Apparatus for calculating misalignment quantity of beam sensor

• US 10,429,492 B2
• Filed: 09/24/2015
• Issued: 10/01/2019
• Est. Priority Date: 09/24/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Baba, Takahiro
• Primary Examiner(s): Lau, Tung S
• Application Number:
  US15/513,534
• Publication Number:
  US 20170307730A1
• Time in Patent Office: 1,468 Days
• Field of Search: None
• CPC Class Codes: B60R 21/00 Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2710/06 Combustion engines, Gas turbines
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/40 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4091 during normal radar operation
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The misalignment quantity calculating apparatus determines whether a first object detected by a beam sensor is identical to a second object detected by an image sensor. Upon determining that the first object is identical to the second object, the misalignment quantity calculating apparatus calculates, as a misalignment quantity of the beam sensor, an angle between a first line segment and a second line segment; the first line segment connects a predetermined reference point of the misalignment quantity calculating apparatus and a first feature point of the first object, and the second line segment connects the predetermined reference point and a second feature point of the second object.

Claims

1. A misalignment quantity calculating apparatus for calculating and correcting a misalignment quantity of an electromagnetic wave sensor relative to a vehicle upon which the electromagnetic wave sensor is mounted, the misalignment quantity calculating apparatus comprising:

an identity determining means for determining whether a first object detected by the electromagnetic wave sensor is identical to a second object detected by an image sensor, the electromagnetic wave sensor transmitting a probing beam and receiving an echo based on the probing beam to detect the first object, the image sensor capturing an image and processing the image to detect the second object;

a misalignment quantity calculating means for calculating, as a misalignment quantity of the electromagnetic wave sensor, an angle between a first line segment and a second line segment when it is determined that the first object is identical to the second object, the first line segment connecting a predetermined reference point of the misalignment quantity calculating apparatus and a first feature point of the first object, the second line segment connecting the predetermined reference point and a second feature point of the second object, wherein the predetermined reference point comprises a front edge point of the vehicle;

a determining means for determining whether the calculated angle between the first line segment and the second line segment is equal to or more than an angular detection threshold value; and

a correcting means for correcting the probe beam of the electromagnetic wave sensor to cancel the calculated angle between the first line segment and the second line segment.

2. The misalignment quantity calculating apparatus according to claim 1, further comprising:

an environmental information obtaining means for obtaining environmental information indicative of an environment around the misalignment quantity calculating apparatus in calculation of the misalignment quantity;

an environment determining means for determining whether the environmental information satisfies a recommended calculation condition, the recommended calculation condition being previously determined as an environment suitable for calculation of the misalignment quantity; and

a preventing means for preventing the misalignment quantity calculating means from calculating the misalignment quantity when it is determined that the environmental information does not satisfy the recommended calculation condition.

3. The misalignment quantity calculating apparatus according to claim 1, wherein:

the environmental information obtaining means is configured to obtain, as the environmental information, a position of the second feature point of the second object on the captured image; and

the environment determining means uses, as the recommended calculation condition, a condition that the position of the second feature point of the second object is located within a predetermined region on the captured image, the predetermined region including the center of the captured image.

4. The misalignment quantity calculating apparatus according to claim 3, wherein:

the misalignment quantity calculating apparatus is installed in a vehicle;

the environmental information obtaining means is configured to obtain, as the environmental information, a travelling lane on which the vehicle is travelling; and

the environment determining means uses, as the recommended calculation condition, a condition that the second feature point of the second object is located within the travelling lane of the vehicle.

5. The misalignment quantity calculating apparatus according to claim 2, wherein:

the misalignment quantity calculating apparatus is installed in a vehicle;

the environmental information obtaining means is configured to obtain, as the environmental information, a radius of curvature of a road on which the vehicle is travelling; and

the environment determining means uses, as the recommended calculation condition, a condition that the radius of curvature of the road on which the vehicle is travelling is equal to or more than a predetermined value.

6. The misalignment quantity calculating apparatus according to claim 2, wherein:

the environmental information obtaining means is configured to obtain, as the environmental information, a width of the second object in a horizontal direction; and

the environment determining means uses, as the recommended calculation condition, a condition that the width of the second object is less than a predetermined value.

7. The misalignment quantity calculating apparatus according to claim 2, wherein:

the misalignment quantity calculating apparatus is installed in a vehicle;

the environmental information obtaining means is configured to obtain, as the environmental information, a relative speed of one of the first object and the second object relative to the vehicle; and

the environment determining means uses, as the recommended calculation condition, a condition that the relative speed of one of the first object and the second object relative to the vehicle is less than a predetermined value.

8. The misalignment quantity calculating apparatus according to claim 2, wherein:

the misalignment quantity calculating apparatus is installed in a vehicle;

the environmental information obtaining means is configured to obtain, as the environmental information, a relative lateral position of one of the first feature point of the first object and the second feature point of the second object relative to the vehicle in a width direction of the vehicle; and

the environment determining means uses, as the recommended calculation condition, a condition that the relative lateral position is less than a predetermined value.

9. The misalignment quantity calculating apparatus according to claim 2, wherein:

the misalignment quantity calculating apparatus is installed in a vehicle;

the environmental information obtaining means is configured to obtain a relative distance of the second feature point of the second object relative to the vehicle on the captured image; and

the environment determining means uses, as the recommended calculation condition, a condition that the relative distance of the second feature point of the second object relative to the vehicle on the captured image is located within a predetermined distance range.

10. The misalignment quantity calculating apparatus according to claim 1, wherein:

the identity determining means repeatedly performs determination of whether the first object is identical to the second object in time sequence; and

the misalignment quantity calculating means is configured to perform calculation of the misalignment quantity each time it is determined that the first object to obtain a calculated result of the misalignment quantities, the misalignment quantity calculating apparatus further comprising;

a plural misalignment quantity calculating means for calculating a final misalignment quantity of the beam sensor as a function of the calculated result of the misalignment quantities.

11. A system for correcting a misalignment of a sensor relative to a vehicle upon which the sensor is mounted, the system comprising:

an object detection sensor;

an electromagnetic wave sensor configured to transmit a probing beam and receiving an echo based on the probing beam; and

a microprocessor configured to;

detect objects in the environment of the vehicle using the electromagnetic wave sensor and the object detection sensor;

determine whether a first object detected by the electromagnetic wave sensor is identical to a second object detected by the object detection sensor;

calculate, as a misalignment quantity of the electromagnetic wave sensor, an angle between a first line segment and a second line segment when it is determined that the first object is identical to the second object, the first line segment connecting a predetermined reference point of the misalignment quantity calculating apparatus and a first feature point of the first object, the second line segment connecting the predetermined reference point and a second feature point of the second object, wherein the predetermined reference point comprises a front edge point of the vehicle;

determining whether the calculated angle between the first line segment and the second line segment is equal to or more than an angular detection threshold value; and

correcting the probe beam of the electromagnetic wave sensor to cancel the calculated angle between the first line segment and the second line segment.