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1. WO2019048111 - METHOD AND DEVICE FOR DETERMINING THE DEVIATION OF A SENSOR AXIS OF AN ENVIRONMENTAL SENSOR FROM THE AXIS OF TRAVEL OF A VEHICLE

Publication Number WO/2019/048111
Publication Date 14.03.2019
International Application No. PCT/EP2018/068878
International Filing Date 12.07.2018
IPC
G01S 7/497 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
48of systems according to group G01S17/58
497Means for monitoring or calibrating
G01S 7/52 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
52of systems according to group G01S15/58
G01S 7/40 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
02of systems according to group G01S13/58
40Means for monitoring or calibrating
CPC
G01S 13/876
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
87Combinations of radar systems, e.g. primary radar and secondary radar
876Combination of several spaced transponders or reflectors of known location for determining the position of a receiver
G01S 13/931
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 15/931
GPHYSICS
01MEASURING; TESTING
SRADIO 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
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 17/931
GPHYSICS
01MEASURING; TESTING
SRADIO 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
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 2007/403
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
02of systems according to group G01S13/00
40Means for monitoring or calibrating
4004of parts of a radar system
4026Antenna boresight
403in azimuth, i.e. in the horizontal plane
G01S 2007/4091
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
02of systems according to group G01S13/00
40Means for monitoring or calibrating
4052by simulation of echoes
4082using externally generated reference signals, e.g. via remote reflector or transponder
4091during normal radar operation
Applicants
  • ROBERT BOSCH GMBH [DE]/[DE]
Inventors
  • DORENKAMP, Stephan
Priority Data
10 2017 215 586.805.09.2017DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN UND VORRICHTUNG ZUR BESTIMMUNG DER ABWEICHUNG EINER SENSORACHSE EINES UMFELDSENSORS VON DER FAHRACHSE EINES FAHRZEUGS
(EN) METHOD AND DEVICE FOR DETERMINING THE DEVIATION OF A SENSOR AXIS OF AN ENVIRONMENTAL SENSOR FROM THE AXIS OF TRAVEL OF A VEHICLE
(FR) PROCÉDÉ ET DISPOSITIF DE DÉTERMINATION DE L’ÉCART D’UN AXE DE CAPTEUR D’UN CAPTEUR D’ENVIRONNEMENT À PARTIR D’UN AXE DE DÉPLACEMENT D’UN VÉHICULE
Abstract
(DE)
Es wird ein Verfahren und eine Vorrichtung zur Bestimmung der Abweichung (5) zwischen einer Sensorachse (4) eines Umfeldsensors (2) und der Fahrachse (3) des Fahrzeugs (1), an dem der Umfeldsensor (2) befestigt ist, insbesondere während einer Kalibrierfahrt des Fahrzeugs (1), wobei das Fahrzeug (1) entlang einer Fahrstrecke bewegt wird und dabei mindestens 3 Positionsmarken gleichzeitg erfasst werden. Dabei ist vorgesehen, dass die Positionen der Positionsmarken bekannt sind, dass durch Multilateration der Positionsmarken die momentane Position des Umfeldsensors (2) bestimmt wird, dass durch Multiangulation der Positionsmarken die Ausrichtung der Sensorachse (4) im Raum bestimmt wird, dass durch Multilateration zu mindestens 2 oder mehr Zeitpunkten die Fahrachse (3) des Fahrzeugs (1) aus der Bewegungsrichtung des Umfeldsensors (2) bestimmt wird, und dass durch Vergleich der Ausrichtung der Fahrachse (3) mit der Ausrichtung der Sensorachse (4) die Abweichung (5) bestimmt wird.
(EN)
The invention relates to a method and to a device for determining the deviation (5) between a sensor axis (4) of an environmental sensor (2) and the axis of travel (3) of the vehicle (1) to which the environmental sensor (2) is fixed, in particular during a calibration journey of the vehicle (1), wherein the vehicle (1) is moved along a route and at least 3 position marks are detected simultaneously. According to the invention, the positions of the position marks aree known, the instantaneous position of the environmental sensor (2) is determined by multi-lateration of the position marks, the alignment of the sensor axis (4) in space is determined by multi-angulation of the position marks, the axis of travel (3) of the vehicle (1) is determined from the direction of motion of the environment sensor (2) by means of multi-lateration at at least 2 or more times, and the deviation (5) is determined by comparing the alignment of the axis of travel (3) with the alignment of the sensor axis (4).
(FR)
L’invention concerne un procédé et un dispositif de détermination de l’écart (5) entre un axe de capteur (4) d’un capteur d’environnement (2) et l’axe de déplacement (3) du véhicule (1) auquel le capteur d’environnement (2) est fixé, en particulier lors d’un déplacement d’étalonnage du véhicule (1). Le véhicule (1) est déplacé le long d’un itinéraire et au moins trois repères de position sont alors détectés simultanément. Selon l’invention, les positions des repères de position sont connues, la position instantanée du capteur d’environnement (2) est déterminée par multilatération des repères de position, l’orientation de l’axe de capteur (4) dans l’espace est déterminée par multilatération des repères de position, l’axe de déplacement (3) du véhicule (1) est déterminé par multilatération à au moins 2 instants à partir de la direction de déplacement du capteur d’environnement (2), et l’écart est déterminé par comparaison de l’orientation de l’axe d’entraînement (3) à l’orientation de l’axe de capteur (4).
Also published as
Latest bibliographic data on file with the International Bureau