DE19934197A1 - Automatic adjuster for sensor mounted on vehicle adjusts sensor to demand alignment direction if difference occurs between actual and demand directions - Google Patents
Automatic adjuster for sensor mounted on vehicle adjusts sensor to demand alignment direction if difference occurs between actual and demand directionsInfo
- Publication number
- DE19934197A1 DE19934197A1 DE19934197A DE19934197A DE19934197A1 DE 19934197 A1 DE19934197 A1 DE 19934197A1 DE 19934197 A DE19934197 A DE 19934197A DE 19934197 A DE19934197 A DE 19934197A DE 19934197 A1 DE19934197 A1 DE 19934197A1
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- Prior art keywords
- sensor
- measuring device
- demand
- vehicle
- orientation
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- 230000001419 dependent effect Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 2
- 238000011156 evaluation Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Security & Cryptography (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Es wird eine Vorrichtung zur Justierung mindestens eines an einem Fahrzeug verstellbar angebrachten lageabhängigen Sensors (2, 3), insbesondere eines Radarsensors, beschrieben. Dem Sensor sind eine Meßeinrichtung (6, 7) sowie eine Verstelleinrichtung (4, 5) zugeordnet, wobei die Meßeinrichtung (6, 7) die Ist-Ausrichtung des Sensors (2, 3) erfaßt und bei einer Abweichung von einer vorgegebenen Soll-Ausrichtung des Sensors (2, 3) ein Stellsignal an die Verstelleinrichtung (4, 5) abgibt, wodurch der Sensor (2, 3) in die Soll-Ausrichtung justiert wird, wobei der Sensor (2, 3) in bezug auf eine Horizontalebene sowie in bezug auf eine Vertikalebene verschwenkbar ist.A device for adjusting at least one position-dependent sensor (2, 3), in particular a radar sensor, which is adjustably mounted on a vehicle, is described. A measuring device (6, 7) and an adjusting device (4, 5) are assigned to the sensor, the measuring device (6, 7) detecting the actual orientation of the sensor (2, 3) and in the event of a deviation from a predetermined target orientation of the sensor (2, 3) emits an actuating signal to the adjusting device (4, 5), whereby the sensor (2, 3) is adjusted in the desired orientation, the sensor (2, 3) with respect to a horizontal plane and in is pivotable with respect to a vertical plane.
Description
Die Erfindung betrifft eine Vorrichtung zur Justierung mindestens eines an einem Fahrzeug verstellbar angebrachten Sensors, dessen Erfassungsbereich richtungs abhängig ist, insbesondere eines Radarsensors.The invention relates to a device for adjusting at least one on one Vehicle adjustable sensor, the detection range direction is dependent, in particular a radar sensor.
Sensoren an Kraftfahrzeugen sind meist starr mit der Karosserie verbunden. Bei der Montage von Sensoren, deren Erfassungsbereich richtungsabhängig ist, muß jeweils eine geeignete Ausrichtung des Sensors vorgenommen werden. Um eine optimale Ausrichtung eines solchen Sensors zu ermöglichen, sind in der Regel manuell einstellbare Justiereinrichtungen vorgesehen. Mitunter ist jedoch eine Nachjustierung des Sensors erforderlich, beispielsweise wenn sich die Ausrichtung des Sensors durch eine ungleichmäßige Beladung des betreffenden Fahrzeuges ändert, wobei das Nachjustieren jeweils mit einem mehr oder weniger großen Arbeitsaufwand verbunden ist.Sensors on motor vehicles are usually rigidly connected to the body. In the Installation of sensors whose detection range depends on the direction must be one suitable alignment of the sensor. To an optimal To enable alignment of such a sensor are usually manual adjustable adjustment devices are provided. Sometimes, however, is a readjustment of the Sensor required, for example if the orientation of the sensor is a uneven loading of the vehicle concerned changes, the readjustment is associated with a more or less large amount of work.
Für Kraftfahrzeug-Scheinwerfer sind bereits Vorrichtungen bekannt, die die Leuchtweite der Scheinwerfer in Abhängigkeit von der Karosserielage automatisch regeln. Derartige Vorrichtungen sind beispielsweise in der DE 40 26 553 C2 und der DE 44 41 493 A1 beschrieben. Die letztere Druckschrift offenbart eine Einrichtung zur Erfassung und zur Korrektur der Lage von Bauteilen, vorzugsweise von beweglichen Scheinwerfern eines Fahrzeugs. Die Einrichtung umfaßt dabei mindestens einen Lageaufnehmer, der an der Fahrzeugachse angeordnet ist, sowie einen weiteren Lageaufnehmer, der an einem Scheinwerfer angebracht ist. Die Lageaufnehmer sind elektrisch mit einer Auswertevorrichtung verbunden, welche mit mindestens einer Korrekturvorrichtung zusammengeschaltet ist. Mit dem ersten Lageaufnehmer wird dabei der Winkel zwischen der Fahrbahnebene und der Erd-Lotrechten erfaßt. Mit dem zweiten Lageaufnehmer wird dagegen der Winkel zwischen der Erd-Lotrechten und der Scheinwerfersymmetrieachse bestimmt. Durch Bildung der Differenz beider Winkel gegenüber der jeweiligen Symmetrieachse werden über die Auswertevorrichtung Korrekturglieder betätigt, so daß sich eine Winkeldifferenz von Null ergibt.Devices are already known for motor vehicle headlights that extend the light range the headlights automatically regulate depending on the body position. Such Devices are for example in DE 40 26 553 C2 and DE 44 41 493 A1 described. The latter publication discloses a device for detection and for Correction of the position of components, preferably of moving headlights Vehicle. The device includes at least one position sensor on the Vehicle axis is arranged, and a further position sensor, which on a Headlight is attached. The position sensors are electrical with a Evaluation device connected, which with at least one correction device is interconnected. With the first position sensor, the angle between the road level and the earth perpendicular. With the second position sensor on the other hand, the angle between the vertical of the earth and the headlight symmetry axis certainly. By forming the difference between the two angles from the respective one Axis of symmetry are operated via the evaluation device correction elements, so that there is an angular difference of zero.
Aufgabe der vorliegenden Erfindung ist es, eine Vorrichtung zu schaffen, die einen an einem Fahrzeug angebrachten lageabhängigen Sensor automatisch justiert.The object of the present invention is to provide a device which a position-dependent sensor automatically attached to a vehicle.
Diese Aufgabe wird erfindungsgemäß mit einer Vorrichtung der eingangs genannten Art gelöst, bei welcher dem Sensor eine Meßeinrichtung sowie eine Verstelleinrichtung zugeordnet sind, wobei die Meßeinrichtung die Ist-Ausrichtung des Sensors erfaßt und bei einer Abweichung von einer Soll-Ausrichtung des Sensors ein Stellsignal an die Verstelleinrichtung abgibt, wodurch der Sensor automatisch in die Soll-Ausrichtung justiert wird, wobei der Sensor in bezug auf eine Horizontalebene und in bezug auf eine Vertikalebene verschwenkbar ist.This object is achieved with a device of the type mentioned solved, in which the sensor, a measuring device and an adjusting device are assigned, wherein the measuring device detects the actual orientation of the sensor and in the event of a deviation from a target alignment of the sensor, an actuating signal to the Adjustment device emits, whereby the sensor automatically in the target orientation is adjusted, the sensor with respect to a horizontal plane and with respect to a Vertical plane is pivotable.
Die erfindungsgemäße Vorrichtung stellt sicher, daß der bzw. die Sensoren des betreffenden Systems stets optimal ausgerichtet sind. Fehlfunktionen des Systems, die sich bei einem ungleichmäßigen Beladezustand des Fahrzeugs ergeben können, werden somit sicher ausgeschlossen. Die erfindungsgemäße Vorrichtung erweist sich insbesondere bei Sensoren, wie z. B. Radarsensoren für Abstandsregelungssysteme, als vorteilhaft.The device according to the invention ensures that the sensor or sensors of the relevant system are always optimally aligned. System malfunction that can arise if the vehicle is loaded unevenly thus definitely excluded. The device according to the invention proves to be especially with sensors, such as. B. radar sensors for distance control systems, as advantageous.
Darüber hinaus vereinfacht die erfindungsgemäße Vorrichtung auch die Montage des Sensors dahingehend, daß der Sensor bzw. die Einrichtung zu seiner Justierung nicht mehr unmittelbar zugänglich angeordnet werden muß, wie es für eine manuelle Justierung erforderlich oder zumindest zweckmäßig ist.In addition, the device according to the invention also simplifies the assembly of the Sensor in that the sensor or the device for its adjustment is not must be arranged more directly accessible, as it is for a manual Adjustment is necessary or at least expedient.
Eine bevorzugte Ausgestaltung der erfindungsgemäßen Vorrichtung ist dadurch gekennzeichnet, daß die Meßeinrichtung einen Lagesensor zur Erfassung der Ausrichtung des lageabhängigen Sensors aufweist, wobei der Lagesensor mit dem lageabhängigen Sensor starr verbunden ist. Diese Ausgestaltung ermöglicht eine automatische Justierung des lageabhängigen Sensors auch bei einer durch einen Unfall verursachten Karosserieverformung.A preferred embodiment of the device according to the invention is thereby characterized in that the measuring device has a position sensor for detecting the Alignment of the position-dependent sensor, the position sensor with the position-dependent sensor is rigidly connected. This configuration enables automatic adjustment of the position-dependent sensor even in the event of an accident caused body deformation.
Nach einer weiteren vorteilhaften Ausgestaltung der Erfindung besteht die Meßeinrichtung vorzugsweise aus einer Winkelmeßeinrichtung, die den Winkel zwischen mindestens einer fest definierten geometrischen Achse oder Ebene des Sensors und mindestens einer fest definierten geometrischen Bezugsachse oder Bezugsebene des Fahrzeuges und/oder der Fahrbahn des Fahrzeuges als Bezugsebene mißt. Die Bezugsachse bzw. Bezugsebene des Fahrzeuges sollte dabei so gewählt werden, daß ihre Lage durch einen Unfall möglichst nicht beeinträchtigt wird.According to a further advantageous embodiment of the invention Measuring device preferably from an angle measuring device, the angle between at least one defined geometric axis or plane of the sensor and at least one firmly defined geometric reference axis or reference plane of the Measures vehicle and / or the roadway of the vehicle as a reference plane. The The reference axis or reference plane of the vehicle should be chosen so that if possible, their situation is not affected by an accident.
Weitere bevorzugte und vorteilhafte Ausgestaltungen der erfindungsgemäßen Vorrichtung sind in den Unteransprüchen angegeben.Further preferred and advantageous embodiments of the invention Device are specified in the subclaims.
Nachfolgend wird die Erfindung anhand einer ein Ausführungsbeispiel darstellenden Zeichnung erläutert. Es zeigenThe invention is described below with reference to an exemplary embodiment Drawing explained. Show it
Fig. 1 eine Draufsicht auf ein schematisch dargestelltes Kraftfahrzeug und Fig. 1 is a plan view of a schematically illustrated motor vehicle and
Fig. 2 eine perspektivische Ansicht eines Radarsensors einer erfindungsgemäßen Vorrichtung. Fig. 2 is a perspective view of a radar sensor of a device according to the invention.
Das in Fig. 1 dargestellte Kraftfahrzeug 1 weist an seiner Vorderseite zwei an der Karosserie verstellbar angebrachte Sensoren 2, 3 auf, deren Erfassungsbereich jeweils richtungsabhängig ist. Die Sensoren 2, 3 sind in bezug auf eine Horizontalebene sowie in bezug auf eine Vertikalebene verschwenkbar gelagert. Bei den Sensoren 2, 3 kann es sich beispielsweise um Radarsensoren handeln.The motor vehicle 1 shown in FIG. 1 has on its front side, two on the body to adjustably mounted sensors 2, 3, whose detection range is in each case dependent on the direction. The sensors 2 , 3 are pivotably mounted in relation to a horizontal plane and in relation to a vertical plane. The sensors 2 , 3 can be radar sensors, for example.
Den Sensoren 2, 3 sind jeweils eine Verstelleinrichtung 4, 5 und eine nicht näher dargestellte Meßeinrichtung 6, 7 zugeordnet. Die Meßeinrichtung 6 bzw. 7 erfaßt die Ist- Ausrichtung des jeweiligen Sensors 2 bzw. 3 und weist hierzu einen Lagesensor auf, der mit dem Sensor 2 bzw. 3 starr verbunden ist. Bei der Meßeinrichtung 6, 7 handelt es sich vorzugsweise um eine Winkelmeßeinrichtung, die den Winkel zwischen mindestens einer fest definierten geometrischen Achse oder Ebene des Sensors 2, 3 und mindestens einer fest definierten geometrischen Bezugsachse 8 oder Bezugsebene des Kraftfahrzeuges 1 und/oder der Fahrbahn des Kraftfahrzeuges 1 als Bezugsebene bzw. Bezugsfläche mißt.An adjustment device 4 , 5 and a measuring device 6 , 7 ( not shown in more detail) are assigned to the sensors 2 , 3 . The measuring device 6 or 7 detects the actual orientation of the respective sensor 2 or 3 and for this purpose has a position sensor which is rigidly connected to the sensor 2 or 3 . The measuring device 6 , 7 is preferably an angle measuring device which measures the angle between at least one firmly defined geometric axis or plane of the sensor 2 , 3 and at least one firmly defined geometric reference axis 8 or reference plane of the motor vehicle 1 and / or the roadway of the Measures motor vehicle 1 as a reference plane or reference surface.
Bei einer Abweichung von einer vorgegebenen Soll-Ausrichtung des Sensors 2, 3 gibt die Meßeinrichtung 6, 7 ein Stellsignal an die Verstelleinrichtung 4, 5 bzw. eine zwischengeschaltete Auswerte- und Steuervorrichtung 9 ab, so daß der betreffende Sensor 2, 3 automatisch in die Soll-Ausrichtung justiert wird.In the event of a deviation from a predetermined target orientation of the sensor 2 , 3 , the measuring device 6 , 7 emits an actuating signal to the adjusting device 4 , 5 or an intermediate evaluation and control device 9 , so that the relevant sensor 2 , 3 automatically enters the Target alignment is adjusted.
Eine Abweichung der Ist-Ausrichtung von der Soll-Ausrichtung eines der Sensoren 2, 3 kann sich insbesondere aufgrund einer ungleichmäßigen Beladung des Kraftfahrzeuges 1 ergeben. Die erfindungsgemäße Vorrichtung bewirkt jedoch nicht nur in diesem Fall eine automatische Justierung des betreffenden Sensors 2, 3 in seine Soll-Ausrichtung, sondern auch nach einem weniger schweren Unfall mit einer entsprechenden Karosserieverformung.A deviation of the actual orientation from the target orientation of one of the sensors 2 , 3 can result in particular due to an uneven loading of the motor vehicle 1 . However, the device according to the invention not only brings about an automatic adjustment of the relevant sensor 2 , 3 in its desired orientation in this case, but also after a less serious accident with a corresponding body deformation.
Die Verstelleinrichtung 4, 5 umfaßt zwei Antriebsspindeln, die jeweils mit einem Elektromotor gekoppelt sind. Der zugeordnete, mehrfach schwenkbar gelagerte Sensor 2, 3 kann somit über einen relativ großen Verstellbereich in unterschiedliche Lagen gegenüber einer geometrischen Bezugsachse 8 oder Bezugsebene des Fahrzeuges 1 justiert werden.The adjusting device 4 , 5 comprises two drive spindles, each of which is coupled to an electric motor. The associated sensor 2 , 3, which can be pivoted several times, can thus be adjusted over a relatively large adjustment range into different positions relative to a geometric reference axis 8 or reference plane of the vehicle 1 .
Die Meßeinrichtungen 6, 7 sind in dem dargestellten Ausführungsbeispiel mit einer Auswerte- und Steuervorrichtung 9 verbunden, in welcher die von den Sensoren 2, 3 sowie die von den Meßeinrichtungen 6, 7 abgegebenen Signale verarbeitet und in Steuer signale umgewandelt werden. Die Auswerte- und Steuervorrichtung 9 umfaßt vorzugsweise einen Mikroprozessor und einen Speicher, in welchem die Soll-Ausrichtung jedes der beiden Sensoren 2, 3 gespeichert ist. Die Verstelleinrichtung 4, 5 ist über eine Rückkopplung mit der Auswerte- und Steuervorrichtung 9 verbunden, um die momentane Ausrichtung des jeweiligen Sensors 2, 3 zu erfassen. Nimmt beim Verschwenken des Sensors 2, 3 die Abweichung gegenüber der Soll-Ausrichtung ab, so wird der Sensor 2 bzw. 3 in der gleichen Richtung weiterverstellt, bis eine Zunahme der Abweichung festgestellt wird. Wird dagegen beim Verschwenken des Sensors 2 bzw. 3 eine Zunahme der Abweichung festgestellt, so wird der betreffende Sensor in die entgegengesetzte Richtung verstellt, bis wiederum eine Zunahme der Abweichung festgestellt wird. In beiden Fällen wird der Sensor 2, 3 dann um einen geringfügigen Betrag zurückbewegt, so daß die Abweichung gleich Null oder jedenfalls minimal ist.The measuring devices 6 , 7 are connected in the illustrated embodiment to an evaluation and control device 9 , in which the signals emitted by the sensors 2 , 3 and by the measuring devices 6 , 7 are processed and converted into control signals. The evaluation and control device 9 preferably comprises a microprocessor and a memory in which the target orientation of each of the two sensors 2 , 3 is stored. The adjustment device 4 , 5 is connected via a feedback to the evaluation and control device 9 in order to detect the current orientation of the respective sensor 2 , 3 . If the deviation from the target orientation decreases when the sensors 2 , 3 are pivoted, the sensor 2 or 3 is adjusted further in the same direction until an increase in the deviation is determined. If, on the other hand, an increase in the deviation is determined when the sensor 2 or 3 is pivoted, the sensor in question is adjusted in the opposite direction until an increase in the deviation is again detected. In both cases, the sensor 2 , 3 is then moved back by a slight amount, so that the deviation is zero or at least minimal.
Die Meßeinrichtung 6, 7 kann eine Dämpfungsvorrichtung aufweisen, so daß die Meßeinrichtung 6, 7 eine Abweichung der Ist-Ausrichtung des Sensors 2, 3 von dessen Soll-Ausrichtung abgedämpft erfaßt.The measuring device 6 , 7 can have a damping device, so that the measuring device 6 , 7 detects a deviation of the actual orientation of the sensor 2 , 3 from its nominal orientation, damped.
In Fig. 2 ist ein Radarsensor 10 eines Abstandsregelungssystems dargestellt, der an einer Halterung 11 schwenkbar gelagert ist. An dem Radarsensor 10 ist ein in beiden Drehrichtungen betreibbarer Elektromotor 12 befestigt, dessen Motorwelle mit einer Antriebsspindel 13 gekoppelt ist, deren freies Ende 14 an der Halterung 11 abgestützt ist. Die Antriebsspindel 13 ist dabei durch eine nicht näher dargestellte Feder gegen die Halterung 11 vorgespannt. Um eine optimale Justierung des Sensor 10 zu ermöglichen, ist vorzugsweise ein zweites Schwenklager vorgesehen, daß hier allerdings nicht dargestellt ist. Das zweite Schwenklager kann beispielsweise zwischen der Halterung 11 und einer weiteren Halterung (nicht gezeigt) ausgebildet sein und mit einer zweiten Antriebsspindel sowie einem zweiten Elektromotor zusammenwirken. Alternativ ist es auch möglich, den Sensor 10 mit einem an einer Halterung ausgebildeten Kugelgelenk in verschiedene Richtungen schwenkbar zu lagern. FIG. 2 shows a radar sensor 10 of a distance control system which is pivotably mounted on a holder 11 . An electric motor 12 which can be operated in both directions of rotation is fastened to the radar sensor 10 , the motor shaft of which is coupled to a drive spindle 13 , the free end 14 of which is supported on the holder 11 . The drive spindle 13 is biased by a spring, not shown, against the bracket 11 . In order to enable an optimal adjustment of the sensor 10 , a second pivot bearing is preferably provided, which is not shown here, however. The second pivot bearing can, for example, be formed between the holder 11 and a further holder (not shown) and cooperate with a second drive spindle and a second electric motor. Alternatively, it is also possible to mount the sensor 10 so that it can be pivoted in different directions with a ball joint formed on a holder.
Die Erfindung ist in ihrer Ausführung nicht auf das vorstehend angegebene Ausführungsbeispiel beschränkt. Vielmehr ist eine Anzahl von Varianten denkbar, welche von dem Erfindungsgedanken auch bei anders gearteten Ausführungen Gebrauch machen.The invention in its implementation is not based on the above Embodiment limited. Rather, a number of variants are conceivable, which use of the inventive idea even in other types of designs do.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19934197A DE19934197A1 (en) | 1999-07-21 | 1999-07-21 | Automatic adjuster for sensor mounted on vehicle adjusts sensor to demand alignment direction if difference occurs between actual and demand directions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19934197A DE19934197A1 (en) | 1999-07-21 | 1999-07-21 | Automatic adjuster for sensor mounted on vehicle adjusts sensor to demand alignment direction if difference occurs between actual and demand directions |
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| Publication Number | Publication Date |
|---|---|
| DE19934197A1 true DE19934197A1 (en) | 2001-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| DE19934197A Withdrawn DE19934197A1 (en) | 1999-07-21 | 1999-07-21 | Automatic adjuster for sensor mounted on vehicle adjusts sensor to demand alignment direction if difference occurs between actual and demand directions |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001079879A1 (en) * | 2000-04-17 | 2001-10-25 | Robert Bosch Gmbh | Method and device for determining a misalignement of the radiation characteristic of a sensor for ajusting the speed and distance of a motor |
| EP1103823A3 (en) * | 1999-11-27 | 2002-05-15 | Volkswagen Aktiengesellschaft | Method for adjusting a sensor for ranging and direction finding in an vehicle |
| DE10200944A1 (en) * | 2002-01-12 | 2003-08-07 | Bayerische Motoren Werke Ag | Automatic vehicle distance sensor output correction involves deriving correction angle from phase difference between reflection signals from two objects enclosing angle with vehicle |
| GB2396500B (en) * | 2002-11-22 | 2005-02-16 | Visteon Global Tech Inc | Method for correcting radar misalignment |
| DE102004047505A1 (en) * | 2004-09-28 | 2006-04-06 | Daimlerchrysler Ag | Distance sensor`s horizontal misalignment detecting method for motor vehicle, involves determining difference between two transverse misalignments of vehicle and object, and determining value for misalignment of sensor using difference |
| GB2424780A (en) * | 2005-03-30 | 2006-10-04 | Shih-Hsiung Li | Radar sensor for a reversing vehicle having a means for adjusting the sensing angle |
| US7239230B2 (en) | 2005-02-04 | 2007-07-03 | Shih-Hsiung Li | Radar sensor for reversing a vehicle and having fine-tuning function |
| WO2008058787A1 (en) * | 2006-11-17 | 2008-05-22 | Robert Bosch Gmbh | Control system for a motor vehicle |
| GB2484795A (en) * | 2010-10-21 | 2012-04-25 | Gm Global Tech Operations Inc | Operation of a vehicle sensor |
| WO2012150057A1 (en) * | 2011-05-02 | 2012-11-08 | Robert Bosch Gmbh | Detecting the alignment of a radar sensor unit |
| EP2555012A1 (en) * | 2011-08-01 | 2013-02-06 | Delphi Technologies, Inc. | Scanning radar with adjustable vertical alignment |
| EP2883752A1 (en) * | 2013-12-14 | 2015-06-17 | Audi Ag | Vehicle with an adjustable and/or calibratable sensor, the sensor and the method for monitoring the sensor |
| DE102010051493B4 (en) * | 2009-12-31 | 2017-02-23 | Mando Corporation | Device for adjusting a vertical sensor orientation |
| DE102016207213A1 (en) * | 2016-04-28 | 2017-11-02 | Robert Bosch Gmbh | Radar system, method for operating a radar system and vehicle with a radar system |
| DE102018212251A1 (en) * | 2018-07-24 | 2020-01-30 | Audi Ag | Method for tracking the adjustment of a radar sensor in a motor vehicle and motor vehicle |
| WO2020058079A1 (en) | 2018-09-18 | 2020-03-26 | Audi Ag | Method for automatically folding in a motor vehicle sensor device by means of an actuator when the motor vehicle sensor device is not in use |
| WO2021094099A1 (en) | 2019-11-12 | 2021-05-20 | Audi Ag | Method for operating a sensor unit, and sensor device |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1103823A3 (en) * | 1999-11-27 | 2002-05-15 | Volkswagen Aktiengesellschaft | Method for adjusting a sensor for ranging and direction finding in an vehicle |
| WO2001079879A1 (en) * | 2000-04-17 | 2001-10-25 | Robert Bosch Gmbh | Method and device for determining a misalignement of the radiation characteristic of a sensor for ajusting the speed and distance of a motor |
| DE10200944A1 (en) * | 2002-01-12 | 2003-08-07 | Bayerische Motoren Werke Ag | Automatic vehicle distance sensor output correction involves deriving correction angle from phase difference between reflection signals from two objects enclosing angle with vehicle |
| GB2396500B (en) * | 2002-11-22 | 2005-02-16 | Visteon Global Tech Inc | Method for correcting radar misalignment |
| DE102004047505A1 (en) * | 2004-09-28 | 2006-04-06 | Daimlerchrysler Ag | Distance sensor`s horizontal misalignment detecting method for motor vehicle, involves determining difference between two transverse misalignments of vehicle and object, and determining value for misalignment of sensor using difference |
| DE102004047505B4 (en) * | 2004-09-28 | 2010-05-20 | Daimler Ag | Method for detecting the misalignment of a distance sensor in the horizontal plane during driving and a corresponding distance sensor |
| US7239230B2 (en) | 2005-02-04 | 2007-07-03 | Shih-Hsiung Li | Radar sensor for reversing a vehicle and having fine-tuning function |
| GB2424780A (en) * | 2005-03-30 | 2006-10-04 | Shih-Hsiung Li | Radar sensor for a reversing vehicle having a means for adjusting the sensing angle |
| GB2424780B (en) * | 2005-03-30 | 2007-05-23 | Shih-Hsiung Li | Radar sensor for reversing a vehicle and having fine-tuning function |
| WO2008058787A1 (en) * | 2006-11-17 | 2008-05-22 | Robert Bosch Gmbh | Control system for a motor vehicle |
| DE102010051493B4 (en) * | 2009-12-31 | 2017-02-23 | Mando Corporation | Device for adjusting a vertical sensor orientation |
| US9121920B2 (en) | 2010-10-21 | 2015-09-01 | GM Global Technology Operations LLC | Method for operating at least one sensor of a vehicle and vehicle having at least one sensor |
| GB2484795A (en) * | 2010-10-21 | 2012-04-25 | Gm Global Tech Operations Inc | Operation of a vehicle sensor |
| WO2012150057A1 (en) * | 2011-05-02 | 2012-11-08 | Robert Bosch Gmbh | Detecting the alignment of a radar sensor unit |
| EP2555012A1 (en) * | 2011-08-01 | 2013-02-06 | Delphi Technologies, Inc. | Scanning radar with adjustable vertical alignment |
| EP2883752A1 (en) * | 2013-12-14 | 2015-06-17 | Audi Ag | Vehicle with an adjustable and/or calibratable sensor, the sensor and the method for monitoring the sensor |
| DE102016207213A1 (en) * | 2016-04-28 | 2017-11-02 | Robert Bosch Gmbh | Radar system, method for operating a radar system and vehicle with a radar system |
| DE102018212251A1 (en) * | 2018-07-24 | 2020-01-30 | Audi Ag | Method for tracking the adjustment of a radar sensor in a motor vehicle and motor vehicle |
| DE102018212251B4 (en) | 2018-07-24 | 2020-04-23 | Audi Ag | Method for tracking the adjustment of a radar sensor in a motor vehicle and motor vehicle |
| WO2020058079A1 (en) | 2018-09-18 | 2020-03-26 | Audi Ag | Method for automatically folding in a motor vehicle sensor device by means of an actuator when the motor vehicle sensor device is not in use |
| WO2021094099A1 (en) | 2019-11-12 | 2021-05-20 | Audi Ag | Method for operating a sensor unit, and sensor device |
| DE102019130486B4 (en) | 2019-11-12 | 2021-09-30 | Audi Ag | Method for operating a sensor unit and sensor device |
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