Method and apparatus for aligning a three-dimensional reflector

Abstract

A method for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), the method comprising: attaching a pointer device (50) to the three-dimensional reflector (32); assembling the reflector (32) on a stand (30) and aligning the reflector (32) with the sensor (8) to be calibrated, which is installed in a motor vehicle (4), using the pointer device (50) in terms of height; and inserting a reflector adapter device (40) into a calibration device (8) at a set position and orientation. and positioning a stand (30) having a three-dimensional reflector (32) assembled thereto in a reflector adapter device (40) such that at least one reference surface (36a, 36b) of the stand (30) is aligned with at least one corresponding reference surface (46a, 46b) of the reflector adapter device (40).

Description

[Technical Field]

[0001] The present invention relates to a method for aligning a three-dimensional reflector provided for calibrating sensors of a driver assistance system, and further to a pointer device for aligning the three-dimensional reflector with respect to a motor vehicle, as well as a reflector adapter device for aligning the three-dimensional reflector with a calibration tool provided for calibrating a driver assistance system.

[0002] Conventional technology To calibrate driver assistance systems, which are often integrated into motor vehicles, calibration devices with one or more measurement panels ("calibration panels") are used, particularly in the factory. Each calibration panel is provided with at least one optical pattern that can be optically detected by the imaging device of the driver assistance system to be calibrated, thereby allowing the driver assistance system to be calibrated. It is also possible to provide radar reflector plates that allow for the calibration of radar sensors.

[0003] Some manufacturers require the use of three-dimensional reflectors ("triplet reflectors") for the calibration of radar sensors or driver assistance systems. Traditionally, special equipment is required to accurately position such three-dimensional reflectors in front of the vehicle.

[0004] The object of the present invention is to facilitate the use of three-dimensional reflectors ("triplet reflectors") for calibrating driver assistance systems.

[0005] Disclosure of the Invention A method for aligning a three-dimensional reflector ("triplet reflector") provided for calibrating a sensor of a driver assistance system according to the present invention comprises attaching a pointer device to the three-dimensional reflector, assembling the reflector on a stand and aligning it in height with the sensor to be calibrated which is installed in a motor vehicle using the pointer device, attaching a reflector adapter device to the calibration device at a set position and orientation, placing the calibration device in front of the motor vehicle in which the sensor is installed at a set position and orientation, and positioning the stand to which the three-dimensional reflector is assembled such that at least one reference surface of the stand is aligned with at least one corresponding reference surface of the reflector adapter device.

[0006] At least one reference surface of the stand can here in particular abut against at least one corresponding reference surface of the reflector adapter device.

[0007] After the three-dimensional reflector has been aligned in accordance with the present invention, the pointer device and calibration apparatus are removed so as not to negatively affect subsequent calibrations.

[0008] The present invention also includes a pointer device for aligning a three-dimensional reflector provided for calibrating a sensor of a driver assistance system, the pointer device having a reference surface provided to abut against a corresponding surface of the three-dimensional reflector, a pointer extending in a direction away from the reference surface, and at least one support surface configured to support the pointer device on the reflector, the pointer being particularly rod-shaped and / or alignable perpendicular to the reference surface.

[0009] The invention further includes a reflector adapter device for aligning a three-dimensional reflector provided for calibrating a sensor of a driver assistance system with a calibration device, the reflector adapter device having at least one reference surface configured for aligning a corresponding reference surface of the three-dimensional reflector or a stand for the three-dimensional reflector, and a fixing area configured for fixing the reflector adapter device to the calibration device.

[0010] The invention also includes a system for aligning a three-dimensional reflector provided for calibrating a sensor of a driver assistance system, the system comprising: 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 at least one measurement and alignment system allowing the calibration device to be positioned in a set position and orientation in front of the motor vehicle.

[0011] According to the present invention, a three-dimensional reflector can be aligned to the front of a vehicle using a standard calibration device, such as that used for aligning a conventional two-dimensional reflector. Therefore, an additional calibration device specially provided and configured for aligning the three-dimensional reflector is not required. In this way, the effort and cost involved in using a three-dimensional reflector to calibrate a vehicle sensor can be reduced.

[0012] In one embodiment of the pointer device according to the invention, at least one support surface is aligned at an angle, in particular perpendicularly, to the reference plane, such that the pointer device can be attached particularly well to the three-dimensional reflector.

[0013] In one embodiment, an opening for receiving a predetermined area of ​​the three-dimensional reflector is formed between the at least one support surface and the reference surface of the pointer device, which allows for particularly good attachment of the pointer device to the three-dimensional reflector. The opening can be particularly slit-shaped.

[0014] In one embodiment, the fixing region of the reflector adapter device has a fixing surface configured for fixing in the calibration device, which fixing surface is particularly positionable orthogonally to at least one reference plane.

[0015] In one embodiment, the fixing area or surface is magnetically shaped and / or comprises a magnet, which allows the reflector adapter device to be magnetically fixed to the calibration device, thereby allowing the reflector adapter device to be fixed to the calibration device in a particularly simple, reliable and removably manner.

[0016] In one embodiment, the reflector adapter device has a region extending between the fixing region and the at least one reference surface, which connection region can be formed in particular with a grid structure in order to keep the weight of the reflector adapter device as low as possible.

[0017] The reflector adapter device can be made from plastic or metal, in particular from bent or folded sheet metal.

[0018] In one embodiment, the reflector adapter device has two reference surfaces formed for aligning corresponding reference surfaces of the three-dimensional reflector and / or the stand for the three-dimensional reflector. The two reference surfaces can be aligned, in particular perpendicular to each other. In this way, the three-dimensional reflector can be positioned accurately in two dimensions on the floor of the measurement space. [Brief explanation of the drawings]

[0019] [Figure 1] 1 shows a schematic diagram of a measurement space with a motor vehicle and a calibration device viewed from above. [Figure 2] 1 is a perspective front view showing a calibration device for calibrating a sensor of a driver assistance system and a stand equipped with a three-dimensional reflector. FIG. [Figure 3] 1 is a perspective view of a reflector adapter device constructed in accordance with one embodiment of the present invention; [Figure 4] 10A and 10B are enlarged views showing the respective cooperation of the reflector adapter device and the stand according to the present invention; [Figure 5] 10A and 10B are enlarged views showing the respective cooperation of the reflector adapter device and the stand according to the present invention; [Figure 6] 1 is a perspective view of a pointer device according to the present invention; [Figure 7] 1 shows a three-dimensional reflector with a pointer device attached thereto according to the present invention;

[0020] Text description of the illustration image022.gif. 1 shows a schematic top view of a measurement space 2 including a motor vehicle 4 equipped with a driver assistance system 6. The driver assistance system 6 comprises at least one sensor 8. The sensor 8 can be, for example, an imaging device (camera) and / or a radar sensor.

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

[0022] The calibration device 10 shown in FIG. 1 includes a central calibration panel 12 and / or two side calibration panels 11a, 11b, which have optical patterns formed thereon that are detectable by optical sensors.

[0023] Measuring devices, e.g., measuring heads 7a, 7b, which have optical sensors 9a, 9b and which may be attached, for example, to the rear wheels 5 of the vehicle 4, can be used to determine the position and orientation of the calibration device 10 relative to the vehicle 4. In this way, the calibration device 10 can be positioned in a set position and orientation in front of the vehicle 4. The calibration device 10 is typically aligned perpendicular to the longitudinal axis F of the vehicle 4 and is positioned a set distance d in front of the vehicle 4.

[0024] Figure 2 shows a perspective front view of calibration device 10. Calibration panels 11a, 11b, and 12 are not shown in Figure 2 because they are not required for use of calibration device 10 in accordance with the present invention.

[0025] Calibration device 10 includes a post 18 supported on legs 14, with post 18 extending substantially vertically.

[0026] The legs 14 have a bottom plate 15 that is aligned substantially horizontally.

[0027] Rollers 16 are attached to the underside of the bottom plate 15 facing the floor, and these rollers 16 allow the calibration device 10 to move on the floor of the measurement space 2.

[0028] In the rear or rear region of the illustration in Figure 2, two adjustable adjustment feet 17 are provided, which can level the bottom plate 15 so that it is aligned horizontally or so that the support columns 18 are aligned as vertically as possible. Only one of the two adjustment feet 17 is shown in Figure 2.

[0029] On the side of the support 18 facing the vehicle 4, a spacer shim 13 is attached, which is brought into contact with the front of the vehicle 4, thereby enabling the calibration device 10 to be aligned as accurately as possible with respect to the vehicle 4. The spacer shim 13 is not necessary when using the calibration device 10 according to the invention.

[0030] A support device 20 is supported on the support column 18 so that it can be displaced vertically along the support column 18. The support device 20 can be fixed at different positions along the support column 18, i.e. at different heights above the floor of the measurement space 2, for example by means of a clamping device.

[0031] The support device 20 supports a beam-like support 22, which extends substantially perpendicular to the support columns 18, i.e., substantially horizontally.

[0032] The support 22 may be provided with a sensor (for example a "level") not shown in FIG. 2, which makes it possible to level the support 22 as accurately as possible.

[0033] The support 22 is formed with a plurality of holding devices 24 by which at least one calibration panel 12 (not shown in FIG. 2) can be attached to the support 22. The holding devices 24 may be displaceable along the support 22.

[0034] The holding devices 24 and the at least one calibration panel 12 can be configured, for example, such that the at least one calibration panel 12 can be fixed in position on one of the holding devices 24 by magnetic forces.

[0035] By displacing the support device 20 along the support 18, the height of the support 22 above the floor of the measurement space 2, and thus the height of the calibration panel 12 attached to the support 22, can be varied and adjusted to a desired value. By displacing the holding device 24 along the support 22, the position of the calibration panel 12 attached to the support 22 can also be varied horizontally.

[0036] An imaging device 29 or camera module may also be provided adjacent to or within the support 22, configured to capture images of the vehicle 4 located in front of the calibration device 10 and determine the position of the calibration device 10 relative to the vehicle 4.

[0037] In particular, two imaging devices 29 or camera modules may be provided, which are arranged on the support 22 on different sides of the support 18, so that a three-dimensional image of the vehicle 4 located in front of the calibration device 10 can be captured.

[0038] By using such an imaging device 29, it is possible to mechanically and automatically determine whether the calibration device 10 is positioned in the correct orientation and position in front of the vehicle 4.

[0039] A tension spring, not visible in FIG. 2, may be provided within or adjacent to the support column 18 and mechanically coupled to the support device 20, thereby assisting the displacement of the support device 20 along the support column 18, particularly the upward movement of the support device 20 in a direction against gravity.

[0040] The support device 20 can be fixed in place on the support post 18 at a desired position or height by a clamping device.

[0041] A frame 21 is also attached to the support 18, which allows the calibration device 10 to be easily handled.

[0042] A measuring gauge 23 is attached to the frame 21 and extends perpendicular to the floor of the measurement space 2 and substantially parallel to the support columns 18. The measuring gauge 23 reads out the height of the support device 20 along the support columns 18 and makes it possible to adjust it to the desired value with high precision.

[0043] A rest 25 is also attached to the frame 21, which extends horizontally substantially parallel to the floor of the measurement space 2.

[0044] On said rest 25 it is possible to place, for example, a computer, in particular a laptop, which is used during the calibration of the driver assistance system 6 .

[0045] The calibration device 10 shown in Figure 2 is shown by way of example only, and other calibration devices 10 may be used in place of the calibration device 10 shown in Figure 2, provided that the reflector adapter device 40 can be attached to the calibration device 10.

[0046] A stand 30 is positioned in front of the calibration device 10, and a three-dimensional reflector ("3D reflector") 32 is attached to the stand 30.

[0047] The stand 30 has legs 34 placed on the floor of the measurement space 2 and a support 36 extending vertically upward from the legs 34. The three-dimensional reflector 32 is attached to the support 36 by a clamp device 38 so that its height can be adjusted.

[0048] The leg 34 may include a plurality of disks 34a, 34b arranged parallel to one another, and these disks 34a, 34b may be easily displaceable relative to one another, for example, by a slide film arranged between the disks 34a, 34b, which is not visible in FIG. 2, so that the support 36 can be easily aligned with the leg 34 of the stand 30.

[0049] A reflector adapter device 40 is attached to one of the holding devices 24 of the calibration device 10, and this reflector adapter device 40 allows the stand 30 and, in turn, the three-dimensional reflector 32 attached to the stand 30 to be positioned on the floor of the measurement space 2 relative to the calibration device 10.

[0050] The reflector adapter device 40 can be secured to the holding device 24 of the calibration device 10 mechanically, for example by a clamping or screw connection, or magnetically.

[0051] Figure 3 shows a perspective view of a reflector adapter apparatus 40 formed in accordance with one embodiment of the present invention. Figures 4 and 5 show, in enlarged view, the cooperation of reflector adapter apparatus 40 with posts 36 of stand 30, which allows stand 30 to be aligned relative to reflector adapter apparatus 40.

[0052] The reflector adapter device 40 has a fixing area 42 shown on the right side of FIG. 3 and a reference area 44 shown on the left side.

[0053] A connection area 48 extends between the fixing area 42 and the reference area 44, interconnecting the fixing area 42 and the reference area 44. In the illustrated embodiment, the connection area 48 is formed as a lattice structure in order to reduce the weight of the reflector adapter device 40.

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

[0055] The fastening area 42 is configured to be fastened, for example by magnetic forces, to one of the holding devices 24 of the calibration device 10. In the illustrated embodiment, the fastening area 42 is formed as a connecting plate.

[0056] The reference area 44 is configured to cooperate with the support posts 36 of the stand 30 to align the stand 30 with the calibration device 10 on the floor of the measurement space 2 as shown in Figures 2, 4 and 5.

[0057] To this end, the reference area 44 has two reference surfaces 46a, 46b aligned at right angles to one another. To align the stand 30 with the calibration device 10, the stand 30 is positioned so that the two side surfaces 36a, 36b of the support 36 of the stand 30 are aligned parallel to the two reference surfaces 46a, 46b, or abut against the two reference surfaces 46a, 46b, as shown in particular in Figures 4 and 5.

[0058] To position the stand 30 with the three-dimensional reflector 32 at a set position in front of the vehicle 4, first the height of the three-dimensional reflector 32 on the support 36 of the stand 30 is adjusted to a desired value, typically set by the manufacturer of the sensor 8 to be calibrated.

[0059] To enable the height of the three-dimensional reflector 32 to be adjusted precisely, a pointer device 50 is provided, which is temporarily attached to the three-dimensional reflector 32 to adjust the height of the three-dimensional reflector 32.

[0060] A perspective view of a pointer device 50 constructed in accordance with one embodiment of the present invention is shown in Figure 6. Figure 7 shows a three-dimensional reflector 32 having a pointer device 50 mounted thereon in accordance with the present invention.

[0061] The pointer device 50 has a reference surface 52 or plate that is arranged to abut against a corresponding surface of the three-dimensional reflector 32 when the pointer device 50 is attached to the three-dimensional reflector 32 as shown in FIG.

[0062] The pointer device 50 also includes a rod-shaped pointer 54 extending from the reference surface 52. The pointer 54 extends perpendicular to the reference surface 52.

[0063] The pointer device 50 further includes a support surface 56 configured to support the pointer device 50 in the three-dimensional reflector 32. In the illustrated embodiment, the support surface 56 is aligned substantially orthogonal to the reference surface 52.

[0064] An opening 58, e.g., a gap, is formed between the support surface 56 and the reference surface 52. To attach the pointer device 50 to the three-dimensional reflector 32, a predetermined area of ​​the three-dimensional reflector 32 is introduced into the opening 58, as shown in FIG.

[0065] In yet another embodiment not explicitly shown in the figures, the pointer device 50 can be attached and temporarily fixed to the three-dimensional reflector 32 in other ways, for example magnetically.

[0066] After the pointer device 50 is attached to the three-dimensional reflector 32, the height of the three-dimensional reflector 32 on the support 36 is adjusted using a clamping device 38 so that the pointer 54 is positioned at a set height relative to the automobile 4, for example at the height of the manufacturer's logo, or at the center of the radar sensor, or at the position of other markings on the automobile 4.

[0067] After the height of the three-dimensional reflector 32 is adjusted, the pointer device 50 is removed from the three-dimensional reflector 32 .

[0068] In order to position the stand 30 at a set position on the floor of the measurement space 2, the calibration device 10 is positioned in a set position and a set orientation in front of the vehicle 4 by known means, for example using measuring heads 7a, 7b attached to the vehicle 4 or using an imaging device 29 provided on the calibration device 10.

[0069] One of the holding devices 24 of the calibration device 10 is moved into a set position on the support 22 and the connection area 48 of the reflector adapter device 40 is attached to the holding device 24 .

[0070] The support 22 is moved to a suitable height, for example to a height in the range of 80 cm to 100 cm above the floor of the measurement space 2 .

[0071] The support post 36 of the stand 30 is then positioned in 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 FIGS.

[0072] After the stand 30 equipped with the three-dimensional reflector 32 has been positioned at the correct position on the floor of the measurement space 2 , the calibration device 10 equipped with the reflector adapter device 40 is removed from the stand 30 .

[0073] Removal of the calibration device 10 is necessary, especially when the three-dimensional reflector 32 is used to calibrate a radar sensor, because the metallic components of the calibration device 10 may compromise the calibration of the radar sensor.

[0074] The reflector adapter apparatus 40 according to the present invention and the pointer device 50 according to the present invention allow for alignment of the three-dimensional reflector 32 with the conventional calibration apparatus 10. Therefore, there is no need for an additional calibration apparatus specially provided and configured for aligning the three-dimensional reflector 32.

[0075] Therefore, the reflector adapter apparatus 40 according to the present invention and the pointer device 50 according to the present invention can reduce the effort and cost of using the three-dimensional reflector 32.

Claims

1. A method for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), comprising: Attaching a pointer device (50) to the three-dimensional reflector (32); Assembling the reflector (32) on a stand (30) and aligning it with respect to height using the pointer device (50) with a sensor (8) to be calibrated that is installed in a motor vehicle (4); Attaching a reflector adapter device (40) to the calibration device (10) at a set position and orientation; placing said calibration device (10) in a set position and orientation in front of a vehicle (4) in which said sensor (8) is installed; positioning the stand (30) with the three-dimensional reflector (32) assembled thereto on the reflector adapter device (40) such that at least one reference surface (36a, 36b) of the stand (30) is aligned with at least one corresponding reference surface (46a, 46b) of the reflector adapter device (40); A method comprising:

2. A pointer device (50) for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6), the pointer device (50) comprising: a reference surface (52) provided to abut against a corresponding surface of the three-dimensional reflector (32); a pointer (54) extending in a direction away from the reference surface (52), in particular extending perpendicularly to the reference surface (52); at least one support surface (56) configured to support the pointer device (50) on the reflector (32); A pointer device (50) comprising:

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

4. 4. The pointer device (50) according to claim 2 or 3, wherein an opening (58), in particular a slit-shaped opening (58), for accommodating a predetermined area of ​​the three-dimensional reflector (32) is formed between the at least one support surface (56) and the reference surface (52).

5. A reflector adapter device (40) for aligning a three-dimensional reflector (32) provided for calibrating a sensor (8) of a driver assistance system (6) with a calibration device (10), comprising: At least one reference surface (46a, 46b) formed for aligning a corresponding reference surface of the three-dimensional reflector (32) or a stand (30) for the three-dimensional reflector (32); a fixing area (42) formed for fixing the reflector adapter device (40) to the calibration device (10); A reflector adapter device (40) comprising:

6. 6. The reflector adapter device (40) of claim 5, wherein the fixing area (42) has a fixing surface that is aligned orthogonally to the at least one reference surface (46b).

7. 7. The reflector adapter device (40) of claim 5 or 6, wherein the fastening area (42) is configured to be magnetically fastened to the calibration device (10).

8. 8. The reflector adapter device (40) according to claim 5, wherein the reflector adapter device (40) has a connection area (48) extending between the fixing area and the at least one reference surface, the connection area (48) being formed in particular with a lattice structure.

9. 9. The reflector adapter device (40) according to claim 5, wherein the reflector adapter device (40) has two reference surfaces (46a, 46b) formed for aligning corresponding reference surfaces (36a, 36b) of the three-dimensional reflector (32) and / or the stand (30) for the three-dimensional reflector (32), the two reference surfaces (46a, 46b) being aligned in particular so as to be orthogonal to each other.

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

Images