Method for calibrating an environment sensor of a vehicle taking into account a three-dimensional model of the vehicle, calibration test bench and vehicle

摘要

The invention relates to a method for calibrating an environment sensor (5) of a vehicle (2), comprising the steps: performing a measurement with a measurement sensor (10) of a calibration test bench (3) and determining a pose (P_LF) of the vehicle (2) to the measurement sensor (3) on the basis of the measurement, detection of a calibration element (9) of the calibration test bench (3) by means of the environment sensor (5) and determination of a pose (P_CK) of the environment sensor (5) to the calibration element (9) on the basis of the environment sensor (5) detected calibration element (9), wherein during the measurement with the measurement sensor (10) an area of an outer shell (11) of the vehicle (2) is recorded and for determining the pose (P_LF) of the vehicle (2) to the measurement sensor (10) area of the outer shell (11) is brought into agreement with a three-dimensional model (15) of the vehicle (2), the three-dimensional model (15) describing the outer shell (15) of the vehicle (2).