METHOD, COMPUTER PROGRAM AND APPARATUS FOR CALIBRATING AN ADAS SENSOR OF AN ADVANCED DRIVER ASSISTANCE SYSTEM OF A VEHICLE

Abstract

A method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle (9) comprises the following steps: (A) deriving an attitude parameter of the vehicle (9); receiving the derived attitude parameter in a control unit (11); (B) comparing the derived attitude parameter with a corresponding reference parameter; (C) aiding with the positioning of a support structure (3) near the service area (8), where a calibration device (41) is mounted on the support structure (3); sending a calibration command from the control unit (11) to an electronic control unit (95) of the vehicle (9) to determine an interaction between the ADAS sensor and the calibration device (41); processing data received from the electronic control unit (95) of the vehicle (9) in the control unit (11).

Claims

1-19. (canceled)

20. A method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle, wherein the vehicle is positioned in a service area, the method comprising the following steps: deriving an attitude parameter of the vehicle; receiving the derived attitude parameter in a control unit; comparing, through the control unit, the derived attitude parameter with a corresponding reference parameter representing a reference value for the attitude parameter; aiding with the positioning, through the control unit which is responsive to the step of comparing the attitude parameter with the reference parameter, of a support structure near the service area, where a calibration device is mounted on the support structure; sending a calibration command from the control unit to an electronic control unit of the vehicle to determine an interaction between the ADAS sensor and the calibration device; processing data received from the electronic control unit of the vehicle in the control unit in order to generate calibration data.

21. The method according to claim 20, comprising a step of generating a report document, where the report document includes one or more values for the derived attitude parameter.

22. The method according to claim 21, wherein the report document includes the calibration data and an identification code of the vehicle.

23. The method according to claim 20, comprising a step of determining a thrust axis of the vehicle from the attitude parameter, where the positioning of the support structure relative to the vehicle is performed with reference to the thrust axis determined.

24. The method according to claim 20, comprising a step of generating an alert signal as a function of a deviation between the derived attitude parameter and the corresponding reference value for the attitude parameter.

25. The method according to claim 20, wherein the step of aiding with the positioning of the support structure includes a step of generating movement instructions as a function of a deviation between the derived attitude parameter and the corresponding reference value for the attitude parameter.

26. The method according to claim 20, wherein the step of aiding with the positioning of the support structure is performed with reference to a reference element of the vehicle, where the method comprises a step of selecting the reference element from a plurality of reference elements as a function of the step comparing the derived attitude parameter with the reference parameter.

27. The method according to claim 26, wherein the reference element is selected among two or more of the following elements: thrust axis of the vehicle, symmetry axis of the vehicle, front logo of the vehicle, front camera of the vehicle, front axle of the vehicle.

28. The method according to claim 20, wherein the attitude parameter includes the toe and/or camber at least for the rear wheels.

29. The method according to claim 20, comprising a step of the control unit identifying the vehicle, where the step of identifying the vehicle is performed once only, each time the method is run, before the step of deriving the attitude parameter of the vehicle.

30. The method according to claim 20, wherein the reference parameter is representative of a tolerance range for said reference value, and wherein the control unit performs the step of aiding with the positioning only if the step of comparing outputs that the attitude parameter of the vehicle is within the tolerance range.

31. The method according to claim 20, wherein, before the step of deriving the attitude parameter of the vehicle, the method includes a step of positioning a first pair of measuring heads on respective front wheels of the vehicle and positioning a second pair of measuring heads on respective rear wheels of the vehicle, where the measuring heads of the first pair and of the second pair of measuring heads each include an emitter and/or a receiver, where in the step of deriving, the at least one attitude parameter is derived by the control unit through communication between a control device, connected to the control unit, and the measuring heads of the first pair and of the second pair of measuring heads.

32. The method according to claim 21, wherein the step of aiding with the positioning of the support structure includes communication between the control device and the measuring heads of the first pair and of the second pair of measuring heads, associated with the vehicle, and corresponding measuring heads associated with the support structure.

33. The method according to claim 32, wherein, after the step of detecting, the method comprises a step of moving the first pair of measuring heads onto the support structure, wherein the step of aiding with the positioning of the support structure includes communication between the control device and the measuring heads of the first pair of measuring heads mounted on the support structure, and the second pair of measuring heads associated with the vehicle.

34. A computer program comprising operating instructions configured to perform the following, when run on a computer: deriving an attitude parameter of the vehicle; receiving the derived attitude parameter in a control unit; comparing, through the control unit, the derived attitude parameter with a corresponding reference parameter representing a reference value for the attitude parameter; aiding with the positioning, through the control unit which is responsive to the step of comparing the attitude parameter with the reference parameter, of a support structure near the service area, where a calibration device is mounted on the support structure; sending a calibration command from the control unit to an electronic control unit of the vehicle to determine an interaction between the ADAS sensor and the calibration device; processing data received from the electronic control unit of the vehicle in the control unit in order to generate calibration data.

35. A method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle, wherein the vehicle is positioned in a service area, the method comprising the following steps: positioning a first pair of measuring heads on respective front wheels of the vehicle and positioning a second pair of measuring heads on respective rear wheels of the vehicle, where the measuring heads of the first pair and of the second pair of measuring heads each include an emitter and/or a receiver; establishing a communication between a control device connected to the control unit and the measuring heads of the first pair and second pair of measuring heads; deriving an attitude parameter of the vehicle through the control unit using information received from the control device; positioning a support structure, on which a calibration device is mounted, near the service area, wherein a step of the measuring heads of the first pair or of the second pair of measuring heads, associated with the vehicle, detecting corresponding measuring heads, associated with the support structure, and/or vice versa, is used to provide aid with positioning; sending a calibration command from the control unit to an electronic control unit of the vehicle to determine an interaction between the ADAS sensor and the calibration device; processing data received from the electronic control unit of the vehicle in the control unit in order to generate calibration data.

36. The method according to claim 35, wherein, after the step of deriving the attitude parameter of the vehicle, the method includes a step of moving the first pair of measuring heads onto the support structure, while the second pair of measuring heads remains associated with the rear wheels of the vehicle, wherein the step of aiding with the positioning of the support structure includes a step of the measuring heads of the first pair of measuring heads, mounted on the support structure detecting the second pair of measuring heads, associated with the vehicle, and/or vice versa.

37. The method according to claim 35, wherein the step of processing the data received from the electronic control unit of the vehicle in the control unit includes a step of generating calibration data, and wherein the method further comprises a step of generating a report document including the calibration data and one or more values for the derived attitude parameter of the vehicle.

38. The method according to claim 35, wherein, before the step of deriving the attitude parameter of the vehicle, the method includes a step of positioning a first pair of measuring heads on respective front wheels of the vehicle and positioning a second pair of measuring heads on respective rear wheels of the vehicle, where the measuring heads of the first pair and of the second pair of measuring heads each include an emitter and/or a receiver, where in the step of deriving, the at least one attitude parameter is derived by the control unit through communication between a control device, connected to the control unit, and the measuring heads of the first pair and of the second pair of measuring heads.

39. The method according to claim 35, wherein, after said detecting, the method comprises a step of moving the first pair of measuring heads onto the support structure, wherein the step of aiding with the positioning of the support structure includes communication between the control device and the measuring heads of the first pair of measuring heads mounted on the support structure, and the second pair of measuring heads associated with the vehicle.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0060] These and other features will become more apparent from the following detailed description of a preferred, non-limiting embodiment, illustrated by way of example in the accompanying drawings, in which:

[0061] FIGS. 1 and 2 are a top view and a perspective view of a vehicle during a step of deriving an attitude parameter in the context of the method according to this disclosure;

[0062] FIGS. 3 and 4 are a top view and a perspective view of a vehicle during a step of calibrating an ADAS sensor in the context of the method according to this disclosure;

[0063] FIG. 5 schematically illustrates the method for calibrating an ADAS sensor according to this disclosure.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION

[0064] According to one aspect of it, this disclosure relates to a method for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle 9, when the vehicle 9 is positioned in a service area 8.

[0065] According to a further aspect of it, this disclosure relates to an apparatus 1 for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle 9. More specifically, according to one aspect of this disclosure, the method is implemented by the apparatus 1.

[0066] The method comprises a step A0 of a control unit 11 identifying the vehicle 9. More specifically, the control unit receives an identification code of the vehicle 9. This step A0 of identifying is preferably carried out once only, before the steps described hereinafter.

[0067] The method comprises a step A of deriving an attitude parameter of the vehicle 9.

[0068] The apparatus 1 comprises a first pair of measuring heads 34, 34′.

[0069] The apparatus 1 comprises a second pair of measuring heads 35, 35′.

[0070] The method comprises, before the step A of deriving the attitude parameter of the vehicle 9, a step of positioning the first pair of measuring heads 34, 34′ on respective front wheels of the vehicle 9.

[0071] The method comprises, before the step A of deriving the attitude parameter of the vehicle 9, a step of positioning the second pair of measuring heads 35, 35′ on respective rear wheels of the vehicle 9. More specifically, each of the measuring heads 34, 34′, 35, 35′ of the first and second pair is fixed to a bracket which is in turn fixed to a respective rim of a respective wheel of the vehicle 9.

[0072] During the step A of deriving the attitude parameter, the first pair of measuring heads 34, 34′ is associated with the front wheels of the vehicle 9 and the second pair of measuring heads 35, 35′ is associated with the respective rear wheels of the vehicle 9.

[0073] The measuring heads 34, 34′ of the first pair each include a first emitter 34A, 34A′. Operatively, (during the step A of deriving the attitude parameter) the first emitter 34A, 34A′ of each head 34, 34′ of the first pair faces towards a respective head 35, 35′ of the second pair. The measuring heads 34, 34′ of the first pair each include a first receiver 340A, 340A′. Operatively, (during the step A of deriving the attitude parameter) the first receiver 340A, 340A′ of each head 34, 34′ of the first pair faces towards a respective head 35, 35′ of the second pair. The first emitter 34A, 34A′ and the first receiver 340A, 340A′ of each head 34, 34′ of the first pair thus face the same direction (substantially parallel to the thrust axis of the vehicle).

[0074] The measuring heads 34, 34′ of the first pair each include a second emitter 34B, 34B′. Operatively, (during the step A of deriving the attitude parameter) the second emitter 34B, 34B′ of each head 34, 34′ of the first pair faces towards the other head 34, 34′ of the first pair. The measuring heads 34, 34′ of the first pair each include a second receiver 3406, 3406′. Operatively, (during the step A of deriving the attitude parameter) the second receiver 3406, 3406′ of each head 34, 34′ of the first pair faces towards the other head 34, 34′ of the first pair. The second emitter 34B, 34B′ and the second receiver 3406, 3406′ of each head 34, 34′ of the first pair thus face the same direction (transverse to the thrust axis of the vehicle).

[0075] The measuring heads 35, 35′ of the second pair each include a first emitter 35A, 35A′. Operatively, (during the step A of deriving the attitude parameter) the first emitter 35A, 35A′ of each head 35, 35′ of the second pair faces towards a respective head 34, 34′ of the first pair. The measuring heads 35, 35′ of the second pair each include a first receiver 350A, 350A′. Operatively, (during the step A of deriving the attitude parameter) the first receiver 350A, 350A′ of each head 35, 35′ of the second pair faces towards a respective head 34, 34′ of the first pair. The first emitter 35A, 35A′ and the first receiver 350A, 350A′ of each head 35, 35′ of the second pair thus face the same direction (substantially parallel to the thrust axis of the vehicle).

[0076] The measuring heads 35, 35′ of the second pair each include a second emitter 35B, 35B′. Operatively, (during the step A of deriving the attitude parameter) the second emitter 35B, 35B′ of each head 35, 35′ of the second pair faces towards the other head 35, 35′ of the second pair. The measuring heads 35, 35′ of the second pair each include a second receiver 350B, 350B′. Operatively, (during the step A of deriving the attitude parameter) the second receiver 350B, 350B′ of each head 35, 35′ of the second pair faces towards the other head 35, 35′ of the second pair. The second emitter 35B, 35B′ and the second receiver 350B, 350B′ of each head 35, 35′ of the second pair thus face the same direction (transverse to the thrust axis of the vehicle).

[0077] Thus, each head 34, 34′ of the first pair views both the other head 34, 34′ of the first pair and a corresponding head 35, 35′ of the second pair; this defines a quadrangle between the measuring heads 34, 34′, 35, 35, 35′.

[0078] After (or at the same time as) the step A of deriving the attitude parameter, the method comprises a step of receiving the derived attitude parameter in the control unit 11. In an embodiment, the control unit 11 is connected to the measuring heads 34, 34′, 35, 35′ to derive the attitude parameter of the vehicle 9.

[0079] The method then comprises a step B, through the control unit 11, of comparing the derived attitude parameter with a corresponding reference parameter representing a reference value for the attitude parameter of the vehicle. The attitude parameter depends on the vehicle; in an embodiment, the method includes a step of querying the database as a function of the vehicle identified (make and model) to retrieve the reference value for the attitude parameter for that vehicle.

[0080] The method comprises a step C of aiding with the positioning of a support structure 3 near the service area 8. The control unit 11 starts the step C of aiding with the positioning in response to the step B of comparing. More specifically, if the derived attitude parameter is sufficiently near the corresponding reference parameter, the control unit 11 starts the step C of aiding with the positioning.

[0081] The step C of aiding with the positioning includes a step of generating movement instructions. In an embodiment, the movement instructions depend on (are a function of) a deviation between the derived attitude parameter and the corresponding reference value for the attitude parameter. More specifically, in an embodiment, if the deviation is greater than a first threshold value, the control unit 11 does not start the step C of aiding with the positioning, if the deviation is not greater than the first threshold value but is greater than a second threshold value (lower than the first), the control unit 11 starts the step C of aiding with the positioning but corrects the predetermined position specified by the manufacturer to compensate for the deviation.

[0082] In an embodiment, in the step C of aiding with the positioning, the control unit 11 guides the operator in positioning the support structure 3 near the service area 8. More specifically, the apparatus 1 comprises an interface 10 connected to the control unit 11. In an embodiment, the interface 10 is positioned on the support structure 3. Hence, the operator views the interface 10 while driving the support structure 3 using the grippable portion 31. The control unit 11 transmits the movement instructions to the interface 10 to aid the operator with positioning. Thus, the method includes a step of aiding with the positioning of the support structure 3 near the service area 8 at a position in front of the vehicle 9.

[0083] According to an aspect of this disclosure, the support structure 3 forms part of the apparatus 1.

[0084] The support structure 3 comprises a mobile base unit 2. The base unit 2 includes a plurality of wheels 20. The wheels 20 of the plurality rotate or are rotatable about respective axes of rotation. The wheels 20 also swivel about respective swivel axes, oriented perpendicularly to the respective axes of rotation. The swivel axis of each wheel is at right angles (or substantially at right angles) to the respective axis of rotation. The expression at right angles or substantially at right angles is used to mean an inclination between 80° and 100°, preferably between 85° and 110° and, still more preferably, 90°. Preferably, the swivel axis is oriented along a vertical direction, parallel to the weight force (or along a substantially vertical direction). In an embodiment, the base unit 2 comprises an (at least one) stabilizer foot which is movable between a raised position and a lowered position. The stabilizer foot may be moved by hand or through actuators controlled by the operator or by the processing unit. When the support structure 3 is being moved, the foot is kept in the raised position; when the support structure 3 reaches a predetermined distance (once the step C of aiding with the positioning has been completed), the foot is lowered so as to hold the base unit 2 in place.

[0085] The stabilizer foot, at the lowered position, may also serve as a pivot for rotating the support structure 3.

[0086] In an embodiment, the stabilizer foot includes a locking device configured to lock the foot at the lowered position (or at the raised position).

[0087] The apparatus 1 comprises a vehicle calibration assistance structure 4. The vehicle calibration assistance structure 4 is mounted on the support structure 3.

[0088] In an embodiment, the vehicle calibration assistance structure 4 includes a calibration device 41. In an embodiment (illustrated), the calibration device 41 includes (or is defined by) a target panel bearing predetermined graphical features to perform (or assist with the performance of) calibration of an ADAS sensor (specifically, a camera) of the vehicle 9.

[0089] In an embodiment (not illustrated), the calibration device 41 includes (or is defined by) a reflector. The reflector is capable of reflecting electromagnetic waves for performing (or assisting with the performance of) calibration of an ADAS sensor (specifically a radar sensor) of the vehicle 9.

[0090] In an embodiment, the vehicle calibration assistance structure 4 includes a carriage which is slidably coupled to the support structure 3. More specifically, the carriage is slidable in a vertical direction V to adjust the vehicle calibration assistance structure 4 in height relative to the support structure 3. Thus, in an embodiment, the step C of aiding with the positioning includes a step of adjusting the calibration assistance structure 4 (that is, the calibration device 41) along the vertical direction. In an embodiment, the apparatus 1 includes a height distance meter 38 mounted on the vehicle calibration assistance structure 4 and directed towards the floor the base unit 2 rests on in order to measure the height of the vehicle calibration assistance structure 4 from the floor. In an embodiment, during the step C of aiding with the positioning, the control unit 11 communicates with (receives data from) the height distance meter 38.

[0091] In an embodiment, the vehicle calibration assistance structure 4 is tiltable relative to the support structure 3 (about a vertical tilting axis), to vary the orientation of the vehicle calibration assistance structure 4 relative to the support structure 3.

[0092] In an embodiment, the apparatus 1 comprises an optical projection system which includes a laser emitter 6. The laser emitter 6 is configured to project a laser blade or laser beam on the vehicle 9 which is positioned in the service area 8. The laser emitter 6 is positioned at the top of the target panel 41 and is centred along the vertical direction V.

[0093] The support structure 3 includes a grippable portion 31, which is configured to allow (or make it easier for) the operator to grip it with at least one hand.

[0094] In an embodiment, the apparatus 1 includes a further pair of measuring heads 33, 33′ associated with the support structure 3 (preferably at opposite ends of a horizontal bar 30 of the support structure 3, oriented perpendicularly to the vertical direction).

[0095] The measuring heads 33, 33′ each include a first emitter 33A, 33A′. Operatively, the first emitter 33A, 33A′ of each head faces a respective head 35, 35′ of the second pair, mounted on the rear wheels. The measuring heads 33, 33′ each include a first receiver 330A, 330A′. Operatively, the first receiver 330A, 330A′ faces the respective head 35, 35′ of the second pair, mounted on the rear wheels.

[0096] The measuring heads 33, 33′ each include a second emitter 33B, 33B′. Operatively, the second emitter 33B, 33B′ of each head 33, 33′ faces the other head 33, 33′, associated with the support structure. The measuring heads 33, 33′ each include a second receiver 3506, 3506′. Operatively (that is, when the step C of aiding with the positioning has been completed), the second emitter 33B, 33B′ of each head 33, 33′ faces the other head 33, 33′, associated with the support structure.

[0097] In an embodiment (not illustrated), the further pair of measuring heads 33, 33′ is defined by (or coincides with) the first pair of measuring heads 34, 34′; in another embodiment (illustrated), the further pair of measuring heads 33, 33′ is distinct from the first pair of measuring heads 34, 34′.

[0098] In an embodiment, the method comprises, after the step A of deriving the at least one attitude parameter, a step of moving the first pair of measuring heads 34, 34′ from the front wheels to the support structure 3. More specifically, in an embodiment, the measuring heads 34, 34′ are moved from the front wheels to respective ends of the horizontal bar 30 of the support structure 3 (to define the further pair of measuring heads 33, 33′). In an embodiment, the measuring heads 34, 34′ are moved from the front wheels to a rest position on the support structure 3 (which includes a further pair of measuring heads 33, 33′ fixed to the ends of the horizontal bar 30 to aid with the positioning of the support structure 3).

[0099] In an embodiment, during the step C of aiding with the positioning, the control unit 11 also communicates with (receives data from) a distance meter 36 mounted on the support structure 3 (specifically on the horizontal bar 30). The distance meter 36 detects a positioning target element 37 mounted on a wheel of the vehicle 9 (preferably a front wheel). In effect, after moving the measuring heads 34, 34′ of the first pair onto the support structure 3, a positioning target element 37, having a surface that is visible to the distance meter 36, is mounted on at least one front wheel of the vehicle 9.

[0100] The method comprises (after positioning the support structure 3 near the service area 8, at a position in front of the vehicle 9), a step D of sending a calibration command from the control unit 11 to an electronic control unit 95 of the vehicle 9 to determine an interaction between the ADAS sensor and the calibration device 41. More specifically, in response to the calibration command, the ADAS sensor views (detects) the calibration device 41 and, by communicating with the electronic control unit 95, is calibrated. This procedure constitutes a calibration or self-diagnosis.

[0101] The method comprises a step of transmitting data from the electronic control unit 95 to the control unit 11 (as a function of what the ADAS sensor views in response to the calibration command).

[0102] The method comprises a step E of the control unit 11 processing the data received from the electronic control unit 95 of the vehicle 9 in order to generate calibration data relating to a result of the calibration of the ADAS sensor.

[0103] In an embodiment, the method comprises a step of communicating to the operator, through the interface 10, one or more data items received from the electronic control unit 95 of the vehicle 9 (for example, the data relating to a horizontal or vertical deviation of the ADAS sensor relative to the target panel or to the vehicle).

[0104] The method comprises a step F of generating a report document. The report document includes the identification code of the vehicle, the attitude parameter and the calibration data.