FR3120711B1 - Procede et dispositif de calibration d'un capteur de profondeur d'environnement - Google Patents

Procede et dispositif de calibration d'un capteur de profondeur d'environnement Download PDF

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Publication number
FR3120711B1
FR3120711B1 FR2102300A FR2102300A FR3120711B1 FR 3120711 B1 FR3120711 B1 FR 3120711B1 FR 2102300 A FR2102300 A FR 2102300A FR 2102300 A FR2102300 A FR 2102300A FR 3120711 B1 FR3120711 B1 FR 3120711B1
Authority
FR
France
Prior art keywords
calibration
flat surfaces
depth sensor
environment depth
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2102300A
Other languages
English (en)
Other versions
FR3120711A1 (fr
Inventor
Gatien Ferret
Bilal Hijazi
Bautista Joaquin Cornejo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Continental Automotive France SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive France SAS filed Critical Continental Automotive France SAS
Priority to FR2102300A priority Critical patent/FR3120711B1/fr
Priority to JP2023555411A priority patent/JP2024509299A/ja
Priority to PCT/EP2022/055810 priority patent/WO2022189389A1/fr
Priority to US18/280,834 priority patent/US20240159567A1/en
Publication of FR3120711A1 publication Critical patent/FR3120711A1/fr
Application granted granted Critical
Publication of FR3120711B1 publication Critical patent/FR3120711B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

L’invention concerne un procédé de calibration d'un capteur de profondeur d'environnement (11, 12, 13) porté par un véhicule (1), qui comprend :- une étape de stockage de données concernant des surfaces planes identifiées par le capteur de profondeur d'environnement (11, 12, 13), ces données comprenant au moins des informations concernant l’orientation des surfaces planes ;- une étape d'analyse statistique des données stockées dans la base de données, apte à identifier une orientation prédominante de surfaces planes ;- une étape de calcul d'un angle de calibration, formé entre cette orientation prédominante de surfaces planes et le capteur de profondeur d’environnement (11, 12, 13). L’invention concerne également un dispositif de calibration apte à mettre en œuvre ce procédé de calibration. Figure pour l’abrégé : Figure 1
FR2102300A 2021-03-09 2021-03-09 Procede et dispositif de calibration d'un capteur de profondeur d'environnement Active FR3120711B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR2102300A FR3120711B1 (fr) 2021-03-09 2021-03-09 Procede et dispositif de calibration d'un capteur de profondeur d'environnement
JP2023555411A JP2024509299A (ja) 2021-03-09 2022-03-08 環境深度センサを較正するための方法及び装置
PCT/EP2022/055810 WO2022189389A1 (fr) 2021-03-09 2022-03-08 Procede et dispositif de calibration d'un capteur de profondeur d'environnement
US18/280,834 US20240159567A1 (en) 2021-03-09 2022-03-08 Method and device for calibrating an environment depth sensor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2102300 2021-03-09
FR2102300A FR3120711B1 (fr) 2021-03-09 2021-03-09 Procede et dispositif de calibration d'un capteur de profondeur d'environnement

Publications (2)

Publication Number Publication Date
FR3120711A1 FR3120711A1 (fr) 2022-09-16
FR3120711B1 true FR3120711B1 (fr) 2023-04-14

Family

ID=75690497

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2102300A Active FR3120711B1 (fr) 2021-03-09 2021-03-09 Procede et dispositif de calibration d'un capteur de profondeur d'environnement

Country Status (4)

Country Link
US (1) US20240159567A1 (fr)
JP (1) JP2024509299A (fr)
FR (1) FR3120711B1 (fr)
WO (1) WO2022189389A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019099490A1 (fr) 2017-11-14 2019-05-23 Continental Automotive Systems, Inc. Ensemble capteur lidar flash
CA3027921C (fr) * 2018-06-25 2022-04-12 Beijing Didi Infinity Technology And Development Co., Ltd. Etalonnage de capteur integre dans les scenes naturelles

Also Published As

Publication number Publication date
FR3120711A1 (fr) 2022-09-16
WO2022189389A1 (fr) 2022-09-15
JP2024509299A (ja) 2024-02-29
US20240159567A1 (en) 2024-05-16

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Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20220916

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Year of fee payment: 3

TP Transmission of property

Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

Effective date: 20230424

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Year of fee payment: 4