Methods, control mechanisms, calibration devices, motor vehicles, calibration marks, and calibration mark assemblies for calibrating lighting mechanisms and optical sensors.

Abstract

The present invention relates to a method for calibrating an illumination mechanism (5) and an optical sensor (7), wherein the control of both the illumination mechanism (5) and the optical sensor (7) is coordinated in time, wherein the coordinated control corresponds to a visible distance range (15), wherein the optical sensor (7) acquires a series of temporally consecutive photographs (35) with the aid of the illumination mechanism (5) using the coordinated control, wherein in the photograph (35) in which at least one calibration mark (19) with at least one predetermined size (21) is identified in the first photograph in the series of photographs, a first actual distance (23.1) of the at least one calibration mark (19) is determined based on the at least one predetermined size (21), wherein the coordinated control and / or the visible distance range (15) is evaluated and / or changed based on the far boundary (17) of the visible distance range (15) and the first actual distance (23.1).

Description

Technical Field

[0001] The present invention relates to a method for calibrating an illumination mechanism and an optical sensor, a control mechanism for performing the method, a calibration device having such a control mechanism, a motor vehicle having such a calibration device, a calibration mark used in the method, a calibration mark assembly having such a calibration mark, and a calibration mechanism having such a calibration mark assembly. Background Technology

[0002] A method for calibrating an illumination mechanism is disclosed in European patent application publication EP 3 308 193 B1. In this method, a light pulse is emitted by the illumination mechanism. The emitted light pulse is compared with a reference light pulse, and the illumination mechanism is calibrated based on the comparison result. However, this method does not focus on the cooperation between the illumination mechanism and the optical sensor.

[0003] The principle behind calibrating a technical system is that the dimensions of the environment used for calibration and the environment in which the system operates should be as similar as possible. This is difficult to achieve in a cost- and space-saving manner, especially for distance measurements up to 200 meters long. Summary of the Invention

[0004] The object of the present invention is to provide a method for calibrating an illumination mechanism and an optical sensor, a control mechanism for performing the method, a calibration device having such a control mechanism, a motor vehicle having such a calibration device, a calibration mark applied in the method, a calibration mark assembly having such a calibration mark, and a calibration mechanism having such a calibration mark assembly, wherein the aforementioned disadvantages are at least partially eliminated, and preferably avoided.

[0005] This task is accomplished by providing the technical teachings, especially the teachings of the independent claims and the teachings of the embodiments disclosed in the dependent claims and the specification.

[0006] This task is specifically accomplished by providing a method for calibrating an illumination mechanism and an optical sensor, wherein the control of the illumination mechanism and the optical sensor is coordinated in time, and the coordinated control corresponds to a visible distance range. Using the coordinated control, a series of temporally consecutive photographs are acquired by the optical sensor while illuminated by the illumination mechanism. In the first photograph in this series, in which at least one calibration mark with at least one predetermined size is identified, a first actual distance to the at least one calibration mark is determined based on the at least one predetermined size. Based on the far boundary of the visible distance range and the first actual distance, the coordinated control and / or the visible distance range is evaluated and / or modified.

[0007] Using the method presented herein, it is advantageous to calibrate the control of the lighting mechanism and optical sensor, particularly the far boundary of the visible distance range, based on several distance measurements, preferably a single distance measurement. Thus, the measurement accuracy of the lighting mechanism and optical sensor is improved, and legal requirements are met. Calibration specifically includes the coordination of the lighting mechanism and the exposure control of the optical sensor.

[0008] Furthermore, this method can be advantageously used to identify and compensate for aging effects in lighting mechanism components and optical sensors. Additionally, it is preferable to identify potential future component failures caused by aging effects as early as possible, in which case replacement of the respective components can be initiated.

[0009] Furthermore, the calibration of the lighting mechanism and optical sensor is advantageously performed during the driving of the motor vehicle equipped with the lighting mechanism and optical sensor, especially preferably during driving under real road conditions, and particularly preferably on public roads such as highways or expressways. Therefore, the dimensions of the environment in which the calibration is performed are the same as the dimensions of the environment in which the lighting mechanism and optical sensor operate.

[0010] The calibration of the lighting mechanism and optical sensor ensures that aging effects and / or dirt on the lighting mechanism and / or optical sensor do not distort distance measurements. A transit time deviation of 10 ns is sufficient to cause a distance measurement error of approximately 3 m.

[0011] Methods for generating photographs by means of temporally coordinated control of an illumination mechanism and an optical sensor are particularly known as gated imaging; the optical sensor is, in particular, a camera that is switched to light-sensing only within a certain finite time period, a process referred to as "gated control," i.e., the camera is a gated camera. The illumination mechanism is also correspondingly driven temporally only within a certain selected time interval to illuminate the object-side scene.

[0012] In particular, a predetermined number of light pulses, preferably each with a duration of 5 ns to 20 ns, are emitted by the illumination mechanism. The start and end of the exposure of the optical sensor are related to the number and duration of the emitted light pulses. As a result, a certain visible distance range can be measured by the optical sensor according to a predetermined spatial position (i.e., in particular a certain distance between the near and far boundaries of the visible distance range of the optical sensor) through the time control of both the illumination mechanism and the optical sensor.

[0013] The visible distance range here is the object-side region in three-dimensional space, which is imaged in a two-dimensional photograph on the image plane of the optical sensor by means of the optical sensor, using the combination of the number and duration of light pulses from the illumination mechanism with the start and end of the exposure of the optical sensor.

[0014] In the context of "object side" as used here and below, this refers to the region in real space, specifically on the side of the calibration mark to be observed. In the context of "image side" as used here and below, this refers to the region on the image plane of the optical sensor. Here, the visible distance range is obtained on the object side. It corresponds to the image-side region on the image plane, as specified by imaging laws and the timing control of the illumination mechanism and the optical sensor.

[0015] Based on the start and end of exposure of the optical sensor after the illumination begins with the aid of the illumination mechanism, light pulse photons illuminate the optical sensor. The greater the visible distance range of the illumination mechanism and the optical sensor, the longer the duration required for the photons reflected from within this distance range, especially at the calibration marks, to illuminate the optical sensor. Therefore, the greater the visible distance range of the illumination mechanism and the optical sensor, the longer the time interval between the end of illumination and the start of exposure.

[0016] Therefore, according to one design of the method, it is particularly likely that the location and spatial width of the visible distance range, especially the distance between the near and far boundaries of the visible distance range, are defined by appropriately selecting the timing control of both the illumination mechanism and the optical sensor.

[0017] In a preferred design of the method, the visible distance range is set, thereby determining and accordingly setting the time coordination between the lighting mechanism and the optical sensor.

[0018] In another preferred embodiment of the method, the series of temporally consecutive photographs includes at least one photograph that was acquired before the first photograph in which the at least one calibration mark was identified and in which the calibration mark was not identified. This ensures that the at least one calibration mark is identified first, in time, near the far boundary of the visible distance range. Therefore, reliable calibration of the illumination mechanism and optical sensor based on the far boundary of the visible distance range and a first actual distance can be achieved. Preferably, the first actual distance is compared with the distance between the optical sensor and the far boundary of the visible distance range. If there is a difference in these distances, the first actual distance is preferably set as the far boundary of the coordinated visible distance range.

[0019] In a preferred design, the lighting mechanism is a laser. Alternatively or additionally, the optical sensor is preferably a camera.

[0020] In the context of this technical teaching, at least one known predetermined dimension of at least one calibration mark is the height and / or width and / or area of ​​at least one calibration mark.

[0021] At least one known object-side extension dimension of at least one calibration mark is at least one predetermined dimension and is represented by A. OIndication. The image-side extension dimension of at least one calibration mark is indicated by A. b The marking can be determined directly based on the imaging of at least one predetermined size of at least one calibration mark within the image plane of the optical sensor. This is achieved by using the ray theorem, extending the dimension from the object side and image side of at least one predetermined size of the calibration mark, and a predetermined known distance S existing within the optical sensor. b The following formula is used to calculate S. o The first actual distance indicated:

[0022]

[0023] According to an improved embodiment of the invention, in the last photograph in a series of photographs that identifies at least one calibration mark, a second actual distance to at least one calibration mark is determined based on at least one predetermined size. The coordinated control and / or visible distance range is evaluated and / or modified based on the near boundary of the visible distance range and the second actual distance.

[0024] Therefore, it is advantageous to calibrate the control of the lighting mechanism and optical sensor, especially the near boundary of the visible distance range, based on several distance measurements, preferably one distance measurement.

[0025] In a preferred embodiment of the method, the series of temporally consecutive photographs includes at least one photograph that was acquired after the last photograph in which at least one calibration mark was identified and in which no calibration mark was identified. This ensures that the at least one calibration mark was identified temporally near the near boundary of the visible distance range. Therefore, reliable calibration of the illumination mechanism and optical sensor based on the near boundary of the visible distance range and a second actual distance can be achieved. Preferably, the second actual distance is compared with the distance between the optical sensor and the near boundary of the visible distance range. If there is a difference in these distances, the second actual distance is preferably set as the near boundary of the coordinated visible distance range.

[0026] In another preferred embodiment of the method, the series of temporally consecutive photographs includes at least one photograph that was acquired before the first photograph in which the at least one calibration mark was identified and in which the calibration mark was not identified. Additionally, the series of temporally consecutive photographs also includes at least one photograph that was acquired after the last photograph in which the at least one calibration mark was identified and in which the calibration mark was not identified. Therefore, it is advantageous to achieve reliable calibration of the illumination mechanism and optical sensor based on the near and far boundaries of the visible distance range and the first and second actual distances.

[0027] According to an improved embodiment of the invention, in a photograph in a series of photographs identifying at least two calibration marks having at least one predetermined size, a first actual distance and a second actual distance of the at least two calibration marks are determined based on the at least one predetermined size. Coordination control and / or changes to the visible distance range are made based on the far and near boundaries of the visible distance range, the first actual distance, and the second actual distance.

[0028] Therefore, it is advantageous to calibrate the coordinated control of the lighting mechanism and the optical sensor, particularly the near and far boundaries of the visible distance range, based on several distance measurements, preferably two. Preferably, the coordinated control of the lighting mechanism and the optical sensor is evaluated and / or modified such that the near boundary of the visible distance range corresponds to a second actual distance, and the far boundary of the visible distance range corresponds to a first actual distance.

[0029] Alternatively, the visible distance range is evaluated and / or modified such that, using additional distance measurements based on the near and far boundaries of the visible distance range using at least two calibration markers (especially as described in German publication DE 10 2020002 994 A1), the calculated distance is the same as the first and second actual distances.

[0030] According to an improved embodiment of the invention, the coordinated control of the illumination mechanism and the optical sensor is modified such that when no more than two calibration marks are identified in a series of photographs, the corresponding visible distance range is increased by a predetermined factor. Therefore, it is advantageous to identify the visible distance range as too narrow and widen it by a predetermined factor.

[0031] In one embodiment of the method, "the visible distance range magnified by a predetermined factor" corresponds to the pre-calibration of the illumination mechanism and the optical sensor. Once two calibration marks are identified in at least one of the images in another series of images, the actual calibration of the illumination mechanism and the optical sensor is performed.

[0032] According to an improved embodiment of the invention, the actual number of photons arriving at the optical sensor is measured. The illumination intensity of the illumination mechanism is evaluated and / or adjusted based on the difference between the actual number of photons arriving at the optical sensor and the target number. Preferably, the reflectivity of at least one calibration mark is known for evaluating the actual number of photons arriving.

[0033] Advantageously, in addition to calibrating the near and far boundaries of the visible distance range, the illumination intensity of the illumination mechanism is also calibrated. The calibration of the illumination mechanism and optical sensors generally includes adjustments to the electronics and / or regulation of the illumination pulse duration and / or regulation of the illumination pulse and / or calculation of the delay time caused by the electronics.

[0034] According to an improved embodiment of the invention, the lighting mechanism, serving as a first lighting mechanism, and an additional second lighting mechanism are used alternately for illumination. Therefore, it is advantageous to calibrate the combination consisting of the optical sensor, the first lighting mechanism, and the second lighting mechanism.

[0035] This task is also accomplished by providing a control mechanism configured to perform the method of the present invention or the method according to one of the foregoing embodiments. This control mechanism is preferably designed as a computing device, particularly preferably as a computer or controller, especially a motor vehicle controller. Regarding the control mechanism, advantages already explained with respect to the method are particularly advantageous.

[0036] The control mechanism is preferably effectively connected to the at least one lighting mechanism and optical sensor and is configured for their respective control.

[0037] This task is also accomplished by providing a calibration apparatus having at least one illumination mechanism, an optical sensor, and a control mechanism of the present invention or a control mechanism according to one of the foregoing embodiments. Regarding the calibration apparatus, advantages already explained with respect to the method and control mechanism are particularly appreciated.

[0038] This task is also accomplished by providing a motor vehicle equipped with the calibration apparatus of the present invention or a calibration apparatus according to one of the foregoing embodiments. In particular, the advantages already explained regarding the method, control mechanism, and calibration apparatus are gained for motor vehicles.

[0039] In a favorable design, the motor vehicle is designed as a cargo truck. However, it is also possible that the motor vehicle is a passenger car, a cargo truck, or another type of motor vehicle.

[0040] This task is also accomplished by providing a calibration mark, which is set for application in the method of the present invention or in a method according to one of the foregoing embodiments. The calibration mark has at least one predetermined size. Furthermore, the calibration mark has at least one feature selected from the group consisting of identification features, optical features for determining at least one optical parameter, and illumination features for determining illumination intensity given the reflectivity of the illumination features. Regarding the calibration mark, advantages already explained with respect to the method are particularly evident.

[0041] In a preferred embodiment, the calibration mark is designed to be rectangular. Additionally, the calibration mark has a predetermined width. Alternatively or additionally, the calibration mark has a predetermined height. Alternatively or additionally, the calibration mark has a predetermined area.

[0042] In a preferred embodiment, the calibration mark has a bright background color, especially white. Alternatively or additionally, the calibration mark has bright, especially white, circumferential lines and dark, especially black, circumferential lines. Advantageously, the bright circumferential lines are more easily identified and measured in photographs, especially in contrast to the dark circumferential lines.

[0043] In a preferred embodiment, the identification feature is a QR code, by which at least one piece of information selected from the group consisting of a predetermined size, calibration mark number, calibration mark position and the reflectivity of the calibration mark, or the at least one piece of information is encoded in the QR code.

[0044] This task is accomplished by providing a calibration mark assembly having a first calibration mark and a second calibration mark, wherein the first and second calibration marks are provided as calibration marks of the present invention or as calibration marks according to one of the foregoing embodiments, respectively. Furthermore, the first and second calibration marks have a predetermined spatial distance from each other. Regarding the calibration mark assembly, advantages already explained with respect to the method and calibration marks are particularly appreciated.

[0045] According to a preferred design, the calibration mark assembly is placed on a road over which the vehicle to be calibrated (i.e., a vehicle equipped with the lighting mechanism and optical sensors to be calibrated) regularly travels during actual operation. This can be a dedicated road, test route, or, in particular, a public road such as a highway or expressway, especially on factory grounds. In this way, the vehicle can be advantageously calibrated during actual operation.

[0046] Advantageously, the control of the illumination mechanism and the optical sensor is adjusted such that the width of the corresponding visible distance range corresponds to a predetermined distance between the first calibration mark and the second calibration mark.

[0047] Finally, this task is accomplished by providing a calibration mechanism having a first calibration mark assembly, a second calibration mark assembly, and a third calibration mark assembly, wherein the first, second, and third calibration mark assemblies are respectively designed as calibration mark assemblies of the present invention or calibration mark assemblies according to one of the foregoing embodiments. Furthermore, the first and second calibration mark assemblies have a predetermined mutual spatial distance, and the second and third calibration mark assemblies also have a predetermined mutual spatial distance. Regarding this calibration mechanism, the advantages already explained regarding the method, calibration marks, and calibration mark assemblies are particularly advantageous.

[0048] According to a preferred design, the calibration components are placed on a road on which the vehicle to be calibrated regularly travels during actual operation. This can be a dedicated road, test track, or, in particular, a public road such as a highway or expressway, especially on factory grounds. In this way, the vehicle can be calibrated particularly advantageously during actual operation. Attached Figure Description

[0049] The invention will be explained in detail below with reference to the figures, wherein:

[0050] Figure 1 A schematic diagram showing a first embodiment of a motor vehicle and a first embodiment of a calibration mark at the far boundary of the visible distance range is provided.

[0051] Figure 2 A schematic diagram showing a first embodiment of a motor vehicle and a first embodiment of a calibration mark at the near boundary of the visible distance range is provided.

[0052] Figure 3 A schematic diagram showing a first embodiment of a motor vehicle and a first embodiment of a calibration mark assembly is shown.

[0053] Figure 4 A schematic diagram showing a second embodiment of the motor vehicle and a first embodiment of the calibration mark is shown.

[0054] Figure 5 A schematic diagram showing a first embodiment of a motor vehicle and an embodiment of a calibration mechanism having calibration marks of a second embodiment is provided.

[0055] Figure 6 A schematic diagram of a photograph of an optical sensor having two calibration marks according to a third embodiment and a calibration mark assembly according to a second embodiment is shown.

[0056] Figure 7 A schematic diagram showing a fourth embodiment of the calibration mark. Detailed Implementation

[0057] Figure 1 A schematic diagram of a first embodiment of a motor vehicle 1 having a calibration device 3 is shown. The calibration device 3 has an illumination mechanism 5 (preferably a laser), an optical sensor 7 (preferably a camera), and a control mechanism 9. The control mechanism 9 is shown schematically only and is effectively connected to the illumination mechanism 5 and the optical sensor 7 in a manner not explicitly shown and is configured for their respective control. Figure 1 The illumination cone 11 of the illumination mechanism 5 and the observation area 13 of the optical sensor 7 are shown in particular. The visible distance range 15 is also indicated by shading, which exists as a subset of both the observation area 13 of the optical sensor 7 and the illumination cone 11 of the illumination mechanism 5.

[0058] Within the visible distance range 15, particularly at the far boundary 17 of the visible distance range 15, a calibration mark 19 of the first embodiment is placed. The calibration mark 19 has a predetermined size 21, and in particular a predetermined height.

[0059] The control mechanism 9 is specifically designed to perform the following detailed implementation of the method for calibrating the lighting mechanism 5 and the optical sensor 7.

[0060] Here, the illumination mechanism 5 and the optical sensor 7 are controlled in a time-coordinated manner, wherein the local position of the visible distance range 15 in the observation area 13 is given by the time coordination of the control of the illumination mechanism 5 and the optical sensor 7. A series of sequentially taken photographs 35 are acquired by the optical sensor 7 with coordinated control under the illumination of the illumination mechanism 5.

[0061] In the first photograph in the series of photographs, chronologically, in which the calibration mark 19 with a predetermined size 21, and in particular a predetermined height, is identified, the first actual distance 23.1 of the calibration mark 19 is determined based on the predetermined size 21. To determine the first actual distance 23.1 of the calibration mark 19, in the first photograph in the series of photographs, chronologically, in which the calibration mark 19 is identified, the image-side extension dimension of the predetermined size 21 is determined. Figure 1 The moment when the calibration mark 19 was identified in the first photograph of this series of photographs is shown. The first actual distance 23.1 is calculated using formula (1) based on the predetermined size 21 and the image-side extension size of the predetermined size 21.

[0062] Coordinated control and / or visible distance range 15 are evaluated and / or changed based on the far boundary 17 of visible distance range 15 and the first actual distance 23.1.

[0063] In a preferred embodiment of the method, the series of temporally consecutive photographs 35 includes at least one photograph 35 that was acquired before the first photograph 35 in which the calibration mark 19 is identified and in which the calibration mark 19 is not identified. This ensures that the calibration mark 19 is identified first, close to the far boundary 17 of the visible distance range 15. Therefore, the illumination mechanism 5 and the optical sensor 7 can be reliably calibrated based on the far boundary 17 of the visible distance range 15 and a first actual distance 23.1. Preferably, the first actual distance 23.1 is compared with the distance between the optical sensor 7 and the far boundary 17 of the visible distance range 15. If there is a difference in these distances, the first actual distance 23.1 is preferably set as the far boundary 17 of the coordinated control of the visible distance range 15.

[0064] Figure 2 As shown Figure 1A schematic diagram of the first embodiment of the motor vehicle 1 shown.

[0065] Within the visible distance range 15, particularly near the boundary 25 of the visible distance range 15, the calibration mark 19 of the first embodiment is arranged. Figure 1 Similarly, the calibration mark 19 has a predetermined size 21, and in particular a predetermined height.

[0066] The control mechanism 9 is specifically configured to perform the following improvements for calibrating the lighting mechanism 5 and the optical sensor 7.

[0067] In the last photograph in this series of photographs, chronologically, a calibration mark 19 with a predetermined size 21, and in particular a predetermined height, is identified. The second actual distance 23.2 of the calibration mark 19 is determined based on the predetermined size 21. To determine the second actual distance 23.2 of the calibration mark 19, the image-side extension dimension of the predetermined size 21 is determined in the last photograph in this series of photographs, chronologically, where the calibration mark 19 is identified. Figure 2 The moment when the calibration mark 19 is identified in the last photograph in this series of photographs is shown. The second actual distance 23.2 is calculated using formula (1) based on the predetermined size 21 and the image-side extension size of the predetermined size 21.

[0068] Coordinated control and / or visible distance range 15 are evaluated and / or changed based on the near boundary 25 of visible distance range 15 and the second actual distance 23.2.

[0069] In a preferred embodiment of the method, the series of sequentially consecutive photographs 35 includes at least one photograph 35 that was acquired after the last photograph 35 in which the calibration mark 19 was identified and in which the calibration mark 19 was not identified. This ensures that the calibration mark 19 is identified at the very end of the visible distance range 15, near its near boundary 25. Therefore, the illumination mechanism 5 and the optical sensor 7 can be reliably calibrated based on the near boundary 25 of the visible distance range 15 and the second actual distance 23.2. Preferably, the second actual distance 23.2 is compared with the distance between the optical sensor 7 and the near boundary 25 of the visible distance range 15. If there is a difference in distances, the second actual distance 23.2 is preferably set as the near boundary 25 of the controlled visible distance range 15.

[0070] Figure 3 As shown Figure 1 and Figure 2 A schematic diagram of the first embodiment of the motor vehicle 1 shown.

[0071] A first embodiment of a calibration mark assembly 27 is placed within a visible distance range 15. The calibration mark assembly 27 has a first calibration mark 19.1 and a second calibration mark 19.2 of the first embodiment, wherein the first calibration mark 19.1 and the second calibration mark 19.2 have a predetermined spatial distance 29 between them. Similar to... Figure 1 The first calibration mark 19.1 and the second calibration mark 19.2 have a predetermined size 21, and in particular a predetermined height.

[0072] The control mechanism 9 is specifically configured to perform the following improvements for calibrating the lighting mechanism 5 and the optical sensor 7.

[0073] In photograph 35, which identifies the calibration mark component 27, particularly the first calibration mark 19.1 and the second calibration mark 19.2, the first actual distance 23.1 and the second actual distance 23.2 of the calibration marks 19 are determined according to a predetermined size 21. To determine the first actual distance 23.1 and the second actual distance 23.2 of the calibration marks 19, similar to... Figure 1 and Figure 2 In this series of photographs, the image-side extension dimension of the predetermined dimension 21 is determined in photograph 35 in which the calibration mark component 27 is identified, particularly the first calibration mark 19.1 and the second calibration mark 19.2. Figure 3 The moment when the calibration mark assembly 27, particularly the first calibration mark 19.1 and the second calibration mark 19.2, is identified in a photograph 35 is shown. The first actual distance 23.1 and the second actual distance 23.2 are calculated using formula (1) based on the predetermined size 21 and the image-side extension size of the predetermined size 21.

[0074] Coordinated control and / or visible distance range 15 are evaluated and / or changed based on the near boundary 25 and far boundary 17 of visible distance range 15, the first actual distance 23.1 and the second actual distance 23.2.

[0075] Preferably, the coordinated control of the lighting mechanism 5 and the optical sensor 7 is evaluated and / or changed such that the near boundary 25 of the visible distance range 15 corresponds to a second actual distance 23.2, and the far boundary 17 of the visible distance range 15 corresponds to a first actual distance 23.1.

[0076] Instead, the visible distance range 15 is evaluated and / or modified such that the distances to the first calibration mark 19.1 and the second calibration mark 19.2 calculated using additional distance determination based on the near boundary 25 and the far boundary 17 of the visible distance range 15 (especially as described in the German patent application publication DE 10 2020002 994 A1) are the same as the first actual distance 23.1 and the second actual distance 23.2.

[0077] If the series of consecutive photographs 35 does not include a photograph 35 that identifies all calibration mark components 27 (especially the first calibration mark 19.1 and the second calibration mark 19.2), then the coordination control is changed such that the corresponding visible distance range 15 is expanded by a predetermined factor.

[0078] Figure 4 A schematic diagram of a second embodiment of a motor vehicle 1 having a calibration device 3 is shown. The calibration device 3 has a first lighting mechanism 5.1, a second lighting mechanism 5.2, an optical sensor 7, and a control mechanism 9. The control mechanism 9 is shown schematically only and is effectively connected to the first lighting mechanism 5.1, the second lighting mechanism 5.2, and the optical sensor 7 in a manner not explicitly shown, and is configured for the control of their respective components. Figure 4 Specifically shown are the first illumination cone 11.1 of the first illumination mechanism 5.1, the second illumination cone 11.2 of the second illumination mechanism 5.2, and the observation area 13 of the optical sensor 7. The shaded lines also show the first visible distance range 15.1 and the second visible distance range 15.2, which are identical to each other and are therefore hereinafter referred to as the visible distance range 15.

[0079] Within the visible distance range 15, particularly at the far boundary 17 of the visible distance range 15, a calibration mark 19 of the first embodiment is arranged. The calibration mark 19 has a predetermined size 21, and in particular a predetermined height.

[0080] The control mechanism 9 is specifically provided as an improved form of the previously detailed embodiment for performing the method for calibrating the first illumination mechanism 5.1, the second illumination mechanism 5.2, and the optical sensor 7. Figure 1-3 The only difference in the proposed method is that the first lighting mechanism 5.1 and the second lighting mechanism 5.2 are used alternately for the lighting observation area 13.

[0081] Figure 5 A schematic diagram of a first embodiment of a motor vehicle 1 on road 31 is shown. An embodiment of a calibration component 33 having a first calibration mark component 27.1, a second calibration mark component 27.2, and a third calibration mark component 27.3 is provided beside road 31. The respective calibration mark components 27 are spatially spaced from each other.

[0082] Each calibration mark assembly 27 has two calibration marks 19 with a predetermined extension dimension 21, specifically a predetermined width, as a second embodiment of the calibration mark 19. For clarity, only one calibration mark 19 is shown with reference numerals. The two calibration marks 19 of a calibration mark assembly 27 have a first distance 29. The distance 29 is the same for all three calibration mark assemblies 27.

[0083] The second distance 34.1 between the first calibration mark component 27.1 and the second calibration mark component 27.2, and the third distance 34.2 between the second calibration mark component 27.2 and the third calibration mark component 27.3, are selected and / or predetermined such that the second distance 34.1 and the third distance 34.2 are greater than the first distance 29 by a predetermined multiple. This ensures that at most two calibration marks 19 of one calibration mark component 27 can be identified in a single photograph.

[0084] With the aid of each of the calibration marks 19, one of the methods for calibrating the lighting mechanism 5 and the optical sensor 7 described above can be performed. Alternatively or additionally, the methods for calibrating the lighting mechanism 5 and the optical sensor 7 described above can be performed with the aid of each of the calibration mark components 27 using a photograph 35 that identifies the corresponding two calibration marks 19 of each calibration mark component 27. If the vehicle 1 reaches the third calibration mark component 27.3 and still requires calibration of the lighting mechanism 5 and the optical sensor 7, manual calibration and maintenance are indicated. The required maintenance can be displayed to the driver of the vehicle 1 using a suitable device.

[0085] In a preferred embodiment of the calibration mechanism 33, the second distance 34.1 between the first calibration mark component 27.1 and the second calibration mark component 27.2 is the same as the third distance 34.2 between the second calibration mark component 27.2 and the third calibration mark component 27.3.

[0086] In another embodiment of the calibration mechanism 33, these calibration mark components 27 are positioned on different sides of the road 31. This allows for advantageous checking of the uniformity of illumination provided by the lighting mechanism 5.

[0087] exist Figure 1-5 In one embodiment of the method, the actual number of photons arriving at the optical sensor 7 is measured. The illumination intensity of the illumination mechanism 5 is evaluated and / or adjusted based on the difference between the actual number of photons arriving at the optical sensor 7 and the target number.

[0088] Figure 6 A schematic diagram showing the calibration mark assembly 27′ of the second embodiment, when illuminated by the illumination mechanism 5, is obtained by the optical sensor 7 with the aid of coordinated control to capture a photograph 35.

[0089] Beside the road 31′ on the image side, one can also see the image-side calibration mark assembly 27′, and in particular the two image-side calibration marks 19, 19′. Calibration marks 19, 19′ are a third embodiment of calibration mark 19. Calibration marks 19, 19′ are designed in a rectangular shape and have at least one predetermined dimension 21, in particular a predetermined height and / or predetermined width and / or predetermined area. Additionally, calibration marks 19, 19′ have a bright background color 37, in particular white. Furthermore, calibration marks 19, 19′ also have bright, in particular white, circumferential lines 39 and dark, in particular black, circumferential lines 41. Advantageously, the bright circumferential lines 39 are more easily identified and measured in photograph 35, especially by contrasting with the dark circumferential lines 41.

[0090] Furthermore, calibration marks 19, 19' have feature 43. Feature 43 is an identification feature 45 and / or an optical feature 47 for determining at least one optical parameter and / or an illumination feature 49 for determining illumination intensity. In a preferred embodiment, the identification feature 45 is a QR code, thereby retrieving or directly encoding at least one piece of information selected from the group consisting of a predetermined size 21, the numbering of calibration marks 19, 19', the position of calibration marks 19, 19', and the reflectivity of calibration marks 19, 19'.

[0091] The visible distance range 15′ on the image side is defined by the far boundary 17′ and the near boundary 25′ on the image side. Photograph 35 corresponds to the distance range 15′ on the image side. Figure 3 or Figure 5 The photos were collected using the method described above.

[0092] Figure 7 A schematic diagram showing a fourth embodiment of the calibration mark 19 is provided. The calibration mark 19 has at least one predetermined dimension 21, particularly a predetermined height and / or a predetermined width and / or a predetermined area. Additionally, the calibration mark 19 has a bright background color 37, particularly white. Furthermore, the calibration mark 19 also has bright, particularly white, circumferential lines 39 and dark, particularly black, circumferential lines 41. Advantageously, the bright circumferential lines 39 are easily identified and measured in photograph 35, especially by contrasting them with the dark circumferential lines 41.

[0093] Furthermore, the calibration mark 19 has feature 43. Feature 43 consists of identification feature 45, optical feature 47 for determining at least one optical parameter, and illumination feature 49 for determining illumination intensity when the reflectivity of illumination feature 49 is known.

Claims

1. A method for calibrating an illumination mechanism (5) and an optical sensor (7), wherein, - the control of both the illumination mechanism (5) and the optical sensor (7) is coordinated in time, - the coordinated control corresponds to a visible distance range (15), - the optical sensor (7) is used in the case of illumination by the illumination mechanism (5) to acquire a series of successive photos (35) in time by means of the coordinated control, wherein, if at least two calibration marks (19) are not recognized in this series of photos (35), the coordinated control is changed such that the corresponding visible distance range (15) is enlarged by a predetermined multiple, realizing pre-calibration of the illumination mechanism and the optical sensor; and once two calibration marks are recognized in at least one photo in another series of photos, the actual calibration of the illumination mechanism and the optical sensor is performed as follows: - in the photo (35) which is the first in time in this series of photos and in which at least one calibration mark (19) having at least one predetermined size (21) is recognized, the image-side extension size of the predetermined size is determined, and the first actual distance (23.1) of the at least one calibration mark (19) is determined based on the at least one predetermined size (21) and the image-side extension size of the predetermined size, - the coordinated control and / or the visible distance range (15) is evaluated and / or changed based on the far boundary (17) of the visible distance range (15) and the first actual distance (23.1); wherein, the first actual distance is compared with the distance between the optical sensor and the far boundary of the visible distance range, and if there is a difference in the distance, the first actual distance is set as the far boundary of the visible distance range of the coordinated control; The method further includes calibration of the illumination intensity of the illumination mechanism, wherein the actual number of photons reaching the optical sensor (7) is measured, and the illumination intensity of the illumination mechanism (5) is evaluated and / or changed based on the difference between the actual number of photons reaching the optical sensor (7) and the target number.

2. The method according to claim 1, wherein, - in the photo (35) which is the last in time in this series of photos and in which at least one calibration mark (19) having the at least one predetermined size (21) is recognized, the second actual distance (23.2) of the at least one calibration mark (19) is determined based on the at least one predetermined size (21), - the coordinated control and / or the visible distance range (15) is evaluated and / or changed based on the near boundary (25) of the visible distance range (15) and the second actual distance (23.2).

3. The method according to any one of the preceding claims, wherein, - in the photo (35) in which at least two calibration marks (19) having the at least one predetermined size (21) are recognized in this series of photos, the first actual distance (23.1) and the second actual distance (23.2) of the at least two calibration marks (19) are determined based on the at least one predetermined size (21), - The coordination control and / or the visible distance range (15) are evaluated and / or changed based on the far boundary (17) and the near boundary (25) of the visible distance range (15), the first actual distance (23.1) and the second actual distance (23.2).

4. The method according to one of the preceding claims, wherein The lighting device (5), as the first lighting device (5.1), and the second lighting device (5.2) are alternately used to illuminate the observation area (13).

5. A control device (9) configured to perform a method for calibrating at least one lighting device (5) and an optical sensor (7) according to one of the preceding claims.

6. A calibration device (3) having at least one lighting device (5), an optical sensor (7), and a control device (9) according to claim 5.

7. A motor vehicle (1) having a calibration device (3) according to claim 6.

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