Apparatus and method for calibrating a vehicle surroundings sensor

Abstract

A handheld calibration device (10) for calibrating a vehicle surroundings sensor (8), installed in a motor vehicle (2), of a driver assistance system (6, 8) comprises at least one calibration target (12a, 12b) which can be detected by the vehicle surroundings sensor (8) in order to calibrate the vehicle surroundings sensor (8); and a position determination apparatus (15) which is provided and designed to determine the position and / or the orientation of the at least one calibration target (12a, 12b) in relation to the motor vehicle (2). The handheld calibration device (10) additionally comprises a display apparatus (18) which is provided and designed to display the previously determined position and / or orientation of the handheld calibration device (10) in relation to the motor vehicle (2); and / or a data transmission apparatus (26) which is provided and designed to transmit the previously determined position and / or orientation of the calibration target (12a, 12b) in relation to the motor vehicle (2) to another device, in particular to a control device (6) of a driver assistance system (6, 8) or to a virtual cloud (30).

Description

[0001] R.415852

[0002] - 1 -

[0003] Description

[0004] title

[0005] Device and method for calibrating a vehicle environment sensor

[0006] The invention relates to a device and a method for calibrating a vehicle environment sensor of a driver assistance system installed in a motor vehicle. The invention particularly relates to a mobile device for calibrating a vehicle environment sensor installed in a motor vehicle and a method for calibrating a vehicle environment sensor installed in a motor vehicle, for which a mobile device according to the invention is used.

[0007] State of the art

[0008] Modern motor vehicles are often equipped with vehicle environment sensors, which are used by advanced driver assistance systems (ADAS) and / or autonomous driving systems to detect the vehicle's surroundings.

[0009] Especially after repairs have been carried out on the vehicle, such vehicle environment sensors must be recalibrated.

[0010] It is an object of the invention to provide a method and a device that make it possible to simplify and accelerate the calibration of vehicle environment sensors installed in a motor vehicle.

[0011] Disclosure of the invention:

[0012] The invention comprises a handheld mobile calibration device for calibrating a vehicle environment sensor of a driver assistance system installed in a motor vehicle. The handheld calibration device includes at least one calibration target that can be detected by the vehicle environment sensor in order to calibrate the vehicle environment sensor. The handheld calibration device also includes a position determination device provided for this purpose and R.415852

[0013] - 2 - is trained to determine the position and / or orientation of the calibration target in relation to the motor vehicle.

[0014] A handheld calibration device according to the invention further comprises a display device which is provided and configured to indicate the previously determined position and / or orientation of the handheld calibration device in relation to the motor vehicle; and / or a data transmission device which is provided and configured to transmit the previously determined position and / or orientation of the calibration target in relation to the motor vehicle to another device, for example to a control unit of a driver assistance system in a motor vehicle or to a virtual cloud.

[0015] The invention also includes a method for calibrating a vehicle environment sensor of a driver assistance system installed in a motor vehicle, wherein the method comprises bringing a handheld calibration device according to the invention into the detection range of the vehicle environment sensor to be calibrated; determining the current position and / or orientation of the handheld calibration device with respect to the motor vehicle using the position determination device of the handheld calibration device; and transmitting the current position and / or orientation of the handheld calibration device thus determined to the driver assistance system in order to enable the driver assistance system to calibrate the vehicle environment sensor on the basis of the current position and / or orientation of the calibration target thus determined.

[0016] A handheld calibration device and a method according to the invention for calibrating a vehicle environment sensor installed in a motor vehicle makes it possible to simplify and accelerate the calibration of vehicle environment sensors installed in motor vehicles.

[0017] To carry out a method according to the invention, no special measuring station is required where calibration targets are installed at predetermined positions. The motor vehicle does not need to be positioned at a predetermined position in a predetermined reference system. R.415852

[0018] - 3 -

[0019] Using a method and a handheld calibration device according to the invention, vehicle environment sensors can be conveniently calibrated in both manufacturer-affiliated and independent workshops. The calibration of vehicle environment sensors can also be performed at locations on the vehicle that are not perfectly horizontal.

[0020] This can significantly expand the possibilities for calibrating vehicle environment sensors.

[0021] In one embodiment, the position determination device of the handheld calibration device comprises at least one camera, in particular a stereo camera, which is designed and configured to take pictures of the motor vehicle; and an image evaluation device, which is designed and configured to evaluate the images taken by the at least one camera in order to determine the position and / or orientation of the handheld calibration device in relation to the motor vehicle.

[0022] The images captured by at least one camera can be evaluated in particular with the help of artificial intelligence, which is in particular able to recognize and evaluate characteristic features of the motor vehicle, especially the body of the motor vehicle, in order to determine the position and / or orientation of the handheld calibration device in relation to the motor vehicle.

[0023] By evaluating images taken by at least one camera, in particular a stereo camera, of the handheld calibration device, the position and orientation of the handheld calibration device in relation to the motor vehicle can be determined with good accuracy.

[0024] In one embodiment, the positioning device of the handheld calibration instrument comprises a LIDAR sensor designed and configured to determine the position and / or orientation of the handheld calibration instrument relative to the motor vehicle. R.415852

[0025] - 4 -

[0026] With the help of a LIDAR sensor, the position and orientation of the handheld calibration device in relation to the motor vehicle can be determined with good accuracy even in poor lighting conditions.

[0027] In one embodiment, the position determination device comprises an inertial measuring unit with multiple inertial sensors. The inertial measuring unit is designed and configured to detect movements of the handheld calibration device. In this way, movements of the handheld calibration device can be detected and determined particularly quickly and reliably with high accuracy.

[0028] This allows the current position and orientation of the handheld calibration device to be updated quickly and reliably when the device is moved. Impermissible movements of the handheld calibration device, especially excessively rapid movements that would invalidate the results, can also be reliably detected. This reduces the risk of faulty calibration.

[0029] In one embodiment, the handheld calibration device includes a projection device, in particular a laser projection device, which is designed and configured to project at least one marking onto the motor vehicle. Using a marking projected onto the motor vehicle by a projection device, a handheld calibration device can be quickly and reliably positioned and / or aligned in a predetermined position and orientation relative to the motor vehicle.

[0030] In one embodiment, the handheld calibration device is designed to be positioned and / or aligned in a predetermined position and orientation relative to the motor vehicle using augmented reality methods. For this purpose, images of the surroundings of the handheld calibration device, particularly the motor vehicle, can be captured using at least one camera. The captured images, together with optical markers indicating the desired position of the motor vehicle in the captured images, can be displayed on a display device of the handheld calibration device to guide a user of the R.415852.

[0031] - 5 - to enable the handheld calibration device to be moved so that the image of the motor vehicle displayed on the display device is positioned within the indicated markings. The display device may be a screen of the handheld calibration device or virtual reality glasses worn by the user.

[0032] In one embodiment, the handheld calibration device additionally has a receiver that makes it possible to receive data and / or instructions from another device, in particular from a control unit of a driver assistance system.

[0033] A receiving device can, in particular, enable the transmission of instructions to a user of the handheld calibration device. These instructions can be displayed on the handheld calibration device's display to instruct the user to adjust the position and / or orientation of the handheld calibration device as directed so that the calibration of the vehicle environment sensor can continue. This can speed up and simplify the calibration of a vehicle environment sensor and reduce the risk of errors during calibration.

[0034] The data and / or instructions can be transmitted between the handheld calibration device and the driver assistance system via wired or wireless connection.

[0035] A wired transmission of data and / or instructions can be implemented particularly cost-effectively and reliably, e.g. via an OBD2 interface of the vehicle.

[0036] Wireless transmission of data and / or instructions is particularly convenient, as no cable connection is required between the handheld calibration device and the driver assistance system. Furthermore, work on the vehicle is not hindered by cables connected to the vehicle, and the risk of accidents, especially tripping hazards, can be reduced. R.415852

[0037] - 6 -

[0038] The data and / or instructions can be transmitted wirelessly via a radio connection, for example a WLAN radio connection, a radio connection based on ultra-wideband technology (UWB) or Bluetooth, or by optical data transmission, for example using infrared radiation.

[0039] If the data connection is sufficiently powerful, for example through the use of ultra-broadband technology, the images captured by the at least one camera can be transmitted to the control unit of the driver assistance system and / or to an external device and evaluated there to determine the position and orientation of the handheld calibration device relative to the vehicle. In this case, it is unnecessary to include an image evaluation device in the handheld calibration device. This allows the handheld calibration device to be designed more easily and cost-effectively than a calibration device that includes an image evaluation device.

[0040] In one embodiment, the method is a dynamic method comprising moving the handheld calibration device within the detection range of the vehicle environment sensor; continuously or periodically determining the current position and / or orientation of the handheld calibration device with the position determination device of the handheld calibration device; and continuously or periodically transmitting the positions and orientations of the handheld calibration device thus determined to the driver assistance system in order to enable the driver assistance system to calibrate the vehicle environment sensor based on the positions and orientations of the calibration target thus determined.

[0041] With such a dynamic method, in which the handheld calibration device with at least one calibration target is moved around the vehicle, the vehicle environment sensor can be calibrated particularly well and accurately.

[0042] In one embodiment, the method comprises moving the handheld calibration device at a substantially constant speed within the detection range of the vehicle's environment sensor. R.415852

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[0044] When calibration is performed using a dynamic method, determining the position of the handheld calibration device and calibrating the vehicle environment sensor must be precisely synchronized to reliably avoid errors that may result from an incorrectly determined position of the handheld calibration device.

[0045] In one embodiment, the method comprises moving the handheld calibration device at speeds within the detection range of the vehicle environment sensor that do not exceed a predetermined maximum speed in order to avoid errors in determining the current position of the handheld calibration device and calibrating the vehicle environment sensor.

[0046] The maximum permissible speed depends in particular on the frame rate at which the at least one camera captures the images. If the at least one camera is designed to capture images at a frame rate of 60 frames per second, the maximum permissible speed at which the handheld calibration device may be moved within the detection range of the vehicle's environment sensor may, for example, be 0.25 m / s.

[0047] In one embodiment, the method comprises moving the handheld calibration device with accelerations within the detection range of the vehicle environment sensor that do not exceed a predetermined maximum acceleration in order to avoid errors in determining the current position of the handheld calibration device and calibrating the vehicle environment sensor.

[0048] The speed and / or acceleration at which the handheld calibration device is moved can be determined using the inertial measurement unit. The handheld calibration device can abort the calibration of at least one vehicle environment sensor if the speed and / or acceleration at which the handheld calibration device is moved exceeds predefined limits.

[0049] In another embodiment, the method is a static method. A static method comprises positioning the handheld calibration device, e.g., using a tripod, with a constant orientation at a fixed position within the detection range of the vehicle's environment sensor; the fixed R.415852

[0050] - 8 -

[0051] to determine the position and constant orientation of the handheld calibration device with the position determination device of the handheld calibration device; and to transmit the fixed position and constant orientation of the handheld calibration device thus determined to the driver assistance system in order to enable the driver assistance system to calibrate the vehicle environment sensor on the basis of the fixed position and constant orientation of the calibration target thus determined.

[0052] During a static procedure, where the calibration device is positioned in a fixed location with a constant orientation in the vicinity of the vehicle, the user can leave the measuring station. This reduces the risk of the vehicle environment sensor calibration being disrupted by the presence and / or movement of a user in the vehicle's vicinity.

[0053] The static embodiment of a method according to the invention can be used in particular to calibrate the vehicle environment sensors of older driver assistance systems that are not suitable and designed to perform a dynamic calibration in which the calibration target is moved.

[0054] An embodiment of the invention is described below with reference to the accompanying figures.

[0055] Short the

[0056] Figure 1 shows a top view of a motor vehicle equipped with a vehicle environment sensor and of a handheld calibration device according to the invention for calibrating the vehicle environment sensor.

[0057] Figure 2 shows a perspective view of a handheld calibration device according to an embodiment of the invention.

[0058] Figure 3 illustrates the positioning and alignment of a handheld calibration device according to the invention using a projection device.

[0059] Character description R.415852

[0060] - 9 -

[0061] Figure 1 shows a top view of a motor vehicle 2 equipped with a driver assistance system 6, 8. The driver assistance system 6, 8 comprises a control unit 6 and one or more vehicle environment sensors 8, which are designed and configured to detect the environment of the motor vehicle 2 and to provide the detected information to the control unit 6. In Figure 1, only a single vehicle environment sensor 8 is shown by way of example.

[0062] The vehicle environment sensors 8 may include, for example, optical cameras, radar sensors, LIDAR sensors or other sensors designed and configured to detect the environment of the motor vehicle 2.

[0063] The vehicle environment sensors 8 can be installed in the passenger compartment behind the windshield, on or in the bodywork and / or in or behind bumpers of the motor vehicle 2.

[0064] Optionally, two optical measuring plates 4 can be attached to the wheels of the motor vehicle, as shown in Figure 1.

[0065] Although the motor vehicle 2 shown in Figure 1 has two axles and four wheels, a method and a handheld calibration device according to the invention can also be used to calibrate vehicle environment sensors 8 that are installed in motor vehicles 2 that have more than two axles and / or more or less than four wheels.

[0066] In front of the motor vehicle 2 is a handheld mobile calibration device 10, which is designed according to an embodiment of the invention. The handheld calibration device 10 makes it possible to calibrate the at least one vehicle environment sensor 8 of the driver assistance system 6, 8.

[0067] Figure 2 shows a perspective view of a handheld calibration device 10 according to an embodiment of the invention.

[0068] The handheld calibration device 10 is equipped with at least one calibration target 12a, 12b, which is connected to the vehicle environment sensor 8 R.415852 to be calibrated.

[0069] - 10 - detectable in order to calibrate the vehicle environment sensor 8. At least one calibration target 12a, 12b is matched to the respective vehicle environment sensor 8.

[0070] The at least one calibration target 12a, 12b can, for example, have one or more optical reflectors, in particular angle reflectors, spherical reflectors, cubic reflectors or cylindrical reflectors, which can be optically detected by an optical vehicle environment sensor 8 to be calibrated, for example a camera, in order to calibrate the optical vehicle environment sensor 8.

[0071] Depending on the technology used in the vehicle environment sensor 8 to be calibrated, the calibration target 12a, 12b can also comprise a radar reflector or a LI DAR reflector, an active radar target simulator, an optical pattern board, an electronic display board, in particular an electronic display board based on e-ink technology, a light source, a sound source, or the like. The present invention is versatile and not limited to specific types of calibration targets 12a, 12b.

[0072] A handheld calibration device 10 according to the invention also comprises a position determination device 15, which is designed and configured to determine the position and / or orientation of the handheld calibration device 10, and thus also the position and / or orientation of the at least one calibration target 12a, 12b, in relation to the motor vehicle 2.

[0073] The position determination device 15 can, for example, comprise at least one camera 14, in particular a stereo camera 14, and an image evaluation device 16.

[0074] The at least one camera 14 can be designed and equipped to take pictures of the motor vehicle 2 and / or pictures of measuring boards 4 attached to the wheels of the motor vehicle 2.

[0075] The image evaluation device 16 can be designed and configured to evaluate the images taken by the at least one camera 14, R.415852

[0076] - 11 - to determine the position and orientation of the handheld calibration device 10 in relation to the motor vehicle 2.

[0077] The image evaluation device 16 can, for example, be designed and configured to identify characteristic features of the motor vehicle 2, such as the wheels and / or the wheel arches of the motor vehicle 2, in the recorded images using classical methods of image evaluation and / or methods of artificial intelligence, for example using neural networks, and to determine the position and orientation of the handheld calibration device 10 in relation to the motor vehicle 2.

[0078] The position determination device 15 may also include a LIDAR sensor, not shown in the figures, to determine the position and orientation of the handheld calibration device 10 in relation to the motor vehicle 2.

[0079] The handheld calibration device 10 can have a display device 18, for example a screen, in particular a touch-sensitive screen ("touchscreen"), on which the position and orientation of the handheld calibration device 10 in relation to the motor vehicle 2, which have previously been determined by image evaluation device 16, can be displayed to a user 32 of the handheld calibration device 10.

[0080] Alternatively or additionally, the specific position and orientation of the handheld calibration device 10 in relation to the motor vehicle 2 can be transmitted to the control unit 6 of the driver assistance system 6, 8 to enable the driver assistance system 6, 8 to calibrate the vehicle environment sensor 8 on the basis of this information.

[0081] The transmission of data, which includes the position and orientation of the handheld calibration device 10 in relation to the motor vehicle 2, can be carried out wired via a cable connection 24, for example via an OBD / OBD2 interface present in the motor vehicle 2, or wirelessly.

[0082] To enable wireless data transmission, the handheld calibration device 10 can be equipped with a suitable transmitter 26. R.415852

[0083] - 12 -

[0084] The transmitting device 26 can be configured for data transmission via a radio link, for example a WLAN radio link, a radio link based on ultra-wideband technology (UWB) or Bluetooth, or for optical data transmission, for example using infrared radiation.

[0085] The handheld calibration device 10 can also have an interface that allows data to be transferred to an external device 30, for example to a virtual cloud, so that the data can be stored and / or processed there.

[0086] If the data connection is sufficiently powerful, for example by using ultra-broadband technology, the images taken by the at least one camera 14 can be transmitted to the control unit 6 of the driver assistance system 6, 8 and / or to an external device 30 and evaluated there in order to determine the position and orientation of the handheld calibration device 10 in relation to the motor vehicle 2.

[0087] In this case, it is unnecessary to include an image evaluation device 16 in the handheld calibration device 10. This reduces the weight and cost of the handheld calibration device 10.

[0088] Optionally, the handheld calibration device 10 can also include a receiving device 27 which is designed and configured to receive data and / or instructions that can be displayed, for example, on the display device 18 of the handheld calibration device 10.

[0089] This data and / or these instructions may include, in particular, instructions to the user 32 informing him where and in what orientation the handheld calibration device 10 is to be positioned next, and / or how the handheld calibration device 10 is to be held or moved in order to continue the calibration of the vehicle environment sensor 8. R.415852

[0090] - 13 -

[0091] Such instructions can be transmitted, for example, from the control unit 6 of the driver assistance system 6, 8 and / or from the external device 30 to the handheld calibration device 10.

[0092] The position determination device 15 can also include an inertial measurement unit 17 (“IMU”) with multiple inertial sensors, which is designed and configured to detect movements of the handheld calibration device 10. With the aid of an inertial measurement unit 17, changes in the position and / or orientation of the handheld calibration device 10 can be reliably and quickly detected by the position determination device 15.

[0093] The positioning device 15 can also include a projection device 20, in particular a laser projection device 20, which is designed and configured to project at least one marking 22, for example a (laser) light line or a (laser) light cross, onto the motor vehicle 2. Such a marking 22 can simplify the correct positioning and / or alignment of the handheld calibration device 10 with respect to the motor vehicle 2, as shown in Figure 3.

[0094] The marking 22 projected by the projection device 20 can, for example, be directed at a characteristic feature of the motor vehicle 2, such as a manufacturer's logo, an antenna, or a rearview mirror 9 of the motor vehicle 2, in order to position and / or align the handheld calibration device 10 with respect to the motor vehicle 2.

[0095] Aligning the handheld calibration device 10 with the aid of a projection device 20 can be particularly helpful when calibrating radar sensors, since the reflection properties of radar reflectors depend very strongly on the angle at which the radar radiation hits the radar reflector.

[0096] The handheld calibration device 10 can also be configured to be positioned and / or aligned in a predetermined position and orientation relative to the motor vehicle 2 using augmented reality methods. For this purpose, images of the surroundings of the handheld calibration device 10, in particular the vehicle, can be captured using at least one camera 14.

[0097] - 14 - vehicle 2 are recorded. The recorded images, together with markers indicating the desired position of the vehicle 2 in the recorded images, can be displayed on the display device 18 of the handheld calibration device 19 to enable a user 32 of the handheld calibration device 10 to move the handheld calibration device 10 so that the image of the vehicle 2 displayed on the display device 18 is positioned within the displayed markers. The display device 18 can be a screen 18 of the handheld calibration device 10 or virtual reality glasses worn by the user 32 while performing the procedure.

[0098] In order to calibrate a vehicle environment sensor 8 of a driver assistance system 6, 8 using a handheld calibration device 10 designed according to an embodiment of the invention, the handheld calibration device 10 is brought into the detection range of the vehicle environment sensor 8 to be calibrated.

[0099] In a classic, static method ("Legacy-Mode"), which can be used in particular for calibrating the vehicle environment sensors 8 of conventional driver assistance systems 6, 8, the handheld calibration device 10 is positioned, e.g. with the help of a tripod, on a fixed position on the measuring station in the vicinity of the motor vehicle 2.

[0100] During a static procedure, in which the calibration device 10 is positioned with a constant orientation at a fixed position in the vicinity of the vehicle 2, the user 32 can leave the measuring station. This reduces the risk that the calibration of the vehicle environment sensors 8 will be disturbed by the presence and / or movement of a user 32 in the vicinity of the vehicle 2.

[0101] Alternatively, the handheld calibration device 10 can also be held firmly by a user 32 in a position within the detection range of the vehicle environment sensor 8 to be calibrated.

[0102] Optionally, the handheld calibration device 10 can be positioned in a predetermined position and orientation in R.415852 using a projection device 20.

[0103] - 15 -

[0104] With reference to the motor vehicle 2, it is positioned and aligned as previously described in connection with Figure 3.

[0105] The position and orientation of the handheld calibration device 10, and thus also the position and orientation of the at least one calibration target 12a, 12b attached to the handheld calibration device 10, are then determined with the aid of the position determination device 15.

[0106] The position and orientation of the handheld calibration device 10 determined in this way can be compared with a position and orientation specified for calibrating the vehicle environment sensor 8. If necessary, the user 32 can be prompted, e.g., via the display device 18, to change the position and / or orientation of the handheld calibration device 10 again until the handheld calibration device 10 and the at least one calibration target 12a, 12b are arranged in a position and orientation suitable for calibrating the vehicle environment sensor 8 in the vicinity of the motor vehicle 2.

[0107] The position and orientation of the handheld calibration device 10 or of the at least one calibration target 12a, 12b, which have been determined by the position determination device 15, are transmitted to the control unit 6 of the driver assistance system 6, 8.

[0108] With this information, the control unit 6 of the driver assistance system 6, 8 is able to calibrate the vehicle environment sensor 8 on the basis of the now known position and orientation of at least one calibration target 12a, 12b.

[0109] The handheld calibration device 10 can then be positioned at at least one other position in the detection range of the vehicle environment sensor 8 to be calibrated, and the procedure described above can be repeated at the at least one other position.

[0110] As an alternative to this static method, in which the handheld calibration device 10 is positioned at a fixed position or successively at several fixed positions, the calibration of the vehicle environment sensor 8 R.415852

[0111] - 16 - can also be carried out in a so-called dynamic procedure ("dynamic mode").

[0112] In a dynamic procedure, which can be used in particular for calibrating vehicle environment sensors 8 of modern driver assistance systems 6, 8 designed to carry out such a dynamic procedure, the handheld calibration device 10 with the at least one calibration target 12a, 12b is moved around the motor vehicle 2 in the detection range of the vehicle environment sensor 8 to be calibrated.

[0113] For example, a person carrying the handheld calibration device 10 can walk around the vehicle 2. The handheld calibration device 10 should preferably be moved around the vehicle 2 at a speed that is as constant as possible.

[0114] While the handheld calibration device 10 is moved around the motor vehicle 2, the position determination device 15 of the handheld calibration device 10 continuously or periodically determines the current position and orientation of the handheld calibration device 10 and thus also the position and orientation of the at least one calibration target 12a, 12b attached to the handheld calibration device 10.

[0115] To continuously or periodically determine the current position and orientation of the handheld calibration device 10, the same cameras, sensors and methods as in the previously described static method can be used.

[0116] Alternatively or additionally, an inertial measurement unit (“IMU”) 17 can be used, which has several inertial sensors and which makes it possible to detect accelerations and rotations of the handheld calibration device 10 while it is moved around the motor vehicle 2, in order to determine changes in the position and / or orientation of the handheld calibration device 10 and of the at least one calibration target 12a, 12b relative to the motor vehicle 2.

[0117] The handheld calibration device 10 can also be configured to issue an error message and prompt the user 32 to refer to procedure R.415852

[0118] - 17 - repeat if the handheld calibration device 10 is moved too quickly or in the wrong direction or orientation.

[0119] Such an error message can be issued in particular based on the information provided by the inertial measurement unit 17.

[0120] While the handheld calibration device 10 is moved around the motor vehicle 2, the positions and orientations of the handheld calibration device 10 or of the at least one calibration target 12a, 12b determined during the movement are continuously or periodically transmitted to the control unit 6 of the driver assistance system 6, 8.

[0121] This enables the control unit 6 of the driver assistance system 6, 8 to calibrate the vehicle environment sensor 8 with particularly high accuracy on the basis of the positions and orientations of the at least one calibration target 12a, 12b determined in this way.

[0122] A handheld calibration device 10 according to the invention and a method according to the invention can also be used in a method for checking and calibrating radar sensors 8 in a motor vehicle 2, in particular for checking and calibrating radar sensors 8 after repairs of areas of the motor vehicle 2 behind which a radar sensor 8 is installed, as described in patent application DE 10 2023 209 136 A1.

[0123] A handheld calibration device 10 according to the invention and a method according to the invention can also be used to correctly position measuring charts and / or sample mats, as used in conventional methods, in the vicinity of a motor vehicle 2.

Claims

R.415852 - 18 - 1. Handheld calibration device for calibrating a vehicle environment sensor (8) of a driver assistance system (6, 8) installed in a motor vehicle (2), wherein the handheld calibration device (10) comprises: - at least one calibration target (12a, 12b) that can be detected by the vehicle environment sensor (8) in order to calibrate the vehicle environment sensor (8); and - a position determination device (15) designed and configured to determine the position and / or orientation of the at least one calibration target (12a, 12b) in relation to the motor vehicle (2); wherein the handheld calibration device (10) further comprises: - a display device (18) designed and configured to indicate the previously determined position and / or orientation of the handheld calibration device (10) in relation to the motor vehicle (2); and / or - a data transmission device (26) designed and configured to transmit the previously determined position and / or orientation of the calibration target (12a, 12b) in relation to the motor vehicle (2) to another device, in particular to a control unit (6) of a driver assistance system (6, 8) or a virtual cloud (30).

2. Handheld calibration device (10) according to claim 1, wherein the position determination device (15) comprises: at least one camera (14), in particular a stereo camera (14), which is provided and configured to take pictures of the motor vehicle (2); and an image evaluation device (16), which is provided and configured to process the images taken by the at least one camera (14). R.415852 - 19 - to evaluate in order to determine the position and / or orientation of the handheld calibration device (10) in relation to the motor vehicle (2).

3. Handheld calibration device (10) according to claim 1 or 2, wherein the position determination device (15) comprises a LIDAR sensor (19) which is provided and configured to determine the position and / or orientation of the handheld calibration device (10) in relation to the motor vehicle (2).

4. Handheld calibration device (10) according to one of the preceding claims, wherein the position determination device (15) comprises an inertial measuring unit (17) with several inertial sensors, which is designed and configured to detect movements of the handheld calibration device (10).

5. Handheld calibration device (10) according to one of the preceding claims, wherein the handheld calibration device (10) additionally comprises a projection device (20), in particular a laser projection device (20), which is designed and configured to project at least one marking (22) onto the motor vehicle (2), which makes it possible to position and / or align the handheld calibration device (10) with respect to the motor vehicle (2).

6. Handheld calibration device (10) according to one of the preceding claims, wherein the handheld calibration device (10) additionally has a receiving device (27) which makes it possible to receive data and / or instructions from another device, in particular from a control unit (6) of a driver assistance system (6, 8).

7. Handheld calibration device (10) according to one of the preceding claims, wherein the handheld calibration device (10) is configured to transmit data and / or instructions wired or wirelessly R.415852 - 20 - to transfer between the handheld calibration device (10) and the driver assistance system (6, 8).

8. Method for calibrating a vehicle environment sensor (8) of a driver assistance system (6, 8) installed in a motor vehicle (2), wherein the method comprises bringing a handheld calibration device (10) according to one of the preceding claims into the detection range of the vehicle environment sensor (8); determining the current position and / or orientation of the handheld calibration device (10) with the position determination device (15) of the handheld calibration device (10); and transmitting the current position and / or orientation of the handheld calibration device (10) thus determined to the driver assistance system (6, 8) in order to enable the driver assistance system (6, 8) to calibrate the vehicle environment sensor (8) on the basis of the current position and / or orientation of the calibration target (12a, 12b).

9. The method of claim 8, wherein the method comprises: positioning the handheld calibration device (10) with a constant orientation at a fixed position within the detection range of the vehicle environment sensor (8); determining the fixed position and constant orientation of the handheld calibration device (10) with the position determination device (15) of the handheld calibration device (10); and transmitting the fixed position and constant orientation of the handheld calibration device (10) thus determined to the driver assistance system (6, 8) in order to enable the driver assistance system (6, 8) to R.415852 - 21 - to calibrate the vehicle environment sensor (8) based on the fixed position and constant orientation of the calibration target (12a, 12b) determined in this way.

10. The method of claim 8, wherein the method comprises: moving the handheld calibration device (10) within the detection range of the vehicle environment sensor (8); continuously or periodically determining the current position and / or orientation of the handheld calibration device (10) with the position determination device (15) of the handheld calibration device (10); and continuously or periodically transmitting the positions and orientations of the handheld calibration device (10) thus determined to the driver assistance system (6, 8) in order to enable the driver assistance system (6, 8) to calibrate the vehicle environment sensor (8) on the basis of the positions and orientations of the calibration target (12a, 12b) thus determined.

11. Method according to claim 10, wherein the method comprises moving the handheld calibration device (10) at a substantially constant speed within the detection range of the vehicle environment sensor (8).

12. Method according to claim 10 or 11, wherein the method comprises moving the handheld calibration device (10) at a speed in the detection range of the vehicle environment sensor (8) that does not exceed a predetermined maximum speed.

13. Method according to any one of claims 8 to 12, wherein the method comprises transmitting instructions for positioning and aligning the handheld calibration device (10) from the driver assistance system (6, 8) to the handheld calibration device (10). R.415852 - 22 - 14. Method according to any one of claims 8 to 13, wherein the method comprises transmitting data and / or instructions wired or wirelessly between the handheld calibration device (10) and the driver assistance system (6, 8).

15. Method according to any one of claims 8 to 14, wherein the method comprises projecting at least one optical marking (22) onto the motor vehicle (2) and aligning the handheld calibration device (10) relative to the motor vehicle (2) using the at least one optical marking (22).

Images