, such as errors and state parameters or variables (this information can be used by the control unit to calibrate the ADAS sensor or tell the electronic control unit to change the setting of one or more state parameters or variables).

[0022] Preferably, the step of the control unit querying one or more databases to obtain data useful (necessary) for all the above steps (detecting posture, helping to position the support structure and actually calibrating the ADAS sensor) is performed in response to a single step of identifying the vehicle; in other words, the information uniquely related to the vehicle obtained in this single identification step is used for more than one query, namely to obtain reference data for detecting posture, reference data for helping to position the support structure and reference data for actually calibrating the ADAS sensor.

[0023] In one embodiment, the support structure includes a grippable portion that can be grasped by an operator to manually drive the support structure. In this embodiment, the step of assisting positioning includes sending movement instructions to the operator through an interface (e.g., in digital form and / or arrows).

[0024] In one embodiment, the support structure can be driven by an operator using a remote control operatively connected to the motion actuator (in addition to or in lieu of the possibility of manual driving using the grippable portion). In this embodiment, the step of assisting positioning can also include sending movement instructions to the operator via the interface.

[0025] In one embodiment, the support structure may be automatically driven by a control unit driving the motion actuator. In this embodiment, the step of facilitating positioning comprises transmitting from the control unit to the motion actuator to activate the motion actuator.

[0026] In other conceivable embodiments, the support structure can be driven by an operator (using the graspable part and / or by a remote control or automatically by a control unit; depending on the situation, the operator can choose between two or more of the following modes: manual mode (the operator manually moves the structure using the graspable part), semi-automatic mode (moving the structure using a remote control) or automatic mode (the control unit drives the motion actuator).

[0027] The calibration device is mounted on a support structure. The calibration device is configured to facilitate alignment or calibration of (at least one) ADAS sensor of the vehicle. In one embodiment, the calibration device includes a target panel having a surface with a predetermined combination of graphical features. In this embodiment, the calibration device is configured to calibrate an ADAS camera of the vehicle.

[0028] In one embodiment, the calibration device comprises a reflector having a metallic surface or a surface capable of reflecting electromagnetic waves at an operating frequency of the ADAS radar sensor. In this embodiment, the calibration device is configured to facilitate alignment or calibration of an ADAS radar sensor of a vehicle.

[0029] In one embodiment, the calibration device includes a target panel configured to calibrate a LIDAR sensor of an advanced driver assistance system of a vehicle. The target panel for calibrating the LIDAR sensor is reflective in one embodiment and retro-reflective in another embodiment.

[0030] In one embodiment, the calibration device includes a device configured to calibrate or align the infrared ADAS sensor.

[0031] The method comprises a step of facilitating the positioning of a support structure close to a service area. The step of facilitating the positioning is performed by a control unit and is performed in response to a comparison between an attitude parameter and a reference parameter. The support structure is positioned at a predetermined distance and oriented in a predetermined manner relative to the vehicle. More specifically, the support structure may be positioned using a thrust axis of the vehicle or an axis of symmetry of the vehicle or a front logo of the vehicle or a front camera of the vehicle or a front axle of the vehicle as a reference element.

[0032] Furthermore, one or more aspects described in Italian Patent Application 102018000009030 in the name of the present applicant, which is incorporated herein by reference, may be applied to one or more embodiments. It is expressly understood that all features of the method and apparatus of Italian Patent Application 102018000009030 may be applied to the method and apparatus of these embodiments.

[0033] The method comprises the step of sending a calibration command from the control unit to an electronic control unit of the vehicle to determine the interaction between the ADAS sensor and the calibration device.

[0034] The method comprises the step of processing by a control unit data received from an electronic control unit of the vehicle to generate calibration data. The calibration data represent the result of the processing and, more generally, the result of a calibration procedure.

[0035] Thus, the present disclosure provides a single integrated procedure for checking attitude and calibrating ADAS sensors.

[0036] In one embodiment, the method comprises the step of measuring (at least) the inflation pressure value of the tire. The inflation pressure of the tire can be measured by a TPMS sensor (Tire Pressure Monitoring System) which can be mounted on the wheel and / or by an electronic measuring device.

[0037] In one embodiment, the method includes the step of detecting identification information(s) associated with the tire (e.g., size, brand, model, and / or a photograph of the side of the tire). In one embodiment, the method includes the step of taking a photograph of the vehicle (possibly together with a support structure and calibration device located near the service area, and / or a calibration setup). In one embodiment, the method includes the step of reading a vehicle license plate (e.g., the vehicle license plate may be red in the vehicle photograph); the method may also include associating the vehicle license plate with data associated with the vehicle stored in a database.

[0038] In one embodiment, the method comprises the step of generating a report document. Preferably, the report document comprises one or more values ​​of the derived attitude parameters. In one embodiment, the report document comprises calibration data and preferably comprises an identification code of the vehicle. The report document may also comprise one or more of the following information items: an identification code of a tool for deriving attitude parameters, an identification code of a tool for performing calibration (i.e., a calibration device), a software version of a control unit, a result of an attitude check procedure; identification data of a workshop performing calibration; identity data of an operator; customer (owner) data; one or more inflation pressure values ​​of one or more tires measured; identification information associated with the tire (e.g., size, brand, model); a photograph of the vehicle; a photograph of the calibration settings; data associated with the vehicle obtained from a database; the moment (date and time) when the calibration was completed.

[0039] In one embodiment, in particular, the report document comprises one or more values ​​of the derived posture parameters and / or calibration data and / or one or more of the information items listed above, associated with the moment when they were derived or generated. In one embodiment, the report document comprises a history of the performed calibrations, the history comprising a plurality of records, wherein each record comprises a plurality of derived posture parameters and / or a plurality of calibration data items and / or one or more of the information items listed above, wherein each record is associated with the moment when the calibration was performed.

[0040] In one embodiment, the method includes the step of printing the report document. More specifically, the report document may be printed in the form of alphanumeric characters and / or in the form of a barcode and / or in the form of a QR code. In general, the method may include the step of generating a file containing the report document. In one embodiment, the method includes the step of saving the file to a server and / or a cloud. In one embodiment, the method includes the step of sending the report document to a client (e.g., via email or a smartphone application).

[0041] In one embodiment, the method comprises the step of determining the thrust axis of the vehicle from the attitude parameters, in particular from the toe angle values ​​of the rear wheels. In this embodiment, the support structure can be positioned relative to the vehicle using the determined thrust axis of the vehicle as a reference. Thus, in one embodiment, the positioning of the support structure is based on the derived attitude parameters.

[0042] In one embodiment, the method includes the step of generating an alarm signal based on the deviation between the derived posture parameter and the corresponding reference value of the posture parameter. More specifically, if the derived posture parameter is outside the predetermined range of the posture parameter, the alarm signal is generated. The alarm signal is transmitted to the operator to suggest changing the posture parameter value and / or requesting the vehicle owner's authorization to change the posture parameter value.

[0043] In one embodiment, the method includes the step of generating a posture correct signal based on the deviation between the derived posture parameter and the corresponding reference value of the posture parameter. More specifically, if the derived posture parameter is within the predetermined range of the posture parameter, a posture correct signal is generated. The posture correct signal can be transmitted to the operator for calibration. In one embodiment, the posture correct signal is recorded in a report document to prove the correct value of the derived one / more posture parameters. The posture correct signal can also be transmitted to a third party, for example, an insurance agency, to provide information for the correct value of the derived one / more posture parameters.

[0044] In one embodiment, assisting the positioning of the support structure comprises the step of generating movement instructions based on the deviation between the derived posture parameter and the corresponding reference value of the posture parameter. Thus, in one possible example embodiment, if the derived posture parameter deviates significantly from the corresponding reference parameter (i.e., if it is outside a predetermined range), the position of the support structure can be modified to compensate for the deviation of the posture parameter from the corresponding reference parameter. When the structure is driven manually by an operator or using a remote control, the movement instructions are transmitted to the operator as an aid for further movement of the support structure. In addition, when the structure is driven automatically by a control unit, the movement instructions are transmitted to the motion actuator that moves the support structure.

[0045] In one embodiment, the method comprises a step of selecting a reference element relative to which the support structure is positioned, the reference element being selected from a plurality of reference elements according to a comparison between the derived attitude parameter and the reference parameter. The plurality of reference elements may comprise two or more of the following elements: the thrust axis of the vehicle, the axis of symmetry of the vehicle, the front logo of the vehicle, the front camera of the vehicle, the front axle of the vehicle. In fact, when the attitude parameter deviates from the reference parameter by an amount that makes it impossible to accurately determine the reference element referred to by the manufacturer's specification, a second reference element is used. More specifically, in one embodiment, the method comprises a step of querying a database to obtain a geometric relationship from a reference element and a second reference element specified by the manufacturer, so as to derive a reference position of the support structure relative to the second reference element of the vehicle, as described in Italian patent application 102019000001171 in the name of the present applicant, which patent application is incorporated herein by reference. It is clearly understood that all the features of the method and device of Italian patent application 102019000001171 can be applied to the method and device of the present embodiment.

[0046] The identification step is preferably single, i.e., performed only once (each time the calibration method is run); the identification step is repeated when the method is run on another vehicle, or after a long period of running on the same vehicle; but the identification step is not performed separately, which means that it is performed for posture checking and is not repeated for ADAS calibration, where checking posture is also effective for ADAS calibration. More specifically, the identification step is performed before the step of deriving posture parameters of the vehicle. Therefore, the present disclosure provides a method for checking posture and calibrating ADAS sensors in a particularly fast and efficient manner, wherein vehicle identification is performed only once (and does not need to be repeated) for checking posture and calibrating ADAS sensors.

[0047] The present disclosure also provides a computer program, which includes operating instructions, which are configured to perform the steps of the method of the present disclosure when the computer program is run on a computer. Therefore, the present disclosure provides an integrated computer program (software) configured to allow checking at least one posture parameter of the vehicle, help position the structure relative to the vehicle, and also communicate with the electronic control unit of the vehicle to perform calibration of the vehicle's ADAS sensors. This integrated program is faster and safer because the calibration is based on the posture parameter values ​​derived just a few seconds ago; in fact, by moving the vehicle from an area where the posture is checked to another area where the ADAS sensors are calibrated, it minimizes the risk of changing the posture parameter values; it also minimizes the risk that any mistakes made by the operator when checking the posture will have a negative impact on the calibration of the ADAS sensors.

[0048] Regarding the procedure for deriving the pose parameters, different approaches are conceivable.

[0049] In one or more embodiments, a camera can be used to derive attitude parameters to observe targets associated with the wheels of the vehicle. In one embodiment, the camera is positioned on a movable device (on a wheel or track running parallel to the thrust axis of the vehicle next to the service area); the movable reference device in turn observes a fixed reference target. In particular, the attitude parameters can be derived by the procedure described in patent document EP2302318B1 in the name of the present applicant, which is incorporated herein by reference. It is clearly understood that all features of the device of patent document EP2302318B1 can be applied to this embodiment of the method described herein.

[0050] In one embodiment, the camera is positioned on a fixture; in particular, the posture parameters can be derived by the procedure described in patent document EP3084348B1 in the name of the present applicant, which is incorporated herein by reference. It is clearly understood that all features of the device of patent document EP3084348B1 can be applied to this embodiment of the method described herein.

[0051] In one embodiment, the camera comprises two pairs of cameras connected in a stereo configuration; in particular, the pose parameters can be derived by the procedure described in patent document EP1717547B1 in the name of the present applicant, which is incorporated herein by reference. It is clearly understood that all features of the apparatus of patent document EP1717547B1 can be applied to this embodiment of the method described herein.

[0052] In one or more embodiments, the posture parameters can be derived by the interaction between the measuring heads associated with the wheels of the vehicle. In particular, in one embodiment, before the step of deriving at least one posture parameter of the vehicle, the method includes the step of positioning the first pair of measuring heads on the corresponding front wheels of the vehicle and the step of positioning the second pair of measuring heads on the corresponding rear wheels of the vehicle. The measuring heads in the first pair of measuring heads and the second pair of measuring heads each include a transmitter and / or a receiver. In this embodiment, in the deriving step, at least one posture parameter is derived by the control device through communication between the control device connected to the control unit and the measuring heads in the first pair of measuring heads and the second pair of measuring heads.

[0053] For these emitters / receivers of the measuring head, different technical solutions can be used: for example, CCD and / or laser and / or LED. More specifically, in one embodiment, LED emitters and CCD receivers are used.

[0054] The measuring heads in the first pair of measuring heads and the second pair of measuring heads each include a first end and a second end. The first end and the second end are each provided with a receiver and / or a transmitter configured to communicate with a corresponding transmitter or receiver of the other measuring head. In the step of deriving the attitude parameters, the first pair of measuring heads are operably mounted on the front wheels so as to observe (detect) each other; similarly, in the step of deriving the attitude parameters, the second pair of measuring heads are operably mounted on the rear wheels so as to observe (detect) each other; in addition, each measuring head in the first pair of measuring heads observes (detects) the corresponding measuring head of the second pair (positioned on the same side of the vehicle).

[0055] In one embodiment, the step of locating the support structure comprises communication between a control device connected to the control unit and a measuring head of the first or second pair of measuring heads associated with the vehicle and a corresponding measuring head associated with the support structure (each including a transmitter and / or a receiver). More specifically, the control device in response sequentially polls each measuring head (e.g., via radio communication with a proprietary protocol) and transmits data received from the measuring head to the control unit (e.g., via Bluetooth or Wi-Fi or via a USB port).

[0056] In practice, the first and / or second pair of measuring heads - when they are connected to the structure and the vehicle so that the (first and second pair of) measuring heads observe (detect) each other - the heads of the corresponding pair of heads mounted on the supporting structure detect (observe) each other, while each head mounted on the vehicle detects the corresponding head mounted on the supporting structure (and vice versa, each head mounted on the supporting structure detects the corresponding head mounted on the vehicle).

[0057] More specifically, after the detection step, the method comprises a step of moving the first pair of measuring heads on the support structure (so as to define a corresponding pair of heads associated with the support structure); then, the step of positioning the support structure comprises a step of a measuring head of the first pair of measuring heads mounted on the support structure detecting a second pair of measuring heads associated with the vehicle (specifically, its rear wheels), and / or vice versa. The measuring heads polled by the control device thus transmit data to the control device in dependence on these detections. The detections performed by the measuring heads are thus used to provide positioning assistance.

[0058] In another embodiment, the first and second pairs of measuring heads are supplemented (for measuring the pose parameters) by corresponding measuring heads associated with the support structure (and for performing the positioning).

[0059] In the variant embodiment using a measuring head to measure the pose parameters which can later be used to position the support structure, the method is very practical and fast; moreover, by means of the measuring head, the system for deriving the pose parameters is immediately very precise and compact.

[0060] The present disclosure also provides a device configured to implement the steps of the method according to one or more aspects of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] These and other features will become more apparent from the following detailed description of a preferred non-limiting embodiment shown by way of example in the accompanying drawings, in which:

[0062] - Figure 1 and Figure 2 are top and perspective views of the vehicle during the step of deriving pose parameters in the context of the method according to the present disclosure;

[0063] - Figure 3 and Figure 4 are top and perspective views of a vehicle during a step of calibrating an ADAS sensor in the context of a method according to the present disclosure;

[0064] - Figure 5 A method for calibrating an ADAS sensor according to the present disclosure is schematically illustrated. DETAILED DESCRIPTION

[0065] According to one aspect of the present disclosure, the present disclosure relates to a method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle 9 when the vehicle 9 is positioned in a service area 8 .

[0066] According to another aspect of the present disclosure, the present disclosure relates to a device 1 for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle 9. More specifically, according to one aspect of the present disclosure, the method is implemented by the device 1.

[0067] The method comprises a step A0 of identification of the vehicle 9 by the control unit 11. More specifically, the control unit receives an identification code of the vehicle 9. This identification step A0 is preferably performed only once, before the steps described below.

[0068] The method comprises a step A of deriving attitude parameters of the vehicle 9 .

[0069] The device 1 comprises a first pair of measuring heads 34 , 34 ′.

[0070] The device 1 comprises a second pair of measuring heads 35 , 35 ′.

[0071] Prior to step A of deriving attitude parameters of the vehicle 9 , the method comprises a step of positioning a first pair of measuring heads 34 , 34 ′ on respective front wheels of the vehicle 9 .

[0072] Prior to step A of deriving the attitude parameters of the vehicle 9, the method comprises the step of positioning the second pair of measuring heads 35, 35' on the respective rear wheels of the vehicle 9. More specifically, each measuring head of the first and second pairs of measuring heads 34, 34', 35, 35' is fixed to a bracket which in turn is fixed to the respective rim of the respective wheel of the vehicle 9.

[0073] During step A of deriving the attitude parameters, the first pair of measuring heads 34 , 34 ′ is associated with the front wheels of the vehicle 9 , while the second pair of measuring heads 35 , 35 ′ is associated with the respective rear wheels of the vehicle 9 .

[0074] The first pair of measuring heads 34, 34' each comprises a first transmitter 34A, 34A'. Operably, (during step A of deriving attitude parameters) the first transmitter 34A, 34A' of each head 34, 34' of the first pair faces the corresponding head 35, 35' of the second pair. The first pair of measuring heads 34, 34' each comprises a first receiver 340A, 340A'. Operably, (during step A of deriving attitude parameters) the first receiver 340A, 340A' of each head 34, 34' of the first pair faces the corresponding head 35, 35' of the second pair. Thus, the first transmitter 34A, 34A' and the first receiver 340A, 340A' of each head 34, 34' of the first pair face the same direction (substantially parallel to the thrust axis of the vehicle).

[0075] The first pair of measuring heads 34, 34' each comprises a second transmitter 34B, 34B'. Operably, (during the step A of deriving the attitude parameters) the second transmitter 34B, 34B' of each head 34, 34' of the first pair faces the other head 34, 34' of the first pair. The first pair of measuring heads 34, 34' each comprises a second receiver 340B, 340B'. Operably, (during the step A of deriving the attitude parameters) the second receiver 340B, 340B' of each head 34, 34' of the first pair faces the other head 34, 34' of the first pair. Therefore, the second transmitter 34B, 34B' and the second receiver 340B, 340B' of each head 34, 34' of the first pair face the same direction (transverse to the thrust axis of the vehicle).

[0076] The measuring heads 35, 35' of the second pair each comprise a first transmitter 35A, 35A'. Operably, (during the step A of deriving the attitude parameters) the first transmitter 35A, 35A' of each head 35, 35' of the second pair faces the corresponding head 34, 34' of the first pair. The measuring heads 35, 35' of the second pair each comprise a first receiver 350A, 350A'. Operably, (during the step A of deriving the attitude parameters) the first receiver 350A, 350A' of each head 35, 35' of the second pair faces the corresponding head 34, 34' of the first pair. Thus, the first transmitter 35A, 35A' and the first receiver 350A, 350A' of each head 35, 35' of the second pair face the same direction (substantially parallel to the thrust axis of the vehicle).

[0077] The measuring heads 35, 35' of the second pair each comprise a second transmitter 35B, 35B'. Operably, (during the step A of deriving the attitude parameters) the second transmitter 35B, 35B' of each head 35, 35' of the second pair faces the other head 35, 35' of the second pair. The measuring heads 35, 35' of the second pair each comprise a second receiver 350B, 350B'. Operably, (during the step A of deriving the attitude parameters) the second receiver 350B, 350B' of each head 35, 35' of the second pair faces the other head 35, 35' of the second pair. Thus, the second transmitter 35B, 35B' and the second receiver 350B, 350B' of each head 35, 35' of the second pair face the same direction (transverse to the thrust axis of the vehicle).

[0078] Thus, each head 34, 34' of the first pair observes the other head 34, 34' of the first pair and the corresponding head 35, 35' of the second pair; this defines a quadrangle between the measuring heads 34, 34', 35, 35, 35'.

[0079] After (or simultaneously with) the step A of deriving the posture parameters, the method comprises a step of receiving the derived posture parameters in the control unit 11. In one embodiment, the control unit 11 is connected to the measuring heads 34, 34', 35, 35' to derive the posture parameters of the vehicle 9.

[0080] The method then comprises a step B of comparing, by means of the control unit 11, the derived attitude parameter with a corresponding reference parameter representing a reference value of the attitude parameter of the vehicle. The attitude parameter depends on the vehicle; in one embodiment, the method comprises a step of querying a database based on the identified vehicle (make and model) to obtain a reference value of the attitude parameter of the vehicle.

[0081] The method comprises a step C of assisting positioning of the support structure 3 close to the service area 8. In response to the comparing step B, the control unit 11 starts the step C of assisting positioning. More specifically, the control unit 11 starts the step C of assisting positioning if the derived pose parameters are sufficiently close to the corresponding reference parameters.

[0082] The step C of assisting the positioning comprises the step of generating movement instructions. In one embodiment, the movement instructions depend on the deviation between the derived posture parameter and the corresponding reference value of the posture parameter (and vary with the deviation). More specifically, in one embodiment, if the deviation is greater than a first threshold, the control unit 11 does not start the step C of assisting the positioning, and if the deviation is not greater than the first threshold but greater than a second threshold (lower than the first threshold), the control unit 11 starts the step C of assisting the positioning, but corrects the predetermined position specified by the manufacturer to compensate for the deviation.

[0083] In one embodiment, in step C of assisting positioning, the control unit 11 guides the operator to position the support structure 3 near the service area 8. More specifically, the device 1 includes an interface 10 connected to the control unit 11. In one embodiment, the interface 10 is positioned on the support structure 3. Therefore, the operator observes the interface 10 while driving the support structure 3 using the grippable portion 31. The control unit 11 transmits movement instructions to the interface 10 to assist the operator in positioning. Therefore, the method includes the step of assisting in positioning the support structure 3 near the service area 8 at a position in front of the vehicle 9.

[0084] According to an aspect of the present disclosure, the support structure 3 forms part of the apparatus 1 .

[0085] The support structure 3 comprises a movable base unit 2. The base unit 2 comprises a plurality of wheels 20. The wheels 20 of the plurality of wheels 20 rotate or can rotate about their respective rotation axes. The wheels 20 also rotate about their 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 "right angle or substantially right angle" is used to indicate an inclination angle between 80° and 100°, preferably between 85° and 110° and more preferably 90°. Preferably, the rotation axis is oriented in a vertical direction parallel to gravity (or in a substantially vertical direction). In one embodiment, the base unit 2 comprises (at least one) stabilizing foot movable between a raised position and a lowered position. The stabilizing foot can be moved by hand or by an actuator controlled by an operator or a processing unit. While the support structure 3 is moving, the feet remain in the raised position; when the support structure 3 reaches a predetermined distance (once step C of assisted positioning is completed), the feet are lowered to hold the base unit 2 in place.

[0086] The stabilizing foot in the lowered position can also serve as a pivot for rotating the support structure 3 .

[0087] In one embodiment, the stabilizing foot comprises a locking device configured to lock the foot in the lowered position (or raised position).

[0088] The device 1 comprises a vehicle alignment aid structure 4 . The vehicle alignment aid structure 4 is mounted on a support structure 3 .

[0089] In one embodiment, the vehicle calibration aid structure 4 includes a calibration device 41. In one embodiment (shown), the calibration device 41 includes (or is defined by) a target panel with predetermined graphical features to perform (or assist in performing) calibration of the vehicle's 9 ADAS sensors (specifically, cameras).

[0090] In one embodiment (not shown), the calibration device 41 comprises (or is defined by) a reflector capable of reflecting electromagnetic waves to perform (or help perform) calibration of an ADAS sensor (particularly a radar sensor) of the vehicle 9 .

[0091] In one embodiment, the vehicle calibration aid structure 4 includes a carriage slidably coupled to the support structure 3. More specifically, the carriage is slidable in the vertical direction V to adjust the height of the vehicle calibration aid structure 4 relative to the support structure 3. Therefore, in one embodiment, the step C of assisting positioning includes the step of adjusting the calibration aid structure 4 (i.e., the calibration device 41) along the vertical direction. In one embodiment, the device 1 includes a height rangefinder 38, which is mounted on the vehicle calibration aid structure 4 and pointed to the floor on which the base unit 2 rests so as to measure the height of the vehicle calibration aid structure 4 from the floor. In one embodiment, during the step C of assisting positioning, the control unit 11 communicates with (receives data from) the height rangefinder 38.

[0092] 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 .

[0093] In one embodiment, the apparatus 1 comprises an optical projection system comprising a laser emitter 6. The laser emitter 6 is configured to project a laser blade or laser beam onto a vehicle 9 positioned in a service area 8. The laser emitter 6 is positioned along a vertical direction V on top and centered on a target panel 41.

[0094] The support structure 3 comprises a grippable portion 31 which is configured to allow (or make it easier for) an operator to grip it with at least one hand.

[0095] In one embodiment, the device 1 comprises a further pair of measuring heads 33 , 33 ′ associated with the support structure 3 (preferably at opposite ends of a horizontal rod 30 of the support structure 3 oriented perpendicularly to the vertical direction).

[0096] The measuring heads 33, 33' each comprise a first transmitter 33A, 33A'. Operably, the first transmitter 33A, 33A' of each head faces the corresponding head 35, 35' of the second pair mounted on the rear wheel. The measuring heads 33, 33' each comprise a first receiver 330A, 330A'. Operably, the first receiver 330A, 330A' faces the corresponding head 35, 35' of the second pair mounted on the rear wheel.

[0097] The measuring heads 33, 33' each comprise a second transmitter 33B, 33B'. Operably, the second transmitter 33B, 33B' of each head 33, 33' faces the other head 33, 33' associated with the support structure. The measuring heads 33, 33' each comprise a second receiver 350B, 350B'. Operably (i.e., when step C of facilitating positioning has been completed), the second transmitter 33B, 33B' of each head 33, 33' faces the other head 33, 33' associated with the support structure.

[0098] In one embodiment (not shown), the further pair of measuring heads 33, 33' is defined by (or coincides with) the first pair of measuring heads 34, 34'; in another embodiment (shown), the further pair of measuring heads 33, 33' is different from the first pair of measuring heads 34, 34'.

[0099] In one embodiment, the method comprises the step of moving the first pair of measuring heads 34, 34' from the front wheels to the support structure 3 after the step A of deriving at least one attitude parameter. More specifically, in one embodiment, the measuring heads 34, 34' are moved from the front wheels to the respective ends of the horizontal rod 30 of the support structure 3 (to define another pair of measuring heads 33, 33'). In one embodiment, the measuring heads 34, 34' are moved from the front wheels to a stationary position on the support structure 3 (which comprises another pair of measuring heads 33, 33' fixed to the ends of the horizontal rod 30 to assist in positioning the support structure 3).

[0100] In one embodiment, during the step C of facilitating positioning, the control unit 11 also communicates with (receives data from) a distance meter 36 mounted on the support structure 3, in particular on the horizontal rod 30. The distance meter 36 detects a positioning target element 37 mounted on a wheel (preferably a front wheel) of the vehicle 9. In practice, after the first pair of measuring heads 34, 34' is moved onto the support structure 3, a positioning target element 37 having a surface visible to the distance meter 36 is mounted on at least one front wheel of the vehicle 9.

[0101] The method comprises a step D of sending a calibration command from the control unit 11 to the electronic control unit 95 of the vehicle 9 (after positioning the support structure 3 at a position in front of the vehicle 9 close to the service area 8) to determine the interaction between the ADAS sensor and the calibration device 41. More specifically, in response to the calibration command, the ADAS sensor observes (detects) the calibration device 41 and calibrates by communicating with the electronic control unit 95. This procedure constitutes a calibration or self-diagnosis.

[0102] The method comprises the step of transmitting data from the electronic control unit 95 to the control unit 11 (based on what the ADAS sensors observed in response to the calibration command).

[0103] The method comprises a step E in which the control unit 11 processes data received from the electronic control unit 95 of the vehicle 9 to generate calibration data related to the calibration results of the ADAS sensors.

[0104] In one embodiment, the method includes the step of transmitting to the operator via the interface 10 one or more data items received from the electronic control unit 95 of the vehicle 9 (eg data relating to horizontal or vertical deviations of the ADAS sensor relative to the target panel or vehicle).

[0105] The method comprises a step F of generating a report document. The report document comprises an identification code, posture parameters and calibration data of the vehicle.

Claims

1. A method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle, wherein the vehicle is positioned in a service area, the method comprising the following steps: - deriving posture parameters of the vehicle; - receiving the derived posture parameters in a control unit; - comparing, by the control unit, the derived posture parameter with a corresponding reference parameter representing a reference value of the posture parameter; - facilitating positioning of a support structure close to said service area by said control unit in response to the step of comparing said posture parameters with said reference parameters, wherein calibration means are mounted on said support structure; - sending a calibration command from the control unit to the electronic control unit of the vehicle to determine the interaction between the ADAS sensor and the calibration device; - processing in the control unit data received from the electronic control unit of the vehicle to generate calibration data; - if the derived posture parameter is outside a predetermined range of said posture parameters, generating an alarm signal based on a deviation between the derived posture parameter and a corresponding reference value of the posture parameter, and Before performing the assisting step, the operator is advised to change the value of the posture parameter through the warning signal. 2 . The method according to claim 1 , comprising the step of generating a report document, wherein the report document comprises one or more values ​​of the derived posture parameters.

3. The method according to claim 2, wherein: The report document includes the calibration data and an identification code of the vehicle.

4. A method according to claim 1 or 2, comprising the step of determining a thrust axis of the vehicle from the attitude parameters, wherein the positioning of the support structure relative to the vehicle is performed with reference to the determined thrust axis.

5. The method according to any one of claims 1 to 3, wherein: The step of facilitating positioning of the support structure comprises the step of generating movement instructions based on deviations between the derived posture parameters and corresponding reference values ​​of the posture parameters.

6. The method according to any one of claims 1 to 3, wherein: The step of facilitating positioning of the support structure is performed with reference to a reference element of the vehicle, wherein the method comprises the step of selecting the reference element from a plurality of reference elements in response to the step of comparing the derived pose parameters with the reference parameters.

7. The method according to claim 6, wherein: The reference element is selected from two or more of the following elements: a thrust axis of the vehicle, an axis of symmetry of the vehicle, a front logo of the vehicle, a front camera of the vehicle, a front axle of the vehicle.

8. The method according to any one of claims 1 to 3, wherein: The posture parameters include at least a toe angle and / or a camber angle of the rear wheels.

9. The method according to any one of claims 1-3, comprising the step of the control unit identifying the vehicle, wherein the step of identifying the vehicle is performed only once before the step of deriving the posture parameters of the vehicle, that is, each time the method is run.

10. The method according to any one of claims 1 to 3, wherein: The reference parameter represents a tolerance range of the reference value, and the control unit performs the step of assisting positioning only when the step of comparing outputs that the posture parameter of the vehicle is within the tolerance range.

11. The method according to any one of claims 1 to 3, wherein: Prior to the step of deriving the posture parameters of the vehicle, the method comprises the steps of positioning a first pair of measuring heads on the respective front wheels of the vehicle and positioning a second pair of measuring heads on the respective rear wheels of the vehicle, wherein the measuring heads in the first pair of measuring heads and the second pair of measuring heads each comprise a transmitter and / or a receiver, wherein in the deriving step, at least one posture parameter is derived by the control unit through communication between a control device connected to the control unit and the measuring heads in the first pair of measuring heads and the second pair of measuring heads.

12. The method according to claim 11, wherein: The step of facilitating positioning of the support structure includes communication between the control device and a measuring head of the first pair of measuring heads and the second pair of measuring heads associated with the vehicle and a corresponding measuring head associated with the support structure.

13. The method according to claim 12, wherein: After the step of deriving the posture parameters of the vehicle, the method comprises the step of moving the first pair of measuring heads onto the support structure, wherein the step of assisting the positioning of the support structure comprises communication between the control device and a measuring head of the first pair of measuring heads mounted on the support structure and a measuring head of the second pair of measuring heads associated with the vehicle.

14. A computer program comprising operating instructions, wherein the operating instructions are configured to execute the steps of the method according to any one of claims 1 to 13 when the computer program is run on a computer.

15. A method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle, wherein the vehicle is positioned in a service area, the method comprising the steps of: - positioning a first pair of measuring heads on respective front wheels of the vehicle and positioning a second pair of measuring heads on respective rear wheels of the vehicle, wherein the measuring heads of the first pair of measuring heads and the second pair of measuring heads each comprise a transmitter and / or a receiver; - communication between a control device connected to the control unit and the measuring heads of the first pair of measuring heads and the second pair of measuring heads; - deriving, by means of a control unit, posture parameters of the vehicle using the information received from the control device; - positioning a support structure with a calibration device mounted thereon close to said service area, wherein the step of detecting a measuring head of said first pair of measuring heads or of said second pair of measuring heads associated with said vehicle with a corresponding measuring head associated with said support structure and / or vice versa is used to provide positioning assistance; - sending a calibration command from the control unit to the electronic control unit of the vehicle to determine the interaction between the ADAS sensor and the calibration device; - processing in the control unit the data received from the electronic control unit of the vehicle to generate calibration data, wherein, before the step of deriving the posture parameters of the vehicle, the method comprises the steps of positioning a first pair of measuring heads on respective front wheels of the vehicle and positioning a second pair of measuring heads on respective rear wheels of the vehicle, wherein the measuring heads of the first pair of measuring heads and the second pair of measuring heads each comprise a transmitter and / or a receiver, wherein in the step of deriving, at least one posture parameter is derived by the control unit through communication between a control device connected to the control unit and a measuring head of the first pair of measuring heads and a measuring head of the second pair of measuring heads, wherein the step of facilitating positioning of the support structure comprises communication between the control device and a measuring head of the first pair of measuring heads and the second pair of measuring heads associated with the vehicle and a corresponding measuring head associated with the support structure, Wherein, after the step of deriving the posture parameters of the vehicle, the method comprises the step of moving the first pair of measuring heads onto the support structure, wherein the step of assisting in positioning the support structure comprises communication between the control device and a measuring head of the first pair of measuring heads mounted on the support structure and a measuring head of the second pair of measuring heads associated with the vehicle.

16. The method according to claim 15, wherein: After the step of deriving the attitude parameters of the vehicle, the method comprises the step of moving the first pair of measuring heads onto the support structure, while the second pair of measuring heads remain associated with the rear wheels of the vehicle, wherein the step of assisting the positioning of the support structure comprises the step of a measuring head of the first pair of measuring heads mounted on the support structure detecting the second pair of measuring heads associated with the vehicle, and / or vice versa.

17. The method according to claim 15 or 16, wherein: The step of processing in the control unit data received from the electronic control unit of the vehicle comprises the step of generating calibration data, and the method further comprises the step of generating a report document comprising the calibration data and one or more values ​​of the derived attitude parameters of the vehicle.

18. An apparatus configured to perform the steps of the method according to any one of claims 1 to 13 or 15 to 17.

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