A_Th_FSESB], [FSESA_Th_FSESB] *, [FSESB_Th_FSESA], [ FSESB_Th_FSESA] * " - based relative items of information (RI1, RI1*, RI2, RI2*), independently of one another and via homogeneous transformation (Th), according to sensor-related, extrinsic and intrinsic system parameters (SPAe, SPAi, SPBe, SPBi) and the detected system features, wherein said information is preferably formed by all the system parameters/system features or a partial amount thereof by the respective vehicle sensor system. Thereafter, the vehicle sensor system FSESA compares the auto-generated relative information (RI1, RI1*) of the relative information (RI2, RI2*) generated and transmitted by the calibrated vehicle sensor system (FSESB). With the determining of the identity (when the information is observed to be identical), the vehicle sensor system FSESA is calibrated, otherwise, the auto-calibration of the vehicle system FSESA is continued with adjusted system parameters (SPAe, SPAi) of the vehicle sensor system FSESA."/>
METHOD FOR CARRYING OUT THE CALIBRATION OF A VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE, AND VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE
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METHOD FOR CARRYING OUT THE CALIBRATION OF A VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE, AND VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE
METHOD FOR CARRYING OUT THE CALIBRATION OF A VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE, AND VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE
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机译：进行特别是自主车辆的车辆传感器系统的校准的方法以及特别是在自主车辆中的车辆传感器系统的校准
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摘要
In order to be able to simply carry out an auto-calibration of a vehicle sensor system (FSESA), in particular an autonomous vehicle, without great additional input, according to the invention, over the course of the auto-calibration of the vehicle sensor system (FSESA), this vehicle sensor system (FSESA) and a calibrated vehicle sensor system (FSESB) monitor one another, as well as detecting a respective at least one extracted system feature (FSESA_SM_FSESB, FSESA_SM`_FSESB, FSESB_SM_FSESA, FSESB_SM`_FSESA) in a sensor-based manner (SEA, SEB), and generating "6D-system pose [ FSESA_Th_FSESB], [FSESA_Th_FSESB] *, [FSESB_Th_FSESA], [ FSESB_Th_FSESA] * " - based relative items of information (RI1, RI1*, RI2, RI2*), independently of one another and via homogeneous transformation (Th), according to sensor-related, extrinsic and intrinsic system parameters (SPAe, SPAi, SPBe, SPBi) and the detected system features, wherein said information is preferably formed by all the system parameters/system features or a partial amount thereof by the respective vehicle sensor system. Thereafter, the vehicle sensor system FSESA compares the auto-generated relative information (RI1, RI1*) of the relative information (RI2, RI2*) generated and transmitted by the calibrated vehicle sensor system (FSESB). With the determining of the identity (when the information is observed to be identical), the vehicle sensor system FSESA is calibrated, otherwise, the auto-calibration of the vehicle system FSESA is continued with adjusted system parameters (SPAe, SPAi) of the vehicle sensor system FSESA.
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机译：为了能够根据本发明在没有大量附加输入的情况下简单地进行车辆传感器系统（FSES A ）的自动校准，特别是自动驾驶汽车，车辆传感器系统（FSES A ）的自动校准，该车辆传感器系统（FSES A ）和已校准的车辆传感器系统（FSES B ）互相监视，以及检测相应的至少一个提取的系统特征（FSES A _SM_FSES B ，FSES A _SM` _FSES B ，FSES B _SM_FSES A ，FSES B _SM`_FSES A ）以基于传感器的方式（SE A ，SE B ），并生成“ 6D系统姿态[FSES A _T h _FSES B ]，[FSES A _T h _FSES B ] *，[FSES B _T h _FSES A ]，[FSES B _T h _FSES A ] *“-基于信息的相对项（RI1，RI1 *，RI2， RI2 *），根据传感器相关，外部和固有系统参数（SP Ae ，SP Ai ，SP < Sub> Be ，SP Bi ）和检测到的系统特征，其中，所述信息优选地由所有系统参数/系统特征或其各自的一部分由相应的车辆传感器系统形成。此后，车辆传感器系统FSES A 将自动生成的相对信息（RI1，RI1 *）与校准车辆传感器系统（FSES < Sub> B ）。通过确定身份（在观察到信息相同时），对车辆传感器系统FSES A 进行校准，否则，对车辆系统FSES A 进行自动校准Sub>继续使用车辆传感器系统FSES A 的已调整系统参数（SP Ae ，SP Ai ）。
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