| CPC G01S 7/4972 (2013.01) [G01S 17/89 (2013.01); G06V 20/58 (2022.01); G06V 20/582 (2022.01)] | 10 Claims |
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1. A method for determining a roll angle (α) of an optoelectronic sensor of a motor vehicle, wherein the optoelectronic sensor comprises at least one transmitter device, at least one receiver unit and at least one evaluation unit, said method comprising:
emitting light beams into surroundings of the motor vehicle by the transmitter device;
receiving light beams reflected at an object by the receiver unit, wherein the received light beams are represented by the evaluation unit as scan points in a sensor image of the surroundings of the motor vehicle generated by the optoelectronic sensor,
the roll angle (α) is determined by means of the evaluation unit between at least one scan axis and at least one reference axis, wherein the scan axis is formed by at least one scan point of a ground structure and a reference point of the reference axis of the optoelectronic sensor,
wherein the at least one scan point has a first spatial coordinate, a second spatial coordinate and a third spatial coordinate, and wherein:
the roll angle (α) is determined by an arctangent function of a ratio of the third spatial coordinate to the second spatial coordinate, or
the reference point is based on a second scan point,
wherein the second scan point has a further first spatial coordinate, a further second spatial coordinate and a further third spatial coordinate, and
wherein the roll angle (α) is determined by an arctangent function of the ratio of a difference between the further third spatial coordinate and the third spatial coordinate and the difference between the further second spatial coordinate and the second spatial coordinate.
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