• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a method for assigning the intrinsic coordinate system of a first unit of a vehicle for recording the space to the side of the vehicle relative to a vehicle-related coordinate system by means of a measurement in a test stand. The test stand is designed to carry out measurement and / or adjustment work on units of the vehicle and has a measuring device (101) for measuring at least one axis of the vehicle-related coordinate system based on a coordinate system (401) assigned to the test stand. Furthermore, during a calibration of the test stand, the intrinsic coordinate system of the measuring device (101) was assigned in a defined manner relative to a coordinate system (401) of the test stand. The measuring unit (102) is mechanically attached (103, 104) to the measuring device (101) in such a way that the intrinsic coordinate system of the measuring unit (102) is assigned in a defined manner in relation to the intrinsic coordinate system of the measuring device (101). The invention also relates to a measuring device (101) for performing the method.
    公开号:BE1027090B1
    申请号:E20205342
    申请日:2020-05-15
    公开日:2021-08-03
    发明作者:Martin Wagner；Tentrup Thomas Dr；Timo Wallscheid；Ismail Kurt
    申请人:Duerr Assembly Products Gmbh；
    IPC主号:
    专利说明:

    Ra. d 1 BE2020 / 5342
    DESCRIPTION Method for assigning the intrinsic coordinate system of a first unit of a vehicle for capturing the space to the side of the vehicle relative to a vehicle-related coordinate system and device for carrying out the method of the vehicle relative to a vehicle-related coordinate system and a device for carrying out the method. From WO 2010/025723 A1 it is known to determine parameters of the chassis geometry for a vehicle in a test stand. The parameters of the chassis geometry include the toe and camber angles of the wheels as well as the x, y and z positions of the wheel centers. The x-position relates to the longitudinal direction of the vehicle, the y-position to the direction in the horizontal plane which is oriented perpendicular to the longitudinal direction of the vehicle. The z-position refers to the vertical direction. From these variables, further values can be determined which belong to the parameters of the chassis geometry. This includes, for example, the direction of the vehicle's geometric travel axis, which is defined as the bisector of the toe angle of the non-steered, driven axle of a vehicle. The chassis geometry parameters are determined by assigning a measuring device to each wheel on each side of the vehicle, which detects at least one parameter of the orientation of the respective wheel plane based on a coordinate system assigned to the test bench (test bench coordinate system). In the procedure described there, measurements of the parameters of the chassis geometry are carried out in two positions in the longitudinal direction of the test stand (X direction) to compensate for the wheel runout. In the procedure described there, the parameters of the chassis geometry of the wheels of both the steered and the non-steered axles are determined in both positions. In order to also be able to take a steering angle into account for the wheels of the steered axle, the steering angle is still recorded in both positions of the vehicle via the steering wheel position (in conjunction with the steering ratio).
    A method and a device for determining and setting the parameters of the chassis geometry of a vehicle are known from EP 2 321 618 B1. The measuring devices working according to the principle of photogrammetry for determining the parameters of the chassis geometry of the wheels (toe and camber angles as well as the x, y and z positions of the wheel centers) can be moved. There is also a means for detecting the travel path of the measuring device. The scope of equipment of vehicles can include units for recording the space. Such units are an essential part of driver assistance systems as well as systems for autonomous driving.
    These units can, for example, be cameras for optical detection of the room or radar sensors. These units can also be arranged to cover the space in the lateral direction of the vehicle.
    So-called lane change assistants can also belong to these driver assistance systems. For these lane change assistants, in addition to recognizing the lane, it is also important to recognize whether road users are in a parallel lane, especially when the vehicle is in the blind spot of the vehicle mirror. Depending on the scope of functions of these lane change assistants, it is also possible to evaluate the distance at which these other road users are moving and, if applicable, also at what speed these other road users are moving relative to their own vehicle.
    For the units and the associated recording of the space, it is essential that the direction in which certain objects and / or other road users are recorded is relative to a defined direction of the
    Vehicle are known. This defined direction of the vehicle is preferably the direction of the geometric travel axis of the vehicle. The aggregates have an intrinsic coordinate system. This means that these aggregates initially record the space in relation to their own (i.e. assigned to the respective aggregate) coordinate system. For the present application and use of the units in a vehicle, it is essential to relate the coverage of the space by the unit to the coordinate system of the vehicle. For this purpose, it can be provided that the respective unit is installed in a target position and with a target orientation of the intrinsic coordinate system of the unit relative to a vehicle-related coordinate system. The installation of the unit is associated with certain tolerances. Therefore, when installing the unit, the actual position of the unit may deviate from the target position of the unit and / or the actual orientation of the intrinsic coordinate system of the unit relative to the vehicle-related coordinate system can differ from the target orientation of the intrinsic coordinate system of the unit relative to the vehicle-related coordinate system .
    The object of the present invention is to simplify an assignment of the intrinsic coordinate system of a unit of a vehicle for recording the space to the side of the vehicle relative to a vehicle-related coordinate system.
    To this end, it is proposed according to claim 1 that the intrinsic coordinate system of a first unit of a vehicle be assigned to capture the space to the side of the vehicle relative to a vehicle-related coordinate system. This is done according to claim 1 by a measurement in a test stand. According to claim 1, the test stand is designed to carry out measurement and / or adjustment work on units of the vehicle. The test stand has a measuring device for measuring at least one axis of the vehicle-related coordinate system in relation to a coordinate system assigned to the test stand.
    This measurement can be carried out by measuring the toe and / or camber angles and, if necessary, the x, y and z positions of the wheel centers of the wheels by the measuring device.
    To measure at least one axis of the vehicle-related coordinate system in relation to a coordinate system assigned to the test stand, the intrinsic coordinate system of the measuring device is defined relative to a coordinate system of the test stand. This definition of the intrinsic coordinate system of the measuring device relative to a coordinate system of the test stand takes place by calibrating the test stand with the measuring device. Such a calibration can be carried out, for example, in connection with the commissioning of the test stand and, if necessary,
    ; can also be carried out during maintenance work on the test bench itself. A known procedure is to provide a device as a so-called calibration gauge that is positioned in the test stand. This calibration gauge has defined measuring surfaces and measuring points. When calibrating the test stand, this calibration gauge defines the intrinsic coordinate system of the measuring device relative to the coordinate system of the calibration gauge. The coordinate system of the calibration gauge is the coordinate system of the test stand. In the case of a calibration without such a calibration gauge, the intrinsic coordinate system of the measuring device must be defined in a different way relative to a coordinate system of the test stand. This calibration takes place before a vehicle is measured by means of the measuring device. According to the present invention, the test stand has a measuring unit which interacts with the first unit of the vehicle to measure the position and
    Orientation of the intrinsic coordinate system of the first unit of the vehicle in relation to the intrinsic coordinate system of the measuring unit.
    The type of measuring unit depends on the particular unit.
    For example, defined optical targets can be used as a measuring unit for 5 cameras.
    The targets are defined by their size, position and orientation.
    In this case, the position and the alignment of the targets define the intrinsic coordinate system of the measuring unit.
    By evaluating the image recorded by the camera, it can be determined whether the target is recognized in the image in a certain position, with a certain orientation and in a certain size.
    If the first unit is a radar sensor, a Doppler simulator, for example, can be used as the measuring unit.
    The Doppler simulator receives a radar signal transmitted by the first unit and sends back a signal (correspondingly shifted in frequency) that would reflect an object that is located in the cone of the radar signal and is moving relative to the vehicle.
    With a "suitable" alignment and position of the radar sensor (first unit) to the Doppler simulator (measuring unit), the radar sensor receives this from the
    Doppler simulator returned signal in significant strength.
    Using the measuring unit, it is thus possible to determine the intrinsic coordinate system of the first unit of the vehicle relative to the intrinsic coordinate system of the measuring unit, which is related to the coordinate system of the
    The test stand is known via the calibration gauge.
    This takes place through the interaction of the measuring unit with the first unit.
    This interaction leads to the intrinsic coordinate system of the first unit being measured in relation to the intrinsic coordinate system of the measuring unit.
    The measuring unit is also mechanically attached to the measuring device in such a way that the intrinsic coordinate system of the measuring unit is assigned in a defined manner in relation to the intrinsic coordinate system of the measuring device. This means that the intrinsic coordinate system of the measuring unit is known relative to the intrinsic coordinate system of the measuring device. This allows the intrinsic coordinate system of the first assembly to be assigned to the vehicle-related coordinate system.
    This assignment is derived from the measurement of the intrinsic coordinate system of the first unit in relation to the intrinsic coordinate system of the measuring unit.
    The defined assignment of the intrinsic coordinate system of the measuring unit to the intrinsic coordinate system of the measuring device is taken into account.
    This defined assignment allows the intrinsic coordinate system of the first unit to be converted from the aforementioned measurement into a relationship between this intrinsic coordinate system of the first unit and the intrinsic coordinate system of the measuring device.
    Furthermore, the measurement of at least one axis of the vehicle-related coordinate system by means of the measuring device is taken into account.
    This then results in the assignment of the intrinsic coordinate system of the first assembly relative to the vehicle-related coordinate system.
    î 30 The intrinsic coordinate system of the first unit of the vehicle is assigned relative to the vehicle-related coordinate system, in that this assignment is derived from the measurement of the intrinsic coordinate system of the first unit in relation to the intrinsic one
    Coordinate system of the measuring unit. This assignment takes place taking into account the defined assignment of the intrinsic coordinate system of the measuring unit to the intrinsic coordinate system of the measuring device and also taking into account the measurement of at least one axis of the vehicle-related coordinate system by means of the measuring device. In particular, the relative position and orientation of each mentioned coordinate system to the coordinate system of the test stand are known.
    The assignment of the intrinsic coordinate system of the first unit relative to the vehicle-related coordinate system can be used to calibrate the first unit in relation to the respective vehicle.
    This calibration can consist in storing the assignment of the intrinsic coordinate system of the first unit relative to the coordinate system of the vehicle in an evaluation device. In the evaluation device, the recorded signals of the first unit can subsequently be converted during operation according to the assignment of the intrinsic coordinate system of the first unit relative to the coordinate system of the vehicle, so that the recorded signals of the first unit are available in relation to the coordinate system of the vehicle.
    In one embodiment of the invention according to claim 2, the measuring device with the measuring unit attached to it can be moved in a defined manner in the test stand.
    | In this context, “movable in a defined manner” means that the translation and rotation of the intrinsic coordinate system of the measuring device relative to the coordinate system of the test stand are known through the movement of the measuring device. The mechanical connection between the measuring unit and the measuring device advantageously results in the same translation and rotation on the intrinsic coordinate system of the measuring unit relative to the reference system of the chassis.
    The movement of the measuring device can take place, for example, by moving the measuring device on a rail in the X and Y directions.
    Starting from a known end position of the measuring device, the relative movements along the rail can be specified by defined travel paths. The end position of the measuring device can in particular be determined by a stop point. It is then possible to use a control device and associated adjusting means to move the measuring device along the rail by a defined distance. The position of the measuring device in the control device is known by (vectorial) adding up the defined distances of successive displacement processes of the measuring device. This position can advantageously be normalized - for example at certain time intervals and / or after reaching a certain summed value of the displacement distances - by moving the measuring device back into the end position in a defined manner. The position of the measuring device stored in the control device is then set to this end position.
    Another possibility is to measure the absolute position of the measuring device on the rail.
    With this measurement, the measuring device together with the calibration gauge can be moved in a defined manner in the test stand by means of a control device with assigned actuating means. Part of the control device are measuring means by means of which the current position of the measuring device can be recorded in relation to an initial position of the measuring device. It is thus possible with this control device and the associated adjusting means to move the measuring device to defined positions in the vehicle test bench.
    A starting position of the calibration gauge is defined as the X0 position. This starting position (X0) of the calibration gauge defines the coordinate system of the test stand. The intrinsic coordinate system of the measuring device becomes one
    Starting position (X0'-position) of the measuring device, in which the measuring points and measuring surfaces of the calibration gauge are in the starting position XO in the detection area of the measuring device, calibrated to this coordinate system of the test stand.
    Because the measuring device can be moved in the test stand, a calibration of the intrinsic coordinate system of the measuring device in relation to the coordinate system of the test stand must also be carried out for these further positions for further positions that the measuring device can occupy in the test stand.
    These further positions are correspondingly correlated with the defined routes and defined travel paths, which are stored in the control device. These further positions can also be correlated with corresponding positions that are recorded by means of the measuring means of the control device.
    There is still a tracking system in place. The calibration gauge is moved in the test stand in such a way that the calibration gauge with the measuring surfaces and measuring points is again located in the detection area of the measuring device when the measuring device is in one of the other positions. By means of the tracking system, the deviation of the actual position and the actual orientation of the calibration gauge compared to the state in the XO position is recorded. The calibration of the intrinsic coordinate system of the measuring device to the coordinate system of the test stand is then carried out for the further positions by referring the intrinsic coordinate system of the measuring device in the respective further position to the intrinsic coordinate system of the calibration gauge in the position in which the calibration gauge is located. The assignment of the intrinsic coordinate system of the calibration gauge in this position (in which the calibration gauge was moved in the test bench) with respect to the XO position of the calibration gauge in the test bench is known via the tracking system. This means that the intrinsic coordinate system of the measuring device in the further position can be related (i.e. "calibrated") to the coordinate system of the test stand.
    It is possible to carry out a calibration in each case for all subsequent test processes in the test stand for all possible further positions of the measuring device. If a calibration has been carried out for a sufficient number of further positions, a calibration can also be carried out for further additional positions by using the calibration processes carried out for one or more of the further positions in such a way that a calibration extrapolates for one or more additional positions or is interpolated.
    According to one feature of claim 1, the measuring unit is mechanically fastened to the measuring device in such a way that the intrinsic coordinate system of the measuring unit is assigned in a defined manner in relation to the intrinsic coordinate system of the measuring device. This defined assignment is also used to calibrate the intrinsic coordinate system of the measuring unit to the intrinsic coordinate system of the test bench if the intrinsic coordinate system of the measuring device is also calibrated to the coordinate system of the test bench for the other positions of the measuring device in the test bench.
    Claim 3 relates to a measuring device for carrying out the method according to the invention. The measuring device has coupling means for mechanically fastening the measuring unit to the measuring device. The coupling means of the measuring device interact with counter-coupling means of the measuring unit in such a way that when the measuring unit is mechanically attached to the measuring device, the intrinsic coordinate system of the measuring unit is assigned to the intrinsic coordinate system of the measuring device in a defined manner through the interaction of the coupling means and the counter-coupling means. This defined assignment means that translation and rotation (i.e. position and orientation) of the intrinsic coordinate system of the measuring unit relative to the intrinsic coordinate system of the measuring device are known. If the intrinsic coordinate system of the measuring device is translated and / or rotated, the defined assignment also results in the resulting translation and / or rotation of the intrinsic coordinate system of the measuring unit.
    This enables a reference to the coordinate system of the calibration gauge and thus of the test stand, so that translation and / or rotation of the intrinsic coordinate system of the measuring unit relative to the coordinate system of the test stand are also known.
    The structural unit thus advantageously simplifies the determination of the position and orientation of the intrinsic coordinate system of the measuring unit relative to the coordinate system of the test stand. This also applies in particular when the measuring device is moved relatively in the test stand. This movement of the measuring device in the test stand has the advantage in connection with the measuring unit that the measuring unit can also be moved in a defined manner in the test stand. The measuring unit can thus advantageously be positioned in the test bench in such a way that several units can be measured for a vehicle. This is advantageous for calibrating several units in the vehicle at the same time.
    Exemplary embodiments of the invention are described in more detail below with reference to drawings.
    1 shows a device according to the invention in a perspective view, FIG. 2 shows a detailed view of the device, FIG. 3 shows two devices according to the invention, FIG. 4 shows a device according to the invention, FIG intrinsic coordinate system of the measuring unit to the coordinate system of the test bench,
    6 shows a basic illustration of a method for assigning the intrinsic coordinate system of a unit of a vehicle to the vehicle-related coordinate system in the vehicle test bench, and FIG. 7 shows a basic illustration of a method for evaluating signals from the unit of the vehicle while driving. In Figure 1, a device according to the invention is shown. This consists of a measuring device 101 and a measuring unit 102. The measuring device 101 is connected via coupling means 103 and the | Negative coupling means 104 connected to the measuring unit in a defined manner. The relative position and orientation of the intrinsic coordinate system of the measuring device 101 relative to the intrinsic coordinate system of the measuring unit 102 is defined in a defined manner.
    The coupling means 103 is designed as a rail on which the counter-coupling means 104 can be moved as a slide together with the measuring unit 102 in a defined manner in the vertical direction (Z direction).
    The measuring device 101 has a slide 105 which is guided along a rail (not shown here) which is arranged in the test stand. In the illustration of FIG. 4, this rail is denoted by the reference number 403. In the test stand, this rail is oriented at least essentially in the X direction. The entire unit, consisting of the measuring device 101, the measuring unit 102 and the coupling means 103 and the counter-coupling means 104, can be displaced in a defined manner in the test stand by means of the slide 105 and the associated rail in the test stand by means of a drive means 106.
    A rail system 107 can also be seen, by means of which the measuring device 101 - and thus also the measuring unit 102 - can be displaced in a defined manner in the Y direction of the test stand.
    A laser measuring device 108 is also shown. This is a sensor for distance measurement. This laser measuring device 108 serves to adjust the coupling of the intrinsic coordinate system of the measuring unit 102 to the intrinsic coordinate system of the measuring device 101 by setting the coupling 103, 104 of the measuring unit 102 to the measuring device 101 accordingly. This adjustment of the coupling 103, 104 also takes place by means of the calibration gauge. This is explained again in connection with FIG. The laser measuring device 108 is mounted in such a way that the intrinsic coordinate system of the laser measuring device 108 is assigned to the intrinsic coordinate system of the measuring unit 102 in a defined manner. By adjusting the coupling 103, 104, the intrinsic coordinate system of the measuring unit 102 is assigned in a defined manner to the intrinsic coordinate system of the measuring device 101. This procedure has the advantage that measurements can be made on the calibration gauge by means of the laser measuring unit 108. This is directly and immediately not the case with the measuring unit 102 - insofar as it is a Doppler simulator for a radar sensor. FIG. 2 shows a detailed view of the coupling between the coupling means 103 and the counter-coupling means 104 with the measuring unit 102 attached thereto. The laser measuring unit 108 is also designated again. In Figure 3, two devices according to the invention are shown side by side. The measuring unit 102 is shown with the measuring device 101 by means of the coupling, consisting of the coupling means 103 and the counter-coupling means 104. It can be seen that the measuring unit 102 can be attached to the measuring device 101 in two different positions. For these two positions, there is again a defined assignment of the intrinsic coordinate system of the measuring unit 102 to the intrinsic coordinate system of the measuring device 101.
    The calibration of a device according to the invention in a test stand is sketched in FIG. The calibration gauge 401 can be moved together with the measuring device 101 on a rail 403 in the X direction by defined distances.
    The position and orientation of the calibration gauge 401 is determined by the tracking means 405 relative to the starting point of the calibration gauge 401 - the XO position. In addition, the y-distance of the 5: coupling means 103 and the associated counter-coupling means 104 to the calibration gauge 401 is aligned and measured by means of the laser measuring unit (s) 108, which, however, are not provided with reference numbers again in the illustration in FIG. The position and attachment of the laser measuring unit 108 can be seen in FIGS. The calibration gauge 401 has measuring surfaces 402 into which holes 404 are made. The calibration gauge 401 is adjusted in such a way that the laser beam of the laser measuring units 108 penetrates through one of the holes 404 in the measuring surfaces 402. Further impact surfaces 406 are attached behind the holes 404 at a defined distance from the holes 404. The laser beams hit these impact surfaces. The coupling means 103 and the counter-coupling means 104 are thus aligned with the aid of the laser measuring unit on the one hand with respect to the calibration gauge 401 in such a way that the laser beams penetrate the holes 404 in the measuring surfaces 402. In addition, the distances between the laser measuring units 108 and the impingement surfaces 406 are determined by means of the laser measuring units 108.
    The tracking means 405 are sensors for distance measurement. This allows the distances between the measuring devices 101 to be determined when moving along the rail 403 relative to the X0 'position. The tracking means 405 can be laser sensors, for example.
    The measuring surfaces 402 of the calibration gauge 401 are recorded by the measuring device 101. By evaluating the measurement of the measuring surfaces 402 by the measuring device 101, the intrinsic coordinate system of the measuring device 101 is determined in relation to the intrinsic coordinate system of the calibration gauge 401. The current position and the current orientation of the calibration gauge 401 relative to the X0 position of the calibration gauge are known by means of the tracking means 405. The intrinsic coordinate system of the calibration gauge 401 in the XO position is the coordinate system of the test stand.
    It is thus possible to calibrate the intrinsic coordinate system of the measuring device 101 to the coordinate system of the test stand.
    This also applies to the other positions when the measuring device 101 was moved in the test stand along the rail 403 and / or along the rail 107.
    First, the intrinsic coordinate system of the measuring device 101 is determined in relation to the intrinsic coordinate system of the calibration gauge 401.
    From the assignment of the current position and the current orientation of the calibration gauge according to the current position of the calibration gauge to the X0 position of the calibration gauge, the intrinsic coordinate system of the measuring device 101 can also be calibrated to the coordinate system of the test stand for the other positions of the measuring device 101.
    FIG. 5 shows a basic illustration of a method for calibrating the intrinsic coordinate system of the measuring device and the intrinsic coordinate system of the measuring unit to the coordinate system of the test stand.
    In step 501, the intrinsic coordinate system of the measuring device 101 is calibrated to the coordinate system of the calibration gauge 401. As already explained, this coordinate system of the calibration gauge 401 is the coordinate system of the test stand.
    The calibration takes place in that the measuring surfaces 402 of the calibration gauge 401 are measured by means of the measuring device 101.
    In step 502, the intrinsic coordinate system of the measuring unit 102 is calibrated to the coordinate system of the test stand.
    According to the present invention, the intrinsic coordinate system of the measuring unit 102 is assigned in a defined manner to the intrinsic coordinate system of the measuring device 101.
    The calibration of the intrinsic coordinate system of the measuring unit 102 to the coordinate system of the test stand thus results from the calibration of the intrinsic coordinate system of the measuring device to the coordinate system of the test stand via this defined assignment.
    The calibration process is ended after the calibration has been carried out.
    FIG. 6 shows a basic illustration of a method for assigning the intrinsic coordinate system of a unit of a vehicle to the vehicle-related coordinate system.
    In step 601, the parameters of the chassis geometry of the vehicle in the test stand are measured with the measuring device 101. As explained, the vehicle-related coordinate system results from the parameters of the chassis geometry (geometric travel axis). Because the measuring device 101 was previously calibrated to the coordinate system of the test stand (501), the assignment of the vehicle-related coordinate system to the coordinate system of the test stand results from the measurement in step 601. In step 602, the intrinsic coordinate system of the first unit of the vehicle is measured in relation to the intrinsic coordinate system of the measuring unit 102. Furthermore, in step 602 the intrinsic coordinate system of the first unit of the vehicle is related to the coordinate system of the test bench. This is a conversion in the sense that the intrinsic coordinate system of the measuring unit 102 was previously calibrated to the coordinate system of the test stand (501, 502). The assignment of the intrinsic coordinate system of the first unit of the vehicle in relation to the coordinate system of the test stand is thus known from step 602. In step 603, the intrinsic coordinate system of the first unit is then assigned in relation to the vehicle-related coordinate system. The assignment of the intrinsic coordinate system of the first unit in relation to the coordinate system of the test stand is known from step 602. The assignment of the coordinate system of the test stand to the vehicle-related coordinate system is also known from the measurement in step 601 and the associated and previously performed calibration in steps 501 and 502. From this, in step 603, an assignment of the intrinsic coordinate system of the first unit of the vehicle to the vehicle-related coordinate system can take place by means of a conversion.
    This determined assignment of the intrinsic coordinate system of the first unit of the vehicle to the vehicle-related coordinate system can advantageously be stored. During subsequent measurements while the vehicle is in operation, the measurement results of the first unit of the vehicle can then be converted with reference to the vehicle-related coordinate system. This procedure can be seen in the schematic diagram of the corresponding method in FIG. This involves evaluating signals from the vehicle's unit while driving. In step 701, the signal from the unit of the vehicle is recorded. In step 702 the signal of the unit (which is present in step 701 in the intrinsic coordinate system of the unit) is converted with the assignment of the intrinsic coordinate system of the unit to the vehicle-related coordinate system. This assignment was previously made in the test bench in step 603. With this conversion, the signal from the unit is available in relation to the vehicle-related coordinate system.
    In step 703, the further evaluation of the signal from the unit, which has been converted to the vehicle-related coordinate system, takes place. This further evaluation can relate to the use of this signal in driver assistance systems or in systems for autonomous driving.
    权利要求:
    Claims (3)
    [1]
    1. A method for assigning the intrinsic coordinate system of a first unit of a vehicle to capture the space to the side of the vehicle relative to a vehicle-related coordinate system by measuring in a test stand, the test stand being designed to carry out measurement and / or adjustment work on units of the vehicle > wherein the test stand has a measuring device (101) for measuring at least one axis of the vehicle-related coordinate system in relation to a coordinate system assigned to the test stand,> with the intrinsic coordinate system of the measuring device (101) relative to a coordinate system (401 ) of the test bench was assigned in a defined manner, characterized in that> the test bench has a measuring unit (102) which interacts with the first unit of the vehicle to measure the intrinsic coordinate system of the first unit of the vehicle in relation to the intrinsic coordinate system of the measuring unit (102),> that the measuring unit (102) is mechanically attached to the measuring device (101) (103, 104) in such a way that the intrinsic coordinate system of the measuring unit (102) is related to the intrinsic coordinate system of the measuring device (101) is assigned defined,> that the assignment of the intrinsic coordinate system of the first unit of the vehicle takes place relative to the vehicle-related coordinate system (603) by deriving this assignment from the measurement (602) of the intrinsic coordinate system of the first unit related to the intrinsic coordinate system of the measuring unit (102)> taking into account the defined assignment (502) of the intrinsic coordinate system of the measuring unit (102) to the intrinsic coordinate system of the measuring device (101) and
    > taking into account the measurement of at least one axis of the vehicle-related coordinate system by means of the measuring device (101; 501, 601).
    [2]
    2. The method according to claim 1, characterized in that the measuring device (101) with the measuring unit (102) attached thereto can be moved in a defined manner in the test stand (105, 403; 107).
    [3]
    3. Measuring device for performing the method according to claim 1 or 2, characterized in that the measuring device (101) has coupling means (103) for mechanically fastening the measuring unit (102) to the measuring device (101), the coupling means (103) of the measuring device (101) interact with counter-coupling means (104) of the measuring unit (102) in such a way that when the measuring unit (102) is mechanically fastened to the measuring device (101), the intrinsic coordinate system of the Measuring unit (102) is assigned to the intrinsic coordinate system of the measuring device (101) in a defined manner.
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    引用文献:
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    法律状态:
    2021-09-03| FG| Patent granted|Effective date: 20210803 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102019113298|2019-05-20|
    DE102019113441.2A|DE102019113441A1|2019-05-20|2019-05-21|Method for assigning the intrinsic coordinate system of a first unit of a vehicle for recording the space to the side of the vehicle relative to a vehicle-related coordinate system and device for carrying out the method|
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