Optoelectronic Sensor Roll Angle Determination Using Scan Points
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Solution Overview
Problem
Existing methods for determining the roll angle of optoelectronic sensors in motor vehicles are not sufficiently accurate or reliable, particularly in varying driving conditions and when only one ground structure is captured in the sensor image.
Innovation Solution
A method and optoelectronic sensor system that emits light beams to create scan points, using these points and reference axes or planes to calculate the roll angle, with the option to determine pitch and yaw angles first for improved accuracy, and utilizing known installation heights or road markings for reliable roll angle determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing methods are used to determine roll angle, then the process is simple, but the accuracy and reliability are insufficient
Solution Approach 1:
The method performs preliminary determination of pitch angle and yaw angle before determining the roll angle. This sequential approach allows each angle to be calculated based on previously established reference frames, improving overall accuracy without requiring a completely complex new system.
Solution Approach 2:
The orientation determination is segmented into three independent steps: pitch angle determination, yaw angle determination, and roll angle determination. Each step uses specific scan points and reference axes, breaking down the complex problem into manageable segments that can be solved sequentially.
2Reliability
If only one ground structure is captured in the sensor image, then the scanning situation is limited, but the roll angle determination becomes unreliable
Solution Approach 1:
The method provides a universal solution that works with either one or multiple ground structures. It can determine roll angle using a single ground structure when available, or switch to using multiple ground structures and their respective scan points when the scanning situation allows, making the system adaptable to various driving conditions.
Solution Approach 2:
The method dynamically adapts to the scanning situation by selecting appropriate reference axes based on available ground structures. When multiple ground structures are captured, the system can choose different combinations of scan points and reference axes, making the determination process flexible and reliable across varying driving conditions.
3Measurement precision
If scan points from multiple ground structures are used, then more data is available for calculation, but the complexity of selecting and processing scan points increases
Solution Approach 1:
The method applies different processing approaches to different ground structures based on their local characteristics. Each ground structure's scan points are evaluated and selected based on their specific geometric properties and reliability, allowing the system to optimize accuracy for each local situation while maintaining overall system manageability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and reliable determination of the roll angle, allowing for sensor calibration and improved safety in semi-autonomous and autonomous driving scenarios by providing accurate sensor images and correcting misalignments.
Implementation Method 1
The optoelectronic sensor (5) comprises at least one transmitter device (6) for emitting light beams (8) and comprises at least one receiver unit (7) for receiving light beams (9) reflected by an object (3)
Data Source
AI summary
A method for determining a roll angle (α) of an optoelectronic sensor of a motor vehicle, wherein the optoelectronic sensor comprises at least one transmitter device, at least one receiver unit and at least one evaluation unit is disclosed. The method involves emitting light beams into surroundings of the vehicle by the transmitter device, receiving light beams reflected at an object by the receiver unit, wherein the received light beams are represented by the evaluation unit as scan points in a sensor image of the surroundings of the motor vehicle, wherein the roll angle (α) is determined by the evaluation unit between at least one scan axis and at least one reference axis, wherein the scan axis is formed by at least one scan point of a ground structure and a reference point of the reference axis of the optoelectronic sensor.