Positioning Method

Abstract

To provide a technology for easily and accurately installing a target to a vehicle that is used for correcting an axis displacement amount of an onboard sensor.SOLUTION: There is provided a positioning method for installing a target 30 to a vehicle at a prescribed position. The positioning method places a linear first frame 10 against side faces of front and rear tires 2 of a vehicle 1 and installs the linear first frame so that a longitudinal direction of the first frame 10 is parallel to the side faces of the front and rear tires 2. Thereafter, the position of the first frame 10 is adjusted in the longitudinal direction using a jig so that a position of a center point 11 shown on the top face of the first frame 10 overlaps a position of a marker 12 shown at a prescribed position on the top face. Then, a linear second frame 20 is attached and connected to a prescribed position of the first frame 10 so that the longitudinal direction of the second frame 20 is perpendicular to the longitudinal direction of the first frame 10, and a board 40 that includes a target 30 for axis adjustment is attached to a prescribed position of the second frame 20.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a method for positioning a target used to correct axial misalignment of an on-vehicle sensor. [Background technology]

[0002] Patent Document 1 discloses a technique for adjusting the orientation of a PCS (Pre-Crash Safety) sensor mounted on a vehicle while observing the amount of misalignment of the PCS sensor. In this technique, a pointer irradiation tool equipped with multiple laser pointers is attached to the top of the PCS sensor, and the laser pointers emitted from the tool are projected onto a pointer projection screen placed above. Next, an image of the screen is captured by a pointer measurement camera placed above the screen, and the position information is analyzed. Then, the position information is compared with the position information of the PCS sensor mounted in the correct position displayed on the screen, and the amount of misalignment of the PCS sensor is confirmed. This makes it possible to easily and accurately adjust the axis of the PCS sensor without requiring a work area for performing the adjustment work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-122045 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in order to accurately grasp the amount of mounting misalignment (also referred to as axial misalignment) of an on-vehicle sensor, it is necessary to accurately install a target used to correct the amount of axial misalignment at a predetermined position from the vehicle.

[0005] In the technology of Patent Document 1, a case is considered in which a pointer projection screen (i.e., a target) is accurately installed at a predetermined position on a vehicle. In this case, work is performed including measurement to identify the center line of the vehicle, measurement to identify a perpendicular line to the center line, and position adjustment to install the target at a predetermined position from a reference position of the vehicle determined based on the center line and the perpendicular line. When performing these work, it is expected that a lot of time is required to install the target. Furthermore, if the target is installed at a position other than the predetermined position on the vehicle, correction based on an inappropriate amount of axial misalignment is performed, and there is a risk of inappropriate control being performed.

[0006] One object of the present disclosure is to provide a technique for simply and accurately installing a target, which is used to correct the amount of axial misalignment of an on-board sensor, on a vehicle. [Means for solving the problem]

[0007] The first aspect is a positioning method for installing an axis adjustment target used to correct an axial misalignment of an on-vehicle sensor at a predetermined position relative to the vehicle, and has the following features. The positioning method is A linear first frame is placed on the side of the front and rear tires of the vehicle so that the longitudinal direction of the first frame is parallel to the side of the front and rear tires; Using a jig that is detachably attached to the center of one of the tire wheels of the front and rear tires and that can indicate the center point of the tire wheel on the upper surface part of the first frame, positioning the center point of the tire wheel on the upper surface part of the first frame; Adjusting the position of the first frame in the longitudinal direction so that the position of the center point of the tire wheel and the position of a marker displayed at a predetermined position on the upper surface portion of the first frame overlap with each other; Attaching a linear second frame to a guide provided at a predetermined position of the first frame and connecting the first frame and the second frame so that the longitudinal direction of the second frame is perpendicular to the longitudinal direction of the first frame; connecting a board including a target for axis adjustment to a guide provided at a predetermined position of a second frame; Includes. Effect of the Invention

[0008] According to the first aspect, a first frame is placed at a predetermined position relative to a vehicle, and the position of the first frame is adjusted based on information obtained by using a jig. Then, a second frame is attached to the predetermined position of the first frame, and a board is attached to the predetermined position of the second frame. This makes it possible to correct the amount of axial misalignment of the on-board sensor by placing the target at a predetermined position relative to the vehicle. Therefore, the target can be easily and accurately placed on the vehicle. Furthermore, by accurately calculating the amount of axial misalignment of the on-board sensor, it becomes possible to improve the accuracy of correction of the amount of axial misalignment of the on-board sensor. [Brief description of the drawings]

[0009] [Figure 1] 1A and 1B are diagrams for explaining an overview of a positioning method according to an embodiment. [Diagram 2] 5A to 5C are explanatory diagrams for adjusting the position of a first frame in the positioning method according to the embodiment. [Diagram 3] 4 is a diagram showing an example of a configuration of a first frame in the positioning method according to the embodiment; FIG. [Figure 4] 1A to 1C are diagrams illustrating an example of the configuration of a jig in a positioning method according to an embodiment. [Diagram 5] 1A to 1C are diagrams illustrating an example of the configuration of a jig in a positioning method according to an embodiment. [Figure 6] 6A to 6C are diagrams illustrating an example of a position adjustment of a first frame in the positioning method according to the embodiment. [Figure 7] 11A and 11B are diagrams illustrating an example of connection of second frames in the positioning method according to the embodiment. [Figure 8] 1A to 1C are diagrams illustrating an example of mounting a board in a positioning method according to an embodiment. [Figure 9]13A to 13C are diagrams for explaining an overview of a positioning method according to a modified example of an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] A positioning method according to an embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0011] Embodiment 1. Overview Fig. 1 is a diagram for explaining an overview of a positioning method according to an embodiment. In the example shown in Fig. 1, a board 40 is installed at a position away from a vehicle 1, on which are displayed targets 30 for axis adjustment to correct an axis misalignment amount of an on-board sensor (camera, LiDAR, radar, etc.). There is no limit to the number of targets 30 displayed on the board 40. Furthermore, the targets 30 may have any shape and size that allows the sensor to recognize them.

[0012] When correcting the amount of axial misalignment of the on-board sensor, it is assumed that the vehicle 1 is parked on a flat place without any unevenness and the steering wheel of the vehicle 1 is straight. In this state, the amount of axial misalignment is calculated based on the recognition result of the target 30 by the on-board sensor, and correction is performed based on the amount of axial misalignment.

[0013] The axial misalignment includes a misalignment of the mounting position of the on-board sensor relative to the vehicle 1 (hereinafter also referred to as a first misalignment) and a misalignment of the mounting position of the target 30 relative to the vehicle 1 (hereinafter also referred to as a second misalignment). The mounting position is indicated, for example, in a coordinate system of the X direction, the Y direction, and the Z direction. The first and second misalignment amounts may include a misalignment of the mounting attitude of the sensor. The mounting attitude is indicated, for example, in a coordinate system of the Yaw direction, the Pitch direction, and the Roll direction.

[0014] Here, consider a case where correction is performed when the second deviation is large. In this case, it is difficult to determine whether the axial deviation is caused by either the first or second deviation, or by both the first and second deviations. In addition, since the first deviation differs from vehicle to vehicle, it is necessary to suppress the second deviation. In other words, it is required to install the target 30 at a predetermined position with respect to the vehicle 1.

[0015] Considering a method for suppressing the second amount of deviation, as shown in Fig. 1, a board 40 including a target 30 is fixed to a frame (the frame is composed of a first frame 10 and a second frame 20). In other words, since the board 40 and the above-mentioned frame are a structure having an integral shape, it is only necessary to adjust the position of either the structure or the vehicle 1 so that the structure and the vehicle 1 are disposed in a fixed position.

[0016] According to the positioning method of the present embodiment, the position of the structure is adjusted so that the structure is placed at a predetermined position relative to the vehicle 1. Specifically, the position of the first frame 10 included in the structure is adjusted so that the first frame 10 is placed at a predetermined position on the vehicle 1. Thereafter, the second frame 20 is attached to the first frame 10 at a predetermined position, and the board 40 is attached to the second frame 20 at a predetermined position.

[0017] In positioning the first frame 10, the first frame 10 is placed against the side surfaces of the front and rear tires 2 of the vehicle 1, and is installed so that the longitudinal direction of the first frame 10 is parallel to the side surfaces of the front and rear tires 2. Then, by using a jig capable of indicating a reference point indicating the reference position of the vehicle 1 on the upper surface of the first frame 10, the position of the reference point is indicated on the upper surface of the first frame 10. The reference point is the center point 11 of one of the tire wheels of the front or rear tires 2.

[0018] Furthermore, when positioning the first frame 10, the position of the first frame 10 is adjusted in the longitudinal direction so that the position of the center point 11 of the tire wheel overlaps with the position of the marker 12 displayed at a predetermined position on the upper surface of the first frame 10.

[0019] To position the second frame 20, as shown in FIG. 1, the second frame 20 is attached to a predetermined position of the first frame 10 and connected so that the longitudinal direction of the second frame 20 is perpendicular to the longitudinal direction of the first frame 10.

[0020] To position the board 40, as shown in FIG. 1, the board 40 is attached to a predetermined position of the second frame 20 and connected so that the longitudinal direction of the board 40 is parallel to the longitudinal direction of the second frame 20.

[0021] Thus, in the positioning method of the present embodiment, the first frame 10 is placed at a predetermined position relative to the vehicle 1, and the position of the first frame 10 is adjusted based on information obtained by using a jig. After that, the second frame 20 is attached to a predetermined position of the first frame 10, and the board 40 is attached to a predetermined position of the second frame 20. This makes it possible to correct the amount of axial misalignment of the on-board sensor caused by placing the target 30 at a predetermined position relative to the vehicle 1.

[0022] The positioning method according to the present embodiment will be described in more detail below. Note that the positioning method according to the present embodiment is carried out by one or more workers.

[0023] 2. Specific examples 2 is an explanatory diagram for adjusting the position of the first frame 10. The worker 100 parks the vehicle 1 on a flat surface without any unevenness, and straightens the steering wheel of the vehicle 1. After that, the worker 100 places the straight first frame 10 along the side surfaces of the front and rear tires of the vehicle 1, and installs the first frame 10 so that the longitudinal direction of the first frame 10 is parallel to the side surfaces of the front and rear tires 2.

[0024] The first frame 10 may be a linear frame configuration consisting of one frame, or the first frame 10 may be a linear frame configuration in which a plurality of frames 10A, 10B are connected as shown in Fig. 3. Alternatively, the first frame 10 may be a linear frame configuration having a stretchable characteristic that allows it to be adjusted to any length.

[0025] Next, as shown in FIG. 4, the worker 100 uses a jig 50 to obtain a reference point (center point 11 of one of the tire wheels 3 of the front and rear tires) indicating the reference position of the vehicle 1. The jig 50 has a detachable mounting mechanism at the center of the tire wheel 3. Furthermore, as shown in FIG. 5, the jig 50 has a mounting mechanism for an instrument 60 capable of indicating the center point 11 of the tire wheel 3 on the upper surface of the first frame 10. The instrument 60 shown in FIG. 5 is a weight attached to a string. However, a laser pointer capable of emitting a laser, a straight rod without distortion, etc. can also be used as the instrument.

[0026] Fig. 6 is a diagram showing an example of adjusting the position of the first frame 10. An operator 100 obtains the position of the center point 11 of the tire wheel 3 shown on the upper surface of the first frame 10 via a tool 60 attached to a jig 50. As shown in Fig. 6, a marker 12 is displayed in advance at a predetermined position on the upper surface of the first frame 10.

[0027] Based on the acquired position of the center point 11 and the position of the marker 12 displayed in the first frame 10, the worker 100 adjusts the position of the first frame 10 in the longitudinal direction so that the position of the center point 11 and the position of the marker 12 overlap.

[0028] Next, the worker 100 attaches the second frame 20 to a guide 70 provided at a predetermined position on the first frame 10, as shown in Fig. 7. In the example shown in Fig. 7, the second frame 20 is connected so that the longitudinal direction of the second frame 20 is perpendicular to the longitudinal direction of the first frame 10. Also, as shown in Fig. 7, a plurality of second frames 20 may be connected to the first frame 10. The guide 70 is a component that can fasten the frames together so that the positions of the frames are fixed.

[0029] The second frame 20 may be a linear frame configuration consisting of one frame, or a linear frame configuration in which multiple frames are connected, or a linear frame configuration having a stretchable characteristic that allows it to be adjusted to any length.

[0030] 8, the worker 100 attaches the board 40 to a predetermined position of the second frame 20. Specifically, the board 40 is attached to a guide provided at a predetermined position of the second frame 20, and is connected so that the longitudinal direction of the board 40 is perpendicular to the longitudinal direction of the second frame 20.

[0031] The board 40 may be directly attached to a predetermined position on the second frame 20, or may be attached to a new frame that is connected perpendicularly to the longitudinal direction of the second frame 20.

[0032] 3.Effects According to the positioning method of the present embodiment, the first frame 10 is placed at a predetermined position relative to the vehicle 1, and the position of the first frame 10 is adjusted based on information obtained by using a jig. After that, the second frame 20 is attached to a predetermined position of the first frame 10, and the board 40 is attached to a predetermined position of the second frame 20. This makes it possible to correct the amount of axial misalignment of the on-board sensor by placing the target 30 at a predetermined position relative to the vehicle 1. Therefore, the target 30 can be easily and accurately placed on the vehicle 1. Furthermore, by accurately calculating the amount of axial misalignment of the on-board sensor, it becomes possible to improve the accuracy of correction of the amount of axial misalignment of the on-board sensor.

[0033] 4. Variations In the positioning method according to the embodiment described above, the target 30 is installed so that its longitudinal direction is parallel to the longitudinal direction of the first frame 10. In other words, it can be said that the longitudinal direction of the target 30 and the side of the vehicle 1 are in a parallel relationship. This allows the on-board sensor mounted on the side of the vehicle 1 to correct the amount of axial misalignment by recognizing the target 30. In contrast, in the positioning method according to the modified embodiment, the target 30 is installed at a predetermined position in front and behind the vehicle 1 so that the amount of axial misalignment of the on-board sensor mounted in the fore-aft direction of the vehicle 1 can be corrected.

[0034] 9 is a diagram for explaining an overview of a positioning method according to a modified example. According to the positioning method according to the modified example, the position of the first frame 10 is adjusted so that the first frame 10 is disposed at a predetermined position of the vehicle 1. Details of the positioning of the first frame 10 are the same as those of the positioning method according to the above-described embodiment, and therefore will not be described.

[0035] To position the second frame 20, as shown in Figure 9, the second frame 20 is attached to a predetermined position of the first frame 10 on the vehicle 1 side, and connected so that the longitudinal direction of the second frame 20 is perpendicular to the longitudinal direction of the first frame 10.

[0036] To position the board 40, as shown in FIG. 9, the board 40 is attached to a predetermined position of the second frame 20 and connected so that the longitudinal direction of the board 40 is parallel to the longitudinal direction of the second frame 20.

[0037] The board 40 may be directly attached to a predetermined position on the second frame 20, or may be attached to a new frame that is connected perpendicularly to the longitudinal direction of the second frame 20.

[0038] In this way, according to the positioning method of the modified example, the first frame 10 is placed at a predetermined position with respect to the vehicle 1. After that, the second frame 20 is attached to a predetermined position of the first frame 10 on the vehicle 1 side, and the second frame 20 is connected so that the longitudinal direction of the second frame 20 is perpendicular to the longitudinal direction of the first frame 10. Then, the board 40 is attached to a predetermined position of the second frame 20, and the second frame 20 is connected so that the longitudinal direction of the board 40 is parallel to the longitudinal direction of the second frame 20. In this way, the target 30 is installed at a predetermined position with respect to the front and rear of the vehicle 1. Therefore, it is possible to correct the amount of axial misalignment of the on-board sensor mounted in the fore-and-aft direction of the vehicle 1. [Explanation of symbols]

[0039] 1 vehicle 2 Tires 3 Tire Wheel 10 1st Frame 11 Center point 12 Markers 20 2nd Frame 30 Target 40 Board 50 Jig 60 Equipment 70 Guide 100 workers

Claims

[Claim 1] A positioning method for installing an axis adjustment target used to correct an axis misalignment of an on-vehicle sensor at a predetermined position relative to a vehicle, comprising: A linear first frame is placed on the side surfaces of the front and rear tires of the vehicle, and the first frame is installed so that a longitudinal direction of the first frame is parallel to the side surfaces of the front and rear tires; a jig that is detachably attached to a center of one of the tire wheels of the front and rear tires and that can indicate a center point of the tire wheel on the upper surface part of the first frame, and a position of the center point is determined on the upper surface part of the first frame using the jig; adjusting a position of the first frame in a longitudinal direction so that the position of the center point and the position of a marker displayed at a predetermined position on the upper surface portion overlap; a linear second frame is attached to a guide provided at a predetermined position of the first frame, and the first frame and the second frame are connected so that a longitudinal direction of the second frame is perpendicular to a longitudinal direction of the first frame; attaching a board including a target for axis adjustment to a guide provided at a predetermined position of the second frame; A positioning method comprising:

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