WO2023174621A1 - Système de projection pour banc d'essai de systèmes d'aide à la conduite d'un véhicule automobile - Google Patents

Système de projection pour banc d'essai de systèmes d'aide à la conduite d'un véhicule automobile Download PDF

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Publication number
WO2023174621A1
WO2023174621A1 PCT/EP2023/053214 EP2023053214W WO2023174621A1 WO 2023174621 A1 WO2023174621 A1 WO 2023174621A1 EP 2023053214 W EP2023053214 W EP 2023053214W WO 2023174621 A1 WO2023174621 A1 WO 2023174621A1
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WO
WIPO (PCT)
Prior art keywords
image
projection system
designed
target position
control unit
Prior art date
Application number
PCT/EP2023/053214
Other languages
German (de)
English (en)
Inventor
Martin Heller
Klaus Allen
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
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 Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2023174621A1 publication Critical patent/WO2023174621A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles

Definitions

  • the present invention relates to a projection system for a test bench for driving assistance systems of a motor vehicle, a test bench with the projection system and the use of the projection system on such a test bench.
  • Projection systems are known from the prior art, which project road courses onto projection surfaces in order to test driving assistance systems, such as camera-guided road and/or person recognition.
  • the projection takes place on screens or hollow spheres in a closed room.
  • Laser-based measurement of the images in order to synchronize them from different projectors is also state of the art.
  • a device for calibrating sensors of an autonomous vehicle includes a camera calibration target that is configured to be measured by an optical camera of the vehicle and used for calibration; a light detection and ranging calibration target (LiDAR) configured to be measured by a vehicle LiDAR transceiver and used for calibration; and a platform configured to allow the vehicle to drive onto and park on the platform.
  • the camera calibration target and the LiDAR calibration target are positioned so that they can be captured by the optical camera and the LiDAR transceiver while the vehicle is parked on the platform.
  • the platform is further configured to change a lateral position, elevation, or orientation of the optical camera and the LiDAR transceiver relative to the camera calibration target and the LiDAR calibration target while the vehicle is parked on the platform.
  • US 2008/186384 A1 describes a camera calibration device with a parameter determiner which is suitable for determining parameters for the projection of an image recorded with a camera onto a predetermined surface.
  • the parameter determiner determines the parameters based on a calibrating image from the camera, and the image to be calibrated contains a plurality of calibration patterns with previously known shapes arranged at various positions within the recording area of the camera.
  • the object of the present invention is to provide a device and a method which are each suitable for overcoming at least the above-mentioned disadvantages of the prior art.
  • the task is then solved by a projection system for a test bench for driving assistance systems of a motor vehicle.
  • driving assistance systems in particular their reliability and/or accuracy, can be tested on the test bench.
  • the driving assistance system can represent an additional electronic device in the motor vehicle to be tested to support the driver in certain driving situations.
  • the functionality and in particular the range of functions of the driving assistance system can depend on the degree of automation of the motor vehicle. It is conceivable that the driving assistance system can at least partially and/or temporarily take over transverse and/or longitudinal guidance of the motor vehicle.
  • the driving assistance system can, for example, have an ultrasonic sensor Have a camera, a radar sensor and / or a LiDAR sensor. These sensors can be checked for functionality by means of the projection system, in particular by the test environment generated by the projection system.
  • the motor vehicle can be an automobile.
  • the projection system has at least one projection device which is arranged and designed to project an image onto a surface of the test bench.
  • the image can be understood as a projection, which can also be referred to as an image projection.
  • a projection can be understood as an enlarged (or reduced or otherwise modified) transfer of an image onto a projection surface, here the subsurface or floor.
  • the projection system has a camera that is designed to capture the image projected onto the surface of the test bench in the form of image data.
  • the camera can have a field-of-view (FOV) that covers, in particular completely, the area in which the image is projected onto the ground. This area can also be referred to as the test area. If an image is taken with the camera, the image projected onto the surface using the projection device can automatically be seen in the image.
  • FOV field-of-view
  • the projection system has a control unit that is designed to determine an actual position of the image projected onto the background based on the image data captured by the camera.
  • the control unit is further designed to align the projection device based on the determined actual position and a target position of the image projected onto the background so that the actual position and the target position match.
  • control unit is connected to the camera on the input side and receives the image recorded by the camera. Based on this, the control unit recognizes, for example using an object recognition algorithm that receives the image data recorded by the camera as input data, where the image is located underground. This corresponds to the actual position. If the actual position deviates from the target position, the control unit outputs a control signal to the projection device and changes its orientation in order to shift the actual position of the image projected onto the surface towards the target position. This can be repeated until the target position and the actual position match.
  • the system can be used to project road markings, parking lot markings and positions of test obstacles (so-called targets) onto the test area.
  • the projection system described above therefore allows a changeable test environment to be automatically projected onto a test stand, i.e. there is no need for time-consuming manual construction and modification of the test environment.
  • the system can be designed to be portable, i.e. it can be used regardless of location. This means that stationary, highly flexible scenarios can be displayed and created, which can be used quickly and easily at any time for the homologation of driving assistance systems, such as parking assistance systems. These can therefore be applied worldwide in a standardized or modifiable manner or can be used by technical services for the homologation of all vehicles through standardized, quickly transferable and modifiable scenarios to help position road markings, parking lot markings and obstacles.
  • the projection device can have at least two projectors arranged at a distance from one another, which are arranged and designed to each project at least part of the image onto the background of the test bench.
  • the actual position determined by the control unit can include a respective actual position of both parts of the image
  • the target position used by the control unit can include a respective target position of both parts of the image.
  • the image may have multiple markers arranged at a predetermined distance from one another.
  • the markings can be, for example, a position marking for an obstacle to be positioned at the position marking, a line and/or a road marking.
  • the image projected onto the surface itself can contain information that is to be recognized by the driving assistance system being tested, such as the road markings.
  • physical obstacles e.g. pylons or a dummy curb
  • the control unit can be designed to use a hardware control signal to change an orientation and/or position of the projection device so that the actual position and the target position match.
  • control unit can, for example, use a servomotor to change a distance of the projection device and/or an angular position of the projection device to the background in order to bring the actual position into line with the target position of the image.
  • the subsurface can be horizontal.
  • the control unit can be designed to use a software control signal to change the image projected onto the surface by the projection device so that the actual position and the target position match.
  • a software control signal can also be output to the projection device.
  • the software control signal may contain image data corresponding to the image to be displayed on the background by the projection device. This means that the image projected onto the surface by the projection device itself can be changed so that the actual position and the target position match.
  • the projection system can have target position markers that can be attached to the surface of the test stand.
  • the camera can be designed to capture the target position markers in the form of the image data
  • the control unit can be designed to detect the target position of the image projected onto the ground based on the target position markers contained in the image data to determine.
  • markings are attached to the surface and certain parts of the image projected onto the surface are to be arranged within the marking so that the target position and the actual position match. It is also conceivable that the projectors themselves project markings onto the floor, which are arranged in overlapping image areas of the individual projectors and which should be made to coincide so that the target position and the actual position match.
  • the camera can be designed to capture a motor vehicle located on the surface of the test bench in the form of image data.
  • the control unit can be designed to determine the target position of the image projected onto the ground based on the motor vehicle contained in the image data.
  • the control device can be designed to adapt the test environment to be generated by means of the projection to the actual position of the motor vehicle.
  • the camera may be connected to a storage device designed to store the image data captured by the camera.
  • the projection system thus allows both the test environment and, if necessary, the execution of the test to be documented, which is particularly advantageous for homologations.
  • a test bench for driver assistance systems of a motor vehicle comprising the projection system described above and a support system which is adjustable in height by the control unit and to which the projection system is at least partially attached. What was described above with reference to the projection system also applies to the test bench and vice versa.
  • the disclosure relates to a use of the projection system described above on a test bench for driver assistance systems of a motor vehicle. What has been described above with reference to the projection system and test bench also applies analogously to the use of the projection system on such a test bench and vice versa.
  • the disclosure is based on the principle of arranging (image) projectors on ceiling supports of a covered area.
  • projectors can be attached to a lowerable frame, as is common in the lighting area of trade fairs, for example. These frames can be lowered and can be fixed to the hall ceiling in a covered hall at a changeable but essentially precisely adjustable height.
  • These projectors are aligned using the control unit in such a way that the images generated are synchronized through the use of several projectors.
  • the projected test images of the system can be measured by a control computer and adjusted using lasers or synchronization points. Using multiple synchronized projectors creates shadows prevented.
  • the arrangement can, for example, have at least four projectors.
  • the control computer can be used to project road markings or positions of obstacles onto the hall floor. Obstacles for, for example, Parking Distance Control (PDC) and/or radar detection of the subject's driving assistance systems to be homologated can therefore be precisely positioned and set up. This means that these projectors depict positions, lines and road markings on the road surface below. Obstacles can now be located at appropriate markings in a precisely reproducible and positionable manner.
  • the road markings are also displayed and can be depicted or positioned and made visible with adhesive applications and/or linoleum coverings.
  • the vehicle's PDC sensors can detect these obstacles and camera-guided systems can also recognize and interpret the markings on the road.
  • homologation of such functions can be carried out quickly and reproducibly. Further scenarios can be displayed by the control computer and quickly implemented on the ground.
  • the positioning of the targets can be recorded using a camera system that can also be provided and recorded and documented for audit-proof proof of homologation.
  • the system can be portable and multipliable and can therefore be used worldwide. Changes in laws and processes can be quickly distributed and reproducibly rolled out through software updates.
  • FIG. 1 shows schematically a test stand for driving assistance systems of a motor vehicle with a projection system according to the disclosure
  • Fig. 2 shows schematically a projection surface of the test stand from Figure 1
  • Fig. 3 shows schematically a test stand for driving assistance systems of a motor vehicle with two projection systems according to the disclosure.
  • the same reference numbers are used for the same objects in the figures.
  • test bench 1 for driver assistance systems of a motor vehicle 11 which is shown only schematically in Figure 1, is shown in a perspective view.
  • the test stand is installed in a test hall 2 indicated in FIG. 1, which represents a closed room.
  • the test stand 1 has a projection system 3, which is partially installed on the ceiling of the test hall 2, as well as a support system 5, which can be adjusted in height by a control unit 4 and a ceiling drive 6, to which the projection system 3 is partially attached.
  • the projection system 3 includes a projection device 7 with four projectors 8, each of which is arranged and designed to project a part of an image onto a background or a projection surface 9 of the test stand 1.
  • the four projectors 8 are each arranged at a corner of a square frame of the support system 5.
  • the projection system 3 has a camera 10, which is designed to capture the image projected onto the surface 9 of the test bench 1 in the form of image data.
  • the projection system 3 has the control unit 4, which is connected to both the camera 10 and the projection device 7, in particular the individual projectors 8.
  • the control unit 4 is designed to receive and process the image data captured by the camera 10. First, the control unit 4 determines a target position of the image projected onto the background 9 based on the image data received from the camera 10. For this purpose, the control unit 4 uses target position markers 91 (in the present case cross-shaped) contained in the image data, which in the present case are fixed are applied to the surface 9 designed as a linoleum carpet, which is shown in detail in Figure 2. The camera 10 is therefore positioned and designed to capture the target position markers 91 in the form of the image data.
  • target position markers 91 in the present case cross-shaped
  • the camera 10 is designed to capture the motor vehicle 11 located in the area of the subsurface 9 of the test bench 1 in the form of image data, so that the control unit 4 additionally or alternatively detects the target position of the image projected onto the subsurface 9 based on the motor vehicle 11 contained in the image data.
  • the control unit 4 determines, based on the image data, an actual position of the image projected onto the background 9 using (in this case cross-shaped) actual position markers 92, which are each projected onto the background 9 by the individual projectors 8. Since four projectors 8 are used in the present case, the control unit 4 determines an actual position of the respective part of the image that the respective projector 8 points to based on the actual position marker(s) 92 displayed by the respective projector 8 Projected underground.
  • the control device 4 determines a control signal and outputs this to the projection device 7, in particular to the individual projectors 8, and possibly also to the ceiling drive 6, in order to align the projection device 7, in particular its individual projectors 8, so that the actual position and the target position match.
  • This is the case, as shown in Figure 1, when the target position markers 91 and the actual position markers 92 match. Since the target position markers 91 include a respective target position of the four parts of the image, correct alignment of the individual parts of the image is automatically achieved.
  • the control unit 4 is designed to use a hardware control signal to change an orientation of the projection device 7 in space and/or a position of the projection device 7 so that the actual position and the target position match.
  • the control unit 4 is designed to use a software control signal to control the image projected by the projection device 7 onto the surface 9. in particular the individual parts of the image, to change so that the actual position and the target position match.
  • a predetermined test scenario i.e. a predetermined image
  • a predetermined image is projected onto the surface 9 under the control of the control unit 4 using the projection device 7, i.e. the individual projectors 8.
  • This image is true to scale, i.e. the distances between individual markings 12 contained in the image, which are used for test purposes, correspond to, for example, legal requirements and form a coherent or synchronized scenario.
  • the image can therefore have several markings 12, which, for example, have a position marking 13 for an obstacle 14 to be positioned at the position marking 13 (see also FIG. 2), lines 15, road markings 16 and/or other markings 17 which are at a predetermined distance are arranged to each other.
  • a monitor (not shown) can be connected to the control unit 4 so that a user of the test stand 1 can monitor and/or control the test.
  • the disclosure is not limited to the use of a single projection system 3, but rather several projection systems 3 can be provided, as shown in a side view in FIG. In this case, the images of the respective projection systems 3 projected onto the surface 9 can overlap (as shown in FIG. 3), so that the projection systems 3 can be aligned with one another in the manner described above.
  • Reference symbol list

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système de projection pour un banc d'essai de systèmes d'aide à la conduite d'un véhicule automobile, comportant au moins un dispositif de projection disposé et conçu pour projeter une image sur une base du banc d'essai, une caméra conçue pour capturer, sous la forme de données d'image, l'image projetée sur la base du banc d'essai, et une unité de commande conçue pour déterminer une position réelle de l'image projetée sur la base des données d'image acquises par la caméra et, sur la base de la position réelle déterminée et d'une position cible de l'image projetée sur la base, pour aligner le dispositif de projection de manière à ce que la position réelle et la position cible correspondent.
PCT/EP2023/053214 2022-03-16 2023-02-09 Système de projection pour banc d'essai de systèmes d'aide à la conduite d'un véhicule automobile WO2023174621A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022106205.8A DE102022106205A1 (de) 2022-03-16 2022-03-16 Projektionssystem für einen Prüfstand für Fahrassistenzsysteme eines Kraftfahrzeugs
DE102022106205.8 2022-03-16

Publications (1)

Publication Number Publication Date
WO2023174621A1 true WO2023174621A1 (fr) 2023-09-21

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PCT/EP2023/053214 WO2023174621A1 (fr) 2022-03-16 2023-02-09 Système de projection pour banc d'essai de systèmes d'aide à la conduite d'un véhicule automobile

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DE (1) DE102022106205A1 (fr)
WO (1) WO2023174621A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080186384A1 (en) 2007-02-01 2008-08-07 Sanyo Electric Co., Ltd. Apparatus and method for camera calibration, and vehicle
DE102017203155A1 (de) * 2017-02-27 2018-08-30 Robert Bosch Gmbh Vorrichtung und Verfahren zum Kalibrieren von Fahrzeug-Assistenz-Systemen
US20190204427A1 (en) 2017-12-28 2019-07-04 Lyft, Inc. Sensor calibration facility
US10935465B1 (en) * 2016-10-11 2021-03-02 Hunter Engineering Company Method and apparatus for vehicle inspection and safety system calibration using projected images
US20220057198A1 (en) * 2020-08-18 2022-02-24 BPG Sales and Technology Investments, LLC Vehicular floor target alignment for sensor calibration

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008043153A1 (de) 2008-10-24 2010-04-29 Robert Bosch Gmbh Verfahren zur Erzeugung eines Bildes sowie Projektor und Mobiltelefon mit einem Projektor
DE102011080339B4 (de) 2011-08-03 2020-03-12 Robert Bosch Gmbh Mobiles Projektionssystem
AT523670B1 (de) 2020-03-24 2023-07-15 Emotion3D Gmbh Vorrichtung und Verfahren zur Kalibrierung eines Lichtprojektors

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080186384A1 (en) 2007-02-01 2008-08-07 Sanyo Electric Co., Ltd. Apparatus and method for camera calibration, and vehicle
US10935465B1 (en) * 2016-10-11 2021-03-02 Hunter Engineering Company Method and apparatus for vehicle inspection and safety system calibration using projected images
DE102017203155A1 (de) * 2017-02-27 2018-08-30 Robert Bosch Gmbh Vorrichtung und Verfahren zum Kalibrieren von Fahrzeug-Assistenz-Systemen
US20190204427A1 (en) 2017-12-28 2019-07-04 Lyft, Inc. Sensor calibration facility
US20220057198A1 (en) * 2020-08-18 2022-02-24 BPG Sales and Technology Investments, LLC Vehicular floor target alignment for sensor calibration

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