Sensor Aiming Calibration Using Multi-Target Position Estimation
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Solution Overview
Problem
Existing systems for vehicle periphery monitoring sensors struggle with accurately calculating axis deviation when detected objects are not the same, and require manual correction of sensor axis deviations.
Innovation Solution
A sensor aiming device that processes positional relationship information of multiple targets from different sensors, converts observation results into a unified coordinate system, and estimates correction amounts for sensor deviations based on target positions and relationships.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If axis deviation calculation is performed only when detected objects are the same, then calculation complexity is reduced, but measurement precision deteriorates because axis deviation cannot be calculated when objects are different
Solution Approach 1:
The patent introduces a third sensor (camera or LiDAR) as an intermediary to detect the position of a common reference object. This intermediary sensor provides additional positional information that enables axis deviation calculation even when the primary sensors detect different objects, thereby resolving the contradiction between calculation complexity and measurement precision
Solution Approach 2:
The patent transitions from binary object matching (same/different) to multi-dimensional spatial relationship analysis by incorporating Z-axis distance information and angular relationships. This dimensional expansion allows axis deviation calculation based on spatial geometry rather than object identity matching
2Manufacturing precision
If manual correction of sensor axis deviation is performed, then manufacturing precision is improved, but ease of operation deteriorates due to required human intervention
Solution Approach 1:
The system performs self-alignment by automatically calculating axis deviation amounts using detection data from multiple sensors and correcting coordinate conversion parameters without human intervention. The sensors and processing unit work together to self-calibrate the system, eliminating the need for manual correction operations
Solution Approach 2:
The system continuously monitors detection data from multiple sensors, calculates axis deviation amounts, and adjusts coordinate conversion parameters based on this feedback loop. This automatic feedback mechanism maintains manufacturing precision while eliminating manual operation requirements
3Device complexity
If coordinate conversion parameters are fixed, then device complexity is reduced, but adaptability deteriorates because axis deviation cannot be corrected
Solution Approach 1:
The patent transforms fixed coordinate conversion parameters into dynamic parameters that can be automatically adjusted based on detected axis deviations. The system calculates correction amounts from sensor data and updates conversion parameters in real-time, enabling adaptability while maintaining manageable device complexity through automated processes
Data Source
AI summary
A sensor aiming device includes: a target positional relationship processing unit for outputting positional relationship information of first and second targets; a sensor observation information processing unit configured to convert the observation result of the first and second targets into a predetermined unified coordinate system according to a coordinate conversion parameter, perform time synchronization at a predetermined timing, and extract first target information indicating a position of the first target and second target information indicating a position of the second target; a position estimation unit configured to estimate a position of the second target using the first target information, the second target information, and the positional relationship information; and a sensor correction amount estimation unit configured to calculate a deviation amount of the second sensor using the second target information and an estimated position of the second target and estimate a correction amount.