VEHICLE TEST BENCH FOR CALIBRATING AND/OR TESTING SYSTEMS OF A VEHICLE, WHICH COMPRISE AT LEAST ONE CAMERA, AND METHOD FOR CARRYING OUT THE CALIBRATING AND/OR TESTS OF SYSTEMS OF A VEHICLE, WHICH COMPRISE AT LEAST ONE CAMERA

Abstract

The present invention relates to a vehicle test bench for calibrating and/or testing systems of a vehicle which comprise at least one camera. The vehicle test bench has a target position for the vehicle. At least one surface that reproduces an image display and/or shows an image display is assigned to the cameras of systems to be tested. A plurality of elements that absorb stray light are provided, which elements each consist of a wall-like boundary of the vehicle test bench, which reduces penetration of light into the vehicle test bench. A plurality of wall-like boundaries results in lateral delimitation of the vehicle test bench on all sides. A supporting structure is furthermore provided, comprising at least one elongate support element that is arranged above the vehicle, and adjustment means for moving at least one of the at least one surface reproducing an image display and/or showing an image display, and/or at least one unit for checking a radar sensor, and/or at least one unit for checking an optical distance sensor, and/or at least one unit for checking a night vision device of the vehicle in the horizontal direction along the at least one support element. A method is also described, in which two cameras, by means of which a three-dimensional structure is intended to be identified in a stereophotogrammetric evaluation, are tested in a coordinated manner by means of the individual images which the two cameras see in each case in order to identify the three-dimensional structure being displayed in a temporal sequence. The individual images of the two cameras may also be separated by means of the polarization direction of the light or different wavelengths.

Claims

1. Method for carrying out tests of systems of a vehicle that comprise at least two cameras for capturing images by means of the at least two cameras and for coordinated evaluation of the images captured by the at least two cameras for the purpose of three-dimensional assessment of the captured images, in particular a vehicle test bench according to any of claims 1 to 8, characterized in that a three-dimensional object or a three-dimensional scene is simulated by the image display of a plurality of associated two-dimensional images, the number of which corresponds to the number of the cameras, the images of which are evaluated in a coordinated manner, wherein each of the associated two-dimensional images corresponds to the projection of the three-dimensional object or the three-dimensional scene into a plane perpendicular to the viewing direction of one of the cameras towards the simulated three-dimensional object or the three-dimensional scene, wherein the associated images display the three-dimensional object or the three-dimensional scene at the same timepoint, and in that the displays of the associated images are separated by means of said images being displayed in temporal succession.

2. Method for carrying out tests of systems of a vehicle that comprise at least two cameras for capturing images by means of the at least two cameras and for coordinated evaluation of the images captured by the at least two cameras for the purpose of three-dimensional assessment of the captured images, in particular a vehicle test bench according to any of claims 1 to 8, characterized in that a three-dimensional object or a three-dimensional scene is simulated by the image display of a plurality of associated two-dimensional images, the number of which corresponds to the number of the cameras, the images of which are evaluated in a coordinated manner, wherein each of the associated two-dimensional images corresponds to the projection of the three-dimensional object or the three-dimensional scene into a plane perpendicular to the viewing direction of one of the cameras towards the simulated three-dimensional object or the three-dimensional scene, wherein the associated images display the three-dimensional object or the three-dimensional scene at the same timepoint, and in that the displays of the associated images are separated by means of said different images being displayed using light of different polarization directions and/or using light of different wavelengths, wherein each of the cameras is assigned a filter system that is a polarization filter and/or a color filter.

3. Vehicle test bench (1) for calibrating and/or testing systems of a vehicle which comprise at least one camera, characterized in that the vehicle test bench (1) has a target position (302) for the vehicle, in that at least one surface (201) that reproduces an image display and/or shows an image display is assigned to the cameras of systems to be tested, in that a plurality of elements (4, 5) that absorb stray light are provided, which elements each consist of a wall-like boundary (4, 5) of the vehicle test bench, which reduces penetration of light into the vehicle test bench (1), wherein a plurality of wall-like boundaries (4, 5) results in lateral delimitation of the vehicle test bench on all sides, in that a supporting structure (301, 202, 303) is provided comprising at least one elongate support element (202, 303, 203, 204, 205, 206) that is arranged above the vehicle, as well as adjustment means for moving at least one of the at least one surface (201) reproducing an image display and/or showing an image display, and/or at least one unit (207, 213) for checking a radar sensor of the vehicle, and/or at least one unit (208) for checking an optical distance sensor of the vehicle, and/or at least one unit for checking a night vision device of the vehicle in the horizontal direction along the at least one support element.

4. Vehicle test bench according to claim 3, characterized in that illumination means are provided as a component of the vehicle test bench (1), for defined illumination of the interior of the vehicle test bench (1).

5. Vehicle test bench according to claim 3 or 4, characterized in that the vehicle test bench (1) comprises a measuring assembly (209, 210) which consists of measuring probes (210), wherein said measuring probes (210) measure the position and/or orientation in the vehicle test bench (1) of a vehicle located in the vehicle test bench (1), using optical means, and in that the measuring probes (210) are movable such that the measuring probes (210) can be moved into a first position (measuring position) in the vehicle test bench (1) at defined positions of the vehicle test bench (1), and such that the measuring probes can be moved into a second position (calibration and/or testing position) that is outside the field of view of cameras that are part of systems to be tested.

6. Vehicle test bench according to any of claims 3 to 5, characterized in that the vehicle test bench (1) comprises reference objects which are located at defined positions in the vehicle test bench, and in that said reference objects can be captured by means of the vehicle's own sensors such that the position and/or orientation in the vehicle test bench (1) of a vehicle located in the vehicle test bench (1) is measured thereby.

7. Vehicle test bench according to any of claims 3 to 6, characterized in that a control unit is provided for actuating the adjustment means for moving at least one of the at least one surface (201) reproducing an image display and/or showing an image display, and/or at least one unit for checking a radar sensor (207, 213), and/or at least one unit (208) for checking an optical distance sensor in the horizontal direction along the at least one support element (202, 303, 203, 204, 205, 206), depending on an identified actual position and/or an identified actual orientation of the vehicle in the test bench.

8. Vehicle test bench according to any of claims 3 to 7, characterized in that positioning means (212) are provided for adjusting the orientation of the at least one surface (201) reproducing an image display and/or showing an image display, and/or at least one unit (207, 213) for checking a radar sensor, and/or at least one unit (208) for checking an optical distance sensor.

9. Vehicle test bench according to any of claims 3 to 8, characterized in that a roof-like boundary (6) of the vehicle test bench (1) is furthermore provided, which boundary reduces penetration of light into the vehicle test bench (1).

10. Vehicle test bench according to any of claims 3 to 9, characterized in that at least one opening (2) is provided that can be closed by a cover and is intended for the purpose of driving a vehicle into the vehicle test bench (1) and/or out of the vehicle test bench (1), wherein the inner surface of the cover is one of the at least one surface (201) reproducing an image display and/or showing an image display.

11. Method for carrying out the calibration and/or tests of systems of a vehicle which comprise at least one camera, using a vehicle test bench according to any of claims 3 to 10, characterized in that the reference system of the image display is oriented to the orientation of the vehicle, in that the at least one surface (201) reproducing an image display and/or showing an image display is oriented according to the orientation of the vehicle (212).

12. Method for carrying out the calibration and/or tests of systems of a vehicle which comprise at least one camera, using a vehicle test bench according to any of claims 3 to 10, characterized in that the reference system of the image display is oriented to the orientation of the vehicle in the vehicle test bench by means of the image display being reproduced and/or shown on the at least one surface (201) reproducing an image display and/or showing an image display in a manner having a distortion that is dependent on the orientation of the surface (201) relative to the orientation of the vehicle.

13. Use of a vehicle test bench according to any of claims 3 to 10 in order to carry out one of the methods according to claim 1 or 2.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0080] An embodiment of the invention is shown in the drawings. In said drawings:

[0081] FIG. 1: is a perspective view of a vehicle test bench comprising an open entrance opening for a vehicle,

[0082] FIG. 2: is a perspective view of a vehicle test bench comprising an open entrance opening and an open roof,

[0083] FIG. 3: is a perspective view of a vehicle test bench comprising an open roof and without side walls,

[0084] FIG. 4: is a plan view of a vehicle test bench comprising an open roof,

[0085] FIG. 5: shows a first embodiment of temporal separation of the display of images that are associated with one another as a stereophotogrammetric display of a three-dimensional structure, and

[0086] FIG. 6: shows a further embodiment of temporal separation of the display of images that are associated with one another as a stereophotogrammetric display of a three-dimensional structure.

DETAILED DESCRIPTION

[0087] FIG. 1 is a perspective view of a vehicle test bench 1 comprising an open entrance opening 2 for a vehicle.

[0088] Suspension means and a portion of a surface 3 reproducing an image display and/or showing an image display can be seen through the open entrance opening 2. Said elements of the vehicle test bench will be explained in greater detail in the following figures.

[0089] The perspective view in FIG. 1 shows two side walls 4 and 5 of the vehicle test bench 1, as well as a roof-like cover 6 of the vehicle test bench 1.

[0090] The side walls 4 and 5 (and the further side walls which are not visible in the perspective view of FIG. 1) reduce the penetration of light into the vehicle test bench.

[0091] The roof-like cover 6 further reduces the penetration of light from the outside into the vehicle test bench 1.

[0092] This results in good contrast of the displayed images in the vehicle test bench for calibrating cameras of the vehicle and for testing systems of the vehicle, in which said cameras are part of the systems.

[0093] FIG. 2 is a perspective view of a vehicle test bench 1 comprising an open entrance opening 2 and an open roof.

[0094] A supporting structure can be seen which comprises elongate support elements 202 that extend horizontally in the longitudinal direction of the vehicle test bench 1.

[0095] The elongate support elements 202 that extend in the longitudinal direction of the vehicle test bench 1.

[0096] Fastening elements 212 can be moved, by means of guide elements 211, along said elongate support elements 202 in that the guide elements 211 are displaceable along the support element 202. Targets 201, 207, 208, 213 are fastened to the fastening elements 212. The targets 201 are the surfaces for image display for the cameras, the targets 207 are doppler generators for lateral radar sensors, the targets 208 are light boxes for the optical distance sensors, and the targets 213 are mirrors for the front radar sensors.

[0097] The fastening elements 212 are vertical rods to which the targets 201, 207, 208, 213 are fastened.

[0098] At least the fastening elements 212 to which doppler generators 207, mirrors 213 or light boxes 208 are fastened can advantageously be rotated about the vertical axis in order for it to be possible to orient the corresponding targets 207, 208, 213 to the geometric travel axis of the vehicle.

[0099] It can be seen that the light boxes 208 and the mirrors 213 are attached to the same fastening element 212. It is thus possible to rotate one of the targets 208, 213 towards the vehicle in order to carry out the calibration or to carry out tests, by means of said fastening element 212 being rotated a corresponding amount (up to 180).

[0100] It is also possible to orient the targets by means of the individual targets being assigned their own rotation mechanism. This has been found to be advantageous in particular when a plurality of targets are attached to the same fastening element 211. The targets can then be mutually independently oriented with respect to the vehicle.

[0101] It can furthermore be seen that further support element 203, 204, 205, 206 are attached to the support element 202 by means of guide elements 214. Said support elements 203, 204, 205, 206 also extend in the horizontal direction, albeit transversely to the longitudinal direction of the vehicle test bench 1. As a result of the fastening by means of the guide elements 214, the support elements 203, 204, 205, 206 are displaceable along the support elements 202 in the longitudinal direction of the vehicle test bench 1.

[0102] Further fastening elements 212, to which targets 201, 207, 208, 213 are attached, are in turn attached to the support elements 203, 204, 205, 206 by means of guide elements 211.

[0103] Furthermore, a rail 209 can in addition be seen in the drawing according to FIG. 2, which rail is arranged in the base region of the vehicle test bench 1. A measuring probe 210, by means of which the location and the orientation of the vehicle in the vehicle test bench 1 can be measured, is displaceable along said rail 209. For this purpose, the measuring probe 210 can be moved to defined positions along the rail 209 in order for example to capture the location of characteristic points of the vehicle body and/or the parameters of the vehicle geometry such as the toe and camber angle of the wheels of the vehicle.

[0104] FIG. 3 is a perspective view of a vehicle test bench 1 comprising an open roof and without side walls. Parts that are identical to those in the drawing according to FIG. 2 have been provided with identical reference signs.

[0105] It can be seen that the vehicle test bench is mirror-symmetric.

[0106] In a manner supplementing the drawing according to FIG. 2, it can be seen that four props 301 are provided at the corners of the vehicle test bench 1. Said props carry the support elements 202 and the support elements 303.

[0107] The supporting structure of the vehicle test bench 1 is defined thereby. The fastening elements 212 are fastened to the support elements 202, 303 and the support elements 203, 204, 205 and 206 by means of the guide elements 211 such that the fastening elements 212 are displaceable along the support elements. Said fastening elements end above the base.

[0108] At least some of the fastening elements 212 are also rotatable about the vertical axis.

[0109] The vehicle test bench 1 further comprises a positioning system 302. When the vehicle drives onto said positioning system 302, the vehicle body is in a defined orientation and also a defined position with respect to the vehicle test bench 1.

[0110] The side walls and, if provided, also a roof-like cover of the vehicle test bench 1 can be fastened to said supporting structure.

[0111] FIG. 4 is a plan view of a vehicle test bench 1 comprising an open roof, Parts that are identical to those in FIGS. 1 to 3 have again been provided with identical reference signs.

[0112] FIG. 5 shows a first embodiment of temporal separation of the display of images that are associated with one another as a stereophotogrammetric display of a three-dimensional structure. In the embodiment shown, a sequence consisting of a synchronization image and a subsequent image display is shown alternately for the left-hand camera and the right-hand camera. The block 501 denotes the synchronization image for the left-hand camera. The block 502 denotes the image display of the first scene for the left-hand camera. The block 503 denotes the synchronization image for the right-hand camera. The block 504 denotes the image display of the first scene for the right-hand camera. Subsequently, the synchronization image for the left-hand camera is again displayed, then the image display of the second scene for the left-hand camera, then the synchronization image for the right-hand camera, and then the image display of the second scene for the right-hand camera, etc.

[0113] During the evaluation of the image sequence, it is possible to identify, from the respective synchronization images 501 and 503, whether the subsequent image display 502 and 504, respectively, is to be assigned to the left-hand camera or to the right-hand camera.

[0114] During the image evaluation, it is possible to take account only of the corresponding image displays that are assigned to the relevant camera.

[0115] As a result of the stereophotogrammetric evaluation, both cameras identify the entire scene in a three-dimensional manner.

[0116] FIG. 6 shows a further embodiment of temporal separation of the display of images that are associated with one another as a stereophotogrammetric display of a three-dimensional structure. In contrast to the embodiment of FIG. 5, in this case the images that are associated in pairs are not displayed in immediate succession. Instead, the complete scene is first shown for the display of the left-hand camera. This display also begins again with a synchronization image for the left-hand camera. This corresponds to function block 601. Subsequently, function block 602 does not correspond to the display of a single image, but instead to the display of the image sequence of the scene from the viewing direction of the left-hand camera. Subsequently, starting with a synchronization image for the right-hand camera corresponding to function block 603, the corresponding scene is shown, in a manner corresponding to function block 604, from the viewing direction of the right-hand camera. During the evaluation of the image sequences, the synchronization images 601 and 603 make it possible to separate which of the image sequences 602 and 604 are associated with which of the cameras.

[0117] The drawings in FIGS. 5 and 6 relate to embodiments for carrying out tests of the cameras using the evaluation units. The evaluation units therefore have a working mode in which the images of the cameras are continuously evaluated as they were acquired. FIGS. 5 and 6 relate to a mode of operation in a test mode, in which the evaluation of the cameras is synchronized such that only those images are evaluated that are assigned to the corresponding cameras.