Method and system for calibrating at least one vehicle sensor situated in a vehicle

1 . A method for calibrating at least one vehicle sensor situated in a vehicle, the method comprising the following steps:

providing the vehicle in a calibration space;

detecting a vehicle position in a space-fixed coordinate system using an optical detection system situated in the calibration space;

ascertaining a position of a relevant vehicle sensor in the space-fixed coordinate system, the relevant vehicle sensor being the vehicle sensor to be calibrated;

situating a calibration object in a detection field of the relevant vehicle sensor in the calibration space;

detecting a calibration object position in the space-fixed coordinate system using the optical detection system;

transforming the calibration object position into an estimated vehicle sensor-fixed coordinate system to obtain a first relative position;

detecting a position of the calibration object using the relevant vehicle sensor in the vehicle sensor-fixed coordinate system as a second relative position,

calculating intrinsic and/or extrinsic calibration parameters from a comparison between the first relative position and the second relative position, and

storing the calibration parameters in the relevant vehicle sensor and/or in an electronics unit coupled to the relevant vehicle sensor,

wherein the detecting of the position of the calibration object using the relevant vehicle sensor in the vehicle sensor-fixed coordinate system further includes emitting a punctiform light signal from the calibration object, detecting the punctiform light signal, and ascertaining a distance and/or direction of the calibration object.

2 . The method as recited in claim 1 , further comprising:

automatically moving the calibration object into a predefined relative position in relation to the relevant vehicle sensor.

3 . The method as recited in claim 1 , wherein the detecting of the vehicle position includes situating marking elements at predetermined positions of the vehicle, marking elements being identifiable by the optical detection system.

4 . The method as recited in claim 1 , wherein the detecting of the position includes detecting contours of the vehicle, which are identified based on geometric data of the vehicle.

5 . A method for calibrating at least one vehicle sensor situated in a vehicle, the method comprising the following steps:

providing the vehicle in a calibration space;

detecting a vehicle position in a space-fixed coordinate system using an optical detection system situated in the calibration space;

ascertaining a position of a relevant vehicle sensor in the space-fixed coordinate system, the relevant vehicle sensor being the vehicle sensor to be calibrated;

situating a calibration object in a detection field of the relevant vehicle sensor in the calibration space;

detecting a calibration object position in the space-fixed coordinate system using the optical detection system;

transforming the calibration object position into an estimated vehicle sensor-fixed coordinate system to obtain a first relative position;

detecting a position of the calibration object using the relevant vehicle sensor in the vehicle sensor-fixed coordinate system as a second relative position,

calculating intrinsic and/or extrinsic calibration parameters from a comparison between the first relative position and the second relative position, and

storing the calibration parameters in the relevant vehicle sensor and/or in an electronics unit coupled to the relevant vehicle sensor, and

after calibrating the relevant vehicle sensor, automatically moving the calibration object into a predefined relative position for at least one subsequent vehicle sensor and carrying out a calibration of the at least one subsequent vehicle sensor.

6 . A system for calibrating at least one vehicle sensor situated in a vehicle, comprising:

a calibration space;

a calibration object; and

a space-fixed optical detection system, situated in the calibration space, including at least one optical detection unit and a processor unit which may be coupled to the optical detection unit,

wherein the calibration object includes a punctiform light source configured to emit a punctiform light signal for ascertaining a distance and/or direction of the calibration object from the vehicle sensor, and

wherein the processor unit is configured to:

ascertain a vehicle position of a vehicle in a fixed coordinate system using the optical detection system situated in the calibration space,

ascertain a position of a relevant vehicle sensor in the space-fixed coordinate system, the relevant vehicle sensor being the vehicle sensor to be calibrated,

detect a calibration object position of the calibration object situated in a detection field of the relevant vehicle sensor in a space of an fixed coordinate system using the optical detection system,

transform the calibration object position into an estimated vehicle sensor-fixed coordinate system to obtain a first relative position,

compute intrinsic and/or extrinsic calibration parameters from a comparison between the first relative position and a second relative position, the second relative position being ascertained by the relevant vehicle sensor in the vehicle sensor-fixed coordinate system, and

store the calibration parameters in the relevant vehicle sensor and/or in an electronics unit coupled to the relevant vehicle sensor.

7 . A system for calibrating at least one vehicle sensor situated in a vehicle, comprising:

a calibration space;

a calibration object;

a space-fixed optical detection system, situated in the calibration space, including at least one optical detection unit and a processor unit which may be coupled to the optical detection unit; and

a movement device configured to hold and move the calibration object at a predefined position in the calibration space,

wherein the processor unit is configured to:

ascertain a vehicle position of a vehicle in a fixed coordinate system using the optical detection system situated in the calibration space,

ascertain a position of a relevant vehicle sensor in the space-fixed coordinate system, the relevant vehicle sensor being the vehicle sensor to be calibrated,

detect a calibration object position of the calibration object situated in a detection field of the relevant vehicle sensor in a space of an fixed coordinate system using the optical detection system,

transform the calibration object position into an estimated vehicle sensor-fixed coordinate system to obtain a first relative position,

compute intrinsic and/or extrinsic calibration parameters from a comparison between the first relative position and a second relative position, the second relative position being ascertained by the relevant vehicle sensor in the vehicle sensor-fixed coordinate system, and

store the calibration parameters in the relevant vehicle sensor and/or in an electronics unit coupled to the relevant vehicle sensor.

8 . The system as recited in claim 7 , wherein the movement device includes at least one rail, at which the calibration object is held movably.

9 . A method for calibrating at least one vehicle sensor situated in a vehicle, the method comprising the following steps:

providing the vehicle in a calibration space;

detecting a vehicle position in a space-fixed coordinate system using an optical detection system situated in the calibration space;

ascertaining a position of a relevant vehicle sensor in the space-fixed coordinate system, the relevant vehicle sensor being the vehicle sensor to be calibrated;

situating a calibration object in a detection field of the relevant vehicle sensor in the calibration space;

automatically moving the calibration object into a predefined position in the calibration space;

detecting a calibration object position in the space-fixed coordinate system using the optical detection system;

transforming the calibration object position into an estimated vehicle sensor-fixed coordinate system to obtain a first relative position;

detecting a position of the calibration object using the relevant vehicle sensor in the vehicle sensor-fixed coordinate system as a second relative position,

calculating intrinsic and/or extrinsic calibration parameters from a comparison between the first relative position and the second relative position, and

storing the calibration parameters in the relevant vehicle sensor and/or in an electronics unit coupled to the relevant vehicle sensor.