Vehicle Surroundings Sensor Recalibration Using Attachment Geometry
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Solution Overview
Problem
Surroundings sensors in vehicles can become decalibrated over time due to settling behavior, accidents, or environmental influences, leading to inaccurate data and potentially increased safety risks.
Innovation Solution
A method and device for updating or adjusting the calibration of surroundings sensors by using a vehicle-side attachment element as a calibration object, allowing for the determination of a target position, alignment, and relative speed through relative movement between the sensor and the attachment element.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external calibration objects are used for recalibration, then measurement precision can be maintained, but device complexity and cost increase
Solution Approach 1:
The vehicle serves itself as the calibration reference by using its own geometric features (distance between vehicle and attachment element) as the basis for determining sensor position and orientation. This eliminates the need for external calibration objects and reduces calibration system complexity while maintaining measurement precision through self-referential measurement.
2Measurement precision
If traditional calibration methods are used, then initial calibration accuracy is achieved, but recalibration becomes complex and costly over time
Solution Approach 1:
The method enables the vehicle to perform its own recalibration using pre-stored geometric data about the attachment element and real-time measurement of distance and orientation to the attachment element. This self-calibration approach eliminates the need for complex external calibration equipment and expensive professional calibration services, making the process simple and cost-effective.
3Ease of manufacture
If sensor position is fixed, then initial calibration is straightforward, but decalibration occurs due to settling behavior and environmental influences
Solution Approach 1:
The system performs preliminary calibration during manufacturing to establish baseline geometric relationships between the vehicle and attachment element. This pre-stored geometric data serves as a reference for future recalibration operations, enabling the system to compensate for settling behavior and environmental influences that occur during the vehicle's service life.
Solution Approach 2:
The system continuously monitors the relationship between the sensor and the attachment element by measuring distance and orientation. This feedback mechanism allows the system to detect decalibration caused by settling behavior or environmental influences and automatically correct it through recalibration using the pre-stored geometric reference data.
Data Source
AI summary
Various embodiments of the teachings herein include a method for determining a target position of a surroundings sensor of a vehicle using a vehicle-side attachment element as a calibration object, wherein the sensor and the attachment element are movable relative to each other. The method includes: ascertaining a first position of the surroundings sensor in a first relative pose; moving the sensor and/or the element from the first pose to a second pose between the sensor and the element; ascertaining a second actual position of the surroundings sensor in the second relative pose; and determining the target position of the surroundings sensor by averaging the first position and the second position to form an averaged actual position and assigning the averaged actual position as the target position.