Method of Calibrating a Sensor System

• US 20090128398A1
• Filed: 11/24/2006
• Published: 05/21/2009
• Est. Priority Date: 12/27/2005
• Status: Abandoned Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Wieland, Oliver
• Application Number:
  US12/087,252
• Publication Number:
  US 20090128398A1
• Time in Patent Office: Days
• US Class Current: 342/174
• CPC Class Codes: G01S 15/878 wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205
• CPC Class Codes: G01S 7/52006 with provision for compensating the effects of temperature

Abstract

A method for calibrating a sensor system having transmitters and receivers mounted on a vehicle at a distance from one another, and for measuring the distance of the vehicle from a roadway boundary, by a) sending a send signal at a first time, using a transmitter of the sensor system, b) converting the received send signal to a receive signal using a receiver of the sensor system, and establishing a second time at which the receive signal exceeds a certain threshold value, c) determining the propagation time of the send signal from the transmitter to the receiver from the difference in time between the second time and the first time, d) repeating a) to c) cyclically for a certain number of cycles, e) determining a frequency distribution of the propagation times determined in c), and f) generating a sensor distance value, which correlates with the sensor propagation time between the transmitter and the receiver, with the frequency distribution determined in e).

Claims

1-9. -9. (canceled)

10. A method for calibrating a sensor system, having transmitters and receivers mounted on a vehicle, and which are at a distance from one another, for measuring a distance of the vehicle from a roadway boundary, the method comprising:

(a) sending a send signal at a first point in time by using a transmitter of the sensor system;

(b) converting a received send signal to a receive signal by using a receiver of the sensor system, and establishing a second point in time at which the receive signal exceeds a certain threshold value;

(c) determining a propagation time of the send signal from the transmitter to the receiver from a difference in time between the second point in time and the first point in time;

(d) repeating (a) to (c) cyclically for a certain number of cycles;

(e) determining a frequency distribution of the propagation times determined in (c); and

(f) generating a sensor distance value, which correlates with a sensor propagation time between the transmitter and the receiver, with the frequency distribution determined in (e).

11. The method of claim 10, wherein the sensor distance value is determined with a maximum of the frequency distribution.

12. The method of claim 10, wherein the frequency distribution is a histogram.

13. The method of claim 10, wherein the cyclical repetition of (a) to (c) is performed recursively a plurality of times, and wherein in each recursion, the frequency distribution is newly scaled about a maximum of the frequency distribution of a preceding recursion.

14. The method of claim 10, wherein the method is performed in response to at least one of a start of the vehicle and each switching on of a parking assistant in the vehicle.

15. The method of claim 10, wherein the method is performed at certain time intervals during travel of the vehicle.

16. The method of claim 10, wherein the method is performed during travel of the vehicle in response to at least one of a change in an environmental condition and a change in an outside temperature.

17. The method of claim 10, further comprising:

(g) filtering out direct crosstalks generated by the transmitter from a receive signal received by the receiver, while using the sensor distance value generated in (f).

18. The method of claim 17, wherein the receive signal received by the receiver, from which the direct crosstalks generated by the transmitter are filtered out, corresponds to a send signal generated by the transmitter while using stochastic coding.