Test and / or calibration setup

Abstract

Testing and / or calibration setup for testing and / or calibrating sensors (2, 3, 4) of an automated vehicle (5, 5'), comprising at least one movably mounted marker device (6, 6') for, in particular passive, information transmission to the automated vehicle (5, 5'), wherein the marker device (6, 6') has at least one lidar and / or radar information unit (7) which is provided to emit intensity-variable radiation for transmitting coded information as a function of an angle of incidence (8) of a laser beam (9) and / or a radar beam.

Description

[0001] The invention relates to a testing and / or calibration setup for testing and / or calibrating sensors of an automated vehicle. Furthermore, the invention relates to a production line for automated vehicles, to a computing device for an automated vehicle, and to a corresponding automated vehicle. Furthermore, the invention relates to a testing and / or calibration system having a corresponding testing and / or calibration setup and a corresponding automated vehicle. Furthermore, the invention also relates to a method for testing and / or calibrating sensors of an automated vehicle.

[0002] Test and / or calibration setups for testing and / or calibrating sensors of an automated vehicle are known from the state of the art. Typically, a large number of targets are used, over which the automated vehicle must drive in a controlled manner.

[0003] DE 10 2021 000 372 A1 discloses a calibration body for calibrating a vehicle's environmental detection sensor system. US 2018 / 0299533 A1 discloses a calibration system for a vehicle radar system.

[0004] A test and / or calibration setup is proposed for testing and / or calibrating sensors of an automated vehicle. The test and / or calibration setup comprises at least one movably mounted marker device for transmitting information, in particular passively, to the automated vehicle. The marker device has at least one lidar and / or radar information unit, which is designed to emit intensity-variable radiation for transmitting coded information depending on the angle of incidence of a laser beam and / or a radar beam.

[0005] The testing and / or calibration setup is preferably intended for use on a production line for automated vehicles. In particular, at least part of the testing and / or calibration setup can be arranged stationary on the production line, wherein in particular at least the marker device is movably mounted. The testing and / or calibration setup is preferably intended for testing and / or calibrating sensors of the automated vehicle, in particular at one end of the production line. An environment detection unit of the automated vehicle preferably comprises the sensors. In particular, the sensors to be tested and / or calibrated are intended to detect an environment of the automated vehicle, in particular during automated driving.The sensors can be designed in particular as lidars (light detection and ranging), radars (radio detection and ranging), cameras and / or other sensors that appear appropriate to a person skilled in the art. The automated vehicle preferably comprises at least two types of sensors, for example lidars and cameras. An “automatically operated vehicle” should be understood in particular to mean a vehicle with one of the automation levels 1 to 5 of the SAE J3016 standard. In particular, the automated vehicle has technical equipment that is required for these automation levels. The technical equipment includes in particular the environment detection unit, control devices, in particular a computing device, or the like. The automated vehicle is preferably designed as a land vehicle.The automatically operable vehicle can be designed in particular as a passenger car, preferably as a passenger transport vehicle, as a truck, as a construction vehicle, as an agricultural vehicle or as any other vehicle that appears appropriate to a person skilled in the art. The automatically operable vehicle can alternatively also be designed as an aircraft, for example as a drone, as an airplane, as a helicopter, as a vertical take-off and landing aircraft or the like, or as a watercraft, for example as a boat, as a ship or the like. The term “intended” should be understood in particular to mean specially programmed, specially equipped and / or specially designed. The fact that an object is intended for a function should be understood in particular to mean that the object performs the function in at least one operating state.

[0006] The marker device is preferably static. In particular, the marker device is designed differently from a radio wave transmitter, a Morse code transmitter, or the like. In particular, the marker device is intended to actively emit no radiation, or at least no variable radiation. The marker device is preferably designed as an optical marker device. The marker device is intended, in particular, to transmit information to the automated vehicle, which information can be designed, in particular, as position and / or orientation information, in particular of the marker device relative to the automated vehicle.Preferably, the sensors of the automated vehicle can be tested by means of the transmitted information, in particular with regard to a detection capability of the individual sensors and / or with regard to a functionality of a sensor data fusion of several sensors, and / or calibrated, in particular in relation to one another.

[0007] The lidar and / or radar information unit is preferably provided to reflect the laser beam and / or the radar beam for transmitting the coded information. The laser beam and / or the radar beam is emitted in particular by the automated vehicle, in particular by at least one lidar and / or radar of the automated vehicle. In particular, the angle of incidence of the laser beam and / or the radar beam onto the marker device, in particular onto the lidar and / or radar information unit, changes depending on a change in the position and / or orientation of the marker device relative to the automated vehicle. In particular, the marker device is movably mounted in order to achieve different positions and / or orientations relative to the automated vehicle.Preferably, the marker device can be moved manually and / or by motor to the various positions and / or orientations relative to the automated vehicle. Preferably, the radiation emitted by the lidar and / or radar information unit, in particular the reflected laser beam and / or the reflected radar beam, is detected for information reception by the automated vehicle, in particular by the lidar and / or radar of the automated vehicle. The lidar and / or radar information unit is preferably designed at least partially as an optically functional structure that is provided for angle-dependent reflection of the laser beam and / or the radar beam.The optically functional structure can, in particular, be a prismatic arrangement, an optical grating structure, a polarization arrangement, or any other optically functional structure deemed appropriate by a person skilled in the art. The lidar and / or radar information unit is particularly designed to emit, in particular reflect, radiation of different intensities depending on different angles of incidence, in particular different angle of incidence ranges, of the laser beam and / or the radar beam.

[0008] Preferably, the radiation emitted by the lidar and / or radar information unit is coded by its intensity. Preferably, the emitted radiation is coded alternately. Preferably, the radiation is discretized in 2-bit format, which corresponds in particular to a resolution of four intensity levels. In particular, each intensity jump from one radiation intensity to another radiation intensity corresponds to a change of a logical bit, for example, from 0 to 1 or from 1 to 0. Preferably, the automated vehicle, in particular a computing device of the automated vehicle, can decode the intensity-coded radiation to obtain the information.Preferably, the lidar and / or radar information unit is designed such that, in certain positions and / or orientations relative to the automated vehicle, it reflects, scatters and / or absorbs the laser beam and / or the radar beam in such a way that the marker device cannot be detected by the lidar and / or radar, in particular appears invisible to the lidar and / or radar.

[0009] The inventive design of the testing and / or calibration setup advantageously enables information to be transmitted to an automated vehicle. This advantageously enables time-efficient and precise testing and / or calibration of sensors of the automated vehicle. This advantageously eliminates the need for long training runs for newly produced automated vehicles to test and / or calibrate the sensors, or at least shortens the duration of a training run. This advantageously enables efficient production of automated vehicles.

[0010] Furthermore, it is proposed that the lidar and / or radar information unit have at least one refractively microstructured reflection element, which is intended to reflect the laser beam and / or the radar beam with variable intensity depending on the angle of incidence of the laser beam and / or the radar beam. The reflection element is preferably designed as a microstructured refractive film, in particular made of optical glass or preferably of a polymer material for optical elements. The polymer material can be, in particular, polymethyl methacrylate, polycarbonate, styrene-acrylonitrile, polystyrene, or preferably allyl diglycol carbonate. The reflection element preferably has a sawtooth-like structure, in particular microstructuring.The reflection element is particularly intended to reflect radiation from an infrared spectral range, preferably from a near-infrared spectral range, and / or from a microwave range. An "infrared spectral range" is to be understood in particular as a range of an electromagnetic spectrum with wavelengths between 780 nm and 1 mm. A "near-infrared spectral range" is to be understood in particular as a range of an electromagnetic spectrum with wavelengths between 780 nm and 3 µm. A "microwave range" is to be understood in particular as a range of an electromagnetic spectrum with wavelengths between 1 mm and 30 cm. The reflection element is arranged in particular on a support frame of the marker device.Preferably, the lidar and / or radar information unit comprises a plurality of reflection elements which are arranged one behind the other, in particular along a longitudinal axis of the marker device.

[0011] Preferably, the lidar and / or radar information unit can have at least one reflection element designed to reflect the laser beam, in particular radiation from the infrared spectral range. Preferably, the lidar and / or radar information unit can have at least one further reflection element designed to reflect the radar beam, in particular radiation from the microwave range. In particular, the reflection element and the further reflection element can be arranged one behind the other along a direction extending perpendicular to a main extension plane of the marker device, wherein in particular the reflection element is arranged on a surface of the marker device.A "main extension plane" of an object is understood to mean, in particular, a plane that is parallel to the largest side surface of a smallest imaginary cuboid that just completely encloses the object, and in particular, runs through the center of the cuboid. In particular, the marker device is designed as a plate, panel, or similar structure. Alternatively, it is conceivable that the reflection element is intended to reflect the laser beam, in particular radiation from the infrared spectral range, and the radar beam, in particular radiation from the microwave range. This advantageously enables efficient, variable-intensity radiation emission.

[0012] Preferably, the at least one reflection element is designed as a prismatic arrangement for reflecting the laser beam and / or the radar beam by at least two total reflections. The reflection element is preferably designed as a reflection prism, in particular as a deflection prism. The reflection element has, in particular, an upper flank angle relative to a surface normal of the reflection element, for example, of 48°, and a lower flank angle relative to the surface normal, for example, of 6°. Preferably, the laser beam and / or the radar beam enters the reflection element at an upper flank of the reflection element, in particular a first tooth of the sawtooth-like structure. Preferably, a first total reflection in the propagation direction of the laser beam and / or the radar beam occurs at a rear boundary surface of the reflection element, in particular one running perpendicular to the surface normal.Preferably, a second total reflection occurs in the propagation direction of the laser beam and / or the radar beam at a lower flank of the reflection element, in particular a second tooth of the sawtooth-like structure. Preferably, the reflected laser beam and / or radar beam exits the reflection element at a further upper flank of the reflection element, in particular the second tooth. The reflection element is particularly designed to reflect the laser beam and / or the radar beam back parallel to an incident direction of the laser beam and / or the radar beam.

[0013] Preferably, the reflection element has a radiation transmission dependent on the angle of incidence, in particular in the near-infrared spectral range and / or in the microwave range. In particular, a radiation intensity of the reflected laser beam and / or radar beam is dependent on the transmission of the reflection element at the angle of incidence of the laser beam and / or radar beam. Preferably, the reflection element has a plurality of, in particular at least four, angle of incidence ranges in its transmission, over which a radiation intensity of the reflected laser beam and / or radar beam is at least substantially constant.A “substantially constant” radiation intensity in an angle of incidence range is to be understood in particular as a radiation intensity which has a maximum deviation from an average radiation intensity of at most 15%, preferably of at most 10% and most preferably of at most 5% in the angle of incidence range.

[0014] It is further proposed that the marker device have at least one camera information unit, which is intended to transmit information to a camera and / or a lidar via optical, in particular brightness-based, coding. The optical coding is preferably brightness-based. In particular, the camera information unit is designed as a reflective surface, at least in sections, in particular in a visible spectral range. A "visible spectral range" is to be understood in particular as a region of an electromagnetic spectrum with wavelengths between 380 nm and 780 nm. The surface can be detected in particular by the camera and / or the lidar. The surface can in particular be designed as a static monochromatic surface, for example as a correspondingly painted plate, or as an adjustable monochromatic surface, for example as a liquid crystal display.Alternatively or in addition to brightness-based coding, it is conceivable that the camera information unit is provided to transmit the information via color-based, shape-based, number-based, or another coding that appears appropriate to a person skilled in the art. Preferably, the camera information unit is provided to transmit, at least in part, the same information as the lidar and / or radar information unit, in particular depending on a position and / or orientation of the marker device relative to the automated vehicle. In particular, the information transmitted by the lidar and / or radar information unit can be compared with the information transmitted by the camera information unit in order to test and / or calibrate the sensors, in particular the camera and the lidar and / or the radar.Preferably, the camera information unit is arranged along the surface normal of the reflection element and / or the marker device and / or along an incident direction of the laser beam and / or the radar beam behind the reflection element for reflecting the laser beam and / or in front of the further reflection element for reflecting the radar beam. This advantageously enables redundant information transmission.

[0015] Preferably, the lidar and / or radar information unit and the camera information unit are spaced apart from one another by at least one air gap. In particular, the camera unit is spaced apart from at least one reflection element of the lidar and / or radar information unit by the air gap. Preferably, the air gap is arranged along the surface normal of the reflection element and / or the direction of incidence of the laser beam and / or the radar beam between the lidar and / or radar information unit, in particular the reflection element, and the camera information unit. In particular, the camera information unit can be spaced apart from the reflection element on one side by an air gap and from the further reflection element on another side by a further air gap. The reflection element preferably faces an environment of the marker device on a side facing away from the camera information unit.The camera information unit is preferably delimited on a side facing away from the reflection element by a support frame of the marker device or faces the further reflection element.

[0016] In particular, the reflection element is arranged upstream of the air gap and the camera information unit along the direction of incidence of the laser beam and / or the radar beam, and / or the further reflection element is arranged downstream of the camera information unit and the further air gap. In particular, the air gap is arranged downstream of the reflection element and upstream of the camera information unit along the direction of incidence of the laser beam and / or the radar beam, and / or the further air gap is arranged downstream of the camera information unit and upstream of the further reflection element. Preferably, the reflection element is transparent at least in the visible spectral range. The at least one air gap is preferably provided to optically decouple the camera information unit from the lidar and / or radar information unit, in particular from the reflection element and / or the further reflection element.In particular, the air gap is intended to keep the reflection properties of the reflection element and / or the further reflection element free from interference from the influences of the camera information unit.

[0017] It is further proposed that the testing and / or calibration setup comprise at least one movement device designed to move the marker device at least partially automatically, in particular within a detection range of at least two different types of sensors of the automated vehicle. In particular, the marker device is attached to the movement device. Preferably, the marker device is movably mounted by the movement device. The movement device is preferably motorized, in particular with at least one electric motor, hydraulically, pneumatically, or the like. The movement device can be designed in particular as a robot arm, as an automated vehicle, for example on a rail system, as an actuating device, or the like.In particular, the movement device is intended to move the marker device at least partially automatically, preferably fully automatically.

[0018] The movement device is preferably arranged in a fixed location at least at one point, in particular on a production line. The movement device is preferably provided to adjust various positions and / or orientations of the marker device relative to the automated vehicle. In particular, the movement device is provided to move the marker device to realize an at least partial detour of the automated vehicle, in particular along a defined path. The movement device is preferably provided to move the marker device precisely along the same defined path for each automated vehicle.Preferably, the movement device is provided to move the marker device within a detection range of at least two different types of sensors of the automated vehicle, for example, at least one camera and at least one lidar, at least one camera and at least one radar, and / or at least one lidar and at least one radar. In particular, the movement device is provided to move the marker device in at least two, preferably in at least three spatial dimensions. This advantageously enables precise movement of the marker device.

[0019] It is also proposed that the movement device be designed as a robot arm. The robot arm is preferably designed as a multi-axis robot arm. In particular, the robot arm is intended to follow a programmed movement path. In particular, the robot arm can be programmed for different movement paths, for example, to be used for testing and / or calibrating sensors of different automated vehicles that have different sensors, sensor detection ranges, and / or sensor installation positions. This advantageously enables particularly efficient and precise guidance of the marker device.

[0020] Furthermore, a production line for automated vehicles is proposed. The production line comprises at least one test and / or calibration setup according to the invention. The production line is arranged in particular in a production plant for automated vehicles. In particular, the automated vehicle is manufactured along the production line. The test and / or calibration setup is preferably arranged at one end of the production line, in particular in an area shortly before the automated vehicle leaves the production line (end of line). In particular, the production line can comprise a plurality of test and / or calibration setups, which can be arranged, for example, one behind the other along the production line.For example, using multiple test and / or calibration setups, sensors from multiple automated vehicles can be tested and / or calibrated simultaneously on the production line. Advantageously, testing and / or calibration of sensors from automated vehicles can already be performed on the production line.

[0021] Furthermore, a computing device for an automated vehicle is proposed for testing and / or calibrating sensors of the automated vehicle. The computing device comprises at least one interface for receiving sensor data from at least one environment detection unit of the automated vehicle. The computing device comprises at least one computing module designed to determine information from intensity-coded radiation of at least one testing and / or calibration setup according to the invention. The computing module is preferably designed to determine information from the intensity-coded radiation of the lidar and / or radar information unit and / or from the coding, in particular brightness-based, of the camera information unit.The environment detection unit preferably comprises at least two different types of sensors, in particular at least one camera and at least one lidar, at least one camera and at least one radar, and / or at least one lidar and at least one radar. In particular, the environment detection unit can comprise a plurality of sensors. The environment detection unit can preferably also comprise further sensors that a person skilled in the art considers appropriate, such as at least one ultrasonic sensor or the like.

[0022] In particular, a control unit, e.g. an electronic control unit, of the automated vehicle can comprise or at least partially form the computing device. A control unit prepares data from sensors as input signals, processes them by means of the computing device, in particular by means of the computing module, e.g. a programmable logic module, an FPGA or ASIC module or a computer platform, and provides logic and / or power levels as a control or regulating signal. The control or regulating signal can be used, for example, to control or regulate actuators for longitudinal and / or lateral guidance of the automated vehicle in order to keep the automated vehicle in lane and / or to predict a trajectory. The control unit is preferably integrated into an on-board network of the automated vehicle, e.g. into a CAN bus.The control unit is, for example, an electronic control unit for automated driving functions, referred to as a domain ECU. In particular, the control unit can be an ADAS (advanced driver assistance system) / AD (autonomous driving) domain ECU for assisted to fully automated, i.e., autonomous, driving.

[0023] The computing device, in particular the computing module, is implemented, for example, as a system-on-a-chip with a modular hardware concept, i.e., all or at least a large portion of functions are integrated on one chip and can be expanded modularly. The chip can be integrated, in particular, into the control unit. The computing device, in particular the computing module, comprises, for example, a multi-core processor and memory modules. The multi-core processor is configured for signal / data exchange with storage media. For example, the multi-core processor comprises a bus system. The memory modules form a main memory. The memory modules are, for example, RAM, DRAM, SDRAM, or SRAM. In a multi-core processor, several cores are arranged on a single chip, i.e., a semiconductor component.Multi-core processors achieve higher computing power and are more cost-effective to implement on a single chip compared to multi-processor systems, where each individual core is located in a processor socket and the individual processor sockets are arranged on a motherboard. According to one aspect of the invention, the computing device, in particular the computing module, comprises at least one central processing unit (CPU).

[0024] The computing device, in particular the computing module, preferably also comprises at least one graphics processor, referred to in English as a graphic processing unit (GPU). Graphics processors have a special microarchitecture for parallel processing of sequences. According to one aspect of the invention, the graphics processor comprises at least one processing unit that is specifically designed to perform tensor and / or matrix multiplication. Tensor and / or matrix multiplication are the central computing operations for deep learning. According to one aspect of the invention, the computing device, in particular the computing module, also comprises hardware accelerators for artificial intelligence, for example so-called deep learning accelerators. According to a further aspect of the invention, a classifier is provided using CUDA programming technology. This allows software code sections of the classifier to be processed directly by the GPU.Preferably, the computing device or the control unit is configured to be modularly expanded with several, for example at least four, such chips.

[0025] The interface of the computing device is preferably provided for data exchange. In particular, the data exchange is embodied as a signal transmission of a signal, in particular an electrical signal. The data exchange at the interface preferably takes place via a cable or wirelessly. The interface is preferably provided to supply the computing module with data, in particular sensor data, from the environment detection unit connected to the computing module via the interface for data transmission purposes. The computing device can preferably comprise a further interface which is provided to output certain signals from the computing module, in particular control or regulating signals. The information provided by the marker device can advantageously be processed for testing and / or calibrating the sensors.

[0026] Furthermore, an automated vehicle is proposed. The automated vehicle comprises at least one computing device according to the invention. The automated vehicle comprises at least one environment detection unit, which is provided for detecting intensity-coded radiation from at least one test and / or calibration setup according to the invention. Preferably, the environment detection unit, in particular the sensors of the environment detection unit, is / are provided for detecting the intensity-coded radiation of the lidar and / or radar information unit and / or the coding, in particular brightness-based, of the camera information unit. Advantageously, a particularly roadworthy vehicle can be provided with efficiently testable and / or calibrated sensors.

[0027] In addition, a testing and / or calibration system is proposed. The testing and / or calibration system comprises at least one testing and / or calibration setup according to the invention. The testing and / or calibration system comprises at least one automated vehicle according to the invention. The testing and / or calibration setup is preferably provided for testing and / or calibrating the sensors of the automated vehicle. Advantageously, a testing and / or calibration system that enables efficient testing and / or calibration of the sensors of the automated vehicle can be provided.

[0028] Furthermore, a method for testing and / or calibrating sensors of an automated vehicle using at least one test and / or calibration setup according to the invention is proposed. The method comprises the following steps: - irradiating the test and / or calibration setup with a laser beam and / or a radar beam at different angles of incidence, in particular at different positions and / or orientations of the marker device relative to the automated vehicle, - Receiving radiation of different intensities depending on the different angles of incidence from the test and / or calibration setup, and - Obtaining information from intensity-coded radiation.

[0029] Preferably, the test and / or calibration setup, in particular the marker device, is continuously irradiated with the laser beam and / or the radar beam, and radiation, in particular the reflected laser beam and / or radar beam, is received by the test and / or calibration setup. The test and / or calibration setup, in particular the marker device, is irradiated in particular by means of the lidar and / or radar of the automated vehicle, and the radiation emitted by the test and / or calibration setup, in particular the reflected laser beam and / or radar beam, is received in particular by means of the lidar and / or radar. The information is preferably determined from the received intensity-coded radiation by means of the computing device of the automated vehicle. Advantageously, an efficient method for testing and / or calibrating the sensors of the automated vehicle can be provided.

[0030] It is further proposed that the various positions and / or orientations of the marker device relative to the automated vehicle be set by at least partially automated movement of the marker device, in particular within a detection range of at least two different types of sensors of the automated vehicle. The marker device is preferably moved by the movement device, in particular into the various positions and / or orientations relative to the automated vehicle. The marker device is preferably moved along a defined movement path within the detection range of the at least two different types of sensors of the automated vehicle. In particular, the movement path is defined by a sequence of the different positions and / or orientations relative to the automated vehicle.Preferably, the marker device is continuously irradiated with the laser beam and / or radar beam during movement along the movement path and continuously emits intensity-coded radiation. One possible movement path can be provided, for example, by a movement of the marker device parallel to a longitudinal axis of the automated vehicle. In particular, in such a movement path, a viewing angle or angle of incidence of the sensors with respect to the marker device changes continuously. Another possible movement path can be provided, for example, by a movement and an alignment adjustment of the marker device such that a viewing angle or angle of incidence of at least one sensor with respect to the marker device remains constant at every point along the movement path.In particular, depending on the known movement path of the marker device and the known installation positions of the sensors, incorrect sensor settings can be detected using methods such as triangulation or pattern recognition in radiation reflected by the marker device. Advantageously, various positions and / or orientations of the marker device relative to the automated vehicle can be precisely adjusted.

[0031] It is further proposed that the procedure should further comprise the following steps: - detecting at least one optical, in particular brightness-based, coding of the test and / or calibration setup by means of at least one camera and / or at least one lidar at different positions and / or orientations of the marker device relative to the automatically operable vehicle, and - Extracting information from the coding.

[0032] Preferably, the optical coding of the camera information unit of the marker device is detected. Preferably, the information from the coding is determined by means of the computing device of the automated vehicle. Preferably, the optical coding, in particular the information from the coding, is independent of a position and / or orientation of the marker device relative to the automated vehicle. In particular, the camera information unit provides the same information regardless of the position and / or orientation of the marker device relative to the automated vehicle. Advantageously, information can be determined from a further, in particular brightness-based, coding.

[0033] It is also proposed that the procedure should continue to include the following procedural steps: - comparing the information determined from the received radiation and the information determined from the optical coding, in particular spatially resolved information, and - Testing and / or calibrating the sensors of the automated vehicle depending on the comparison.

[0034] Preferably, at least partially the same information is provided, in particular transmitted, by the lidar and / or radar information unit and by the camera information unit. The information is preferably compared by means of the computing device. In particular, the sensors are tested and / or calibrated as a function of the comparison by means of the computing device and / or another, in particular external, computing device, for example a laptop. For example, at least one lidar and / or at least one radar can be tested and / or calibrated as a function of the information received from the camera information unit. For example, at least one camera can be tested and / or calibrated as a function of the information received from the lidar and / or radar information unit. Advantageously, testing and / or calibration of the sensors of the automated vehicle can be enabled while stationary.

[0035] Furthermore, it is proposed that a detection capability of the individual sensors and / or a functionality of a sensor data fusion of multiple sensors be tested. Preferably, the marker device, in particular the camera information unit, is designed and the movement path of the marker device is selected such that, as long as the marker device is located within a detection range of a camera of the automated vehicle, the marker device, in particular the camera information unit, can be detected by the camera in any possible position and / or orientation of the marker device relative to the automated vehicle. In particular, the camera information unit always provides the information that the marker device is present.If the marker device, in particular the camera information unit, is not detected by the camera during the inspection process, for example in sections, it can be concluded that the camera's detection capability is insufficient.

[0036] Preferably, the marker device, in particular the lidar and / or radar information unit, is designed in such a way and the movement path of the marker device is selected in such a way that, even if the marker device is located within a detection range of a lidar and / or a radar of the automated vehicle, the marker device, in particular the lidar and / or radar information unit, cannot be detected by the lidar and / or the radar in some positions and / or orientations of the marker device relative to the automated vehicle. In particular, in some positions and / or orientations relative to the automated vehicle, the lidar and / or radar information unit provides the information that the marker device is present, and in some other positions and / or orientations relative to the automated vehicle, the information that the marker device is not present.If the marker device, in particular the lidar and / or radar information unit, is continuously detected by the lidar and / or radar during the test process, for example, it can be concluded that the lidar and / or radar is not detecting properly. If, for example, detections by the marker device between the camera and the lidar and / or radar do not differ during the test process, in particular because the marker device is continuously visible to the camera but not to the lidar and / or radar, and a corresponding output value from the sensor data fusion is available, it can be concluded that the sensor data fusion is not functioning properly. Advantageously, genuine manipulation of the sensors of the automated vehicle can be enabled without interfering with the software of the automated vehicle.Advantageously, a degradation of a functionality for automated driving of the automated vehicle can be checked.

[0037] It is further proposed that detections of the marker device at a plurality of different positions and / or orientations relative to the automated vehicle by a plurality of sensors of the automated vehicle are evaluated, in particular correlated with one another, in order to determine calibration values ​​for the sensors. In particular, at the plurality of different positions and / or orientations of the marker device relative to the automated vehicle, in particular along the entire movement path of the marker device, a comparison is made to determine which sensors detect the marker device where. If, for example, a plurality of sensors detects the marker device at a specific position and one of the sensors detects it at a position offset therefrom, it can be assumed in particular that one of the sensors is not functioning correctly, is not installed correctly, is not calibrated, or the like.In particular, calibration values ​​can be determined for this sensor, with which the sensor can be calibrated in order to correctly detect the marker device. Preferably, the detections of the sensors can be weighted differently depending on different tolerances of the sensors. In particular, a detection of the marker device at a certain position and / or orientation relative to the automated vehicle by a sensor with a small tolerance, for example a maximum deviation from a factory specification of + / - 2°, can be weighted more highly than a detection of the marker device by a sensor with a higher tolerance, for example a maximum deviation from a factory specification of + / - 4°. Preferably, extrinsic and intrinsic calibration values ​​are determined for the sensors. The extrinsic calibration values ​​serve in particular to compensate for installation tolerances of the sensors.The intrinsic calibration values ​​are used in particular to compensate for tolerances in the internal geometry of the sensors.

[0038] In particular, the calibration values ​​can be used to correct or optimize factory calibration data, especially offline calibration data, of the sensors. This can advantageously enable efficient online calibration of the sensors.

[0039] Preferably, the test and / or calibration setup can also be used to perform absolute calibration of the sensors independently of other sensors of the automated vehicle. For this purpose, in particular, an exact position of the automated vehicle, in particular a chassis of the automated vehicle, relative to the marker device must be known. A position and orientation of the marker device is known in particular via the movement device, in particular a controller of the movement device and / or position sensors of the movement device. The test and / or calibration setup can preferably have at least one detection device to detect a position of the automated vehicle, in particular the chassis.The detection device can detect the position of the automated vehicle, in particular tactilely, optically, for example by measuring the profile, orientation, and position of tires of the automated vehicle, or in any other way deemed appropriate by a person skilled in the art. Calibration values ​​for the sensors can be determined, in particular, depending on a difference between the positions and / or orientations detected by the sensors and the known positions and / or orientations of the marker device.

[0040] The invention is illustrated by an embodiment in the following figures. They show: Fig. 1 a production line according to the invention in a schematic perspective view, Fig. 2 a sectional view of a marker device of a test and / or calibration setup according to the invention in a schematic representation, Fig. 3 a part of a lidar and / or radar information unit of the marker device Fig. 2 in a schematic perspective view, Fig. 4 a diagram of a transmission of the lidar and / or radar information unit from Fig. 3 in a schematic representation, Fig. 5 a computing device according to the invention in a schematic representation and Fig. 6 a flowchart of a method according to the invention for testing and / or calibrating sensors of an automated vehicle in a schematic representation.

[0041] Fig. 1 shows a production line 14 for automated vehicles 5, 5' in a schematic perspective view. The production line 14 comprises at least one test and / or calibration setup 1, 1'. In the present exemplary embodiment, the production line 14 comprises, for example, a test and / or calibration setup 1 and a further test and / or calibration setup 1', which is arranged along the production line 14 in front of the test and / or calibration setup 1. The test and / or calibration setups 1, 1' each comprise a movably mounted marker device 6, 6' and a movement device 13, 13'. The production line 14 is arranged in a production plant for automated vehicles 5, 5'. Automated vehicles 5, 5' are manufactured along the production line 14.The test and / or calibration setups 1, 1' are arranged at one end of the production line 14, in particular in an area shortly before the automated vehicles 5, 5' leave the production line 14. With multiple test and / or calibration setups 1, 1', sensors 2, 3, 4 of several, here, for example, two, automated vehicles 5, 5' can be tested and / or calibrated simultaneously in the production line 14.

[0042] The test and / or calibration setup 1 and an automated vehicle 5 form a test and / or calibration system 19. The further test and / or calibration setup 1' and a further automated vehicle 5' form a further test and / or calibration system 19'. For the sake of clarity, the following description is limited to the test and / or calibration system 19. However, the description also applies analogously to the further test and / or calibration system 19'. The test and / or calibration setup 1 is intended for testing and / or calibrating the sensors 2, 3, 4 of the automated vehicle 5.

[0043] The automated vehicle 5 is designed as a land vehicle, here, for example, as a passenger car. The automated vehicle 5 comprises at least one computing device 15 for testing and / or calibrating the sensors 2, 3, 4 of the automated vehicle 5 (see Fig. 5). The automated vehicle 5 comprises at least one environment detection unit 17, which is intended to detect intensity-coded radiation from the test and / or calibration setup 1. The environment detection unit 17 comprises the sensors 2, 3, 4. In the present exemplary embodiment, the environment detection unit 17 comprises, for example, three sensors 2, 3, 4. A first sensor 2 is designed as a lidar, a second sensor 3 as a radar, and a third sensor 4 as a camera.

[0044] The movably mounted marker device 6 is provided for the transmission, in particular passive, of information to the automated vehicle 5. The information is embodied as position and / or orientation information, in particular of the marker device 6 relative to the automated vehicle 5. The movement device 13 is provided to move the marker device 6 at least partially automatically, in particular within a detection range of at least two, in the present exemplary embodiment, by way of example of at least three, different types of sensors 2, 3, 4 of the automated vehicle 5. The marker device 6 is attached to the movement device 13. The marker device 6 is movably mounted by the movement device 13. The movement device 13 is provided to move the marker device 6 at least partially automatically, preferably fully automatically.

[0045] The movement device 13 is arranged in a stationary manner at least at one point, in particular on the production line 14. The movement device 13 is intended to set various positions and / or orientations of the marker device 6 relative to the automated vehicle 5. The movement device 13 is intended to move the marker device 6 to realize an at least partial bypass of the automated vehicle 5, in particular along a defined path. The movement device 13 is intended to move the marker device 6 precisely along the same defined path for each automated vehicle 5. The movement device 13 is intended to move the marker device 6 in at least two spatial dimensions, for example, in three in the present exemplary embodiment. The movement device 13 is designed as a robot arm.The robot arm is designed as a multi-axis robot arm. The robot arm is designed to follow a programmed motion path. The robot arm can be programmed for different motion paths, for example, to be used for testing and / or calibrating sensors 2, 3, 4 of different automated vehicles 5 that have different sensors 2, 3, 4, sensor detection ranges, and / or sensor installation positions.

[0046] Fig. Figure 2 shows a schematic sectional view of the marker device 6 of the test and / or calibration setup 1. A sectional plane runs perpendicular to a longitudinal axis 20 of the marker device 6 (cf. Fig. 1). The marker device 6 has at least one lidar and / or radar information unit 7, which is provided to emit intensity-variable radiation for transmitting coded information depending on an angle of incidence 8 of a laser beam 9 and / or a radar beam (cf. Fig. 3).

[0047] The lidar and / or radar information unit 7 is provided to reflect the laser beam 9 and / or the radar beam for transmitting the coded information. The laser beam 9 and / or the radar beam is emitted by the automated vehicle 5, in particular by the lidar 2 and / or radar 3 of the automated vehicle 5. The angle of incidence 8 of the laser beam 9 and / or the radar beam onto the marker device 6, in particular onto the lidar and / or radar information unit 7, changes depending on a change in the position and / or orientation of the marker device 6 relative to the automated vehicle 5. The marker device 6 is movably mounted in order to achieve different positions and / or orientations relative to the automated vehicle 5.The radiation emitted by the lidar and / or radar information unit 7, in particular the reflected laser beam 9 and / or the reflected radar beam, is detected for information reception by the automated vehicle 5, in particular by the lidar 2 and / or the radar 3 of the automated vehicle 5. The lidar and / or radar information unit 7 is at least partially designed as an optically functional structure that is provided for an angle-dependent reflection of the laser beam 9 and / or the radar beam. The lidar and / or radar information unit 7 is provided to emit, in particular to reflect, radiation of different intensities depending on different angles of incidence 8, in particular different angle of incidence ranges, of the laser beam 9 and / or the radar beam.

[0048] The radiation emitted by the lidar and / or radar information unit 7 is coded by its intensity. The emitted radiation is coded alternately. The radiation is discretized in 2-bit format, which corresponds in particular to a resolution of four intensity levels. Each intensity jump from one radiation intensity to another corresponds to a change of a logical bit, for example, from 0 to 1 or from 1 to 0 (cf. Fig. 4). The automated vehicle 5, in particular the computing device 15 of the automated vehicle 5, can decode the intensity-coded radiation to obtain the information. The lidar and / or radar information unit 7 is configured such that, in certain positions and / or orientations relative to the automated vehicle 5, it scatters and / or absorbs the laser beam 9 and / or the radar beam such that the marker device 6 cannot be detected by the lidar 2 and / or radar 3, in particular, it appears invisible to the lidar 2 and / or radar 3.

[0049] The lidar and / or radar information unit 7 has at least one refractively microstructured reflection element 10, 11, which is provided to reflect the laser beam 9 and / or the radar beam with variable intensity depending on the angle of incidence 8 of the laser beam 9 and / or the radar beam. In the present exemplary embodiment, the lidar and / or radar information unit 7 has, for example, two reflection elements 10, 11. The reflection elements 10, 11 are designed as microstructured refractive films, in particular made of polycarbonate. The reflection elements 10, 11 have a sawtooth-like structure, in particular microstructuring. One reflection element 10 is provided to reflect the laser beam 9, in particular radiation from an infrared spectral range. Another reflection element 11 is provided to reflect the radar beam, in particular radiation from a microwave range.The reflection element 10 and the further reflection element 11 are arranged one behind the other along a direction extending perpendicular to a main extension plane 21 of the marker device 6, with the reflection element 10 being arranged on a surface of the marker device 6. The marker device 6 is designed in a plate-like, panel-like, or similar manner.

[0050] The marker device 6 has at least one camera information unit 12, which is intended to transmit information to the camera 4 and / or the lidar 2 via optical, in particular brightness-based, coding. The camera information unit 12 is designed, at least in sections, as a reflective surface, in particular in a visible spectral range. The surface can be detected, in particular, by the camera 4 and / or the lidar 2. The surface can be designed, in particular, as a static monochromatic surface, for example, as a correspondingly painted plate, or as an adjustable monochromatic surface, for example, as a liquid crystal display.Alternatively or in addition to brightness-based coding, it is conceivable that the camera information unit 12 is provided to transmit the information via color-based, shape-based, number-based, or another coding that appears appropriate to a person skilled in the art. The camera information unit 12 is provided to transmit, at least in part, the same information as the lidar and / or radar information unit 7, in particular depending on a position and / or orientation of the marker device 6 relative to the automated vehicle 5. The information transmitted by the lidar and / or radar information unit 7 can be compared with the information transmitted by the camera information unit 12 in order to test and / or calibrate the sensors 2, 3, 4.The camera information unit 12 is arranged along a surface normal 22 of the reflection elements 10, 11 and / or the marker device 6 and / or along an irradiation direction of the laser beam 9 and / or the radar beam behind the reflection element 10 for reflecting the laser beam 9 and in front of the further reflection element 11 for reflecting the radar beam.

[0051] The lidar and / or radar information unit 7 and the camera information unit 12 are spaced apart from each other by at least one air gap 23, 24. The camera information unit 12 is spaced from the reflection element 10 on one side by an air gap 23 and from the further reflection element 11 on another side by a further air gap 24. The reflection element 10 faces an area surrounding the marker device 6 on a side facing away from the camera information unit 12. The camera information unit 12 faces the further reflection element 11 on a side facing away from the reflection element 10. The further reflection element 11 is delimited on a side facing away from the camera information unit 12 by a support frame 25 of the marker device 6.

[0052] The reflection element 10 is arranged upstream of the air gap 23 and the camera information unit 12 along the direction of incidence of the laser beam 9 and / or the radar beam. The further reflection element 11 is arranged downstream of the camera information unit 12 and the further air gap 24 along the direction of incidence of the laser beam 9 and / or the radar beam. In particular, the air gap 23 is arranged downstream of the reflection element 10 and upstream of the camera information unit 12 along the direction of incidence of the laser beam 9 and / or the radar beam, and the further air gap 24 is arranged downstream of the camera information unit 12 and upstream of the further reflection element 11. The reflection element 10 is transparent at least in the visible spectral range. The air gaps 23, 24 are provided to optically decouple the camera information unit 12 from the lidar and / or radar information unit 7, in particular from the reflection element 10 and the further reflection element 11.The air gaps 10, 11 are provided to keep the reflection properties of the reflection element 10 and / or the further reflection element 11 free from interference from the camera information unit 12.

[0053] Fig. 3 shows a part of the lidar and / or radar information unit 7 of the marker device 6 from Fig. 2 in a schematic perspective view. A part of the reflection element 10 is shown. However, the description also applies analogously to an interaction of the further reflection element 11 with a radar beam. The reflection element 10 is designed as a prismatic arrangement for reflecting the laser beam 9 by at least two total reflections. The reflection element 10 is designed as a reflection prism, in particular as a deflection prism. The reflection element 10 has an upper flank angle 26 with respect to the surface normal 22 of the reflection element 10, here for example 48°, and a lower flank angle 27 with respect to the surface normal 22, here for example 6°. The laser beam 9 enters the reflection element 10 at an upper flank 28 of the reflection element 10, in particular a first tooth 29 of the sawtooth-like structure.A first total reflection in the propagation direction 30 of the laser beam 9 occurs at a rear boundary surface 31 of the reflection element 10, in particular extending perpendicular to the surface normal 22. A second total reflection in the propagation direction 30 of the laser beam 9 occurs at a lower flank 32 of the reflection element 10, in particular a second tooth 33 of the sawtooth-like structure. The reflected laser beam 9 exits the reflection element 10 at a further upper flank 34 of the reflection element 10, in particular the second tooth 33. The reflection element 10 is provided to reflect the laser beam 9 back parallel to an incident direction of the laser beam 9.

[0054] Fig. 4 shows a diagram of a transmission of the lidar and / or radar information unit 7, in particular of the reflection element 10, from Fig. 3 in a schematic representation. However, the description also applies analogously to the further reflection element 11 in the microwave range. The diagram has an abscissa axis 35 and an ordinate axis 36. The angle of incidence θ of the laser beam 9 is plotted on the abscissa axis 35. The transmission of the lidar and / or radar information unit 7, in particular of the reflection element 10, is plotted on the ordinate axis 36. In addition to the radiation of the laser beam 9, the transmission also includes scattering effects and indirect light.

[0055] The reflection element 10 has a radiation transmission that depends on the angle of incidence, in particular in the near-infrared spectral range. A radiation intensity of the reflected laser beam 9 depends on the transmission of the reflection element 10 at the angle of incidence θ of the laser beam 9. The reflection element 10 has a plurality of, here for example four, angle of incidence ranges 37, 38, 39, 40 in its transmission, over which a radiation intensity of the reflected laser beam 9 is at least substantially constant. For example, the radiation intensity of the reflected laser beam 9 can correspond to a first logical bit, e.g. 0, in a first angle of incidence range 37, a second logical bit, e.g. 1, in a third angle of incidence range 39, the first logical bit, and in a fourth angle of incidence range 40, the second logical bit.

[0056] Fig. 5 shows the computing device 15 in a schematic representation. The computing device 15 comprises at least one interface 16 for receiving sensor data from the environment detection unit 17 of the automated vehicle 5. The computing device 15 comprises at least one computing module 18, which is provided for determining information from intensity-coded radiation of the test and / or calibration setup 1. The computing module 18 is provided for determining information from the intensity-coded radiation of the lidar and / or radar information unit 7 and / or from the coding, in particular brightness-based, of the camera information unit 12. The interface 16 of the computing device 15 is provided for data exchange. The data exchange is embodied as a signal transmission of a signal, in particular an electrical signal. The data exchange at the interface 16 takes place via a cable or wirelessly.The interface 16 is provided to supply the computing module 18 with data, in particular sensor data, from the environment detection unit 17, which is connected to the computing module 18 via the interface 16 for data transmission purposes. The computing device 15 here comprises, for example, a further interface 41, which is provided to output certain signals, in particular control or regulating signals, from the computing module 18.

[0057] Fig.6 shows a flowchart of a method for testing and / or calibrating sensors 2, 3, 4 of an automated vehicle 5 using the test and / or calibration setup 1 in a schematic representation. The method also functions analogously with the additional test and / or calibration setup 1'. In a method step 42, the test and / or calibration setup 1 is irradiated with a laser beam 9 and / or a radar beam with different angles of incidence 8, in particular at different positions and / or orientations of the marker device 6 relative to the automated vehicle 5.The various positions and / or orientations of the marker device 6 relative to the automated vehicle 5 are set by an at least partially automated movement of the marker device 6, in particular within a detection range of at least two, here, for example, three, different types of sensors 2, 3, 4 of the automated vehicle 5. The marker device 6 is moved by the movement device 13, in particular into the various positions and / or orientations relative to the automated vehicle 5. The marker device 6 is moved along a defined movement path within the detection range of the different types of sensors 2, 3, 4 of the automated vehicle 5. The movement path is determined by a sequence of the different positions and / or orientations relative to the automated vehicle 5.The marker device 6 is continuously irradiated with the laser beam 9 and / or radar beam during movement along the movement path and continuously emits intensity-coded radiation.

[0058] In a further method step 43, radiation of different intensities depending on the different angles of incidence 8 is received by the test and / or calibration setup 1, in particular by the marker device 6. The test and / or calibration setup 1, in particular the marker device 6, is irradiated by means of the lidar 2 and / or radar 3 of the automated vehicle 5, and the radiation emitted by the test and / or calibration setup 1, in particular the reflected laser beam 9 and / or radar beam, is received by the lidar 2 and / or radar 3. In a further method step 44, information is determined from the intensity-coded radiation. The information is determined from the received intensity-coded radiation by means of the computing device 15 of the automated vehicle 5.

[0059] In a further method step 45, the optical, in particular brightness-based, coding of the test and / or calibration setup 1 at the various positions and / or orientations of the marker device 6 relative to the automated vehicle 5 is recorded using the camera 4 and / or the lidar 2. The optical coding of the camera information unit 12 of the marker device 6 is recorded. The optical coding, in particular the information from the coding, is / are independent of a position and / or orientation of the marker device 6 relative to the automated vehicle 5. The camera information unit 12 provides the same information regardless of the position and / or orientation of the marker device 6 relative to the automated vehicle 5. In a further method step 46, information is determined from the coding.The information from the coding is determined by means of the computing device 15 of the automated vehicle 5.

[0060] In a further method step 47, the information determined based on the received radiation and the information determined based on the optical coding, in particular spatially resolved, is compared. At least partially the same information is provided, in particular transmitted, by the lidar and / or radar information unit 7 and the camera information unit 12. The information is compared by means of the computing device 15. In a further method step 48, the sensors 2, 3, 4 of the automatically operable vehicle 5 are tested and / or calibrated depending on the comparison. The sensors 2, 3, 4 are tested and / or calibrated depending on the comparison by means of the computing device 15 and / or another, in particular external, computing device, for example a laptop.For example, the lidar 2 and / or the radar 3 can be tested and / or calibrated depending on the information received from the camera information unit 12. For example, the camera 4 can be tested and / or calibrated depending on the information received from the lidar and / or radar information unit 7.

[0061] In the further method step 48, the detection capability of the individual sensors 2, 3, 4 and / or the functionality of a sensor data fusion of multiple sensors 2, 3, 4 can be tested. The marker device 6, in particular the camera information unit 12, is designed and the movement path of the marker device 6 is selected such that, as long as the marker device 6 is located within a detection range of the camera 4 of the automated vehicle 5, the marker device 6, in particular the camera information unit 12, can be detected by the camera 4 in any possible position and / or orientation of the marker device 6 relative to the automated vehicle 5. The camera information unit 12 always provides the information that the marker device 6 is present.If the marker device 6, in particular the camera information unit 12, is not detected by the camera 4, for example in sections, during the inspection process, it can be concluded that the camera 4 lacks detection capability.

[0062] The marker device 6, in particular the lidar and / or radar information unit 7, is designed and the movement path of the marker device 6 is selected such that, even if the marker device 6 is located in a detection range of the lidar 2 and / or the radar 3 of the automated vehicle 5, the marker device 6, in particular the lidar and / or radar information unit 7, cannot be detected by the lidar 2 and / or the radar 3 in some positions and / or orientations of the marker device 6 relative to the automated vehicle 5.In some positions and / or orientations relative to the automated vehicle 5, the lidar and / or radar information unit 7 provides the information that the marker device 6 is present, and in some other positions and / or orientations relative to the automated vehicle 5, the information that the marker device 6 is not present. If the marker device 6, in particular the lidar and / or radar information unit 7, is continuously detected by the lidar 2 and / or radar 3 during the test process, for example, it can be concluded that the lidar 2 and / or radar 3 lacks detection capability.If, for example, during the test process, detections of the marker device 6 between the camera 4 and the lidar 2 and / or radar 3 do not differ, in particular because the marker device 6 is continuously visible to the camera 4 and not to the lidar 2 and / or the radar 3, and a corresponding output value of the sensor data fusion is available, it can be concluded that the sensor data fusion is not functioning properly.

[0063] In the further method step 48, detections of the marker device 6 at a plurality of different positions and / or orientations relative to the automated vehicle 5 by a plurality of sensors 2, 3, 4 of the automated vehicle 5 can be evaluated, in particular correlated with one another, in order to determine calibration values ​​for the sensors 2, 3, 4. At the plurality of different positions and / or orientations of the marker device 6 relative to the automated vehicle 5, in particular along the complete movement path of the marker device 6, a comparison is made as to which sensors 2, 3, 4 detect the marker device 6 where. If, for example, a plurality of sensors 2, 3, 4 detect the marker device 6 at a specific position and one of the sensors 2, 3, 4 detects it at a position offset therefrom, it can be assumed that one of the sensors 2, 3, 4 is not functioning correctly, is not correctly calibrated, or the like.etc. Calibration values ​​can be determined for this sensor 2, 3, 4, with which the sensor 2, 3, 4 can be calibrated in order to correctly detect the marker device 6. The detections of the sensors 2, 3, 4 can be weighted differently depending on different tolerances of the sensors 2, 3, 4. A detection of the marker device 6 at a specific position and / or orientation relative to the automated vehicle 5 by a sensor 2, 3, 4 with a small tolerance, for example a maximum deviation from a factory specification of + / - 2°, can be weighted more highly than a detection of the marker device 6 by a sensor 2, 3, 4 with a higher tolerance, for example a maximum deviation from a factory specification of + / - 4°. Extrinsic and intrinsic calibration values ​​for the sensors 2, 3, 4 are determined.Using the calibration values, factory calibration data, especially offline calibration data, of sensors 2, 3, 4 can be corrected or optimized.

[0064] In the further method step 48, an absolute calibration of the sensors 2, 3, 4 can also be carried out using the test and / or calibration setup 1, independently of other sensors 2, 3, 4 of the automated vehicle 5. For this purpose, an exact position of the automated vehicle 5, in particular a chassis of the automated vehicle 5, relative to the marker device 6 must be known. A position and orientation of the marker device 6 is known via the movement device 13, in particular a controller of the movement device 13 and / or position sensors of the movement device 13. The test and / or calibration setup 1 can have at least one detection device to detect a position of the automated vehicle 5, in particular the chassis (not shown).The detection device can detect the position of the automated vehicle 5 tactilely, optically, for example, by measuring the profile, orientation, and position of tires of the automated vehicle 5, or in another way that appears appropriate to a person skilled in the art. Calibration values ​​for the sensors 2, 3, 4 can be determined depending on a difference between the positions and / or orientations detected by the sensors 2, 3, 4 and the known positions and / or orientations of the marker device 6. Reference symbol 1 test and / or calibration setup 2 sensors 3 Sensor 4 Sensor 5 vehicle 6 Marker device 7 Lidar and / or radar information unit 8 angle of incidence 9 Laser beam 10 reflection element 11 Reflection element 12 Camera information unit 13 Movement device 14 Production line 15 Calculating device 16 Interface 17 Environment detection unit 18 Calculation module 19 Test and / or calibration system 20 Longitudinal axis 21 Main extension level 22 surface normals 23 Air gap 24 air gap 25 support frames 26 flank angle 27 flank angle 28 flank 29 tooth 30 Propagation direction 31 Interface 32 flank 33 tooth 34 flank 35 Abscissa axis 36 Ordinate axis 37 Incident angle range 38 angle of incidence range 39 Incident angle range 40 angle of incidence range 41 Interface 42 process steps 43 Process step 44 Process step 45 Process step 46 Process step 47 Process step 48 process steps

Claims

[1] Testing and / or calibration setup for testing and / or calibrating sensors (2, 3, 4) of an automated vehicle (5, 5'), comprising at least one movably mounted marker device (6, 6') for, in particular passive, information transmission to the automated vehicle (5, 5'), wherein the marker device (6, 6') has at least one lidar and / or radar information unit (7) which is provided to emit intensity-variable radiation for transmitting coded information as a function of an angle of incidence (8) of a laser beam (9) and / or a radar beam. [2] Test and / or calibration setup according to claim 1, wherein the lidar and / or radar information unit (7) has at least one refractively microstructured reflection element (10, 11) which is provided to reflect the laser beam (9) and / or the radar beam with variable intensity depending on the angle of incidence (8) of the laser beam (9) and / or the radar beam. [3] Test and / or calibration setup according to claim 1 or 2, wherein the marker device (6, 6') has at least one camera information unit (12) which is intended to transmit information to a camera (4) and / or a lidar (2) via an optical, in particular brightness-based, coding. [4] Test and / or calibration setup according to one of the preceding claims, comprising at least one movement device (13, 13') which is intended to move the marker device (6, 6') at least partially automatically, in particular in a detection range of at least two different types of sensors (2, 3, 4) of the automatically operable vehicle (5, 5'). [5] Test and / or calibration assembly according to claim 4, wherein the movement device (13) is designed as a robot arm. [6] Production line for automated vehicles (5, 5'), comprising at least one testing and / or calibration structure (1, 1') according to one of the preceding claims. [7] Computing device for an automated vehicle (5, 5') for testing and / or calibrating sensors (2, 3, 4) of the automated vehicle (5, 5'), comprising at least one interface (16) for receiving sensor data from at least one environment detection unit (17) of the automated vehicle (5, 5') and at least one computing module (18) which is provided for determining information from intensity-coded radiation of at least one testing and / or calibration setup (1, 1') according to one of claims 1 to 5. [8] An automated vehicle comprising at least one computing device (15) according to claim 7 and at least one environment detection unit (17) which is provided to detect intensity-coded radiation of at least one test and / or calibration setup (1, 1') according to one of claims 1 to 5. [9] Testing and / or calibration system comprising at least one testing and / or calibration structure (1, 1') according to one of claims 1 to 5 and at least one automatically operable vehicle (5, 5') according to claim 8. [10] Method for testing and / or calibrating sensors of an automated vehicle (5, 5') by means of at least one testing and / or calibration setup (1, 1') according to one of claims 1 to 5, comprising the method steps: - irradiating the test and / or calibration setup (1, 1') with a laser beam (9) and / or a radar beam with different angles of incidence (8), in particular at different positions and / or orientations of the marker device (6, 6') relative to the automatically operable vehicle (5, 5'), - receiving radiation of different intensities depending on the different angles of incidence (8) from the test and / or calibration setup (1, 1'), and - Obtaining information from intensity-coded radiation. [11] Method according to claim 10, wherein the different positions and / or orientations of the marker device (6, 6') relative to the automated vehicle (5, 5') are set by an at least partially automated movement of the marker device (6, 6'), in particular in a detection range of at least two different types of sensors (2, 3, 4) of the automated vehicle (5, 5'). [12] Method according to claim 10 or 11, further comprising the steps of: - detecting at least one optical, in particular brightness-based, coding of the test and / or calibration setup (1, 1') by means of at least one camera (4) and / or at least one lidar (2) at different positions and / or orientations of the marker device (6, 6') relative to the automatically operable vehicle (5, 5'), and - Extracting information from the coding. [13] The method of claim 12, further comprising the steps of: - comparing the information determined from the received radiation and the information determined from the optical coding, in particular spatially resolved information, and - Testing and / or calibrating the sensors (2, 3, 4) of the automated vehicle (5, 5') depending on the comparison. [14] Method according to claim 13, wherein a detection capability of the individual sensors (2, 3, 4) and / or a functionality of a sensor data fusion of several sensors (2, 3, 4) is tested. [15] Method according to one of claims 10 to 14, wherein detections of the marker device (6, 6') at a plurality of different positions and / or orientations relative to the automated vehicle (5, 5') by a plurality of sensors (2, 3, 4) of the automated vehicle (5, 5') are evaluated, in particular correlated with one another, in order to determine calibration values ​​for the sensors (2, 3, 4).

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