US 12,117,570 B2
Method and device for detecting a decalibration of a sensor for capturing the surroundings of a vehicle
Anna Kreidler, Stuttgart (DE); Sascha Mühlbrandt, Wiernsheim (DE); and Florian Eppler, Böblingen (DE)
Assigned to MERCEDES-BENZ GROUP AG, Stuttgart (DE)
Appl. No. 18/681,131
Filed by MERCEDES-BENZ GROUP AG, Stuttgart (DE)
PCT Filed Jun. 28, 2022, PCT No. PCT/EP2022/067674
§ 371(c)(1), (2) Date Feb. 5, 2024,
PCT Pub. No. WO2023/011807, PCT Pub. Date Feb. 9, 2023.
Claims priority of application No. 10 2021 004 061.9 (DE), filed on Aug. 6, 2021.
Prior Publication US 2024/0264294 A1, Aug. 8, 2024
Int. Cl. G01S 7/52 (2006.01); B60W 40/02 (2006.01); G01S 13/58 (2006.01)
CPC G01S 7/52004 (2013.01) [B60W 40/02 (2013.01); G01S 13/589 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for detecting a decalibration of at least one surroundings sensor for capturing surroundings of a vehicle, the method comprising:
detecting, by the at least one surroundings sensor, a plurality of objects in the surroundings;
determining angular velocities of the detected objects while the vehicle is travelling;
determining clusters of a number of the detected objects by a histogram evaluation based on the determined angular velocities; and
identifying a decalibration of the surroundings sensor responsive to one of the determined clusters has an angular velocity other than zero, wherein the decalibration is caused by a deviation of an orientation of the surroundings sensor from a normal position relative to a vehicle axis of the vehicle.