Method and devices for aligning a three-dimensional reflector

Abstract

The invention relates to a method for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), the method comprising: attaching a pointer device (50) on the three-dimensional reflector (32); mounting the reflector (32) on a stand (30) and, with the aid of the pointer device (50), aligning it in terms of height with respect to a sensor (8) which is to be calibrated and which is installed in a motor vehicle (4); attaching a reflector-adapter device (40) in a predefined position and alignment on a calibration device (10); arranging the calibration device (10) in a predefined position and alignment in front of the motor vehicle (4) in which the sensor (8) is installed; and positioning the stand (30) on which the three-dimensional reflector (32) is mounted at the reflector-adapter device (40) in such a way that at least one reference surface (36a, 36b) of the stand (30) is aligned vis-à-vis at least one corresponding reference surface (46a, 46b) of the reflector-adapter device (40).

Description

[0001] Description

[0002] title

[0003] Methods and devices for aligning a three-dimensional reflector

[0004] The invention relates to methods for aligning a three-dimensional reflector provided for calibrating a sensor of a driver assistance system. The invention also relates to a pointer device for aligning the three-dimensional reflector with respect to a motor vehicle and a reflector adapter device for aligning the three-dimensional reflector with respect to a calibration tool provided for calibrating driver assistance systems.

[0005] State of the art

[0006] For calibrating driver assistance systems, such as those frequently installed in motor vehicles, calibration devices with one or more measuring panels ("calibration panels") are used, particularly in workshops. Each calibration panel has at least one optical pattern formed on it, which can be optically captured by an image recording device of a driver assistance system to be calibrated in order to calibrate the driver assistance system. Radar reflector plates can also be provided, which enable the calibration of radar sensors.

[0007] Some manufacturers require the use of three-dimensional reflectors ("triple reflectors") to calibrate their radar sensors or driver assistance systems. Currently, special devices are required to correctly position such three-dimensional reflectors in front of the vehicle.

[0008] It is an object of the invention to simplify the use of three-dimensional reflectors ("triple reflectors") for calibrating driver assistance systems.

[0009] Disclosure of the invention

[0010] A method according to the invention for aligning a three-dimensional reflector ("triple reflector") intended for calibrating a sensor of a driver assistance system comprises: attaching a pointer device to the three-dimensional reflector; mounting the reflector on a tripod and, with the aid of the pointer device, aligning its height with a sensor to be calibrated, which is installed in a motor vehicle; attaching a reflector adapter device in a predetermined position and orientation to a calibration device; arranging the calibration device in a predetermined position and orientation in front of the motor vehicle in which the sensor is installed; and positioning the tripod on which the three-dimensional reflector is mounted on the reflector adapter device such that at least one reference surface of the tripod is aligned with at least one corresponding reference surface of the reflector adapter device.

[0011] The at least one reference surface of the tripod can in particular rest on the at least one corresponding reference surface of the reflector adapter device.

[0012] After the three-dimensional reflector has been aligned according to the invention, the pointing device and the calibration device are removed in order not to negatively influence the subsequent calibration.

[0013] The invention also encompasses a pointer device for aligning a three-dimensional reflector provided for calibrating a sensor of a driver assistance system. The pointer device comprises a reference surface intended to bear against a corresponding surface of the three-dimensional reflector; a pointer extending away from the reference surface; and at least one support surface designed to support the pointer device on the reflector. The pointer can, in particular, be rod-shaped and / or oriented orthogonally to the reference surface.

[0014] The invention further comprises a reflector adapter device for aligning a three-dimensional reflector, which is provided for calibrating a sensor of a driver assistance system, with respect to a calibration device. The reflector adapter device comprises at least one reference surface, which is designed to align a corresponding reference surface of a three-dimensional reflector or a stand for a three-dimensional reflector; and a fastening region, which is designed to fasten the reflector adapter device to the calibration device.

[0015] The invention also encompasses a system for aligning a three-dimensional reflector provided for calibrating a sensor of a driver assistance system. The system comprises a stand for supporting the three-dimensional reflector; a pointer device according to the invention; an adapter device according to the invention; a calibration device configured to support the adapter device; and a measuring and alignment system that allows the calibration device to be arranged in a predetermined position and orientation in front of a motor vehicle.

[0016] The invention makes it possible to align a three-dimensional reflector in front of a motor vehicle using a standard calibration device, such as those used to align conventional two-dimensional reflectors. Therefore, no additional calibration device specifically designed and configured for aligning the three-dimensional reflector is required. This minimizes the effort and cost of using three-dimensional reflectors to calibrate motor vehicle sensors.

[0017] In one embodiment of a pointing device according to the invention, the at least one support surface is oriented at an angle, in particular at a right angle, to the reference surface. With such a support surface, the pointing device can be particularly well attached to a three-dimensional reflector.

[0018] In one embodiment, an opening for accommodating a portion of the three-dimensional reflector is formed between the at least one support surface and the reference surface of the pointing device. This allows the pointing device to be particularly well attached to a three-dimensional reflector. The opening can, in particular, be slit-shaped.

[0019] In one embodiment, the fastening region of the reflector adapter device has a fastening surface designed for fastening to the calibration device. The fastening surface can, in particular, be aligned orthogonally to the at least one reference surface. In one embodiment, the fastening region or the fastening surface is magnetic and / or provided with magnets, so that the reflector adapter device can be magnetically fastened to the calibration device. In this way, the reflector adapter device can be attached to the calibration device particularly easily and securely, yet detachably.

[0020] In one embodiment, the reflector adapter device has a connecting region extending between the fastening region and the at least one reference surface. The connecting region can, in particular, be formed with a grid structure in order to keep the weight of the reflector adapter device as low as possible.

[0021] The reflector adapter device can be made of plastic or metal, in particular of a bent or folded metal sheet.

[0022] In one embodiment, the reflector adapter device has two reference surfaces designed to align corresponding reference surfaces of a three-dimensional reflector and / or a stand for a three-dimensional reflector. The two reference surfaces can, in particular, be aligned orthogonally to each other. In this way, the three-dimensional reflector can be positioned precisely in two dimensions on the floor of the measuring station.

[0023] Short description of the characters

[0024] Figure 1 shows a schematic representation of a top view of a measuring station with a motor vehicle and a calibration device.

[0025] Figure 2 shows a perspective front view of a calibration device for calibrating sensors of driver assistance systems and a tripod with a three-dimensional reflector.

[0026] Figure 3 shows a perspective view of a reflector adapter device constructed according to an embodiment of the invention. Figures 4 and 5 each show an enlarged view of the interaction between a reflector adapter device according to the invention and the tripod.

[0027] Figure 6 shows a perspective view of a pointing device according to the invention.

[0028] Figure 7 shows a three-dimensional reflector to which a pointing device according to the invention is attached.

[0029] Character description

[0030] Figure 1 shows a schematic plan view of a measuring station 2 with a motor vehicle 4 equipped with a driver assistance system 6. The driver assistance system 6 has at least one sensor 8. The sensor 8 can be, for example, an image recording device (camera) and / or a radar sensor.

[0031] A calibration device (“calibration tool”) 10 is positioned in front of the motor vehicle 4.

[0032] The calibration device 10 shown in Figure 1 comprises a central calibration panel 12 and / or two lateral calibration panels 11 a, 11 b on which optical patterns are formed that can be detected by optical sensors.

[0033] With the aid of measuring devices, e.g., measuring heads 7a, 7b, which have optical sensors 9a, 9b and which can be mounted, for example, on the rear wheels 5 of the motor vehicle 4, the position and orientation of the calibration device 10 with respect to the motor vehicle 4 can be determined. In this way, the calibration device 10 can be positioned in a predetermined position and orientation in front of the motor vehicle 4. The calibration device 10 is typically aligned orthogonally to the longitudinal axis F of the motor vehicle 4 and arranged at a predetermined distance d in front of the motor vehicle 4.

[0034] Figure 2 shows a perspective front view of the calibration device 10. The calibration panels 11 a, 11 b, 12 are not shown in Figure 2, since they are not required for the inventive use of the calibration device 10. The calibration device 10 comprises a column 18 supported on a base 14, which extends substantially in the vertical direction.

[0035] The base 14 has a base plate 15 which is essentially horizontally aligned.

[0036] On the underside of the base plate 15 facing the floor, rollers 16 are mounted which enable the calibration device 10 to be moved on the floor of the measuring station 2.

[0037] In the rear area shown in Figure 2, two adjustable feet 17 are provided. These allow the base plate 15 to be leveled so that it is aligned horizontally, or the base plate 15 to be leveled so that the column 18 is aligned as vertically as possible. Only one of the two feet 17 is visible in Figure 2.

[0038] On the side of the column 18 facing the motor vehicle 4, a spacer plate 13 is attached, which can be brought into contact with the front of a motor vehicle 4 in order to align the calibration device 10 as precisely as possible with the motor vehicle 4. For the use of the calibration device 10 according to the invention, the spacer plate 13 is not required.

[0039] A support device 20 is supported on the column 18 such that the support device 20 can be displaced vertically along the column 18. The support device 20 can be fixed, e.g., by means of a clamping device, at various positions along the column 18, ie, at different heights above the floor of the measuring station 2.

[0040] The support device 20 supports a beam-shaped support 22 which extends substantially orthogonally to the column 18, ie substantially in the horizontal direction.

[0041] Sensors (e.g., spirit levels) not shown in Figure 2 may be provided on the support 22, which allow the support 22 to be aligned horizontally as precisely as possible. Several holding devices 24 are formed on the support 22, which allow at least one calibration panel 12 (not shown in Figure 2) to be attached to the support 22. The holding devices 24 may be movable along the support 22.

[0042] The holding devices 24 and the at least one calibration board 12 can, for example, be designed such that the at least one calibration board 12 can be fixed to one of the holding devices 24 by magnetic force.

[0043] By moving the support device 20 along the column 18, the height of the support 22 and thus also the height of the calibration panels 12 attached to the support 22 above the floor of the measuring station 2 can be changed and adjusted to a desired value. By moving the holding devices 24 along the support 22, the positions of the calibration panels 12 attached to the support 22 can be changed in the horizontal direction.

[0044] Image recording devices 29 or camera modules can also be provided on or in the carrier 22, which are designed to record images of a motor vehicle 4 arranged in front of the calibration device 10 in order to be able to determine the position of the calibration device 10 with respect to the motor vehicle 4.

[0045] In particular, two image recording devices 29 or camera modules can be provided, which are arranged on different sides of the column 18 on the support 22 and which in this way make it possible to record a three-dimensional image of a motor vehicle 4 arranged in front of the calibration device 10.

[0046] With the aid of such image recording devices 29, it can be determined mechanically and automatically whether the calibration device 10 is positioned in the correct orientation and position in front of the motor vehicle 4.

[0047] A tension spring (not visible in Figure 2) may be provided in or on the column 18. This tension spring is mechanically connected to the support device 20 to assist the movement of the support device 20 along the column 18, in particular an upward movement of the support device 20 against gravity. The support device 20 can be fixed to the column 18 at a desired position or height by a clamping device.

[0048] A frame 21 is also attached to the column 18, which simplifies the handling of the calibration device 10

[0049] A measuring ruler 23 is attached to the frame 21 and extends substantially parallel to the column 18 and orthogonal to the floor of the measuring station 2. The measuring ruler 23 allows the height of the support device 20 to be read along the column 18 and adjusted to a desired value with high accuracy.

[0050] A shelf 25 is also attached to the frame 21, which extends horizontally substantially parallel to the floor of the measuring station 2.

[0051] For example, a computer, in particular a laptop, which is used to calibrate the driver assistance system 6, can be placed on the shelf 25.

[0052] The calibration device 10 shown in Figure 2 is shown only as an example. Instead of the calibration device 10 shown in Figure 2, other calibration devices 10 can also be used if they allow a reflector adapter device 40 to be attached to the calibration device 10.

[0053] In front of the calibration device 10, a tripod 30 is placed, to which a three-dimensional reflector ("3D reflector") 32 is attached.

[0054] The tripod 30 has a base 34 placed on the floor of the measuring station 2 and a column 36 extending vertically upward from the base 34. The three-dimensional reflector 32 is attached to the column 36 in a height-adjustable manner by a clamping device 38.

[0055] The base 34 can comprise a plurality of parallel discs 34a, 34b which can be easily displaced relative to one another, e.g. by means of sliding foils arranged between the discs 34a, 34b, which are not visible in Figure 2, so that the column 36 can be easily aligned relative to the base 34 of the stand 30. A reflector adapter device 40 is attached to one of the holding devices 24 of the calibration device 10, which allows the stand 30 and thus also the three-dimensional reflector 32 attached to the stand 30 to be positioned with respect to the calibration device 10 on the floor of the measuring station 2.

[0056] The reflector adapter device 40 can be attached mechanically, e.g. by a clamp or screw connection, or magnetically, to the holding device 24 of the calibration device 10.

[0057] Figure 3 shows a perspective view of a reflector adapter device 40 constructed according to an embodiment of the invention. Figures 4 and 5 show, in an enlarged view, the interaction between the reflector adapter device 40 and the column 36 of the tripod 30 for aligning the tripod 30 relative to the reflector adapter device 40.

[0058] The reflector adapter device 40 has a fastening area 42 shown on the right in Figure 3 and a reference area 44 shown on the left.

[0059] A connecting region 48 extends between the fastening region 42 and the reference region 44, connecting the fastening region 42 and the reference region 44. In the exemplary embodiment shown in the figures, the connecting region 48 is designed as a lattice structure in order to reduce the weight of the reflector adapter device 40.

[0060] The reflector adapter device 40 can be made of plastic or metal, for example from folded sheet metal.

[0061] The fastening area 42 is designed to be fastened, e.g., by magnetic force, to one of the holding devices 24 of the calibration device 10. In the exemplary embodiment shown in the figures, the fastening area 42 is designed as a connecting plate.

[0062] The reference region 44 is intended to interact with the column 36 of the stand 30 in order to align the stand 30 relative to the calibration device 10 on the floor of the measuring station 2, as shown in Figures 2, 4, and 5. For this purpose, the reference region 44 has two reference surfaces 46a, 46b that are aligned at right angles to one another. To align the stand 30 relative to the calibration device 10, the stand 30 is arranged such that two side surfaces 36a, 36b of the column 36 of the stand 30 are aligned parallel to the two reference surfaces 46a, 46b or abut the two reference surfaces 46a, 46b, as shown in particular in Figures 4 and 5.

[0063] In order to arrange the tripod 30 with the three-dimensional reflector 32 at a predetermined position in front of the motor vehicle 4, the height of the three-dimensional reflector 32 on the column 36 of the tripod 30 is first set to a desired value, which is usually specified by the manufacturer of the sensor 8 to be calibrated.

[0064] In order to be able to correctly adjust the height of the three-dimensional reflector 32, a pointing device 50 is provided, which is temporarily attached to the three-dimensional reflector 32 for adjusting the height of the three-dimensional reflector 32.

[0065] A perspective view of a pointing device 50 constructed according to an embodiment of the invention is shown in Figure 6. Figure 7 shows a three-dimensional reflector 32 to which a pointing device 50 according to the invention is attached.

[0066] The pointing device 50 has a reference surface 52 or reference plate which is intended to bear against a corresponding surface of the three-dimensional reflector 32 when the pointing device 50 is attached to the three-dimensional reflector 32, as shown in Figure 7.

[0067] The pointing device 50 also has a rod-shaped pointer 54 extending from the reference surface 52. The pointer 54 extends, in particular, orthogonally to the reference surface 52.

[0068] The pointing device 50 further has a support surface 56 designed to support the pointing device 50 on the three-dimensional reflector 32. In the exemplary embodiment shown in the figures, the support surface 56 is oriented substantially orthogonally to the reference surface 52. An opening 58, for example a gap, is formed between the support surface 56 and the reference surface 52. To attach the pointing device 50 to the three-dimensional reflector 32, a portion of the three-dimensional reflector 32 is inserted into the opening 58, as shown in Figure 7.

[0069] In further embodiments not explicitly shown in the figures, the pointing device 50 can also be attached and temporarily fixed to the three-dimensional reflector 32 in another way, e.g. magnetically.

[0070] After the pointer device 50 has been attached to the three-dimensional reflector 32, the height of the three-dimensional reflector 32 on the column 36 is adjusted by means of the clamping device 38 so that the pointer 54 is arranged at a predetermined height with respect to the motor vehicle 4, e.g. at the height of the manufacturer's logo, the center of the radar sensor, or another marking provided on the motor vehicle 4.

[0071] After the height of the three-dimensional reflector 32 has been adjusted, the pointing device 50 is removed from the three-dimensional reflector 32.

[0072] In order to position the tripod 30 at a predetermined position on the floor of the measuring station 2, the calibration device 10 is positioned at a predetermined position and in a predetermined orientation in front of the motor vehicle 4 using known means, e.g., with the aid of measuring heads 7a, 7b attached to the motor vehicle 4 or with the aid of image recording devices 29 provided on the calibration device 10.

[0073] One of the holding devices 24 of the calibration device 10 is brought into a predetermined position on the carrier 22, and the connecting region 48 of the reflector adapter device 40 is attached to the holding device 24.

[0074] The support 22 is raised to a suitable height, for example, between 80 cm and 100 cm above the floor of the measuring station 2. The column 36 of the stand 30 is then positioned at the reference area 44 of the reflector adapter device 40 and aligned with the reference surfaces 46a, 46b of the reflector adapter device 40, as shown in Figures 2, 4, and 5.

[0075] After the tripod 30 with the three-dimensional reflector 32 has been positioned in the correct position on the floor of the measuring station 2, the calibration device 10 with the reflector adapter device 40 is removed from the tripod 30.

[0076] The removal of the calibration device 10 is particularly necessary if the three-dimensional reflector 32 is to be used to calibrate radar sensors, since the metallic parts of the calibration device 10 can interfere with the calibration of radar sensors.

[0077] A reflector adapter device 40 according to the invention and a pointer device 50 according to the invention enable a three-dimensional reflector 32 to be aligned using a conventional calibration device 10. Therefore, no additional calibration device specifically designed and configured for aligning the three-dimensional reflector 32 is required.

[0078] A reflector adapter device 40 according to the invention and a pointer device 50 according to the invention therefore make it possible to keep the effort and costs for using a three-dimensional reflector 32 low.

Claims

1 . A method for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), the method comprising: attaching a pointer device (50) to the three-dimensional reflector (32); mounting the reflector (32) on a tripod (30) and, with the aid of the pointer device (50), aligning the height of the reflector to a sensor (8) to be calibrated, which sensor is installed in a motor vehicle (4); attaching a reflector adapter device (40) in a predetermined position and orientation to a calibration device (10); arranging the calibration device (10) in a predetermined position and orientation in front of the motor vehicle (4) in which the sensor (8) is installed;and to position the tripod (30) on which the three-dimensional reflector (32) is mounted on the reflector adapter device (40) such that at least one reference surface (36a, 36b) of the tripod (30) is aligned with at least one corresponding reference surface (46a, 46b) of the reflector adapter device (40); 2. Pointing device (50) for aligning a three-dimensional reflector (32) which is provided for calibrating a sensor (8) of a driver assistance system (6), wherein the pointing device (50) comprises: a reference surface (52) which is provided to bear against a corresponding surface of the three-dimensional reflector (32); a pointer (54) extending away from the reference surface (52), wherein the pointer (54) extends in particular orthogonally to the reference surface (52); and at least one support surface (56) configured to support the pointer device (50) on the reflector (32).

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

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

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

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

7. Reflector adapter device (40) according to claim 5 or 6, wherein the fastening region (42) is designed for magnetic fastening to the calibration device (10).

8. Reflector adapter device (40) according to one of claims 5 to 7 with a connecting region (48) which extends between the fastening region and the at least one reference surface, wherein the connecting region (48) is formed in particular with a grid structure.

9. Reflector adapter device (40) according to one of claims 5 to 8 with two reference surfaces (46a, 46b) which are designed to align corresponding reference surfaces (36a, 36b) of a three-dimensional reflector (32) and / or a stand (30) for a three-dimensional reflector (32), wherein the two reference surfaces (46a, 46b) are aligned in particular orthogonally to one another.

10. A system for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), the system comprising: a stand (30) for supporting the three-dimensional reflector (32); a pointer device (50) according to one of claims 2 to 4; a reflector adapter device (40) according to one of claims 5 to 9; a calibration device (10) designed to support the reflector adapter device (40), and at least one measuring and alignment system (7a, 7b) that enables the calibration device (10) to be positioned in a predetermined position and orientation in front of a motor vehicle (4).

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