Method of recalibrating sensor of device

Abstract

The invention relates to a method for recalibrating a sensor (4) of a device (1). The method comprises: providing (S1) sensor information (20) to a control unit (3) of the device (1) by means of a sensor (4); executing (S2) a function (21) of the device (1) by means of the control unit (3) on the basis of the provided sensor information (20) and providing function information (22) describing the executed function (21) to the sensor (4); determining (S3), by means of the sensor (4), recalibration information (25) describing a request for recalibration of the sensor (4) on the basis of the provided functional information (22), and providing the recalibration information to the control unit (3); performing (S4) a preparation action (28) by means of the control unit (3) in order to prepare for recalibration according to the provided recalibration information (25); and recalibrating (S5) the sensor (4) after performing the preparation action (28).

Description

Technical Field

[0001] The present invention relates to a method for calibrating a sensor of a device. The device is configured to provide a function, in particular at least a semi-automatic function. The present invention further relates to a device, a vehicle, and a computer program product for performing such a method. Background Art

[0002] Devices configured to perform functions such as at least semi-automatic and in particular fully automatic functions can be organized according to a sense-plan-act model. This model is typical for applications in robots and can be applied to, for example, at least semi-automatically operated vehicles and / or manufacturing robots. In the sensing phase of the model, the device captures information about its environment. In the planning phase, it determines a strategy for performing a given task, such as operating a vehicle fully automatically. In the acting phase, the device completes the task according to the defined strategy, which means it takes actions such as operating the vehicle fully automatically according to the strategy. For example, the sense-plan-act model is described in the document WO 2020 / 205648 A1.

[0003] The device may face a situation where the sensor needs to be recalibrated, where the sensing phase requires the sensor. However, the recalibration of the sensor during the execution of the function may lead to inaccuracies in the planning phase, especially if the planning phase continuously requires sensor information provided by the sensor. Therefore, it is necessary to ensure that the recalibration of the sensor is performed at a reasonable time.

[0004] In addition, methods for recalibrating sensors are known. US 2018 / 0307238 A1 discloses a system and method for calibration verification for autonomous vehicle operation. The controller obtains an image during a stationary condition, identifies a reference position of a reference object during the stationary condition, identifies the reference object at a second position within the image, and verifies a transformation associated with the imaging device based on a difference between the reference position and the second position.

[0005] US 2020 / 0353939 A1 provides a system and method for recalibrating an uncalibrated sensor. The system includes an error handling system configured to determine whether to perform a recalibration. The error handling system includes a recalibration engine configured to perform the recalibration. Summary of the Invention

[0006] The object of the present invention is to provide a recalibration of the sensor at a reasonable point in time.

[0007] The independent claims solve this object.

[0008] A first aspect of the present invention relates to a method for recalibrating a sensor of a device. The device is configured to provide a function. The function is, for example, at least semi-automatic, in particular fully automatic. The device can be a vehicle, such as a motor vehicle. Then, the function can be configured to perform steering, driving, and / or braking of the vehicle. The function can be a driver assistance function, such as parking assistance or lane assistance. The sensor is preferably a sensor configured to capture the environment of the device. Thus, the sensor is, for example, a camera device including at least one camera, a radar device, a lidar device, an ultrasonic sensor, and / or a laser distance sensor. It is assumed that the sensor has been calibrated at least once before the current time point. However, over time or due to external factors such as dirt, temperature changes, and / or precipitation, recalibration of the sensor may be reasonable or necessary to maintain or regain the quality of the sensor information captured by the sensor.

[0009] The method includes providing sensor information by means of a sensor of the device. The sensor information describes the environment of the device. The sensor information is provided to a control unit of the device. The control unit is, for example, a computer. The sensor information can be described by sensor data. If the sensor is, for example, a camera, it provides camera data as the sensor information. The environment of the device is spatially defined by the coverage area of the sensor. Preferably, the sensor captures the sensor information. It is possible that the sensor is not part of the device and is therefore, for example, an external sensor. In this case, the external sensor provides the sensor information to the control unit via a communication connection between the sensor and the device. Providing the sensor information can represent the sensing phase of a sense-plan-act model.

[0010] The method includes performing a function of the device based on the provided sensor information. This is done by means of the control unit. Thus, the function is currently performed by the device. The function is in particular at least semi-automatic. The function can be a fully automatic function. The function is based on the provided sensor information. Performing the function based on the sensor information can represent at least the planning phase and particularly also the action phase of a sense-plan-act model.

[0011] The method includes providing information describing the performed function to the sensor. This is done by means of the control unit. In other words, the control unit provides information about the function currently being performed by the device to the sensor. This information is referred to as function information. The function information can describe the performed function in detail. Thus, it can include what type of function is being performed.

[0012] The method includes determining recalibration information by means of a sensor. The recalibration information describes a request for recalibration of the sensor. The recalibration information is determined based on the provided functional information. The recalibration information may describe whether recalibration is necessary. It is possible that the recalibration information includes, for example, more details about the urgency of the recalibration, the type of the requested recalibration, and / or the approximate duration and / or energy requirement for performing the requested calibration. Then, the sensor provides the determined recalibration information to the control unit. This means that the method includes transmitting the determined recalibration information from the sensor to the control unit.

[0013] Preferably, there is a continuous information exchange between the sensor and the control unit. The sensor provides sensor information and recalibration information to the control unit, and the control unit provides functional information to the sensor. Preferably, the described steps are performed one after another, which means that first the sensor information is provided, then the functional information is provided, and then the recalibration information is provided at the time point when recalibration is requested. Preferably, the sensor information and the functional information are continuously exchanged between the control unit and the sensor. It is also possible that the control unit determines control commands to perform the function and provides these commands to the execution unit of the device configured to perform the function.

[0014] The communication connection or information exchange between the control unit and the sensor can be provided by a cable or as a wireless link, for example via a wireless local area network (WLAN), a Bluetooth link, and / or a mobile data network, such as based on Long Term Evolution (LTE), Long Term Evolution Advanced (LTE-A), Fifth Generation (5G), or Sixth Generation (6G) cellular standards.

[0015] The method includes performing at least one preparatory action to prepare for recalibrating the sensor according to the provided recalibration information. This is done by means of the control unit. After receiving the recalibration information, the control unit can take actions and perform preparatory measures to prepare the device for the intended recalibration of the sensor. The preparatory action may include, for example, activating a redundant sensor, which can provide the sensor information required for performing the function during the recalibration of the sensor that needs to be recalibrated. The redundant sensor is configured to provide sensor information that can replace the sensor information provided by the sensor. Alternatively or additionally, the preparatory action may include transferring the control of the device to the user. There are multiple possible preparatory actions. The preparatory action may be device-related, which means that, for example, a vehicle as a device may require a different preparatory action compared to a manufacturing robot as a device.

[0016] After performing at least one preparatory action, the method includes recalibrating the sensor. The sensor preferably recalibrates itself. Alternatively, additional components of the device are provided and configured to perform the recalibration of the sensor. The recalibration can be accomplished by executing a recalibration algorithm, for example, to automatically calibrate the sensor. In this way, it is automatically possible to recalibrate an ultrasound sensor depending on the temperature. For example, if recalibration is required due to dirt on the camera lens or changed light conditions in the environment, an automatic lens cleaner can be activated or the exposure settings of the camera can be adjusted.

[0017] In summary, feedback is provided from the planning phase to the sensing phase. This is achieved by providing functional information to the sensor. This means that the planning phase (meaning the control unit) notifies the sensing phase (meaning the sensor) of the running function. The information is provided to allow the sensor to be recalibrated at the most appropriate time. Therefore, the recalibration information is determined based on the provided functional information. Thus, the functional information influences whether and when the sensor needs to be recalibrated. By doing so, for example, the sensor can add an additional time window between receiving the functional information and providing the recalibration information. Therefore, the recalibration can be made dependent on the function being performed and thus on the planning phase rather than just on the needs of the sensing phase. Therefore, the method allows the sensor to be recalibrated at a reasonable point in time.

[0018] According to one embodiment, after recalibrating the sensor, the method includes undoing, by means of the control unit, at least one of the performed preparatory actions. Once the recalibration is complete, the performed preparatory actions are no longer needed because the preparatory actions are only intended to bridge a period of time and do not provide sensor information during the recalibration of the sensor. For example, if during recalibration the user has control of the device because the preparatory action includes transferring control of the device to the user, the preparatory action is identified and the control of the device is transferred back to the control unit of the device. Thus, the function can take over control again. If, for example, a redundant sensor is activated during recalibration due to a preparatory action, the preparatory action is terminated by cutting off or at least pausing the redundant sensor. This means that after recalibration, the method includes returning the device to its original state before the preparatory actions were performed. By undoing the preparatory actions, preferably all preparatory actions are reclaimed. Therefore, the method is particularly comfortable for the user because after a short recalibration time of, for example, a few seconds or minutes, the device is automatically reset to its original state.

[0019] Another embodiment includes: The function information describes whether the function is a safety-critical function of the device or a non-safety-critical function of the device. The safety-critical function or the non-safety-critical function may alternatively be referred to as a safety-related function or a safety-unrelated function, respectively. The safety-critical may be a function related to driving, steering, and / or braking the device. A non-safety-critical function is, for example, a warning function that has no effect on the drive system, steering system, and / or braking system of the device. For example, to assist in parking a vehicle, a distance warning system may be provided as the device, which typically outputs a sound based on the distance between the vehicle and at least one object in the vehicle environment. Such a function has no effect on the drive system, steering system, and / or braking system of the vehicle, but only notifies the driver of the vehicle of a possible collision with an object. Therefore, the distance warning system is a non-safety-critical function because it does not contribute to the at least semi-automatic operation of the vehicle. Classifying possible functions into safety-critical functions or non-safety-critical functions allows for a quick and reliable determination of whether recalibration of the sensor has an impact on the current operation of the device.

[0020] According to another embodiment, the method includes: If the function information describes that the function is a non-safety-critical function, then postpone the at least one preparatory action. This means that if the function is not safety-critical, and thus for example the above-mentioned distance warning system, the required recalibration is not immediately performed, but the execution of the preparatory action is suspended. It is thereby postponed for a predefined time window and / or until the current activity of the function is terminated. The time window is a given time interval. The time window may be 1 second, 3 seconds, 5 seconds, 10 seconds, 30 seconds, 1 minute, 2 minutes, 3 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes, or especially 1 hour long. Alternatively or additionally, the recalibration is delayed until the function has completed its current activity. If the function is, for example, a distance warning system, the sensor may wait until the vehicle has reached a parking position such that the distance warning system no longer supports the driver. When the parking position is reached, for example, once the parking brake of the vehicle is activated, the preparatory action is performed and the recalibration is started because the availability of the distance warning system is not currently required. The benefit of this is that the driver of the vehicle can use the service of the distance warning system to complete his or her current driving task, even though the sensor providing the sensor information on which the function is based needs to be recalibrated. This makes the method particularly comfortable because it does not interfere with the ongoing activity and thus does not interfere with the ongoing function.

[0021] Another embodiment includes: recalibration information that describes whether recalibration of the sensor is mandatory or optional. Thus, the recalibration information at least differentiates between recalibration that is immediately required and thus mandatory, and recalibration that may be postponed because it is not required at the moment and is thus optional. The recalibration information that describes mandatory recalibration may be referred to as a mandatory recalibration request. The recalibration information that describes optional recalibration may be referred to as an initial recalibration request. Recalibration is optional whenever the measurement accuracy of the sensor is still of sufficient quality to perform the function. However, recalibration will improve the quality of the sensor information. However, since calibration is not absolutely required immediately, it may be postponed at least within a predefined time window and / or until the current activity or function terminates. Recalibration is mandatory whenever the sensor information is no longer reliable enough to perform the function of the device. For example, it is unreasonable to postpone a mandatory recalibration, especially if the function is safety-critical according to the function information. In such a case, there is an urgent need for recalibration according to the respective recalibration information. Thus, the urgency of recalibration can be easily determined.

[0022] Furthermore, an embodiment includes: if the function information describes that the function is a safety-critical function, and if the recalibration information describes that the recalibration of the sensor is optional, then at least temporarily suppress the at least one preparatory action. Due to the safety-critical function, recalibration is of relatively high interest. However, if the sensor classifies the recalibration as optional rather than mandatory, it is reasonable to wait for a moment suitable for recalibration. Although the function is safety-critical, there are still cases where it is reasonable to postpone recalibration by suppressing it. Thus, not all safety-critical functions result in an immediate preparatory action, but rather the recalibration is differentiated as being mandatory or only optional. Therefore, the method is particularly suitable for the current situation.

[0023] Another embodiment includes: when the function terminates and thus once the function terminates, perform the at least one preparatory action that has been suppressed. In a scenario with a safety-critical function but with optional recalibration information, it is thus possible to wait until the current function is terminated, especially the action of the function. This helps to find an ideal time point for performing the recalibration.

[0024] Another implementation includes: if the function information describes that the function is a safety-critical function and if the recalibration information describes that the recalibration of the sensor is mandatory, then immediately perform the at least one preparatory action. In the case of receiving a mandatory recalibration request, the method thus prepares for and performs the recalibration of the sensor without delay, because in this case, the recalibration should not wait. Thus, the method allows for easily determining the cases where immediate recalibration is reasonable.

[0025] In summary, different combinations of functional information and recalibration information result in different situations or scenarios regarding how to proceed with the preparation action and subsequent recalibration.

[0026] Another embodiment includes: The preparation action at least includes the transition of the device to a minimum risk state. The minimum risk state can be a safe state. In particular, when the minimum risk state is reached, the device is in a stationary state. Preferably, it then also remains stationary. In the case of a vehicle as the device, an automatic or manual stop of the vehicle can be performed as the preparation action. This means that the vehicle can decelerate until it stops, and then the parking brake of the vehicle is activated. Due to safety-critical functions, it is reasonable to stop the device and keep it stopped while recalibrating the sensor. It is particularly reasonable to undo the preparation action after recalibration, for example, by restarting the device and especially accelerating the vehicle. However, if the recalibration is mandatory, extreme measures (such as transitioning to the minimum risk state) can provide good enough conditions for the recalibration of the sensor.

[0027] Another embodiment includes: If the device does not perform a function, the sensor is recalibrated without performing the preparation action. If there is no functional activity as a result, the recalibration can even be triggered, for example, if it is only optional. The reason is that the recalibration has no significant impact on the operation of the device because no function that depends on the sensor information provided by the sensor is activated. Non-functional operation means that the control unit (planning phase) does not send control commands to the sensor-dependent action phase (sensing phase). Therefore, the sensing phase has no impact on the planning and action phases, and thus the recalibration can be performed at any time, especially immediately. Therefore, the method also takes into account the situation where no function is activated in the device.

[0028] According to another embodiment, the preparation actions include at least one of the following actions: transferring control of the device to the user of the device; providing sensor information to the sensor by means of a redundant sensor and / or predicting sensor information by applying a prediction algorithm to the provided sensor information. Transferring control to the user of the device means that at least the semi-automatic mode of the device is switched to the manual mode, in which the user controls the device at least partially, in particular completely. The redundant sensor can be an alternative sensor, which preferably provides equivalent sensor information compared to the sensor information provided by the sensor. A radar device can be, for example, a redundant sensor for an ultrasonic sensor and vice versa. The prediction algorithm is, for example, based on a mathematical model to estimate sensor information when the sensor does not provide or at least does not provide reliable sensor information during recalibration. This means that the sensor is, for example, switched off or at least suspended during recalibration, but the sensor information to be expected from the sensor is calculated by applying the prediction algorithm. Thus, the predicted sensor information is not the true measurement data of the sensor, but can imitate it. Therefore, there can be multiple and general preparation actions. This means that precautions are taken during recalibration of the sensor information to compensate for the lack of sensor information.

[0029] Another aspect of the invention relates to a device. The device includes a control unit and a sensor. The device is configured to perform or execute the method as described above. The device executes the method.

[0030] Preferred embodiments of the device include: the device is a vehicle, in particular a motor vehicle. The motor vehicle can be a passenger car, a truck, a bus and / or a motorcycle. Alternatively or additionally, the device is a robot, in particular a manufacturing robot. Generally, any device that can provide at least a semi-automatic function for driving, steering and / or braking of the device based on sensor information describing the environment of the device can be considered a possible device for performing the described method.

[0031] Another aspect relates to a vehicle. The vehicle includes a control unit and a sensor. The vehicle is preferably the motor vehicle as described above. The vehicle is configured to perform the described method. The vehicle executes the described method.

[0032] The sensor can include a computer to perform the steps of the method intended to be performed by the sensor.

[0033] The control unit and the sensor are each configured to perform the steps described above for the sensor or the control unit. In particular, they perform the described steps according to at least one of the described method embodiments or a combination of embodiments. The control unit and the sensor include a processor device. The processor device may include at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). Additionally, the processor device may include program code, which may alternatively be referred to as a computer program product or a computer program. The program code may be stored in the data memory of the processor device.

[0034] The invention also relates to a computer program product including instructions which, when executed by the control unit and the sensor, cause them to perform the method as described above. The computer program product may be referred to as a computer program.

[0035] The information in the sense of the invention can be described by corresponding data. For example, sensor information can be described by sensor data. This similarly applies to all information mentioned in this application.

[0036] The embodiments described in connection with the method apply correspondingly, individually and in combination with each other, as far as possible, to the device, vehicle and / or computer program product of the invention. The invention includes combinations of the described embodiments. Description of the Drawings

[0037] Thus shown:

[0038] Figure 1 A schematic representation of a vehicle as a device,

[0039] Figure 2 A schematic representation of a robot as a device,

[0040] Figure 3 A schematic representation of a method for recalibrating a sensor of a device and

[0041] Figure 4 According to Figure 3 Schematic representations of different scenarios of the method. Detailed Description

[0042] Figure 1Device 1 is shown. Device 1 is a vehicle 2 here. Device 1 includes a control unit 3 and at least one sensor 4. Sensor 4 is a camera 5 here, in particular a front camera 5, and / or an ultrasonic sensor 6. The ultrasonic sensor 6 is arranged in the door of the vehicle 2. Other types of sensors 4 and / or sensors 4 at other locations in the vehicle 2 are possible. There is a communication connection 7 between each of the sensors 4 and the control unit 3 for information exchange between the respective sensor 4 and the control unit 3. The communication connection 7 can be wired or wireless.

[0043] The vehicle 2 includes a steering system 8, a braking system 9 and a drive system 10. The vehicle 2 is configured to be operated at least semi-automatically by a function 21 of the vehicle 2 (see Figure 3 the reference numeral 21 in the drawings). This function can provide operation commands for the steering system 8, the braking system 9 and / or the drive system 10. The operation commands can be provided by the control unit 3.

[0044] Figure 2 A manufacturing robot 11 is shown as device 1. The robot 11 can be configured to at least partially produce the vehicle 2. The robot 11 includes a control unit 3 and at least one sensor 4. Here, it includes a camera 5 positioned on top of the robot 11 and an ultrasonic sensor 6. Other and / or more sensors 4 are possible. The robot 11 can include a plurality of movable parts 12, which can be referred to as the arms of the robot 11. The robot 11 also includes a gripper arm 13, and the gripper arm 13 can be configured to grasp or hold the parts to be produced by the robot 11. The gripper arm 13 can be configured to grip at least one part of the vehicle 2.

[0045] The vehicle 2 and the robot 11 are two possible examples of device 1, which are configured to perform the method as Figure 3 shown.

[0046] Figure 3 A method for recalibrating the sensor 4 of device 1 is shown. Device 1 is configured to provide a function 21, which can be at least semi-automatic, in particular a fully automatic function. A first step S1 is performed by the sensor 4. It includes providing sensor information 20 to the control unit 3 of device 1. The sensor information 20 describes the environment of device 1. In the case of the camera 5, the sensor information 20 can be the camera information captured by the camera 5. In the case of the ultrasonic sensor 6, the sensor information 20 can be distance information and / or height information about an object in the environment of device 1. The sensor information 20 always describes the environment of device 1. Thus, the sensor information 20 is not internal measurement data of the device, for example, the temperature value determined by a temperature sensor located in the drive system 10 of the vehicle 2. Step S1 is the sensing phase according to the sense-plan-act model.

[0047] Step S2 is executed by the control unit 3. It includes performing the function 21 of the device 1 based on the provided sensor information 20. Step S2 can be understood at least as the planning phase according to the sense-plan-act model. Step S2 also includes providing the function information 22 to the sensor 4. The function information 22 describes the performed function 21. The function information 22 can describe whether the function 21 is a safety-critical function 23 or a non-safety-critical function 24.

[0048] Step S3 is executed by the sensor 4. It includes determining recalibration information 25. The recalibration information 25 describes a request for recalibrating the sensor 4. The recalibration information 25 is determined based on the provided function information 22. Thus, whether recalibration is needed or requested depends on the provided function information 22. Thus, it can depend on whether the function 21 is a safety-critical function 23 or a non-safety-critical function 24. The recalibration information 25 is provided to the control unit 3. The recalibration information 25 includes or describes whether the recalibration of the sensor 4 is mandatory 26 or optional 27.

[0049] Step S4 is executed by the control unit 3. It includes performing at least one preparatory action 28 to prepare for recalibrating the sensor 4 according to the provided recalibration information 25. The preparatory action 28 can include at least one of the following actions: transferring the control of the device 1 to the user 29 of the device 1; and / or providing the sensor information 20 by means of a redundant sensor 30, which is a redundant sensor 30 of the sensor 4; and / or predicting the sensor information 20 by applying a prediction algorithm 31 to the provided sensor information 20. Thus, the preparatory action 28 ensures that the function 21 can continue during the recalibration of the sensor 4.

[0050] In step S5, the sensor 4 is recalibrated. This is done after performing at least one preparatory action 28 in step S4. In step S6, it is possible that after recalibrating the sensor 4, at least one of the performed preparatory actions 28 is revoked by means of the control unit 3. This means deactivating the above preparatory action 28 to transfer the device 1 to its original state occupied before the preparatory action 28. After step S6, step S1 can be executed again.

[0051] Figure 4Shows different combinations of functional information 22 and recalibration information 25. If, according to the functional information 22, the function 21 is a non-safety-critical function 24, step S7 is executed. In step S7, the preparation action 28 is postponed for a predefined time window and / or until the current activity of the function 21 terminates. However, if the functional information 22 describes that the function 21 is a safety-critical function 23, further steps depend on the recalibration information 25. If, according to the recalibration information 25, the recalibration is optional 27, step S8 is executed. Step S8 includes at least temporarily suppressing at least one preparation action 28. Once the function 21 terminates, more precisely, when the current activity of the function terminates, the at least one suppressed preparation action 28 is executed. However, if the recalibration is mandatory 26, step S4 is executed immediately. After step S7 or step S8, the method also continues with step S4.

[0052] It is possible that the preparation action 28 includes transitioning the device 1 into a minimum risk state. In the minimum risk state, the device 1 is preferably in a stationary state. Thus, as a preparation action 28, the vehicle 2 or the robot 11 can be stopped. Alternatively, the minimum risk state can be referred to as the safety state of the device 1. If the device 1 is not performing the function 21 and this is determined in step S9, the sensor 4 is recalibrated without performing the preparation action 28, which means that, for example, step S5 is executed immediately after step S3, followed by step S9. In this scenario, there is no active function 21, and thus it is not necessary to consider whether the function 21 is a safety-critical function 23 or a non-safety-critical function 24. Therefore, it may not even be possible to determine the recalibration information 25.

[0053] In summary, an automotive sense-plan-act model for sensor recalibration in the context of automated driving level 2+ has been described. A feedback from the planning phase to the sensing phase is performed. Thus, a handshake is made. The planning phase informs about the running function 21, in particular whether it is a non-safety-critical function 24 or a safety-critical function 23, in order to allow sensor recalibration at the most appropriate time. This mechanism allows postponing or invoking recalibration based on the needs of the function 21 and / or the sensor 4. If a non-safety-critical function 24 is running, it may take a short time, and any recalibration can be postponed by using sensor quality management data. If no function 21 is running, recalibration can even be triggered by an initial recalibration request (meaning the recalibration is optional 27). If a safety-critical function 23 is running, the initial recalibration request can be suppressed (meaning the recalibration is optional 27), but a mandatory recalibration request (meaning the recalibration is mandatory 26) will perform the recalibration of the sensor 4 and will transition the vehicle 2 into a minimum risk state.

[0054] The ultrasonic sensor 6 depends on temperature. If there is a large temperature deviation, for example due to weather changes, a request for sensor recalibration is required, or the sensor 4 will measure with lower accuracy. If the temperature deviation is large enough, recalibration is needed because the data (sensor information 20) is simply unreliable. The same can happen in systems based on cameras 5 (changing exposure, lens cleaner, radar-based). For radar, automatic self-calibration is performed.

[0055] Compared with the normal sense-plan-act model diagram, two additional diagram components are added: in the sensing phase, "recalibration control" is added. In the planning phase, "used function status" is added. The used function status provides information about the function 21 to the "recalibration control", and the "recalibration control" provides it to the sensor measurement unit (meaning to the sensor 4). Thus, information about the currently activated function 21 is provided to the sensor 4, and the recalibration request can be determined considering the currently running function 21. This significantly improves the timing of sensor recalibration.

Claims

1. A method for recalibrating a sensor (4) of a device (1), wherein, The method includes: - providing (S1) sensor information (20) describing the environment of the device (1) to a control unit (3) of the device (1) by means of the sensor (4); - executing (S2) a function (21) of the device (1) by means of the control unit (3) based on the provided sensor information (20), and providing function information (22) describing the executed function (21) to the sensor (4); - determining (S3) recalibration information (25) describing a request for recalibration of the sensor (4) based on the provided function information (22) by means of the sensor (4), and providing the determined recalibration information (25) to the control unit (3); - executing (S4) at least one preparation action (28) by means of the control unit (3) to prepare for recalibrating the sensor (4) according to the provided recalibration information (25); and - recalibrating (S5) the sensor (4) after executing the at least one preparation action (28).

2. The method according to claim 1, wherein After recalibrating the sensor (4), the method includes undoing (S6) the at least one executed preparation action (28) by means of the control unit (3).

3. The method according to any one of the preceding claims, characterized in that, The function information (22) describes whether the function (21) is a safety-critical function (23) or a non-safety-critical function (24) of the device (1).

4. The method according to claim 3, wherein If the function information (22) describes the function (21) as a non-safety-critical function (24), then execution of the at least one preparation action (28) is postponed (S7) for a predefined time window and / or until the current activity of the function (21) is terminated.

5. The method according to any one of the preceding claims, characterized in that, The recalibration information (25) describes whether the recalibration of the sensor (4) is mandatory (26) or optional (27).

6. The method according to claim 3 or 4 and claim 5, characterized in that, If the function information (22) describes the function (21) as the safety-critical function (23) and if the recalibration information (25) describes the recalibration of the sensor (4) as optional (27), then at least temporarily suppress (S8) the at least one preparation action (28).

7. The method according to claim 6, characterized in that, When the function (21) terminates, the at least one suppressed preparation action (28) is executed.

8. The method according to claim 3 or 4 and any one of claims 5 to 7, characterized in that, If the function information (22) describes the function (21) as the safety-critical function (23) and if the recalibration information (25) describes the recalibration of the sensor (4) as mandatory (26), then immediately execute (S4) the at least one preparation action (28).

9. The method according to any one of the preceding claims, characterized in that The preparation action (28) includes transitioning the device (1) to a minimum risk state, in which, in particular, the device (1) is in a stationary state.

10. The method according to any one of the preceding claims, characterized in that, If the device (1) does not execute (S9) the function (21), then the sensor (4) is recalibrated without executing the preparation action (28).

11. The method according to any one of the preceding claims, characterized in that, The preparation action (28) includes at least one of the following actions: - transferring control of the device (1) to a user (29) of the device (1); - providing the sensor information (20) to the sensor (4) by means of a redundant sensor (30); and / or - predicting the sensor information (20) by applying a prediction algorithm (31) to the provided sensor information (20).

12. A device (1) having a control unit (3) and a sensor (4), characterized in that, The device (1) is configured to carry out the method according to any one of the preceding claims.

13. The device (1) according to claim 12, characterized in that, The device (1) is a vehicle (2), in particular a motor vehicle, and / or a robot (11), in particular a manufacturing robot.

14. A vehicle (2) having a control unit (3) and a sensor (4), characterized in that, The vehicle (2) is configured to carry out the method according to any one of claims 1 to 11.

15. A computer program product comprising instructions which, when executed by a computer of a device (1), cause the computer to carry out the method according to any one of claims 1 to 11.

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