Auxiliary device and method for determining a position and / or position tolerance of a sensor

Abstract

The invention provides an auxiliary device (1) for determining a position and / or position tolerance of a sensor (11) installed on or in a motor vehicle (10). The auxiliary device (1) comprises a frame (2) having a plurality of frame arms (2.1, 2.2, 2.3), and a plurality of orientation points (3.1, 3.2, 3.3) which are each arranged on one of the plurality of frame arms (2.1, 2.2, 2.3) and can be detected by the sensor (11).

Description

[0001] Auxiliary device and method for determining a position and / or position tolerance of a sensor

[0002] The present disclosure relates to an auxiliary device for determining a position and / or position tolerance of a sensor installed on or in a motor vehicle, and / or a method for determining a position and / or position tolerance of a sensor installed on or in a motor vehicle.

[0003] For a variety of applications and requirements, it is necessary to define the position of a sensor, e.g., an optical sensor such as a camera installed in or on a motor vehicle, and to measure the position tolerances. Furthermore, comparative measurements before and after certain tests, e.g., a shaker test or a pendulum test, are necessary to detect possible changes in the sensor's position that may be caused by such tests.

[0004] US 2021 / 0241492 A1 describes a method for calibrating a vehicle camera of a vehicle vision system, comprising placing a target having a first part having a first geometric pattern and a second part having a second geometric pattern within the field of view of the vehicle camera and acquiring image data with the camera that is representative of the field of view of the vehicle camera. Two edges of the two parts of the target are detected, and the edge pixels of the detected edges are determined. First and second vanishing points of the target in the acquired image data are determined based on the determined edge pixels of the respective first and second parts of the target. The camera orientation is determined based on the position of the determined first vanishing point relative to the position of the determined second vanishing point.

[0005] JP 2021 / 099722 A describes a calibration device comprising an acquisition unit and a processor. The acquisition unit acquires images obtained by capturing images of a first and a second index and a third index with a camera. The first and the second index are arranged at predetermined different positions having at least one feature point at which image recognition can be performed. The third index is arranged between the first and second index and has a plurality of feature points at which image recognition can be performed. The processor calculates calibration values ​​for the position and attitude of the camera based on the positions of the plurality of feature points of the third index on the image and the installation position of the third index in a real space.

[0006] CN 109685800 B describes a calibration template comprising three identical calibration surfaces cut vertically in pairs, the calibration surfaces being provided with calibration patterns consisting of a plurality of squares of the same size.

[0007] Against the background of this prior art, the object of the present disclosure is to provide a device and / or a method which are each suitable for enriching the prior art.

[0008] The problem is solved by the features of the independent claims. The subordinate claims and the dependent claims each contain optional developments of the disclosure.

[0009] According to this, the problem is solved by an auxiliary device for determining a position and / or position tolerance of a sensor (e.g., a camera) installed on or in a motor vehicle. The sensor can be an environmental sensor that is accessible (or arranged) on an outer skin of the motor vehicle. The sensor can be, for example, an optical sensor, a laser sensor (or laser scanner), an ultrasonic sensor, and / or a radar sensor.

[0010] The auxiliary device comprises a (e.g. rigid) frame having several (e.g. rigid and / or immovable) frame arms.

[0011] The auxiliary device comprises a plurality of orientation points, each of which is arranged on one of the plurality of frame arms and can be detected by the sensor. The plurality of orientation points can also be referred to as measuring points, for example. The auxiliary device can be expediently designed to provide the plurality of orientation points, wherein the position and / or the position tolerance of the sensor can be determined based on the sensor detecting the plurality of orientation points (one after the other). For this purpose, the orientation points can be positioned in a detection field or field of view of the sensor in such a way that, in order to detect the plurality of orientation points, a displacement or movement of the sensor in several directions and, for example, at least one rotation about at least one axis is necessary (or can be measured). For example, the orientation points can be positioned in such a way that a displacement orMovement and rotation of the sensor around all three Cartesian axes is necessary (or becomes measurable).

[0012] It is conceivable to determine the position and / or position tolerance of the sensor (e.g., relative to the auxiliary device or to the multiple orientation points) in this way. For this purpose, target positions of the multiple orientation points can be stored (e.g., in a sensor memory and / or a computing unit that is signal-linked to the sensor), which have been determined, for example, using a defined calibration procedure of the auxiliary device. The position and / or position tolerance of the sensor can be determined based on the determined positions of the orientation points and taking the stored target positions into account.

[0013] It is also conceivable that comparative measurements are carried out in this way, ie the recording of the multiple orientation points is carried out multiple times (at time intervals) and changes in the position and / or the position tolerance of the sensor can be recorded based on deviations in the recorded positions of the multiple orientation points. Such comparative measurements can, for example, be carried out before and after certain tests of the motor vehicle in which a change in the position of the sensor may occur, e.g. shaker tests and / or pendulum tests. The shaker test is used to test the strength and dimensional stability of, for example, the motor vehicle. The pendulum test is used to examine crash behavior in small collisions (e.g. when parking). The auxiliary device described above offers a number of advantages. For example,a simple to implement technique is provided that enables an arrangement of orientation or measuring points in a detection field or field of view of a sensor to determine the position and / or the position tolerance of the sensor.

[0014] Possible further developments of the aid facility described above are explained in detail below.

[0015] The auxiliary device can be attachable to the motor vehicle and / or the sensor. The auxiliary device can comprise a fastening element for attaching the auxiliary device to the motor vehicle and / or the sensor. The fastening element can additionally be configured to establish (or ensure) a fixed distance and / or a fixed position of the auxiliary device relative to the sensor and / or to position the plurality of orientation points in predetermined positions within a detection field or field of view of the sensor.

[0016] The plurality of frame arms may comprise at least two outer arms (e.g., exactly two outer arms). The at least two outer arms may each have a free end at which one of the plurality of orientation points may be arranged.

[0017] The plurality of frame arms may include an intermediate arm connecting the at least two outer arms. One of the plurality of orientation points may be located at a central region of the intermediate arm.

[0018] The frame may have an M-shape formed by the at least two outer arms (or the exactly two outer arms) and the intermediate arm. The intermediate arm may be curved and / or bent. The one of the multiple orientation points located at the central region of the intermediate arm may be located at a point of curvature and / or a point of inflection of the intermediate arm.

[0019] The at least two outer arms can extend parallel to each other. The auxiliary device can comprise a plurality of orientation elements, each of which can be attached to one of the plurality of frame arms and on which one of the plurality of orientation points can be arranged.

[0020] The plurality of orientation elements may each have a hemispherical shape and / or a spherical segment shape.

[0021] The multiple orientation points can be dimensioned and / or arranged (or capable of being arranged) on the frame (or the multiple frame arms) depending on the sensor, e.g., a size and / or orientation of the sensor. The auxiliary device and / or the frame can be dimensioned depending on the sensor, e.g., a size and / or orientation of the sensor.

[0022] It is conceivable that the plurality of orientation points can be arranged (or can be arranged) on the frame (or the plurality of frame arms) in such a way that, in order to detect the plurality of orientation points, a displacement (or movement) of the sensor in several directions and, for example, at least one rotation about at least one axis (e.g. displacements and rotations about all three Cartesian axes) is necessary (or becomes measurable), provided that the auxiliary device is positioned in the detection field or field of view of the sensor.

[0023] Alternatively, or additionally, it is conceivable that the plurality of orientation points can be arranged (or can be arranged) on the frame (or the plurality of frame arms) in such a way that one of the plurality of orientation points (e.g. the one of the plurality of orientation points that is arranged in the central region of the intermediate arm) can be positioned along (or on) an optical axis of the sensor and directions between the sensor and two further ones of the plurality of orientation points (e.g. the two of the plurality of orientation points that are arranged on the two outer arms) span an angle greater than 80° and / or a right angle.

[0024] The multiple orientation points can be located in one plane. Alternatively, an arrangement of the multiple orientation points in multiple planes is conceivable. The frame can be extendable and / or designed for the attachment, e.g., screwing, of at least one holder. The at least one holder can be provided, for example, for the attachment of devices for optical measurements (e.g., laser measurement and / or photogrammetry).

[0025] The auxiliary device can be expanded by attaching at least one further orientation point.

[0026] The above description can be summarized in other words and in a possible more concrete embodiment of the disclosure as described below, whereby the following description is not to be interpreted as limiting the disclosure.

[0027] According to the present disclosure, a device (i.e., the auxiliary device) can be placed near a (e.g., optical) sensor, e.g., a camera, wherein the device has multiple landmarks that can be detected by the sensor. The landmarks can be applied to hemispherical, spherical segment, or other shaped objects. The landmarks can be placed such that they provide sufficient values ​​for a comparison measurement.

[0028] For example, several landmarks (or measurement points) can be spatially positioned near the sensor in such a way that displacement in all directions and rotation around any axis can be traced and measured. The positions of the landmarks can be recorded and stored with the active sensor before and after a test, e.g., a shaker test or pendulum test.

[0029] Furthermore, a use of the auxiliary device described above for determining a position and / or position tolerance of a sensor installed on or in a motor vehicle is provided. The above description with reference to the auxiliary device also applies analogously to the use, and vice versa.

[0030] Furthermore, a method for determining a position and / or position tolerance of a sensor installed on or in a motor vehicle is provided.

[0031] The method comprises providing the auxiliary device described above.

[0032] The method (and / or use) comprises positioning the auxiliary device in a detection field (e.g., field of view) of the sensor.

[0033] The method includes detecting the plurality of landmarks by the sensor. The detecting may include detecting the plurality of landmarks sequentially.

[0034] Positioning may include positioning one of the plurality of landmarks (e.g., the one of the plurality of landmarks located at the central region of the intermediate arm) along an optical axis of the sensor.

[0035] The positioning may include positioning the auxiliary device such that directions between the sensor and two further ones of the plurality of orientation points (e.g., the two of the plurality of orientation points arranged on the two outer arms) span an angle greater than 80° and / or a right angle.

[0036] The method may comprise an evaluation of the detected multiple orientation points (e.g. by the sensor and / or an evaluation unit or computing unit connected to the sensor by signal technology).

[0037] The evaluation may include determining positions of the plurality of landmarks and / or determining the position and / or position tolerance of the sensor (e.g., relative to the plurality of landmarks). The method may include storing the detected plurality of landmarks and / or storing the determined positions of the plurality of landmarks and / or the determined position and / or position tolerance of the sensor.

[0038] The method may include comparing the detected multiple landmarks with stored (or previously detected) multiple landmarks to determine deviations. Alternatively, or additionally, the method may include comparing the determined positions of the multiple landmarks with stored (or previously determined) positions of the multiple landmarks and / or comparing the determined position and / or position tolerance of the sensor with a stored (or previously determined) position and / or position tolerance of the sensor.

[0039] What has been described above with regard to the auxiliary device and its use also applies analogously to the procedure and vice versa.

[0040] An optional embodiment is described below with reference to Figures 1 and 2.

[0041] Fig. 1 shows schematically an auxiliary device according to the disclosure for determining a position and / or position tolerance of a sensor installed on or in a motor vehicle,

[0042] Fig. 2 shows a schematic flow diagram of a method according to the disclosure for determining a position and / or position tolerance of a sensor installed on or in a motor vehicle, and

[0043] Fig. 3 and 4 show schematically further embodiments of the auxiliary device.

[0044] The auxiliary device 1, which is shown only schematically in Figure 1, comprises a frame 2 which has a plurality of frame arms 2.1, 2.2, 2.3, and a plurality of orientation points 3.1, 3.2, 3.3, which are each arranged on one of the plurality of frame arms 2.1, 2.2, 2.3 and can be detected by the sensor 11. The sensor 11 can be an environmental sensor, e.g. a camera, which is accessible (or arranged) on an outer skin of the motor vehicle 10. The sensor 11 can be an optical sensor, a laser sensor (or laser scanner), an ultrasonic sensor and / or a radar sensor, e.g. a camera which, for example, has a fisheye lens.

[0045] In the embodiment shown, the frame 2 comprises two outer arms 2.1, 2.3 and an intermediate arm 2.2 that connects the two outer arms 2.1, 2.3. The frame 2 has an M-shape formed by the two outer arms 2.1, 2.3 and the intermediate arm 2.2, with the intermediate arm 2.2 being curved and / or bent. Furthermore, it is also conceivable that the frame 2 may have a different shape and / or a different number of frame arms, e.g., more than two outer arms.

[0046] The two outer arms 2.1, 2.3 each have a free end at which one of the multiple orientation points 3.1, 3.3 is arranged. One of the multiple orientation points 3.2 is arranged in a central region of the intermediate arm 2.2, e.g., at the bend or inflection point in the central region of the intermediate arm 2.2.

[0047] It is conceivable that the orientation points 3.1, 3.2, 3.3 are not attached directly to the frame 2, but rather that the auxiliary device 1 comprises a plurality of orientation elements, each of which is fastened to one of the multiple frame arms 2.1, 2.2, 2.3 and on which one of the multiple orientation points 3.1, 3.2, 3.3 is arranged. The multiple orientation elements can, for example, each have a hemispherical shape and / or a spherical segment shape.

[0048] This auxiliary device 1 can, for example, comprise a fastening element (not shown) for fastening the auxiliary device 1 to the motor vehicle 10 and / or to the sensor 11. In addition to the fastening, the fastening element can serve to establish (or ensure) a fixed distance and / or a fixed position of the auxiliary device 1 relative to the sensor 11 and / or to position the plurality of orientation points 3.1, 3.2, 3.3 in predetermined positions in a detection field (or field of view) of the sensor 11.

[0049] The auxiliary device 1 is intended for use in determining a position and / or position tolerance of a sensor 11 installed on or in a motor vehicle 10, wherein the method 100 described in detail below with reference to Figure 2 can be carried out to determine this position and / or position tolerance.

[0050] In a step S1, the auxiliary device 1 is provided.

[0051] In a step S2, the auxiliary device 1 is positioned in a detection field of the sensor 11.

[0052] In this case, one of the several orientation points, e.g., the orientation point 3.2, which is arranged on the intermediate arm 2.2, can be positioned along an optical axis 22 of the sensor 11.

[0053] Furthermore, the auxiliary device 1 can be positioned such that directions 21, 23 between the sensor 11 and two further of the plurality of orientation points, e.g. the orientation points 3.1, 3.3 on the two outer arms 2.1, 2.3, span an angle greater than 80° and / or a right angle.

[0054] Step S2 may correspond to a use of the auxiliary device 2.

[0055] In a step S3, the plurality of orientation points 3.1, 3.2, 3.3 are detected by the sensor 11.

[0056] In a step S4, the detected multiple orientation points can be evaluated (e.g., by the sensor 11 and / or an evaluation unit or computing unit connected to the sensor 11 via signal transmission). For this purpose, the positions of the multiple orientation points 3.1, 3.2, 3.3 and / or the position or position tolerance of the sensor 11 (e.g., relative to the multiple orientation points) can be determined. The detected multiple orientation points or the determined positions of the multiple orientation points 3.1, 3.2, 3.3 and / or the determined position and / or position tolerance of the sensor 11 can then be stored in a memory that is connected, for example, to the sensor 11 via signal transmission or is embodied as part of the sensor 11.

[0057] Furthermore, it is conceivable to compare the recorded multiple orientation points 3.1, 3.2, 3.3 with stored (or previously recorded) multiple orientation points to determine deviations in order to carry out comparative measurements. Alternatively, or additionally, the determined positions of the multiple orientation points 3.1, 3.2, 3.3 can be compared with stored (or previously determined) positions of the multiple orientation points and / or the determined position and / or position tolerance of the sensor 11 can be compared with a stored (or previously determined) position and / or position tolerance of the sensor 11. This makes it possible, for example, to detect changes in the position of the sensor 11 that can be caused, for example, by certain tests of the motor vehicle, e.g., shaker tests and / or pendulum tests.

[0058] Figures 3 and 4 schematically show further embodiments of the auxiliary device 1. The orientation points 3.1, 3.2, 3.3 are not shown in Figure 4 for the sake of simplicity, but can be arranged in the same areas as in Figures 1 and 3, ie the orientation points 3.1, 3.3 can be arranged, e.g. attached, at the free ends of the two outer arms 2.1, 2.3 and the orientation point 3.2 can be arranged, e.g. at the kink or bend point, of the intermediate arm 2.2.

[0059] These further embodiments show merely by way of example that the frame 2 can be designed not only in one plane, but also three-dimensionally, wherein the arms 2.1, 2.2, 2.3 can run in different directions or span a three-dimensional space. As shown in Figure 4, the outer arms 2.1, 2.3 and the intermediate arm 2.2 can be arranged at right angles to one another, for example. The bent intermediate arm 2.2 can form a right angle (at the bending point), i.e. the bent intermediate arm 2.2 can have two sections that are arranged at right angles to one another and are connected to one another at the bending point. The outer arms 2.1, 2.3 can be arranged at right angles to the intermediate arm 2.2 (or the two sections of the intermediate arm 2.2) and run parallel to one another, for example.

[0060] Figure 4 shows examples of different configurations of the arms 2.1, 2.2, 2.3 with respect to the specified Cartesian coordinate system with the spatial directions x, y and z.

[0061] List of reference symbols

[0062] 1 auxiliary facility

[0063] 2 frames

[0064] 2.1 , 2.3 Outer arms of the frame

[0065] 2.2 Intermediate arm of the frame

[0066] 3.1 , 3.2, 3.3 Landmarks

[0067] 10 motor vehicle

[0068] 11 Sensor

[0069] 21 , 23 directions

[0070] 22 optical axis

[0071] 100 procedures

[0072] S1 -S4 process steps

Claims

Patent claims 1. Auxiliary device (1) for determining a position and / or position tolerance of a sensor (11) installed on or in a motor vehicle (10), characterized in that the auxiliary device (1) comprises: - a frame (2) having a plurality of frame arms (2.1, 2.2, 2.3); and - a plurality of orientation points (3.1, 3.2, 3.3), each arranged on one of the plurality of frame arms (2.1, 2.2, 2.3) and detectable by the sensor (11).

2. Auxiliary device (1) according to claim 1, characterized in that the plurality of frame arms (2.1, 2.2, 2.3) comprise at least two outer arms (2.1, 2.3), wherein the at least two outer arms (2.1, 2.3) each have a free end at which one of the plurality of orientation points (3.1, 3.3) is arranged.

3. Auxiliary device (1) according to claim 2, characterized in that the plurality of frame arms (2.1, 2.2, 2.3) comprise an intermediate arm (2.2) which connects the at least two outer arms (2.1, 2.3) to one another, wherein one of the plurality of orientation points (3.2) is arranged in a central region of the intermediate arm (2.2).

4. Auxiliary device (1) according to claim 3, characterized in that the frame (2) has an M-shape which is formed by the at least two outer arms (2.1, 2.3) and the intermediate arm (2.2), wherein the intermediate arm (2.2) is curved and / or kinked.

5. Auxiliary device (1) according to one of claims 1 to 4, characterized in that the auxiliary device (1) comprises: - a plurality of orientation elements, each of which is fastened to one of the plurality of frame arms (2.1, 2.2, 2.3) and on which one of the plurality of orientation points (3.1, 3.2, 3.3) is arranged.

6. Auxiliary device (1) according to claim 5, characterized in that the plurality of orientation elements each have a hemispherical shape and / or a spherical segment shape.

7. Use of the auxiliary device (1) according to one of claims 1 to 6 for determining a position and / or position tolerance of a sensor (11) installed on or in a motor vehicle (10).

8. Method (100) for determining a position and / or position tolerance of a sensor (11) installed on or in a motor vehicle (10), characterized in that the method (100) comprises: - Providing (S1) the auxiliary device (1) according to one of claims 1 to 6; - positioning (S2) the auxiliary device (1) in a detection field of the sensor (11); and - detecting (S3) the plurality of orientation points (3.1, 3.2, 3.3) by the sensor (11).

9. The method (100) according to claim 8, characterized in that the positioning (S2) comprises positioning one of the plurality of orientation points (3.2) along an optical axis of the sensor (11).

10. Method (100) according to claim 9, characterized in that the positioning (S2) comprises positioning the auxiliary device (1) such that directions between the sensor (11) and two further ones of the plurality of orientation points (3.1, 3.2, 3.3) span an angle greater than 80° and / or a right angle.

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