Method and apparatus for aligning three-dimensional reflectors

Abstract

A method for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), the method comprising: mounting an indication device (50) at the three-dimensional reflector (32); mounting a reflector (32) on the carrier (30) and aligning it in height with a sensor (8) to be calibrated mounted in the motor vehicle (4) by means of an indicating device (50); mounting the reflector-adapter device (40) at the calibration device (10) in a predetermined position and orientation; arranging the calibration device (10) in a predetermined position and orientation in front of the motor vehicle (4) on which the sensor (8) is mounted; and positioning the holder (30) on which the three-dimensional reflector (32) is mounted on the reflector-adapter device (40) in such a way that at least one reference surface (36a, 36b) of the holder (30) is aligned with at least one corresponding reference surface (46a, 46b) of the reflector-adapter device (40).

Description

TECHNICAL FIELD

[0001] The invention relates to a method for aligning a three-dimensional reflector, which is provided for calibrating sensors of a driver assistance system. The invention also relates to an indicating device for aligning a three-dimensional reflector with respect to a motor vehicle and a reflector-adaptation device for aligning a three-dimensional reflector with respect to a calibration tool, which is provided for calibrating a driver assistance system. BACKGROUND

[0002] For calibrating driver assistance systems, as are often installed in motor vehicles, calibration devices with one or more measuring plates ("calibration plates") are used, especially in the inter-vehicle region. On each of the calibration plates, at least one optical pattern is configured, which can be optically detected by an image-taking device of the driver assistance system to be calibrated, in order to calibrate the driver assistance system. Radar reflector plates can also be provided, which enable the calibration of radar sensors.

[0003] Some manufacturers require the use of three-dimensional reflectors ("triple reflectors") for calibrating their radar sensors or driver assistance systems. So far, special devices have been required in order to correctly position such three-dimensional reflectors in front of a motor vehicle. SUMMARY

[0004] It is an object of the invention to simplify the use of three-dimensional reflectors ("triple reflectors") for calibrating driver assistance systems.

[0005] The method according to the invention for aligning a three-dimensional reflector ("triple reflector"), which is provided for calibrating sensors of a driver assistance system, comprises: mounting an indicating device at the three-dimensional reflector; mounting the reflector at a stand and aligning it in height with the sensors to be calibrated, which are mounted in a motor vehicle, by means of the indicating device; mounting a reflector-adaptation device at the calibration device in a predefined position and orientation; arranging the calibration device in a predefined position and orientation in front of the motor vehicle, at which the sensors are mounted; and positioning the stand, at which the three-dimensional reflector is mounted, at the reflector-adaptation device in such a way that at least one reference surface of the stand is aligned with respect to at least one corresponding reference surface of the reflector-adaptation device.

[0006] Here, the at least one reference surface of the stand can be brought to bear, especially, against the at least one corresponding reference surface of the reflector-adaptation device.

[0007] After the three-dimensional reflector has been aligned according to the invention, the indicating device and the calibration device are removed, so as not to negatively influence the subsequent calibration.

[0008] The application also comprises an indicating device for aligning a three-dimensional reflector, which is provided for calibrating sensors of a driver assistance system. The indicating device comprises a reference surface, which is provided for abutting against a corresponding surface of the three-dimensional reflector, an indicator, which extends away from the reference surface, and at least one support surface, which is configured for supporting the indicating device at the reflector. The indicator can be configured in particular as a rod and / or aligned orthogonally to the reference surface.

[0009] Furthermore, the application comprises a reflector-adaptation device for aligning a three-dimensional reflector with respect to a calibration device, which is provided for calibrating sensors of a driver assistance system. The reflector-adaptation device comprises at least one reference surface, which is configured for aligning a corresponding reference surface of the three-dimensional reflector or of a holder for the three-dimensional reflector, and a fastening region, which is configured for fastening the reflector-adaptation device at the calibration device.

[0010] The application also comprises a system for aligning a three-dimensional reflector, which is provided for calibrating sensors of a driver assistance system. The system comprises a holder for supporting the three-dimensional reflector, an indicating device according to the application, an adaptation device according to the application, a calibration device, which is configured for supporting the adaptation device, and a measuring and aligning system, which enables the calibration device to be arranged in a predefined position and orientation in front of a motor vehicle.

[0011] The application enables the alignment of a three-dimensional reflector in front of a motor vehicle using a calibration device that is common, as is used for aligning conventional two-dimensional reflectors. No additional calibration device needs to be specially provided and configured for aligning a three-dimensional reflector. In this way, the expenditure and costs for using a three-dimensional reflector for calibrating sensors of a motor vehicle can be kept low.

[0012] In one embodiment of the indicating device according to the application, the at least one support surface is aligned at an angle, in particular at a right angle, with respect to the reference surface. With such a support surface, the indicating device can be particularly well mounted at the three-dimensional reflector.

[0013] In one embodiment, an opening for receiving a region of the three-dimensional reflector is configured between the at least one support surface and the reference surface of the indicating device. The indicating device can then be particularly well mounted at the three-dimensional reflector. The opening can be configured in particular as a slit.

[0014] In one embodiment, the fastening region of the reflector-adaptation device has a fastening surface, which is configured for fastening at the calibration device. The fastening surface can be aligned in particular orthogonally to the at least one reference surface.

[0015] In one embodiment, the fastening region or fastening face is magnetically configured and / or provided with magnets, so that the reflector-adaptation device can be fastened magnetically at the calibration device. In this way, the reflector-adaptation device can be fastened particularly easily and reliably, but releasably, at the calibration device.

[0016] In one embodiment, the reflector-adaptation device has a connecting region, which extends between the fastening region and the at least one reference face. The connecting region can be configured, inter alia, with a lattice structure, in order to keep the weight of the reflector-adaptation device as small as possible.

[0017] The reflector-adaptation device can be composed of plastic or metal, in particular of a curved or folded sheet metal.

[0018] In one embodiment, the reflector-adaptation device has two reference faces, which are configured to align corresponding reference faces of the three-dimensional reflector and / or of a holder for the three-dimensional reflector. The two reference faces can be aligned, inter alia, orthogonally with respect to one another. In this way, the three-dimensional reflector can be positioned precisely in two dimensions on the ground of the measuring platform. BRIEF DESCRIPTION OF DRAWINGS

[0019] wherein: Figure 1 a top view of a measuring platform with a motor vehicle and a calibration device is shown in a schematic view; Figure 2 a perspective front view of a calibration device for calibrating sensors of a driver assistance system is shown and a holder with a three-dimensional reflector is shown; Figure 3 a perspective view of a reflector-adaptation device configured according to one embodiment of the application is shown; Figure 4 and Figure 5 the cooperation between a reflector-adaptation device according to the application and a holder is shown in an enlarged view, respectively; Figure 6 a perspective view of a pointing device according to the application is shown; Figure 7 a three-dimensional reflector is shown, at which a pointing device according to the application is mounted. DETAILED DESCRIPTION

[0020] Figure 1 a schematic top view of a measuring platform 2 with a motor vehicle 4 equipped with a driver assistance system 6 is shown. The driver assistance system 6 has at least one sensor 8. The sensor 8 can be, for example, an image-taking device (camera) and / or a radar sensor.

[0021] A calibration device (“calibration tool”) 10 is positioned in front of the motor vehicle 4 .

[0022] Figure 1 The calibration device 10 shown in FIG. 1 comprises a central calibration plate 12 and / or two lateral calibration plates 11 a , 11 b , on which optical patterns are formed that can be detected by optical sensors.

[0023] The position and orientation of a calibration device 10 relative to the vehicle 4 can be determined using a measuring device, such as measuring heads 7a, 7b, which has optical sensors 9a, 9b and can be mounted, for example, on the rear wheels 5 of the vehicle 4. In this way, the calibration device 10 can be positioned in a predetermined position and orientation in front of the vehicle 4. The calibration device 10 is usually aligned orthogonally to the longitudinal axis F of the vehicle 4 and is arranged in front of the vehicle 4 at a predetermined distance d.

[0024] Figure 2 The calibration device 10 is shown in a perspective front view. The calibration plates 11a, 11b, 12 are Figure 2 are not shown in FIG, since they are not necessary for the use of the calibration device 10 according to the invention.

[0025] The calibration device 10 comprises a column 18 supported on a base 14 and extending in a substantially vertical direction.

[0026] The base 14 has a base plate 15 that is aligned substantially horizontally.

[0027] Rollers 16 are mounted on the bottom side of the base plate 15 facing the ground, which rollers enable the calibration device 10 to be moved on the ground of the measuring platform 2 .

[0028] exist Figure 2 In the rear or back region of the figure, two adjustable adjustment feet 17 are provided, which enable the base plate 15 to be leveled so that the base plate 15 is aligned horizontally or so that the column 18 is aligned vertically as precisely as possible. Figure 2 Only one of the two adjusting feet 17 can be seen.

[0029] A spacer plate 13 is mounted on the side of the column 18 facing the motor vehicle 4, which spacer plate can come into contact with the front of the motor vehicle 4 in order to align the calibration device 10 as precisely as possible relative to the motor vehicle 4. The spacer plate 13 is not required for the use of the calibration device 10 according to the invention.

[0030] A support device 20 is supported on the column 18 such that it can be displaced in the vertical direction along the column 18. The support device 20 can be fixed at different positions along the column 18, that is, at different heights above the ground of the measuring platform 2, for example, by means of clamping devices.

[0031] The support device 20 supports a beam-shaped carrier 22 which extends substantially orthogonally to the column 18, that is to say substantially in horizontal direction.

[0032] At the carrier 22 there can be provided Figure 2 a sensor (not shown in the figures), for example a "level", which enables the carrier 22 to be aligned as precisely as possible horizontally.

[0033] At the carrier 22 there are constructed a plurality of holding devices 24 which enable at least one (not shown) calibration plate 12 to be mounted at the carrier 22. Figure 2 The holding devices 24 can be displaced along the carrier 22.

[0034] The holding devices 24 and the at least one calibration plate 12 can be constructed, for example, such that the at least one calibration plate 12 can be fixed at one of the holding devices 24 by magnetic force.

[0035] By displacing the support device 20 along the column 18 it is possible to change the height of the carrier 22 and thus also the height of the calibration plate 12 mounted at the carrier 22 above the ground of the measuring platform 2 and to set it to the desired value. By displacing the holding devices 24 along the carrier 22 it is possible to change the position of the calibration plate 12 mounted at the carrier 22 in horizontal direction.

[0036] At or in the carrier 22 there can also be provided image recording devices 29 or camera modules which are constructed for recording images of the motor vehicle 4 arranged in front of the calibration device 10 in order to be able to determine the position of the calibration device 10 with respect to the motor vehicle 4.

[0037] There can be provided in particular two image recording devices 29 or camera modules which are arranged at the carrier 22 on different sides of the column 18 and which in this way enable a three-dimensional image of the motor vehicle 4 arranged in front of the calibration device 10 to be recorded.

[0038] By means of such image recording devices 29 it is possible to determine mechanically and automatically whether the calibration device 10 is positioned in the correct orientation and position in front of the motor vehicle 4.

[0039] In or at the column 18 there can be provided Figure 2 a tension spring which is mechanically connected to the support device 20 in order to support the movement of the support device 20 along the column 18, in particular the upward movement of the support device 20 against the force of gravity.

[0040] The support device 20 can be fixed at the column 18 at the desired position or height by means of a clamping device.

[0041] At the column 18 there is also mounted a frame 21, which simplifies the handling of the calibration device 10.

[0042] At the frame 21 there is mounted a scale 23, which extends essentially parallel to the ground of the measuring platform 2 orthogonally to the column 18. The scale 23 enables the reading off of the height of the support device 20 along the column 18 and its setting to a desired value with high precision.

[0043] At the frame 21 there is also mounted a storage 25, which extends essentially parallel to the ground of the measuring platform 2 in horizontal direction.

[0044] At the storage 25 there can be placed, for example, a computer, in particular a notebook, which is used when calibrating the driver assistance system 6.

[0045] Figure 2 The calibration device 10 shown in Fig. 1 is shown only exemplarily. Instead of the calibration device 10 shown in Fig. 1 other calibration devices 10 can also be used, if they enable the mounting of a reflector-adaptation device 40 at the calibration device 10. Figure 2 The calibration device 10 shown in Fig. 1 is shown only exemplarily. Instead of the calibration device 10 shown in Fig. 1 other calibration devices 10 can also be used, if they enable the mounting of a reflector-adaptation device 40 at the calibration device 10.

[0046] In front of the calibration device 10 there is placed a stand 30, at which there is mounted a three-dimensional reflector ("3D reflector") 32.

[0047] The stand 30 has a base 34, which is placed on the ground of the measuring platform 2, and a column 36, which extends vertically upwards from the base 34. The three-dimensional reflector 32 is mounted height-adjustably at the column 36 by means of a clamping device 38.

[0048] The base 34 can comprise a plurality of discs 34a, 34b, which are arranged parallel to each other, which can be easily displaced relative to each other, for example by means of a sliding film, which is arranged between the discs 34a, 34b, which is not visible in Fig. 1, so that the column 36 can be easily aligned relative to the base 34 of the stand 30. Figure 2

[0049] At one of the holding devices 24 of the calibration device 10 there is mounted a reflector-adaptation device 40, which enables the positioning of the stand 30 and thus also of the three-dimensional reflector 32 mounted at the stand 30 with respect to the calibration device 10 on the ground of the measuring platform 2.

[0050] The reflector-adaptation device 40 can be fastened mechanically, for example by means of a clamping connection or a screw connection, or magnetically at the holding device 24 of the calibration device 10.

[0051] Figure 3 A perspective view of a reflector-adaptation device 40 constructed according to an embodiment of the application is shown. Figure 4 and​Figure 5 The interaction between the reflector-adaptation device 40 and the column 36 of the stand 30 is shown in an enlarged illustration in order to align the stand 30 relative to the reflector-adaptation device 40.

[0052] The reflector-adaptation device 40 has Figure 3 a fastening region 42, which is shown on the right, and a reference region 44, which is shown on the left.

[0053] A connecting region 48 extends between the fastening region 42 and the reference region 44, which connects the fastening region 42 and the reference region 44 to one another. In the embodiment shown in the drawing, the connecting region 48 is configured as a lattice structure in order to reduce the weight of the reflector-adaptation device 40.

[0054] The reflector-adaptation device 40 can be made of plastic or metal, for example from folded sheet metal.

[0055] The fastening region 42 is configured for fastening, for example by magnetic force, at one of the holding devices 24 of the calibration device 10. In the embodiment shown in the drawing, the fastening region 42 is configured as a connection plate.

[0056] The reference region 44 is provided for interaction with the column 36 of the stand 30 in order to align the stand 30 relative to the calibration device 10 on the ground of the measuring platform 2, as Figure 2 , Figure 4 and Figure 5 are shown.

[0057] The reference region 44 for this has two reference surfaces 46a, 46b, which are aligned at right angles relative to one another. In order to align the stand 30 relative to the calibration device 10, the stand 30 is arranged such that two side surfaces 36a, 36b of the column 36 of the stand 30 are aligned parallel to or rest against the two reference surfaces 46a, 46b, as is shown in particular in Figure 4 and Figure 5 .

[0058] In order to arrange the stand 30 with the three-dimensional reflector 32 at a predefined position in front of the motor vehicle 4, the height of the three-dimensional reflector 32 at the column 36 of the stand 30 is first set to a desired value, which is usually predefined by the manufacturer of the sensor 8 to be calibrated.

[0059] In order to be able to set the height of the three-dimensional reflector 32 correctly, an indication device 50 is provided, which is temporarily installed at the three-dimensional reflector 32 in order to set the height of the three-dimensional reflector 32.

[0060] In Figure 6A perspective view of a pointing device 50 constructed in accordance with an embodiment of the application is shown in Figure 7 A three-dimensional reflector 32 is shown, at which a pointing device 50 in accordance with the application is mounted.

[0061] The pointing device 50 has a reference face 52 or reference plate, which is provided for abutting against a corresponding face of the three-dimensional reflector 32 when the pointing device 50 is mounted at the three-dimensional reflector 32 as shown in Figure 7

[0062] The pointing device 50 also has a rod-shaped pointer 54, which extends from the reference face 52. The pointer 54 extends in particular orthogonally to the reference face 52.

[0063] Furthermore, the pointing device 50 has a support face 56, which is constructed for supporting the pointing device 50 at the three-dimensional reflector 32. In the embodiment shown in the figures, the support face 56 is aligned substantially orthogonally to the reference face 52.

[0064] An opening 58, for example a slit, is constructed between the support face 56 and the reference face 52. In order to mount the pointing device 50 at the three-dimensional reflector 32, a region of the three-dimensional reflector 32 is introduced into the opening 58 as shown in Figure 7

[0065] In a further embodiment, which is not explicitly shown in the figures, the pointing device 50 can also be mounted and temporarily fixed at the three-dimensional reflector 32 in another way, for example magnetically.

[0066] After the pointing device 50 has been mounted at the three-dimensional reflector 32, the height of the three-dimensional reflector 32 at the column 36 is set by means of the clamping device 38 such that the pointer 54 is arranged in a predefined height with respect to the motor vehicle 4, for example in the height of a manufacturer logo, a center of a radar sensor, or another marking provided at the motor vehicle 4.

[0067] After the height of the three-dimensional reflector 32 has been set, the pointing device 50 is removed from the three-dimensional reflector 32.

[0068] In order to position the support 30 at a predefined position on the ground of the measuring platform 2, the calibration device 10 is positioned at a predefined position and a predefined orientation in front of the motor vehicle 4 with known means, for example by means of the measuring heads 7a, 7b mounted at the motor vehicle 4 or by means of the image taking device 29 provided at the calibration device 10.

[0069] One of the holding devices 24 of the calibration device 10 is placed in a predefined position at the carrier 22, and the connection region 48 of the reflector-adaptation device 40 is mounted at the holding device 24. ​​

[0070] The carrier 22 is placed at a suitable height, for example at a height in the range between 80 cm and 100 cm above the ground of the measuring platform 2 .

[0071] The post 36 of the holder 30 is then positioned at the reference region 44 of the reflector-adaptation device 40 and aligned relative to the reference surfaces 46a, 46b of the reflector-adaptation device 40, as shown in FIG. Figure 2 、 Figure 4 and Figure 5 As shown in .

[0072] After the support 30 with the three-dimensional reflector 32 has been positioned in the correct position on the floor of the measuring platform 2 , the calibration device 10 with the reflector adaptation device 40 is removed from the support 30 .

[0073] Removal of the calibration device 10 is particularly necessary if the three-dimensional reflector 32 is used for calibrating a radar sensor, since metal parts of the calibration device 10 would interfere with the calibration of the radar sensor.

[0074] The reflector adapter device 40 and the pointing device 50 according to the present invention enable alignment of the three-dimensional reflector 32 using a conventional calibration device 10. Therefore, no additional calibration device specially provided and designed for aligning the three-dimensional reflector 32 is required.

[0075] The reflector adaptation device 40 according to the invention and the display device 50 according to the invention therefore make it possible to keep the complexity and costs for using the three-dimensional reflector 32 low.

Claims

1. A method for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), wherein: The method comprises: Installing an indicator device (50) at the three-dimensional reflector (32); The reflector (32) is mounted on a support (30) and aligned in height with a sensor (8) to be calibrated, which is installed in a motor vehicle (4), by means of the indicator device (50); Mounting the reflector adapter device (40) on the calibration device (10) in a predetermined position and orientation; Arranging the calibration device (10) in a predetermined position and orientation in front of the motor vehicle (4) where the sensor (8) is mounted; and The support (30) on which the three-dimensional reflector (32) is mounted is positioned on the reflector-adapting device (40) such that at least one reference surface (36a, 36b) of the support (30) is aligned relative to at least one corresponding reference surface (46a, 46b) of the reflector-adapting device (40).

2. A pointing device (50) for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), wherein: The indicating device (50) comprises: a reference surface (52) configured to abut against a corresponding surface of the three-dimensional reflector (32); an indicator (54) extending away from the reference plane (52), wherein the indicator (54) in particular extends orthogonally to the reference plane (52); and At least one supporting surface (56) is designed to support the display device (50) on the reflector (32).

3. The pointing device (50) according to claim 2, wherein The at least one supporting surface (56) is aligned at an angle, in particular a right angle, relative to the reference surface (52).

4. The pointing device (50) according to claim 2 or 3, wherein: An opening (58), in particular a slot-shaped opening (58), for accommodating a region of the three-dimensional reflector (32) is formed between the at least one supporting surface (56) and the reference surface (52).

5. A reflector adaptation device (40) for aligning a three-dimensional reflector (32) relative to a calibration device (10), the three-dimensional reflector being provided for calibrating a sensor (8) of a driver assistance system (6), wherein: The reflector-adapter device (40) comprises: at least one reference surface (46a, 46b) configured to align a corresponding reference surface of the three-dimensional reflector (32) or a holder (30) for the three-dimensional reflector (32); and A fastening region (42) is designed to fasten the reflector adapter device (40) to the calibration device (10).

6. The reflector-adaptation device (40) according to claim 5, wherein: The fastening region (42) has a fastening surface, wherein the fastening surface is aligned in particular orthogonally to the at least one reference surface (46b).

7. The reflector-adaptation device (40) according to claim 5 or 6, wherein: The fastening region (42) is designed for magnetic fastening to the calibration device (10).

8. The reflector adapter device (40) according to claim 5, comprising a connecting region (48) extending between the fastening region and the at least one reference surface, wherein The connecting region (48) is in particular designed with a grid structure.

9. The reflector adapter device (40) according to claim 5, comprising two reference surfaces (46a, 46b) which are designed to align corresponding reference surfaces (36a, 36b) of the three-dimensional reflector (32) and / or of a holder (30) for the three-dimensional reflector (32), wherein: The two reference surfaces ( 46 a , 46 b ) are in particular aligned orthogonally with respect to one another.

10. A system for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), wherein: The system comprises: a bracket (30) for supporting the three-dimensional reflector (32); The indicating device (50) according to any one of claims 2 to 4; A reflector-adaptation device (40) according to any one of claims 5 to 9; a calibration device (10) configured to support the reflector-adaptation device (40); and At least one measuring and alignment system (7a, 7b) is provided which enables the calibration device (10) to be positioned in a predetermined position and orientation in front of the motor vehicle (4).

Images