Vehicle and method for vibration calibration and vibration compensation of a vehicle sensor system

Abstract

The invention relates to a method for vibration calibration and vibration compensation of a sensor system of a vehicle (1), wherein the sensor system comprises one or more sensors in or on a cabin (8) of the vehicle (1), which are connected to an electronic control unit (7), wherein an inertial measurement unit (6.1) is arranged on a chassis (9) of the vehicle (1) and connected to the electronic control unit (7) and is used to detect vibrations in the chassis (9), wherein vibrations in the cabin (8) of the vehicle (1) are calculated on the basis of the determined vibrations in the chassis (9) using a multi-body model of the vehicle (1) in the electronic control unit (7) and are used to calibrate sensor measurements of the sensors arranged on the cabin (8) and to compensate for their vibrations.

Description

[0001] Vehicle and method for vibration calibration and vibration compensation of a sensor system of a vehicle

[0002] The invention relates to a method for vibration calibration and vibration compensation of a sensor system of a vehicle according to the preamble of claim 1 or 2 and to a vehicle according to the preamble of claim 7.

[0003] Perception systems and sensor systems play an important role in automated vehicles, such as commercial vehicles, passenger cars, buses, and so on. They use sensors of various modalities to detect objects, perceive the environment, and localize the vehicle. Precise positioning and orientation of the sensors on the vehicle are critical to ensure high-quality performance. However, road surface irregularities, such as potholes, in conjunction with the chassis, lead to strong vibrations and oscillations during driving. To solve this problem, vibration compensation and vibration calibration are to be used online (i.e., during driving).

[0004] Automated vehicles are subject to both lateral and longitudinal oscillations and vibrations during operation. For example, in European commercial vehicles, the longitudinal oscillation of the driver's cab can exceed 15°. This poses a significant challenge for the sensor systems of automated vehicles. To address this challenge, automated vehicles require online vibration calibration and compensation.

[0005] US 2013 / 127999 A1 describes a device for calibrating a camera during vehicle movement, a vehicle-mounted rear monitoring camera for capturing image information, a memory storing a camera calibration program for computationally determining and calibrating camera mounting parameters during vehicle movement using the image information captured by the camera, a gear position detector for detecting gear positions of the vehicle and generating position signals corresponding to the gear positions, and a control unit that receives the image information. When the gear position detector detects a position signal for a position other than a reverse gear position, the control unit reads and executes the camera calibration program stored in the memory.

[0006] The invention is based on the object of specifying a novel method for vibration calibration and vibration compensation of a sensor system of a vehicle as well as a novel vehicle.

[0007] The object is achieved according to the invention by a method for vibration calibration and vibration compensation of a sensor system of a vehicle having the features of claim 1 or 2 and by a vehicle having the features of claim 7.

[0008] Advantageous embodiments of the invention are the subject of the subclaims.

[0009] A method for vibration calibration and vibration compensation of a sensor system of a vehicle is proposed, wherein the sensor system comprises one or more sensors in or on a cabin of the vehicle, which are connected to an electronic control unit. An inertial measurement unit is arranged on a chassis of the vehicle and connected to the electronic control unit and is used to detect vibrations in the chassis. According to the invention, vibrations in the cabin of the vehicle are calculated based on the determined vibrations in the chassis with the aid of a multi-body model of the vehicle in the electronic control unit and used to calibrate sensor measurements of the sensors arranged on the cabin and to compensate for their vibrations.

[0010] Furthermore, a method for vibration calibration and vibration compensation of a sensor system of a vehicle is proposed, wherein the sensor system is designed as an environmental sensor system and comprises one or more sensors in or on a cabin of the vehicle, which are connected to an electronic control unit, wherein the environmental sensor system records a road surface located in front of the vehicle in the direction of travel and the data obtained thereby is sent to the electronic control unit, which calculates a road profile on this basis.According to the invention, the electronic control unit calculates expected future vibrations in a chassis of the vehicle based on the road profile, wherein the electronic control unit uses a multi-body model of the vehicle to calculate vibrations in the cabin resulting from the expected vibrations in the chassis, which are used to calibrate sensor measurements of the sensors arranged on the cabin and to compensate for their vibrations.

[0011] The method according to the invention enables a more stable use of sensor data through predictive and / or online vibration compensation and calibration. The resulting more robust evaluation of the sensor data increases reliability. In particular, false positive and false negative detections are reduced, thereby increasing the confidence level.

[0012] In one embodiment, the electronic control unit calculates the vibrations in the cabin resulting from the expected vibrations in the chassis, taking into account a previous or current state, in particular vibration state, of the cabin.

[0013] In one embodiment, a further inertial measurement unit is arranged in or on the cabin, which is used to calibrate the multi-body model.

[0014] In one embodiment, the inertial measuring unit or another inertial measuring unit arranged in or on the cabin is used to calibrate the prediction of the vibrations.

[0015] In one embodiment, the sensor system comprises at least one lidar sensor and / or at least one camera and / or at least one radar sensor and / or at least one ultrasonic sensor.

[0016] According to one aspect of the present invention, a vehicle is proposed, comprising a sensor system comprising one or more sensors in or on a cabin of the vehicle, which are connected to an electronic control unit, wherein an inertial measuring unit is arranged on a chassis of the vehicle and is connected to the electronic control unit, wherein the vehicle is configured to carry out one of the methods described above.

[0017] In one embodiment, the vehicle is designed as a commercial vehicle.

[0018] In one embodiment, the vehicle is designed as an automated or highly automated, in particular autonomous, driving vehicle.

[0019] Embodiments of the invention are explained in more detail below with reference to a drawing.

[0020] It shows:

[0021] Fig. 1 is a schematic view of a vehicle.

[0022] Figure 1 is a schematic view of a vehicle 1, in particular a commercial vehicle, for example a truck. The vehicle 1 can be designed as an automated or highly automated, in particular autonomous, vehicle 1.

[0023] The vehicle 1 comprises a plurality of sensors, in particular at least one lidar sensor 2 and / or at least one camera 3 and / or at least one radar sensor 4 and / or at least one ultrasonic sensor 5 and / or at least one inertial measuring unit 6.1, 6.2. The sensors can be connected to an electronic

[0024] Control unit 7. In particular, an inertial measuring unit 6.1 can be arranged on a chassis 9 of the vehicle 1, and a further inertial measuring unit 6.2 can be arranged in or on a cabin 8 of the vehicle 1. One or more of the remaining sensors, in particular the at least one lidar sensor 2, the at least one camera 3, the at least one radar sensor 4, and / or the at least one ultrasonic sensor 5, can also be arranged on the cabin 8.

[0025] In one embodiment of a method for vibration compensation and calibration, the chassis-side inertial measurement unit 6.1 is used to detect vibrations in the chassis 9. The data obtained is sent to the electronic control unit 7. Vibrations in the cabin 8 are calculated from the data using a multi-body model of the vehicle 1 in the electronic control unit 7. The cabin-side inertial measurement unit 6.2 can be used to calibrate the multi-body model.

[0026] The vibration information calculated for cabin 8 can be used to calibrate the sensor measurements of the sensors located on cabin 8 and to compensate for the vibrations. In this way, online vibration compensation is achieved.

[0027] In a further embodiment of a method for vibration compensation and calibration, a road surface 10 located in front of the vehicle 1 in the direction of travel F is recorded by an environmental sensor system, for example the at least one lidar sensor 2, the at least one camera 3, the at least one radar sensor 4 and / or the at least one ultrasonic sensor 5, and the data obtained in this way is sent to the electronic control unit 7. This calculates a road surface profile, for example including bumps 11, and therefore expected future vibrations in the chassis 9. Furthermore, the electronic control unit 7 uses a multi-body model of the vehicle 1 to calculate vibrations in the cabin 8 resulting from the expected vibrations in the chassis 9. In doing so, the electronic control unit 7 takes into account a previous or current state, in particular a vibration state, of the cabin 8. The inertial measuring units 6.1, 6.2 can be used to calibrate the prediction of the vibrations. Furthermore, the electronic control unit 7 can use the calculated vibration information to calibrate sensor measurements from camera 3, lidar sensor 2, radar sensor 4, ultrasonic sensor 5, etc., and to compensate for the vibrations. In this way, online vibration compensation is achieved.

[0028] Daimler Truck AG Vonend

[0029] January 22, 2024

[0030] List of reference symbols

[0031] 1 vehicle

[0032] 2 Lidar sensors

[0033] 3 Camera

[0034] 4 radar sensor

[0035] 5 Ultrasonic sensor

[0036] 6.1 , 6.2 Inertial measuring unit

[0037] 7 electronic control unit

[0038] 8 cabins

[0039] 9 Chassis

[0040] 10 lane

[0041] 11 Unevenness

[0042] F Direction of travel

Claims

Patent claims 1. A method for vibration calibration and vibration compensation of a sensor system of a vehicle (1), wherein the sensor system comprises one or more sensors in or on a cabin (8) of the vehicle (1) which are connected to an electronic control unit (7), wherein an inertial measuring unit (6.1) is arranged on a chassis (9) of the vehicle (1) and is connected to the electronic control unit (7) and is used to determine vibrations in the chassis (9), characterized in that vibrations in the cabin (8) of the vehicle (1) are calculated on the basis of the determined vibrations in the chassis (9) with the aid of a multi-body model of the vehicle (1) in the electronic control unit (7) and are used to calibrate sensor measurements of the sensors arranged on the cabin (8) and to compensate for their vibrations.

2. Method for vibration calibration and vibration compensation of a sensor system of a vehicle (1), wherein the sensor system is designed as an environmental sensor system and comprises one or more sensors in or on a cabin (8) of the vehicle (1), which are connected to an electronic control unit (7), wherein the environmental sensor system records a roadway (10) located in front of the vehicle (1) in the direction of travel (F) and sends the data obtained to the electronic control unit (7), which calculates a roadway profile on this basis, characterized in that the electronic control unit (7) calculates, based on the roadway profile, expected future vibrations in a chassis (9) of the vehicle (1), wherein the electronic control unit (7) calculates, with the aid of a multi-body model of the vehicle (1), vibrations in the cabin (8) resulting from the expected vibrations in the chassis (9), which used to calibrate sensor measurements of the sensors arranged on the cabin (8) and to compensate for their vibrations.

3. Method according to claim 2, characterized in that the electronic control unit (7) calculates the vibrations in the cabin (8) resulting from the expected vibrations in the chassis (9) taking into account a previous or current state, in particular vibration state, of the cabin (8).

4. Method according to one of the preceding claims, characterized in that a further inertial measuring unit (6.2) is arranged in or on the cabin (8), which is used to calibrate the multi-body model.

5. Method according to one of claims 2 or 3, characterized in that the inertial measuring unit (6.1) or a further inertial measuring unit (6.2) arranged in or on the cabin (8) is used to calibrate the prediction of the vibrations.

6. Method according to one of the preceding claims, characterized in that the sensor system comprises at least one lidar sensor (2) and / or at least one camera (3) and / or at least one radar sensor (4) and / or at least one ultrasonic sensor (5).

7. Vehicle (1) comprising a sensor system comprising one or more sensors in or on a cabin (8) of the vehicle (1) which are connected to an electronic control unit (7), wherein an inertial measuring unit (6.1) is arranged on a chassis (9) of the vehicle (1) and is connected to the electronic control unit (7), characterized in that the vehicle is configured to carry out the method according to one of the preceding claims.

8. Vehicle (1) according to claim 7, characterized in that the vehicle (1) is designed as a commercial vehicle.

9. Vehicle (1) according to claim 7 or 8, characterized in that the vehicle (1) is designed as an automated vehicle.

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