WO2021190823A1 - Procédé et dispositif d'étalonnage d'au moins un capteur radar - Google Patents

Procédé et dispositif d'étalonnage d'au moins un capteur radar Download PDF

Info

Publication number
WO2021190823A1
WO2021190823A1 PCT/EP2021/053847 EP2021053847W WO2021190823A1 WO 2021190823 A1 WO2021190823 A1 WO 2021190823A1 EP 2021053847 W EP2021053847 W EP 2021053847W WO 2021190823 A1 WO2021190823 A1 WO 2021190823A1
Authority
WO
WIPO (PCT)
Prior art keywords
calibration object
radar sensor
vehicle
calibration
radar
Prior art date
Application number
PCT/EP2021/053847
Other languages
German (de)
English (en)
Inventor
Bence ERDEI
Gergely Dian
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2021190823A1 publication Critical patent/WO2021190823A1/fr

Links

Classifications

    • 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
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber
    • 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
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • 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
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/75—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors
    • G01S13/751—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors wherein the responder or reflector radiates a coded signal
    • 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
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4095—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder the external reference signals being modulated, e.g. rotating a dihedral reflector or modulating a transponder for simulation of a Doppler echo

Definitions

  • the invention relates to a method for calibrating at least one radar sensor of a vehicle according to the preamble of claim 1.
  • the invention also relates to a device for carrying out the method.
  • the invention can be used in particular in autonomous or partially autonomous vehicles which are usually equipped with radar sensors as environment sensors.
  • radar sensors can be found, for example, in braking and lane change assistance systems of vehicles.
  • a method for automatically calibrating a radar sensor of a vehicle is known from the laid-open specification DE 10 2018 203 941 A1, for example, in which the vehicle is moved with the aid of a means of transport along a route past a reflector for radar waves.
  • the reflector serves as a calibration object. While the vehicle is moving along the route, the radar sensor Ra darwellen in the direction of the reflector, which are reflected by the reflector and received again by the radar sensor.
  • the position and / or alignment of the radar sensor relative to the reflector is determined from the received radar waves or who, with the help of geometric calculations, is determined at different times. ten, that is, at different vehicle positions.
  • the radar sensor is spatially calibrated, with a lateral shift and / or a deviation in the alignment of the radar sensor relative to a central axis of the vehicle being determined.
  • the distance and / or the alignment of the center axis of the vehicle with respect to the reflector is or are known. This is the case when a conveyor belt is used as the transport medium, the position of which is specified in relation to the reflector.
  • the position of the vehicle in relation to the reflector is given.
  • a complex alignment of the vehicle or the sensor in relation to the reflector can thus be dispensed with.
  • the present invention is based on the object of further increasing the degree of automation in the calibration of at least one radar sensor of a vehicle. Furthermore, the calibration of a large number of radar sensors of a vehicle is to be simplified, which are arranged in different positions and in different angular positions with respect to the central axis of the vehicle. Modern vehicles already have five to ten radar sensors, all of which have to be calibrated.
  • a method for calibrating at least one radar sensor of a vehicle in which, with the aid of the radar sensor, radar waves are transmitted in the direction of a calibration object and received again.
  • the calibration object is moved relative to the vehicle within a defined space in which the vehicle has been positioned beforehand, so that the position of the calibration object changes in space, the position of the calibration object in space being known at all times, so that on the basis of this information as well as the previously determined or the position of the vehicle and / or the radar sensor that is already known, the spatial calibration of the radar sensor can be carried out.
  • the calibration object can be optimally aligned with the radar sensor to be calibrated.
  • a large number of measurements can be carried out in a short time. All of this helps increase the accuracy of the calibration.
  • only a single calibration object is required to calibrate a large number of radar sensors.
  • the individual calibration processes are then preferably carried out one after the other with the same calibration object.
  • the space within which the calibration object is moved when the at least one radar sensor is calibrated is preferably defined by a calibration system that has the calibration object.
  • the calibration object is also moved in space with the aid of the calibration system. This ensures that the current position of the calibration object is known at all times.
  • the calibration system can have a rail system to which the calibration object is attached so that it can be moved in all three spatial directions with the aid of the rail system.
  • the calibration object be moved, rotated and / or tilted in space in all three spatial directions.
  • the position of the calibration object in space is defined by 6D position data.
  • the center of the rear axle of the vehicle is preferably used as a reference point.
  • the central axis of the vehicle runs through this point, so that the angular position of the at least one radar sensor in relation to the central axis of the vehicle can also be determined in this way.
  • the spatial position of the at least one radar sensor can also be determined using a model, for example using a CAD model. The exact position and the exact alignment or angular position of the respective radar sensor can be taken from the model.
  • the center of the rear axle and / or the center axis of the vehicle can in turn serve as a reference point.
  • the calibration object preferably with the aid of an antenna, receive radar waves, process them and send them back to the radar sensor. Before processing, the radar waves are preferably converted into an electrical signal, as this makes processing easier. Then, i.e. before sending it back, the electrical signal is converted back into radar waves.
  • the antenna of the calibration object which is preferably provided, simplifies the alignment with respect to the radar sensor to be calibrated. A central point of the antenna can serve as a reference point for determining the exact position of the calibration object in space.
  • the calibration object sends the received radar waves back to the radar sensor with at least one changed parameter, for example with a changed frequency and / or amplitude.
  • the processing of the received radar signals can accordingly also include a change in at least one parameter of the radar waves. For example, the distance and / or the speed can be changed. In this way, different types of sensors can be responded to.
  • a calibration object simulator is advantageously used as the calibration object. With its help, long distances and / or high speeds in particular can be simulated. There can be two reasons for long distances. On the one hand, in order to minimize the influence of a housing of the calibration object simulator, which is usually made of metal, and / or its fastening means on the accuracy of the calibration. On the other hand, to prevent unwanted reflections from other metallic surfaces in the vicinity of the calibration object simulator. However, if the distances become too great, the calibration object may no longer be recognized.
  • the use of a calibration object simulator also has further advantages. For example, objects located in the detection range of the radar sensor can be filtered out, so that the accuracy of the calibration increases further.
  • the filter parameters are preferably specified by software for the respective radar sensor. The filter parameters can thus be set sensor-specifically.
  • the further proposed device for calibrating at least one Ra darsensor of a vehicle comprises a calibration system with a calibration object that can be moved, rotated and tilted in all three spatial directions with the aid of the calibration system within a space defined by the calibration system.
  • the proposed device is thus suitable for carrying out the above-described method according to the invention.
  • the advantages of the device accordingly correspond to the advantages of the method described above, so that reference is made to this.
  • the calibration object of the device preferably has an antenna.
  • the antenna makes it easier to align the calibration object with respect to the at least one Ra darsensor.
  • a reference point can be defined with the aid of the antenna, the 6D coordinates of which are known in space.
  • the calibration object be suitable for receiving radar waves from the radar sensor, processing them and sending them back to the radar sensor. This is the case, for example, when - according to a preferred embodiment of the invention - the calibration object is a calibration object simulator.
  • FIG. 1 shows a perspective illustration of a device according to the invention for calibrating a radar sensor of a vehicle
  • FIG. 2 shows an enlarged section of FIG. 1
  • FIG. 3 shows an enlarged section of FIG. 2
  • Fig. 4 is a block diagram to graphically depict the sequence of a method according to the invention for calibrating a radar sensor of a vehicle.
  • the device shown in FIG. 1 comprises a calibration system 4 with a rail system 7 and a calibration object 2 attached to it, so that the calibration object 2 can be moved in all three spatial directions, namely x, y, z, with the aid of the rail system 7.
  • the rail system 7 of the calibration system 4 also defines a space 3 within which the calibration object 2 can be moved.
  • the calibration system 4 shown also includes a type of lifting platform 6 on which a vehicle 1 with at least one radar sensor (not shown) to be calibrated is positioned.
  • the position of the vehicle 1 in the room 3 is predetermined via the lifting platform 6 and is therefore known.
  • the position of the at least one radar sensor relative to a reference point of the vehicle 1, for example the center of the rear axle of the vehicle 1, can be taken from a model.
  • the at least one radar sensor can be spatially calibrated on the basis of the data already known.
  • the calibration object 2 is aligned with the radar sensor, radar waves are transmitted from the radar sensor in the direction of the calibration object 2 and sent back from the calibration object 2. This process is repeated from different positions of the calibration object 2 and / or with further radar sensors.
  • the calibration object 2 can not only be moved in all three spatial directions with the aid of the rail system 7, but can also be rotated and tilted. Furthermore, the calibration object 2 is equipped with an antenna 5, which is precisely aligned with the radar sensor when a radar sensor is calibrated. Furthermore, in the present case the calibration object 2 is designed as a calibration object simulator. The calibration object simulator is able to receive radar waves emitted by a radar sensor, process them and send them back to the radar sensor. In this way, at least one parameter of the radar waves can be changed before they are sent back.
  • FIG. 4 the sequence of a method according to the invention for calibrating at least one radar sensor of a vehicle 1 is shown as an example.
  • step 100 the vehicle 1 is first driven into the calibration system 4 and parked on the lifting platform 6. With the aid of the lifting platform 6, the position of the vehicle 1 in space can be specified. The position is therefore known. In the absence of such a lifting platform 6, the position of the vehicle 1 can optionally be determined in step 200. Subsequently, in step 300, the calibration object 2 is aligned with respect to a radar sensor of the vehicle 1 to be calibrated and the required measurements are carried out with the aid of the radar sensor and the calibration object 2. In step 400, the radar sensor is spatially calibrated on the basis of the measurement data. If several radar sensors are to be calibrated, steps 300 and 400 are repeated accordingly. After the at least one radar sensor has been calibrated, the vehicle 1 can be driven out of the calibration system 4 again in step 500.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention concerne un procédé d'étalonnage d'au moins un capteur radar d'un véhicule (1), à l'aide du capteur radar, des ondes radar étant émises vers un objet d'étalonnage (2) et étant reçues à nouveau. Selon l'invention, l'objet d'étalonnage (2) est déplacé par rapport au véhicule (1) dans un espace défini (3), dans lequel le véhicule (1) a été positionné à l'avance, de telle sorte que la position de l'objet d'étalonnage (2) dans l'espace (3) change, la position de l'objet d'étalonnage (2) dans l'espace (3) étant connue à tout moment, de sorte que, sur la base de ces informations et sur la base de la position précédemment déterminée ou connue du véhicule (1) et/ou du capteur radar, l'étalonnage spatial du capteur radar puisse être réalisé. La présente invention concerne également un dispositif pour la mise en œuvre du procédé.
PCT/EP2021/053847 2020-03-27 2021-02-17 Procédé et dispositif d'étalonnage d'au moins un capteur radar WO2021190823A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020204034.6 2020-03-27
DE102020204034.6A DE102020204034A1 (de) 2020-03-27 2020-03-27 Verfahren und Vorrichtung zur Kalibrierung mindestens eines Radarsensors

Publications (1)

Publication Number Publication Date
WO2021190823A1 true WO2021190823A1 (fr) 2021-09-30

Family

ID=74672297

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/053847 WO2021190823A1 (fr) 2020-03-27 2021-02-17 Procédé et dispositif d'étalonnage d'au moins un capteur radar

Country Status (2)

Country Link
DE (1) DE102020204034A1 (fr)
WO (1) WO2021190823A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022204240A1 (de) 2022-04-29 2023-11-02 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Kalibrieren eines Sensors für ein Fahrerassistenzsystem und Steuergerät

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19946161A1 (de) * 1999-09-27 2001-04-26 Siemens Ag Verfahren zur Abstandsmessung
DE102018203941A1 (de) 2018-03-15 2019-09-19 Robert Bosch Gmbh Automatisches Kalibrieren eines Fahrzeug-Radarsensors
DE102018208464A1 (de) * 2018-05-29 2019-12-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur Funktionsprüfung eines Radarsensors sowie zur Durchführung des Verfahrens geeignete Einrichtung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19946161A1 (de) * 1999-09-27 2001-04-26 Siemens Ag Verfahren zur Abstandsmessung
DE102018203941A1 (de) 2018-03-15 2019-09-19 Robert Bosch Gmbh Automatisches Kalibrieren eines Fahrzeug-Radarsensors
DE102018208464A1 (de) * 2018-05-29 2019-12-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur Funktionsprüfung eines Radarsensors sowie zur Durchführung des Verfahrens geeignete Einrichtung

Also Published As

Publication number Publication date
DE102020204034A1 (de) 2021-09-30

Similar Documents

Publication Publication Date Title
DE19900362C2 (de) Verfahren zum Einstellen der Achse eines fahrzeuginternen Radars
DE102018203941A1 (de) Automatisches Kalibrieren eines Fahrzeug-Radarsensors
DE69820370T2 (de) Ausrichtungsvorrichtung für Automobilradar
DE102009009046A1 (de) Messvorrichtung zum Ausrichten wenigstens einer Sensoreinheit eines Fahrerassistenzsystems eines Fahrzeuges
DE102019220049A1 (de) Verfahren und Vorrichtung zur Kalibrierung mindestens eines Sensors
DE102018133693B3 (de) Verfahren zur Kalibrierung der Ausrichtung eines sich bewegenden Objektsensors
DE102010015723B4 (de) Verfahren und Vorrichtung zum Erfassen einer Bewegung eines Straßenfahrzeugs
EP3060942B1 (fr) Procédé pour la détermination de la disposition d'au moins deux capteurs et réseaux de capteurs
EP1953520A2 (fr) Procédé et dispositif destinés à aligner un capteur d'environnement ou un phare de véhicule
DE102009038907A1 (de) Verfahren und Vorrichtung zur Justierung der Ausrichtung einer Strahlcharakteristik eines Radarsensors
DE102011087177A1 (de) Verfahren zur Positionierung eines Messsystems und Messsystem zur Durchführung des Verfahrens
EP1766431B1 (fr) Procede et dispositif pour compenser des tolerances de montage d'un capteur de distances
DE102018220782A1 (de) Lokalisierung eines Fahrzeugs anhand von dynamischen Objekten
EP3410145A1 (fr) Procédé d'étalonnage d'un capteur radar d'un véhicule automobile lors d'un mouvement de véhicule automobile, capteur radar, système d'aide à la conduite et véhicule automobile
WO2021190823A1 (fr) Procédé et dispositif d'étalonnage d'au moins un capteur radar
DE102020206593A1 (de) Verfahren und Vorrichtung zur Kalibrierung mindestens eines Sensors
DE10116278A1 (de) Verfahren zum Abgleich wenigstens eines an einem Fahrzeug angeordneten Abstandssensors mittels eines Referenzobjekts sowie Referenzobjekt dafür
DE102019113441A1 (de) Verfahren zur Zuordnung des intrinsischen Koordinatensystems eines ersten Aggregats eines Fahrzeuges zur Erfassung des Raumes seitlich des Fahrzeuges relativ zu einem fahrzeugbezogenen Koordinatensystem und Vorrichtung zur Durchführung des Verfahrens
DE19707591C1 (de) Verfahren und Vorrichtung zur Überprüfung der Ausrichtung einer Strahlcharakteristik eines Objektsensors
WO2005071434A1 (fr) Procede et dispositif pour realiser l'alignement angulaire d'un capteur dans un vehicule automobile
WO2022243218A1 (fr) Procédé, produit de programme informatique, unité de commande et véhicule
DE102007058241A1 (de) Auswerteverfahren, insbesondere für ein Fahrerassistenzsystem eines Kraftfahrzeugs, zur Objektdetektion mittels eines Radarsensors
DE10200945B4 (de) Verfahren zum automatischen Korrigieren von Ausgangswerten eines Abstandssensors bei einem Fahrzeug
DE10210472B4 (de) Verfahren zur Justierung der Ausrichtung einer Sensoreinheit und Vorrichtung zur Durchführung des Verfahrens
EP3326891B1 (fr) Procédé de localisation d'un véhicule le long d'une route dans un environnement de stationnement

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21706876

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21706876

Country of ref document: EP

Kind code of ref document: A1