WO2023242128A1 - Procédé d'étalonnage pour un vitrage automobile - Google Patents

Procédé d'étalonnage pour un vitrage automobile Download PDF

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Publication number
WO2023242128A1
WO2023242128A1 PCT/EP2023/065672 EP2023065672W WO2023242128A1 WO 2023242128 A1 WO2023242128 A1 WO 2023242128A1 EP 2023065672 W EP2023065672 W EP 2023065672W WO 2023242128 A1 WO2023242128 A1 WO 2023242128A1
Authority
WO
WIPO (PCT)
Prior art keywords
automotive glazing
horizontal
vertical
incident light
light beam
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2023/065672
Other languages
English (en)
Inventor
Madani ARIOUA
Sacha REMACLE
Mahmoud KHEDR
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AGC Glass Europe SA
Original Assignee
AGC Glass Europe SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AGC Glass Europe SA filed Critical AGC Glass Europe SA
Publication of WO2023242128A1 publication Critical patent/WO2023242128A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the present invention relates to the field of calibration for a glazing intended to be used in front of a lidar.
  • lidar for light detection and ranging, sometimes also written ladar
  • the lidar indeed allows to detect obstacles located near the vehicle and to assess the distance between the vehicle and each obstacle.
  • the current trend is to integrate the lidar inside the vehicle, as it allows to protect the lidar from external environment.
  • the lidar can be mounted behind a window of the vehicle, such as behind the windshield, behind a sidelite (a sidelite is understood as a window placed on the left or the right of a vehicle) or even behind the rearlite (window at the back of a vehicle).
  • the lidar can also be mounted behind an exterior glass trim element, as described in W02018015313A1 , WO2018178281 A1 or WO2018178286A1.
  • An exterior trim element includes bumper, window/door seal, pillar, wheel well, wheel arch, fender, headlight, mirror body and roof cover.
  • Such exterior trim element can also be deployable, meaning it can pop out from the vehicle only when needed. Vehicle manufacturers use these exterior trim elements to add aesthetics, increase function, and add flexibility to the vehicle design.
  • the lidar can also be mounted in a housing placed on the vehicle, the housing being closed by a transparent (to the operating wavelength of the lidar) cover in front of the lidar, as described in WO2019030106A1 .
  • a lidar In order to detect an obstacle and to determine its distance to the vehicle, a lidar emits a signal in the infrared wavelength range in the direction of the object and measures the propagation time round trip of the signal. It illuminates the scene within its field of view and measures the propagation time when signal bounces back to the lidar.
  • the presence of the glazing on the trajectory of the signal generates errors, due to glass imperfections, in the evaluation of the position of the object by the lidar.
  • these errors are corrected by calibrating the lidar already installed behind the glazing using calibration charts.
  • the lidar is calibrated using a fluorescent pattern allowing to film the points of intersection between the target and the signal emitted by the lidar.
  • such solution adds a long and costly step during the quality control of the vehicle and uses cumbersome equipment using special patterns having geometric tolerances to control.
  • WO2021152256A1 describes a method for analyzing a glazing for a correction intended to be used by a lidar configured to emit, according to a given angle of emission, light waves intended to pass through the glazing of the vehicle. It allows to obtain an angular correction map for a lidar by using existing glass characterization method, such as the thickness.
  • the thickness evaluation methodology does not address all the glass imperfections, such as local defects, impact of glass curvature, impact of an interlayer in case of a laminated glazing, impact of the use of a wedge, impact of any polarization change.
  • the present invention concerns a method to determine a correction table for an automotive glazing intended to be used in front of a lidar, the automotive glazing having a representative collection of zones, the method comprising the steps of: i. For each zone of the representative collection of zones on the automotive glazing, define at least 3 incident light beams , each of the incident light beam having a vertical component and a horizontal component, the at least 3 incident light beams being produced by a laser diode or an LED; ii. For each incident light beam, measure a vertical and a horizontal angles of incidence, based on, respectively, the vertical and the horizontal components of the incident light beam; iii.
  • each component of each incident light beam For each component of each incident light beam, measure a vertical and a horizontal beam deviation due to the presence of the automotive glazing and establish a vertical deviation angle table and a horizontal deviation angle table, such measurement being done by a CCD camera connected to a processing unit; iv. For each component of each vertical deviation angle table and each horizontal deviation angle table, interpolate the beam deviation in between the collection of zones which have been measured at step iii.; v. Establish a vertical angular transfer function based on the interpolation of all vertical deviation angle tables of respectively the at least 3 vertical components and the at least 3 horizontal components, and a horizontal angular transfer function based on the interpolation of all horizontal deviation angle tables of respectively the at least 3 vertical components and the at least 3 horizontal components; vi. Compile the angular transfer functions in a single correction table able to be used for calibration of the lidar coupled to the automotive glazing.
  • the present invention also concerns an automotive glazing intended to be used in front of a lidar, the automotive glazing being linked to a correction table as obtained through the method.
  • Fig. 1 illustrates the basic concept of the method of the invention.
  • Fig. 2a, 2b, and 2c illustrates the vertical component decomposition.
  • Fig. 3a, 3b, and 3c illustrates the horizontal component decomposition.
  • the present invention proposes a method to determine a correction table for an automotive glazing.
  • An automotive glazing refers to a glazing used on a vehicle, and could therefore refer to a glazing used as a window of a vehicle, as a glass trim element or as a cover for a housing placed on a vehicle.
  • a vehicle includes car, van, lorry, motorbike, bus, tram, train, drone, airplane, helicopter and the like.
  • the glazing is intended to be used in front of a lidar.
  • Lidar is an acronym for “light detection and ranging”. It is sometimes called “laser scanning” or “3D scanning”.
  • the technology uses eye-safe laser beams to create a 3D-representation of the surveyed environment.
  • Operating wavelength of lidar compatible with the present invention is comprised between 750 and 1650 nm (usually referred to as near-infrared range). More specifically, known operating wavelengths of currently produced lidars compatible with the present invention are 850 nm, 905 nm, 940 nm, 1064 nm, 1310 nm, 1350 nm, 1550 nm, 1650 nm.
  • the glazing could also be used in front of the combination of a lidar and another optical measurement system, such as a camera, an infrared camera, a radar, distance meter.
  • the automotive glazing has a representative collection of zones.
  • a zone in this context is to indicate an area (meaning a collection of points) which is illuminated by a light beam.
  • the term "representative" indicates that these zones are selected to cover a comprehensive characterization of the full sample surface.
  • the first step of the method is to define at least 3 incident light beams for each zone of a representative collection of zones on the automotive glazing.
  • the at least 3 incident light beams could be laser beams or LED beams, and produced by a laser diode or an LED inducing photons in the near infrared range.
  • the at least 3 incident light beams are not necessarily the exact same wavelength as the working wavelength of the lidar. It is sufficient if these at least 3 incident light beams are in the same wavelength range, usually near infrared wavelength range.
  • Each of the at least 3 incident light beams has a vertical component and a horizontal component.
  • the 3 incident light beams must be identical in term of optical properties (wavelength, polarization, ... ) for each zone of the representative collection of zones on the automotive glazing.
  • the second step of the method is to measure, for each incident light beam, a vertical angle of incidence and a horizontal angle of incidence based on, respectively, the vertical component of the beam and the horizontal component of the incident light beam.
  • the third step is to measure, for each component of each incident light beam, a vertical beam deviation and a horizontal beam deviation due to the presence of the automotive glazing.
  • This step allows to establish a vertical deviation angle table and a horizontal deviation angle table.
  • Such measurement is done by a CCD camera connected to a processing unit. It views the primary image coming from the light source after it has gone through all the optical components.
  • the fourth step is to interpolate, for each vertical deviation angle table and each horizontal deviation angle table, the beam deviation in between the collection of zones which have been measured at second step.
  • the fifth step is to establish a vertical angular transfer function based on the interpolation of all vertical deviation angle tables of respectively the at least 3 vertical components and the at least 3 horizontal components, and a horizontal angular transfer function based on the interpolation of all horizontal deviation angle tables of respectively the at least 3 vertical components and the at least 3 horizontal components.
  • the sixth step is to compile the angular transfer functions tables in a single correction table able to be used for the calibration of the lidar coupled to the automotive glazing.
  • the at least 3 incident light beams are generated through an optical component intended to split an expanded collimated incident light beam into multiple pencils of rays.
  • An expanded collimated incident light beam is generated via the suitable optical components.
  • an optical component such as an array of micro-lenses or a plate with an arrangement of holes or an optimized diffractive optical element
  • Such optical component is to produce multiple versions of the original incident light beam to have similar incident angle on surface under test. This requires that the light beam source, collimation, and beam expansion system in addition to the optical component/s for beam sampling are always on the same optical axis and well aligned during both on- & off-axis measurements.
  • the present invention also concerns an automotive glazing intended to be used in front of a lidar.
  • the automotive glazing is linked to a correction table as described previously.
  • the automotive glazing is a windshield, sidelite or rearlite of a vehicle.
  • the automotive glazing is an external glass trim element.
  • the automotive glazing is a cover of a housing enclosing said lidar.
  • an automotive glazing (1 ) is intended to be placed in front of a lidar (not shown).
  • a representative collection of zones (10) is defined for the automotive glazing (1 ).
  • a total of 15 zones (10) are shown for illustration purpose.
  • the number of zones can be significantly higher, further depending on the dimensions of the automotive glazing. The higher the number of zones, the more precise the method. However, increasing the number of zones also increases the time needed to complete the method. It is therefore a compromise between the accuracy of the method and the time needed to perform the method that define how many zones are needed.
  • At least 3 incident light beams (100, 200, 300) with 3 different incident angles are sent for each of the zones (10) of the representative collection of zones (10).
  • Each incident light beam (100, 200, 300) has a vertical component and a horizontal component. Passing through the automotive glazing (1), each incident light beam (100, 200, 300) is deviated to result into 3 transmitted light beams (1000, 2000, 3000).
  • the following example only refers to a single zone (10). It further refers to a single incident light beam (100) with a vertical component (100V) and a horizontal component (100H). Each component is treated separately, also for sake of clarity.
  • the following example also refers to the transmitted light beam (1000) corresponding to the incident light beam (100) passing through the automotive glazing (1 ).
  • the vertical component (100V) of the incident light beam (100) is determined. It allows to measure the vertical angle of incidence (a1V). Considering only the vertical component (100V) of the incident light beam (100), as this incident light beam (100) passes through the automotive glazing (1 ), it undergoes a deviation. This deviation results in a transmitted light beam (1000V).
  • the vertical component (1000W) of the transmitted light beam (1000V) is compared with the reference transmitted light beam (1000Vref), corresponding to the transmitted light beam as if the vertical component of the incident light beam (100V) was not deviated by the automotive glazing (1 ).
  • the reference transmitted light beam (1000Vref) only has a vertical component. This comparison gives the vertical deviation angle (51 W) of the vertical component (100V) of the incident light beam (100).
  • the horizontal component (1000VH) of the transmitted light beam (1000V) is compared with the normal (N), as the reference vertical light beam (1000Vref) only has a vertical component, and therefore corresponds to the normal (N). This comparison gives the horizontal deviation angle (51 VH) of the vertical component (100V) of the incident light beam (100).
  • the horizontal component (100H) of the incident light beam (100) is determined. It allows to measure the horizontal angle of incidence (a1 H). Considering only the horizontal component (100H) of the incident light beam (100), as this incident light beam (100) passes through the automotive glazing (1 ), it undergoes a deviation. This deviation results in a transmitted light beam (1000H).
  • the vertical component (1000HV) of the transmitted light beam (1000H) is compared with the normal (N), as the reference horizontal transmitted light beam (1000Href) only has a horizontal component, and therefore corresponds to the normal (N). This comparison gives the vertical deviation angle (51 HV) of the horizontal component (100H) of the incident light beam (100).
  • the horizontal component (1000HH) of the transmitted light beam (1000H) is compared with the reference transmitted light beam (1000Href), corresponding to the transmitted light beam as if the horizontal component of the incident light beam (100H) was not deviated by the automotive glazing (1).
  • the reference transmitted light beam (1000Href) only has a horizontal component. This comparison gives the horizontal deviation angle (51 HH) of the horizontal component (100H) of the incident light beam (100).
  • At least 3 incident light beams (100, 200, 300) are considered for each of the zones (10) of the representative collection. There is therefore, for each of the zones (10) a set of 3 vertical deviation angles (51 W, 52VV, 53W) and 3 horizontal deviation angles (51 H, 52VH, 53VH) of the vertical component of each incident light beam (100, 200, 300) and a set of 3 vertical deviation angles (51 HV, 52HV, 53HV) and 3 horizontal deviation angles (51 HH, 52HH, 53HH) of the horizontal component of each incident light beam (100, 200, 300).
  • a set of 3 vertical deviation angles (51 W, 52VV, 53W) and 3 horizontal deviation angles (51 H, 52VH, 53VH) of the vertical component of each incident light beam (100, 200, 300) and a set of 3 vertical deviation angles (51 HV, 52HV, 53HV) and 3 horizontal deviation angles (51 HH, 52HH, 53HH) of the horizontal component of each incident light beam (100, 200, 300).
  • each incident light beam (100, 200, 300) based on the measured vertical deviation angles (51 VV, 52W, 53W) of the vertical component of each incident light beam (100, 200, 300) for each of the zones (10) of the representative collection, an interpolation is done in between the zones (10) of the representative collection. And similarly for the horizontal deviation angles (51VH, 52VH, 53VH) of the vertical component of each incident light beam (100, 200, 300), as well as for the vertical deviation angles (51 HV, 52HV, 53HV) and horizontal deviation angles (51 HH, 52HH, 53HH) of the vertical component of each incident light beam (100, 200, 300).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un procédé de détermination d'une table de correction pour un vitrage automobile destiné à être utilisé devant un lidar. Elle concerne également un vitrage automobile destiné à être utilisé devant un lidar, le vitrage automobile étant relié à une table de correction telle qu'obtenue par l'intermédiaire du procédé.
PCT/EP2023/065672 2022-06-13 2023-06-12 Procédé d'étalonnage pour un vitrage automobile Ceased WO2023242128A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP22178678.3 2022-06-13
EP22178678 2022-06-13

Publications (1)

Publication Number Publication Date
WO2023242128A1 true WO2023242128A1 (fr) 2023-12-21

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Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017003634A1 (de) 2017-04-13 2017-10-19 Daimler Ag Vorrichtung und Verfahren zur Kalibrierung optischer Sensoren
WO2018015312A1 (fr) 2016-07-19 2018-01-25 Agc Glass Europe Verre pour voiture autonome
WO2018015313A1 (fr) 2016-07-19 2018-01-25 Agc Glass Europe Verre pour voiture autonome
WO2018178284A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
WO2018178278A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
WO2018178286A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
WO2018178281A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
WO2019030106A1 (fr) 2017-08-07 2019-02-14 Agc Glass Europe Boîtier de protection pour un dispositif de détection
WO2021050882A1 (fr) * 2019-09-13 2021-03-18 Carlex Glass America, Llc Procédé et système pour fournir des informations de distorsion optique d'un vitrage de véhicule
WO2021152256A1 (fr) 2020-01-31 2021-08-05 Saint-Gobain Glass France Procédé d'analyse d'un vitrage pour un lidar
US20220075040A1 (en) * 2020-09-10 2022-03-10 Robert Bosch Gmbh Online calibration of lidar devices
US20220091267A1 (en) * 2020-09-23 2022-03-24 Robert Bosch Gmbh Method for ascertaining an operating parameter for operating a surroundings detection system for a vehicle, and surroundings detection system

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018015312A1 (fr) 2016-07-19 2018-01-25 Agc Glass Europe Verre pour voiture autonome
WO2018015313A1 (fr) 2016-07-19 2018-01-25 Agc Glass Europe Verre pour voiture autonome
WO2018178284A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
WO2018178278A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
WO2018178286A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
WO2018178281A1 (fr) 2017-03-30 2018-10-04 Agc Glass Europe Verre pour voiture autonome
DE102017003634A1 (de) 2017-04-13 2017-10-19 Daimler Ag Vorrichtung und Verfahren zur Kalibrierung optischer Sensoren
WO2019030106A1 (fr) 2017-08-07 2019-02-14 Agc Glass Europe Boîtier de protection pour un dispositif de détection
WO2021050882A1 (fr) * 2019-09-13 2021-03-18 Carlex Glass America, Llc Procédé et système pour fournir des informations de distorsion optique d'un vitrage de véhicule
WO2021152256A1 (fr) 2020-01-31 2021-08-05 Saint-Gobain Glass France Procédé d'analyse d'un vitrage pour un lidar
US20220075040A1 (en) * 2020-09-10 2022-03-10 Robert Bosch Gmbh Online calibration of lidar devices
US20220091267A1 (en) * 2020-09-23 2022-03-24 Robert Bosch Gmbh Method for ascertaining an operating parameter for operating a surroundings detection system for a vehicle, and surroundings detection system

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