METHOD FOR CARRYING OUT THE CALIBRATION OF A VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE, AND VEHICLE SENSOR SYSTEM, IN PARTICULAR AN AUTONOMOUS VEHICLE

摘要

In order to be able to simply carry out an auto-calibration of a vehicle sensor system (FSESA), in particular an autonomous vehicle, without great additional input, according to the invention, over the course of the auto-calibration of the vehicle sensor system (FSESA), this vehicle sensor system (FSESA) and a calibrated vehicle sensor system (FSESB) monitor one another, as well as detecting a respective at least one extracted system feature (FSESA_SM_FSESB, FSESA_SM`_FSESB, FSESB_SM_FSESA, FSESB_SM`_FSESA) in a sensor-based manner (SEA, SEB), and generating "6D-system pose [ FSESA_Th_FSESB], [FSESA_Th_FSESB] *, [FSESB_Th_FSESA], [ FSESB_Th_FSESA] * " - based relative items of information (RI1, RI1*, RI2, RI2*), independently of one another and via homogeneous transformation (Th), according to sensor-related, extrinsic and intrinsic system parameters (SPAe, SPAi, SPBe, SPBi) and the detected system features, wherein said information is preferably formed by all the system parameters/system features or a partial amount thereof by the respective vehicle sensor system. Thereafter, the vehicle sensor system FSESA compares the auto-generated relative information (RI1, RI1*) of the relative information (RI2, RI2*) generated and transmitted by the calibrated vehicle sensor system (FSESB). With the determining of the identity (when the information is observed to be identical), the vehicle sensor system FSESA is calibrated, otherwise, the auto-calibration of the vehicle system FSESA is continued with adjusted system parameters (SPAe, SPAi) of the vehicle sensor system FSESA.