Determining a mounting configuration for a sensor of a motor vehicle

Abstract

A sensor and a method therefor, the method for determining the actual installation configuration (30, 32) of a sensor (10; 12) on a motor vehicle (14), wherein the sensor (10; 12) is designed to be installed in different installation configurations (30, 32) and to operate in each of the different installation configurations (30, 32), the method comprising: determining a misalignment (E) of the sensor (10; 12) with respect to the installation configuration (30, 32) to be inspected, wherein, based on the assumption that it is appropriate The measurement data of the measurement method are interpreted based on the installation configuration (30, 32) to be inspected (S10; S12); and the installation configuration (30, 32) to be inspected is identified as appropriate or inappropriate based on the determined misalignment (E1; E2) of the sensor (10; 12) (S14), wherein if an installation configuration (30, 32) to be inspected is identified as appropriate, this installation configuration (30, 32) is determined as the actual installation configuration (30, 32) of the sensor (10; 12).

Description

Technical Field

[0001] This invention relates to a sensor for motor vehicles, used to detect objects in a motor vehicle traffic environment, wherein the sensor is configured to implement a measurement method for determining sensor misalignment. Background Technology Summary of the Invention

[0002] It is desirable that two or more identical positioning sensors can be installed in a vehicle at different locations or in different mounting configurations. Particularly desirable is the ability to use sensors of the same type, i.e., only components of a unique type with a unique component number. This simplifies variant management, spare parts management, etc., compared to setting different components for each mounting configuration. In the case of radar sensors, different mounting configurations could, for example, be the right rear corner for one mid-range radar and the left rear corner for another mid-range radar, to achieve blind spot detection on both sides of the vehicle.

[0003] The objective of this invention is to make it easier to set up sensors for motor vehicles for the actual installation configurations of the various different installation configurations for which the sensors are designed.

[0004] According to the present invention, this task is solved by a sensor of the type mentioned at the beginning, which is designed to be installed on a motor vehicle in different mounting configurations and to operate in each of the different mounting configurations, wherein the sensor is configured to implement a method for determining its actual mounting configuration by the different mounting configurations, the method comprising:

[0005] The misalignment of the sensor with respect to the installation configuration under inspection is determined based on the measurement data from the measurement method, wherein the measurement data of the measurement method is interpreted based on the assumption that the installation configuration under inspection is appropriate; and

[0006] The installation configuration to be inspected is identified as appropriate or inappropriate based on the misalignment determined by the sensor.

[0007] Specifically, at least if the installation configuration to be inspected is identified as inappropriate, the steps of determining misalignment and identifying the installation configuration as appropriate or inappropriate are performed for at least one of the at least two installation configurations to be inspected.

[0008] Specifically, if an installation configuration to be inspected is identified as appropriate, this installation configuration is determined to be the actual installation configuration of the sensor.

[0009] "Interpreting the measurement data of the measurement method based on the assumption of an appropriate, inspected installation configuration" means that the measurement data of the measurement method is interpreted as if the sensor were installed on the motor vehicle in an installation configuration corresponding to the installation configuration to be inspected.

[0010] Therefore, the method for determining the actual installation configuration of a sensor utilizes the following: when implementing a measurement method for determining sensor misalignment or when interpreting measurement data from the measurement method, the permissible misalignment of the sensor can only be determined if the measurement data is interpreted as an appropriate installation configuration under the assumption of an actual, proper installation configuration. However, if the sensor is installed on the vehicle in a different configuration, the permissible misalignment of the sensor cannot be determined because the measurement data of the measurement method is interpreted under the assumption of an incorrect, inappropriate installation configuration. Instead, depending on the differences between the installation configurations, an unacceptably high misalignment of the sensor, or an unacceptable, for example, unquantifiable misalignment of the sensor, is determined.

[0011] In this regard, it is particularly advantageous to use a measurement method already implemented in the sensor for determining sensor misalignment, so that, in addition to determining sensor misalignment for an appropriate installation configuration, the actual installation configuration can also be determined from different installation configurations. Therefore, the measurement method, or the interpretation of the measurement data from the measurement method, can be easily performed multiple times for different installation configurations. For each inappropriate installation configuration, sensor misalignment outside the permissible range will be determined, and only for an appropriate installation configuration will the permissible sensor misalignment be determined.

[0012] When determining sensor misalignment, the measurement data from the measurement method are interpreted under the assumption of the installation configuration to be inspected in order to identify the misalignment. It is particularly advantageous that identical copies of the sensors can be installed in different configurations, and the actual installation configuration of each of the sensors can then be determined.

[0013] The sensor is designed to operate in each of the different installation configurations. Different functionalities (e.g., in the form of different operating methods or software methods) and / or different parameter configurations or software configurations can be implemented in the sensor to operate in each of the different installation configurations.

[0014] Misalignment of the installation configuration to be inspected can, for example, be identified as misalignment of the expected orientation of the installation configuration to be inspected.

[0015] In one or more embodiments, determining sensor misalignment with respect to the mounting configuration under inspection includes performing a measurement method based on the assumption that the mounting configuration under inspection is appropriate. In one or more other embodiments, measurement data from a single execution of the measurement method is interpreted differently for at least two different mounting configurations under inspection. Therefore, measurement data from the measurement method can be interpreted multiple times, assuming correspondingly different mounting configurations under inspection.

[0016] The sensor is preferably a positioning sensor, that is, the sensor is set up to locate objects in a traffic environment of a motor vehicle.

[0017] Preferably, at least one of the at least two installation configurations to be inspected is different from each of the installation configurations that has been identified as inappropriate.

[0018] Determining the actual installation configuration from different installation configurations can also be called obtaining the actual installation configuration from different installation configurations.

[0019] Before one or more executions of the installation configuration to be checked identify the installation configuration to be checked as appropriate or inappropriate, the steps to determine the misalignment can be performed, for example, for different installation configurations to be checked.

[0020] Advantageous implementations are derived from the dependent claims.

[0021] Preferably, in the method for determining the actual installation configuration, based on the misalignment determined by the sensor, the installation configuration to be inspected is identified as appropriate or inappropriate according to whether the degree of misalignment is determined to be within the permissible range of the relevant installation configuration. The permissible range of misalignment can be, for example, determined by the maximum permissible degree of misalignment. To determine this, if the extent to which the misalignment is within the permissible range cannot be determined, the installation configuration to be inspected is identified as inappropriate. This is typically the case if an unacceptable misalignment is determined. This could be, for example, if the extent to which the misalignment is outside the permissible range is determined, or if the misalignment is not quantifiable. Typically, the differences between different installation configurations are significantly greater than the corresponding permissible range of misalignment for the sensor in one installation configuration.

[0022] Different installation configurations to be inspected can be distinguished from each other, for example, by different lateral positions on the vehicle and / or by different orientations of the central axis of the sensor's field of view in the azimuth angle (e.g., front, rear, side orientation), said different lateral positions may include different mirror-symmetric lateral positions on the vehicle (e.g., left, right) and / or different lateral distances from the central longitudinal axis of the vehicle (e.g., external position, internal position).

[0023] In the simplest case, for example, two mounting configurations can be distinguished based on their left and right positions on the vehicle. For example, mounting configurations with different mounting positions can also be distinguished, including front and rear mounting positions on the vehicle. For example, mounting configurations with different mounting positions can also be distinguished based on external and internal mounting positions. For example, mounting configurations corresponding to combinations of the above-mentioned mounting configurations can also be distinguished. Therefore, for example, regarding mounting positions at the front or rear of the vehicle, distinctions can be made between left-side external mounting configurations, left-side internal mounting configurations, right-side internal mounting configurations, and right-side external mounting configurations.

[0024] It can distinguish installation configurations with different installation positions corresponding to lateral installation positions and front or rear installation positions.

[0025] Preferably, the different mounting configurations include mounting configurations with different mounting positions that can be occupied simultaneously by corresponding copies of the sensor. Thus, in a motor vehicle, for example, the sensor may be mounted on the left side, and a similar sensor may be mounted on the right side.

[0026] In one or more embodiments, the different mounting configurations include mounting configurations with different desired orientations of the sensor axis. This sensor axis can be, in particular, the central axis of the sensor's field of view or a sensor axis transverse to the central axis of the sensor's field of view, especially the sensor's vertical axis. For example, the desired orientations can differ by at least 5°, more preferably at least 10°, and more preferably at least 90°. In this way, for example, mounting configurations in which the sensor is arranged to rotate 180° around the central axis of the radar sensor's field of view can be distinguished.

[0027] In methods for determining the actual installation configuration, if the installation configuration to be checked is identified as appropriate, this configuration can be used as a basis for subsequent sensor operations. For example, the sensor may have a configuration memory for storing installation configurations identified as appropriate in the method for determining the actual installation configuration. In the simplest case, if exactly two installation configurations need to be distinguished, the configuration memory may include, for example, a bit to describe the installation configuration, such as the installation orientation. The configuration memory may have, for example, a capacity of one bit.

[0028] In one or more embodiments, the sensor is configured to calibrate based on a misalignment determined for an identified appropriate installation configuration. Therefore, the sensor can also be calibrated in a manner known per se based on measurement data from a measurement method after the actual installation configuration has been identified. Calibration can be achieved, for example, by adjusting parameters of the misalignment and / or calculating compensation. Based on the determined misalignment, calibration can also be achieved, for example, by mechanically adjusting the orientation of the sensor via a mechanical calibration device.

[0029] In one or more embodiments, the measurement method for determining sensor misalignment includes positioning measurement of at least one object.

[0030] In one or more embodiments, the sensor is a radar sensor.

[0031] However, sensors can also include, for example, sensors from cameras used to detect traffic conditions involving motor vehicles.

[0032] This task is further solved by the method described according to the parallel patent claims.

[0033] Preferably, the sensor is configured to output information about the identified appropriate installation configuration via a communication unit, for example, to an external controller or another sensor of the same type. This enables comparison of possible installation configurations among multiple sensors. Attached Figure Description

[0034] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. The drawings show:

[0035] Figure 1 A schematic diagram showing two sensors installed on a motor vehicle;

[0036] Figure 2 A schematic diagram illustrating a method for determining the installation configuration of a sensor;

[0037] Figure 3 This illustrates a scenario where two possible installation configurations exist at the same installation location; and

[0038] Figure 4 A schematic diagram is shown illustrating a method for determining the installation configuration of a sensor. Detailed Implementation

[0039] Figure 1The diagram schematically illustrates the installation of two identical radar sensors 10 and 12 for a motor vehicle 14, used to detect objects in the traffic environment of the vehicle. Sensors 10 and 12 are arranged on the front of the vehicle, having a central axis of their field of view in the x-direction. Each radar sensor 10 and 12 has a communication unit 15, through which they are connected to a central control unit 18 via a bus 16.

[0040] Figure 1 This illustrates a scenario where the reference object 20 is arranged asymmetrically about the intermediate plane between radar sensors 10 and 12. Therefore, radar sensors 10 and 12 detect the reference object 20 at different angles and distances.

[0041] Then, each of the two radar sensors 10, 12 executes a measurement method for determining sensor misalignment, in which a reference object 20 is positioned and its relative position with respect to radar sensor 10 or 12 is compared with, for example, a reference position set for the left radar sensor 12, at which the reference object 20 is located. Figure 1 The reference direction 22 is used to identify the angle of the object. In the example shown, radar sensor 12 determines, for example, the measured object angle of reference object 20, which, assuming the left front mounting position for radar sensor 12 is appropriate, deviates slightly from reference direction 22 by a misalignment E2. Therefore, radar sensor 12 identifies the mounting configuration corresponding to the left front mounting position as appropriate.

[0042] For example, assuming the left front mounting position is the correct mounting configuration, the right radar sensor 10 determines a significant deviation of the reference object 20's position from the desired direction 22, and therefore identifies this left-side mounting configuration as inappropriate. When examining an alternative mounting configuration corresponding to the right front mounting position, the desired reference direction 24 of the reference object 20 is considered. For example, this reference direction is detected by the radar sensor 10, except for the misalignment E1. Thus, the radar sensor 10 identifies the mounting configuration corresponding to the right-side position as appropriate. This method will be explained in more detail below.

[0043] exist Figure 1 The identification of the mounting configuration of each radar sensor 10, 12 shown can be performed within the frame of reference object measurement based on the determination of the corresponding misalignments E1, E2 of the radar sensors. If calibration for determining sensor misalignments is performed after the initial assembly or replacement of the sensors, the mounting configuration can therefore be automatically identified together by the corresponding sensors.

[0044] However, the measurement method used to determine the misalignment of sensors 10 and 12 can also be used during the continuous operation of the sensors, so as to automatically determine the installation configuration of the corresponding sensors after the vehicle 14 is first put into operation or after the sensors 10 or 12 are reinstalled. The misalignment of sensors 10 and 12 can be determined, for example, based on statistical analysis of the initial unknown positions of different reflections during driving.

[0045] Figure 2 The diagram schematically illustrates a method for determining the actual installation configuration of the sensor, such as in... Figure 1 The corresponding sensors 10 and 12 are implemented.

[0046] Sensors 10 and 12 are designed to be installed on a motor vehicle in different mounting configurations and to operate in each of the different mounting configurations. The different mounting configurations 30 and 32 may, for example, include a mounting configuration number P, (X, Y, Z) coordinates K, and assembly angle A, and serve as a basis, for example, in step S10 of the measurement method for determining the misalignment of sensors 10 and 12 with respect to a hypothetical mounting configuration 30. In step S12, the misalignment E1 or E2 of sensors 10 and 12 with respect to the mounting configuration 30 to be inspected is determined based on the obtained measurement data. If, in step S14, the mounting configuration 30 to be inspected is identified as inappropriate based on the determined misalignment E1 or E2, then in step S16, assuming another mounting configuration 32 to be inspected, the measurement method for determining the misalignment of sensors 10 and 12 is re-implemented based on mounting configuration 32. Again, in step S18, the misalignment E1 or E2 of sensors 10 and 12 is determined. If the second checked mounting configuration 32 is identified as appropriate in step S14 based on the misalignment determined by sensors 10 and 12, then this mounting configuration 32 is determined as the actual mounting configuration of sensors 10 and 12 in step S14 and written into the sensor's configuration memory 34 in step S20. Here, storing one bit to distinguish the two mounting configurations 30 and 32 according to the mounting orientation (P=0, P=1) is sufficient. In step S20, the identified appropriate mounting configurations 30 and 32 can also be output externally, for example, via communication unit 15, such as to an external controller 18 or another sensor 10 or 12 of the same type. Steps S16 and S18 can also be performed before step S14.

[0047] This method is not limited to measuring reference object 20, but can also be performed, for example, during the continuous operation of a motor vehicle in an unknown environment.

[0048] Figure 3This illustrates a scenario where the radar sensor 10 can be mounted in the same location in two different mounting configurations. The difference between these two configurations is that the radar sensor 10 is rotated 180° around the central axis of its field of view (shown in dashed lines). Figure 3 Additionally, the desired orientation S1 regarding the lateral direction of the vehicle is shown. In a mounting configuration with a connector 40 pointing to the left, radar sensor 10 senses reference object 20 at an angle a, which, for example, corresponds to a reference angle of reference object 20, except for misalignment, taking into account the desired orientation S1. In another mounting configuration corresponding to radar sensor 10', the radar sensor, conversely, senses reference object 20 at a negative, larger angle b. Again, corresponding to... Figure 2 The method can identify the appropriate installation location based on the determined misalignment.

[0049] if Figure 3 The installation configuration described herein is that of a radar sensor 10 mounted on one side of a vehicle. During operation, the radar sensor 10 typically detects the relative motion of a stationary object 20 in one direction while the vehicle is moving forward. For example, Figure 3 If radar sensor 10 or 10' is mounted on the right side of the vehicle, then for radar sensor 10 in one mounting configuration with a forward-facing connector 40, static object 20 moves "towards the side without connector 40," while in another mounting configuration of radar sensor 10', static object 20 typically moves "towards the side with connector." Therefore, the mounting configurations can be easily distinguished.

[0050] In a similar manner, the installation configuration on the left and right sides of the vehicle can also be distinguished, for example, if the side with the connector 40 always points forward.

[0051] For example, the distinction between the installation configurations of the radar sensors 10 and 12 mounted on the front side can also be made based on the different yaw rates of the radar object 20 detected when turning.

[0052] Figure 4 The diagram illustrates the following: Figure 2 A variation of the method, wherein the misalignment E1, E2 of sensors 10, 12 with respect to the mounting configuration 30 to be inspected, as determined in step S10 (S12), is first determined, and then it is determined whether the mounting configuration 30 to be inspected is identified as appropriate (S14-1). If not, steps S10, S12 are repeated for the next mounting configuration 32 to be inspected (corresponding to steps S16, S18). If based on a maximum allowable misalignment (E1, E2, E2)... n ≤E maxIf the installation configuration 30, 32 to be inspected is identified as appropriate due to misalignment (S14-1), then this installation configuration 30, 32 is determined as the actual installation configuration of the sensors 10, 12 (S14-2), and the installation configuration is stored and / or output in step S20.

Claims

1. A sensor (10; 12) for a motor vehicle, the sensor being designed to detect an object in the traffic environment of a motor vehicle (14), wherein The sensor (10; 12) is provided for implementing a measurement method for determining a mispositioning of the sensor (10; 12), characterized in that the sensor (10; 12) is designed for installation in different installation configurations (30, 32) on the motor vehicle (14) and for operation in each of the different installation configurations (30, 32), wherein the sensor (10; 12) is provided for implementing a method for determining its actual installation configuration (30, 32) from the different installation configurations (30, 32), the method comprising: determining a mispositioning (E) of the sensor (10; 12) with respect to an installation configuration (30, 32) to be checked from measurement data of the measurement method, wherein the measurement data of the measurement method are interpreted on the basis of an installation configuration (30, 32) to be checked which is assumed to be correct (S10; S12); and identifying the installation configuration (30, 32) to be checked as correct or incorrect on the basis of the determined mispositioning (E) of the sensor (10; 12) (S14), wherein at least in the case of an installation configuration (30, 32) to be checked being identified as incorrect, the steps of determining a mispositioning (E) (S10; S12) and identifying an installation configuration (30, 32) as correct or incorrect (S14) are performed for at least one further installation configuration (30, 32) to be checked of the at least two installation configurations (30, 32) to be checked, wherein in the case of an installation configuration (30, 32) to be checked being identified as correct, this installation configuration (30, 32) is determined as the actual installation configuration (30, 32) of the sensor (S14).

2. Sensor for a motor vehicle according to claim 1, wherein In the method for determining the actual installation configuration (30, 32), the installation configuration (30, 32) to be checked is identified as correct or incorrect, depending on whether a degree of misalignment (E) is determined which lies within a range (E max ) of misalignments permissible for the relevant installation configuration.

3. Sensor for a motor vehicle according to any one of the preceding claims, in which the different installation configurations (30, 32) comprise installation configurations which have different installation positions which can be occupied simultaneously by respective copies of the sensor (10; 12).

4. Sensor for a motor vehicle according to claim 1 or 2, in which the different installation configurations (30, 32) comprise installation configurations which have different desired orientations of a sensor axis of the sensor (10; 12) from one another.

5. The sensor for a motor vehicle according to claim 1 or 2, wherein, The sensor (10; 12) has a configuration memory (34) for storing an installation configuration (30, 32) which is identified as correct in the method for determining the actual installation configuration (30, 32).

6. The sensor for a motor vehicle according to claim 1 or 2, wherein, The sensor (10; 12) is provided for calibrating the sensor (10; 12) from the determined mispositioning (E) of the sensor (10; 12) for the installation configuration (30, 32) identified as correct.

7. The sensor for a motor vehicle according to claim 1 or 2, wherein, The measurement method for determining a mispositioning of the sensor (10; 12) comprises a positioning measurement of at least one object (20).

8. The sensor for a motor vehicle according to claim 1 or 2, wherein, The sensor (10; 12) is a radar sensor.

9. The sensor for a motor vehicle according to claim 1 or 2, wherein, The sensor (10; 12) is designed to be installed in different installation configurations (30, 32) and to be operated in each of the different installation configurations (30, 32), wherein the sensor (10; 12) is provided to implement a measurement method for determining a misalignment (E) of the sensor (10; 12), wherein the method comprises:

10. A method for determining an actual mounting configuration (30, 32) of a sensor (10; 12) on a motor vehicle (14), wherein determining a misalignment (E) of the sensor (10; 12) with respect to an installation configuration (30, 32) to be checked from measurement data of the measurement method, wherein the measurement data of the measurement method are interpreted on the basis of an installation configuration (30, 32) to be checked which is assumed to be correct (S10; S12); and identifying the installation configuration (30, 32) to be checked as correct or incorrect on the basis of the determined misalignment (E) of the sensor (10; 12) (S14), wherein at least in the case of identifying the installation configuration (30, 32) to be checked as incorrect, the steps of determining a misalignment (E) (S10; S12) and identifying an installation configuration (30, 32) as correct or incorrect (S14) are performed for at least one further installation configuration (30, 32) to be checked of at least two installation configurations (30, 32) to be checked, wherein in the case of identifying one installation configuration (30, 32) to be checked as correct, this installation configuration (30, 32) is determined as the actual installation configuration (30, 32) of the sensor (10; 12). ​

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