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Method for carrying out the calibration of a vehicle sensor system, in particular of an autonomous vehicle, and vehicle sensor system, in particular autonomous vehicle
Method for carrying out the calibration of a vehicle sensor system, in particular of an autonomous vehicle, and vehicle sensor system, in particular autonomous vehicle
In order to be able to carry out a self-calibration of a vehicle sensor system (FSES), in particular an autonomous vehicle, in a simple manner without great additional effort, it is proposed that in the course of self-calibration of the vehicle sensor system (FSES) this vehicle sensor system (FSES ) and a calibrated vehicle sensor system (FSES) observe each other, thereby detecting sensor-based (SE, SE) at least one extracted system feature (FSESSMFSES, FSESSM'FSES, FSESSMFSES, FSESSM'FSES) as well as sensor-related, extrinsic and intrinsic system parameters (SP, SP, SP, SP) and the acquired system features independently by homogeneous transformation [T] "6D system pose [FSESTFSES], [FSESTFSES] *, [FSESTFSES], [FSESTFSES] *" - based relative information (RI1 , RI1 *, RI2, RI2 *), preferably by the entire system parameters / system characteristics or a subset thereof from the respective vehicle sensor orsystem be formed. Thereafter, the vehicle sensor system FSES compares the self-generated relative information (RI1, RI1 *) of the relative information (RI2, RI2 *) generated and transmitted by the calibrated vehicle sensor system (FSES). Upon detection of identity (with identically observed information) the vehicle sensor system FSES is calibrated, otherwise the self-calibration of the vehicle sensor system FSES is continued with adjusted system parameters (SP, SP) of the vehicle sensor system FSES.
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