US 12,461,197 B2
Method for identifying misalignments of a sensor
Alfred Kuttenberger, Weil der Stadt (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Aug. 23, 2022, as Appl. No. 17/893,494.
Claims priority of application No. 10 2021 209 789.8 (DE), filed on Sep. 6, 2021.
Prior Publication US 2023/0073672 A1, Mar. 9, 2023
Int. Cl. G01S 7/40 (2006.01); G01S 13/931 (2020.01)
CPC G01S 7/40 (2013.01) [G01S 13/931 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for identifying misalignments of a first sensor of a sensor system of a motor vehicle, the first sensor being configured to perform geospatial positioning detections within an entirety of a first detection zone, the first detection zone overlapping with a second detection zone that is different than the first detection zone, a second sensor being configured to perform geospatial positioning detections within an entirety of the second detection zone, the overlapping of the first and second detection zones being in an entirety of an overlap zone that is part of each of the first and second detection zones, the method comprising the following steps:
simultaneously (I) detecting, by the geospatial positioning detections of the first sensor, a first object position, with respect to at least one spatial dimension, in the overlap zone, and (II) detecting, by the geospatial positioning detections of the second sensor, a second object position, with respect to the at least one spatial dimension, in the overlap zone;
determining that the detections by the first and second sensors are of a same object based on at least one of detected intrinsic geometric characteristics of the object independent of the geospatial positioning and detected optical characteristics of the object;
determining, based sensor output of the first and second sensors, at least one respective measurement of a spatial extension of the object, which is a measurement of how much the object extends with respect to at least one spatial dimension; and
based on the determination that the detections are of the same object:
comparing the first and second object positions with each other to ascertain a position deviation between the first and second object positions;
comparing the respective measurements of the spatial extension to ascertain an extension deviation between the respective spatial extension measurements;
determining that each of the deviations is greater than a respective predefined threshold deviation; and
in response to the determination that each of the deviations is greater than the respective predefined threshold deviation, identifying a misalignment of the first sensor based on a combination of the position deviation and the extension deviation.