DEVICE FOR CALIBRINGING AN ENVIRONMENTAL SENSOR INTEGRATED INTO THE WINDSHIELD OF A VEHICLE

Description

[0001] The invention relates to a device for calibrating an environment sensor integrated into the windshield of a vehicle, comprising a calibration target to be positioned in front of the vehicle at a defined distance, height, and angle to the vehicle's steering axis, and which is provided with a printed calibration target. The relative position of the calibration target to the vehicle's steering axis can be determined by means of at least one wheel sensor attached to the vehicle's wheels and connected to a laser. Subsequently, an image of the calibration target can be captured by the environment sensor. Then, a comparison of the captured actual image with a stored target image can be performed using a diagnostic device connected to the environment sensor, and the environment sensor can be calibrated accordingly.

[0002] Such a device is already known from WO 2012 / 076468. This international patent application discloses a device and a method for calibrating and adjusting a vehicle's environmental sensor. The actual process of calibrating and adjusting the environmental sensor, preferably integrated into the windshield of a vehicle, is relatively quick, achieved through a simple comparison of actual and target values. Any inaccuracies in this process impair the performance of the environmental sensor and pose a significant hazard, particularly in conjunction with autonomous driving systems. The previously known method also requires determining the vehicle's position and orientation in space, which necessitates additional effort and sensors.

[0003] All previously known methods have in common that calibrating an environmental sensor integrated into a windshield required a visit to a specialist workshop. There, after correctly aligning the vehicle in front of a calibration target using a diagnostic device, and often involving the considerable additional effort of measuring the rear axle, the environmental sensor could then be calibrated. In most cases, however, calibration of the environmental sensor is not necessary as a result of a serious accident involving potential damage to the rear axle, but rather after relatively minor damage to the windshield, such as from a stone chip that necessitates windshield replacement. In this context, the environmental sensor integrated into or otherwise connected to the windshield must also be recalibrated.In recent years, methods have become known in which the replacement or repair of a windshield no longer necessarily takes place in a workshop, but can also be carried out on-site. A service vehicle equipped with the necessary repair capabilities for a damaged windshield performs either the repair or replacement of the vehicle's windshield directly on site. With these solutions, it would be advantageous if, in conjunction with this mobile repair, the necessary readjustment or recalibration of the environmental sensor integrated into or connected to the windshield could also be performed directly on-site. Furthermore, DE 20 2015 008 954 U1 discloses a device for calibrating vehicle assistance systems.

[0004] The problem underlying the invention is solved by a device according to the features of claim 1. Advantageous embodiments of the solution according to the invention can be found in the dependent claims.

[0005] According to claim 1, the calibration target used in connection with the calibration of the environmental sensor is designed as a mobile, i.e., transportable, unit. For this purpose, the calibration target consists of two height-adjustable stands for supporting a framework to which the calibration target can be attached centrally, with a measuring scale attached to each side of the framework at a distance from the calibration target. This calibration target can then be positioned in a defined relative position in front of the vehicle, in particular with respect to the vehicle's unsteered axle.

[0006] In addition to this calibration target, which is transported in a service vehicle and initially disassembled into its individual parts, the service vehicle must also carry at least one wheel sensor, which is to be positioned on the front axle of the vehicle as intended. Each wheel sensor is equipped with a laser that can be aligned so that it is focused on one of the measuring scales. In an improved version, the service vehicle carries two wheel sensors, which can initially be attached to each of the front wheels of the vehicle's front axle. The two lasers of the wheel sensors are then aligned so that each laser is focused on one of the two measuring scales connected to the vehicle's frame.

[0007] In a further step, the distance of the calibration target plane to the wheel center of the vehicle's front wheels is measured, for example using a measuring tape, and the calibration target plane is aligned at a defined distance parallel to the vehicle axis or vehicle front by means of a sliding rail arranged on both sides of the calibration target, each orthogonally aligned to it and each connected to the two stands.

[0008] The defined distance to be set and adjusted between the calibration target plane and the front axle of the vehicle is specified by the diagnostic device connected to the vehicle's environmental sensor.

[0009] In an advantageous embodiment, the support structure of the calibration target connected to the tripods is equipped with a height gauge, so that the relative height of the calibration target above the vehicle's mounting surface, which is usually also the mounting surface of the calibration target, can be determined using this height gauge.

[0010] In a further embodiment of the solution according to the invention, the tripods for supporting the structure are each provided with a height adjustment device, so that the intended height of the structure and thus also of the calibration plate can be easily adjusted on site.

[0011] In a further advantageous embodiment of the invention, the supporting structure is provided with a horizontal spirit level by means of which the calibration plate to be attached to the supporting structure can be aligned horizontally.

[0012] In a further step, the two wheel sensors, which were previously connected to the front wheels of the vehicle's front axle, are moved to the rear wheels of the vehicle's rear axle. The lasers connected to each wheel sensor are then aligned with the measuring scales located on either side of the calibration target. These scales are marked so that when the laser beams of both lasers strike the same scale value, it is ensured that the calibration target is positioned exactly in the center in front of the vehicle. For this purpose, the support structure, and consequently the calibration target connected to it, is mounted on the stands in a longitudinally adjustable position.Accordingly, the longitudinally movable support structure is now aligned so that the laser beams in question show the same value on the measuring scales connected to the support structure, and then the support structure is fixed in this central relative position in front of the vehicle by means of appropriate locking screws.

[0013] In addition, the measuring scales connected to the support structure are each equipped with a mirror surface. The lasers of the wheel sensors, which are attached to both rear wheels on the rear axle, are then aligned onto these mirror surfaces in such a way that the laser beams are reflected from these mirror surfaces onto the wheel sensor measuring scales connected to the wheel sensors.

[0014] Subsequently, by means of the aforementioned sliding rails of the support structure, which are orthogonally aligned to the calibration target, the support structure and thus also the calibration target connected to the support structure are pivoted or rotated relative to the rear axle of the vehicle until the reflected laser beams are each reflected to the same value on the wheel sensor measuring scales, which is equivalent to the calibration target plane being aligned parallel to the unsteered rear axle of the vehicle.

[0015] Once the support structure, mounted on the two tripods, is properly aligned with the vehicle, a manufacturer-specific calibration target with a printed calibration target can be attached to the support structure. The correct alignment of the calibration target, and thus also of the calibration target, can be checked using a vertical spirit level connected to the support structure, ensuring that the calibration target is vertically erected and attached in front of the vehicle.

[0016] After this proper arrangement of the calibration target relative to the vehicle, the calibration and, if necessary, adjustment of the environmental sensor can then be carried out directly on site in the conventional manner using the diagnostic device connected to the environmental sensor.

[0017] The invention is explained in more detail below with reference to an embodiment shown only schematically in the drawing: They show:

[0018] Fig. 1: a mobile calibration device in a rear view, Fig. 2: a detail of the in Figure 1 The mobile device shown in a perspective view, Fig. 3: a further detail of the device shown in Figure 1 The mobile device shown in a perspective view, Fig. 4: a wheel sensor in a perspective view and Fig. 5: a vehicle arranged in front of the mobile device for calibration in a top view.

[0019] Figure 1Figure 1 shows a rear view of a calibration target 2, designed as a mobile device 1 and therefore consisting of several individual parts that are assembled on site. Specifically, the calibration target 2 comprises a calibration target, typically manufacturer-specific, which can be attached to a support structure 3. This support structure 3 essentially consists of two crossbeams 4, which are connected to each other via a truss-like construction to form the support structure 3. This support structure 3 rests on two tripods 5. Each of the two tripods 5 is height-adjustable via a height adjustment mechanism 6, 6'.

[0020] On the upper crossbeam 4, two measuring scales 7, 7' are arranged equidistantly from the calibration target attached centrally to the supporting structure 3. In the Furthermore, a fastening device 10 for a level gauge (not shown here) is attached to the upper crossbeam 4.

[0021] In the Furthermore, each of the two tripods 5 has a lower bearing block 11 and an upper bearing block 12 for connecting the tripods 5 to the supporting structure 3.

[0022] According to the perspective detail view in Figure 2The support structure 3 is connected to the stands 5 via the lower bearing block 11 and the upper bearing block 12, with the sliding rail 13 interposed between them. The sliding rail 13 is arranged orthogonally to the calibration target plane, so that the calibration target plane can be pivoted via the sliding rails 13 located on both sides of the two stands 5. The alignment of the support structure 3 and the calibration target plane is achieved by the upper bearing block 12 being longitudinally displaceable on the sliding rail 13 and being fixable in the desired relative position by means of the locking screw 14. The lower bearing block 11, in turn, can be fixed in its relative position to the stand 5 by means of the locking crank 15. One of the two measuring scales 7, 7' is attached to the upper crossbeam 4 of the support structure 3 by means of the two locking screws 16. In theThe measuring scale 7, 7' includes a distance scale 17 and a mirror surface 18 that can be covered if necessary. In the Furthermore, the upper crossbeam 4 of the supporting structure 3 is provided with a horizontal spirit level 20 and a vertical spirit level 21.

[0023] Furthermore, the upper crossbeam 4 of the support structure 3 is guided through a passage in the upper bearing block 12 and is thus mounted so that it is longitudinally displaceable between the two stands 5 and also pivotable, ensuring the vertical positioning and correct orientation of the calibration target 2. Once the calibration target 2 is correctly aligned, the upper crossbeam 4, and thus the support structure 3, can be fixed in its intended position using the fastening handle 22.

[0024] According to the perspective representation in Figure 3A mounting rail 23 is attached to both the upper crossbeam 4 and the lower crossbeam 4 of the supporting structure 3, in which retaining pins 24 are arranged to be longitudinally displaceable, so that the calibration target 2 can be longitudinally displaceable to this rail arrangement by means of a coding pin 8 and these retaining pins 24. Furthermore, the figure shows Figure 3 the fastening device 10 connected to the upper crossbeam 4 of the supporting structure 3 for a level gauge (not shown here) which can be attached to a level gauge holder 28 provided for this purpose.

[0025] Furthermore, the device according to the invention comprises Figure 4at least one wheel receiver 25 with an angled handle 26, by means of which the wheel receiver 25 can be placed on a vehicle wheel such that the retaining wings 29 rest on the wheel in such a way that the wheel receiver 25 rests against the rim or tire at a distance of the buffer strut 27, wherein a height-adjustable wheel receiver measuring scale 31 and a pivotable laser 32 are additionally attached to a support rod 30 of the wheel receiver 25 on the side facing away from the vehicle wheel. The laser 32 is provided with an on / off switch 33 and with a fastening device 34 for a measuring tape for distance measurement.

[0026] Figure 5Figure 1 shows the intended arrangement of the device 1 according to the invention, such that the calibration target 2 is arranged at a defined distance in front of a vehicle 40, with each wheel sensor 25 being attached to each rear wheel, i.e., the vehicle's leading axle, by means of the retaining wings 29. The two lasers 32, which are connected to the wheel sensors 25 as intended, are each switched on and, in a first step, are each aligned with distance scales 17 of the calibration target 2. Subsequently, by moving the support structure 3 of the calibration target 2, the target is aligned so that the vehicle 40 is positioned centrally in front of the calibration target 2. This is the case when the two lasers 32 each shine onto the same numerical value on the distance scales 17. In a second step, the parallel alignment of the vehicle's transverse axis to the calibration target 2 must then be ensured.For this purpose, the lasers 32 are aligned so that they each shine onto the mirror surfaces 18 of the measuring scales 7, 7' attached to the upper cross member 4 and are reflected there, so that the laser beams are reflected back onto the wheel sensor measuring scales 31, whereby, if the same value is displayed on both wheel sensor measuring scales 31 and the calibration target 2 has been set up correctly according to the above instructions, the calibration target 2 is correctly positioned in front of the vehicle 40. Subsequently, the calibration of the environment sensor integrated into or connected to the windshield can be carried out using the diagnostic device connected to the environment sensor.

[0027] The foregoing describes a mobile, i.e. transportable, device for calibrating 1 an environment sensor integrated into or connected to a windshield, which offers the advantage that the calibration of the environment sensor can be carried out outside a workshop, directly on the respective vehicle 40, if the device 1 according to the invention has previously been brought to the vehicle by means of a service vehicle and installed there in accordance with the foregoing descriptions. REFERENCE MARK LIST 1 Calibration device 20 Horizontal spirit level 2 calibration target 21 Vertical spirit level 3 Supporting structure 22 Mounting handle 4 crossbeam 23 Mounting rail 5 tripod 24 Retaining pins 6, 6' Height adjustment 25 Wheel pickup 7, 7' Measuring scale 26 grab handle 8 Coding pen 27 buffer strut 28 Altitude gauge holder 29 retaining wing 10 Mounting device for altimeter 30 Handrail 31 Wheel sensor measuring scale 11 lower bearing block 32 Laser 12 upper bearing block 33 On / Off switch 13 sliding rail 34 Mounting device 14 fixing screw 15 locking crank 40 vehicle 16 Locking screw 17 Distance scale 18 Mirror surface

Claims

1. A device for calibrating (1) an environmental sensor integrated into the windscreen of a vehicle (40), the device comprising a calibration panel, at least one wheel sensor (25) and at least one laser (32), the calibration panel being positionable in front of the vehicle (40) at a defined distance, at a defined height, and at a defined angle to the unsteered vehicle axle of the vehicle (40) and is provided with a printed calibration panel target, the position of the calibration panel (2) relative to the unsteered vehicle axle can be determined via at least one wheel sensor (25) to be attached to the wheels of the vehicle (40) and connected to the laser (32), and an image of the calibration panel target can subsequently be captured by the environmental sensor, and then, by using a diagnosis device connected to the environmental sensor, an actual / target value comparison can be carried out between the captured actual image and a stored target image, and depending on this, a calibration of the environmental sensor can be carried out, characterised in that the device comprises two height-adjustable tripods (5), a supporting structure (3), two sliding rails (13, 13') and two measuring scales (7, 7'), the calibration panel (2) being set up on site via the height-adjustable tripods (5) to support the supporting structure (3) fastened between the tripods (5), on which the measuring scales (7, 7'), preferably centrally, the calibration panel (2) and the two measuring scales (7, 7') are arranged on both sides of the calibration panel (2) each at an equal distance from the calibration panel (2), can be positioned in front of the vehicle (40) in the defined position relative to the unsteered vehicle axle, the distance between the plane of the calibration panel and the wheel centres of the front wheels can be measured, for example using a measuring tape, and using the sliding rails (13, 13') arranged on both sides of the calibration panel (2), which are aligned orthogonally to it and connected to the tripods (5), the plane of the calibration panel can be aligned at a defined distance parallel to the vehicle front axle, the supporting structure (3), interposed with the sliding rails (13, 13'), being connected to the tripods (5).

2. The device (1) according to claim 1, characterised in that a wheel sensor (25) with a laser (32) can be attached to each of the wheels of the front axle of the vehicle (40) and these lasers (32) can be aligned such that each laser (32) is aligned with one of the measuring scales (7, 7').

3. The device (1) according to claim 1 or 2, characterised in that the defined distance between the plane of the calibration panel and the vehicle front axle is specified by the diagnosis device connected to the environmental sensor.

4. The device (1) according to any one or more of the preceding claims, characterised in that the supporting structure (3) is provided with an altitude level meter, thus enabling the relative height of the calibration panel (1) above the vehicle's (40) standing surface to be determined.

5. The device (1) according to claim 4, characterised in that the tripods (5) for supporting the supporting structure (3) on both sides are each provided with a height adjustment device.

6. The device (1) according to claim 4 or 5, characterised in that the supporting structure (3) is provided with at least one horizontal vial (20) with which the calibration panel (2) to be attached to the supporting structure (3) can be horizontally aligned.

7. The device (1) according to any one or more of the preceding claims, characterised in that, in addition, each of the two wheel sensors (25) can be attached to the rear wheels of the rear axle of the vehicle (40) and the lasers (32) connected to the wheel sensors (25) can be aligned with the measuring scales (7, 7') arranged on both sides of the calibration panel (2), and the supporting structure (3), which is mounted on the tripods (5) so that it is movable lengthwise, can be aligned such that the supporting structure (3), and therefore also the calibration panel (2) connected to the supporting structure (3), is aligned precisely so that the calibration panel (2) is centrally arranged in front of the vehicle (40), meaning that the lasers (32) radiate from an equal distance onto the two measuring scales (7, 7') located on either side of the calibration panel (2), and subsequently the supporting structure (3), and thus the calibration panel (2), can be fixed in this central position in front of the vehicle (40) with corresponding locking screws (16).

8. The device (1) according to claim 7, characterised in that the two measuring scales (7, 7') of the supporting structure (3) are each additionally provided with a mirror surface (18) and the lasers (32) arranged on the rear wheels of the rear axle of the vehicle (40) via the wheel sensors (25) can each be aligned with these mirror surfaces (18) such that the laser beams are reflected from these mirror surfaces (18) onto the wheel sensor measuring scales (7, 7') connected to the wheel sensors (25), whereby the supporting structure (3) being adjustable via the sliding rails (13) aligned orthogonally to the calibration panel (2) such that the reflected laser beams are reflected at an equal distance onto the two wheel sensor measuring scales (7, 7'), thus aligning the plane of the calibration panel parallel to the unsteered rear axle of the vehicle (40).

9. The device (1) according to any one or more of the preceding claims, characterised in that a manufacturer-specific calibration panel (2) can be attached to the supporting structure (3), enabling the correct positional alignment of the calibration panel (2), in particular its vertical alignment, to be checked via at least one vertical vial (21) connected to the supporting structure (3).