# US 11,999,361 B2 · Apparatus for calibrating an advanced driver assistance system sensor of a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,361 B2 - Document ID: US11999361B2 - Status: Granted - Kind: B2 - Application number: 17/846,095 - Filed: 2022-06-22 - Published: 2022-10-06 - Granted: 2024-06-04 - Earliest claimed: 2019-01-25 - Assignees: Nexion S.P.A. - Applicants: Nexion S.P.A. - Inventors: Giulio Corghi - Web page: https://patentgrep.com/patent/US11999361B2 ## CPC - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - G01B 11/275: for testing wheel alignment - B60S 5/00: Servicing, maintaining, repairing, or refitting of vehicles (vehicles adapted to carry a workshop for servicing or maintenance B60P3/14; servicing rail locomotives B61K) - G01S 7/40: Means for monitoring or calibrating - G01S 7/4026: {Antenna boresight} - G01S 13/931: of land vehicles - B60W 2050/0083: {Setting, resetting, calibration} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - G01S 7/4086: {in a calibrating environment, e.g. anechoic chamber} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - B60S: SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR - 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 ## Abstract An apparatus (1) for calibrating an ADAS sensor of a vehicle (9) comprises: a base unit (2) including a plurality of wheels (20); a support structure (3) integral with the base unit (2); a vehicle calibration assistance structure (4), mounted on the support structure (3) and including a calibration device (41, 42) configured to facilitate aligning or calibrating the ADAS sensor; a position detector, configured to capture values of a position parameter representing a position of the support structure (3) relative to the vehicle (9); a processing unit, configured to process the values of the position parameter in real time to derive information regarding an actual position of the support structure (3) relative to the vehicle (9). ## Claims ### Claim 1 An apparatus for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle positioned in a service area, comprising: a base unit, including a plurality of wheels rotating about respective axes of rotation, wherein at least one wheel of the plurality of wheels is pivotable about a respective swivel axis, perpendicular to the respective axis of rotation; a support structure integral with the base unit; a vehicle calibration assistance structure, mounted on the support structure and including a frame and a calibration device, wherein the calibration device includes a panel configured to facilitate aligning or calibrating the ADAS sensor of the vehicle, wherein the support structure is drivable in such a way that the sensor of the vehicle can detect the calibration device, wherein the panel is positioned in a vertical plane and has a front face oriented in a forward direction to be viewed by the ADAS sensor of the vehicle and a rear face oriented in a backward direction opposite the forward direction, and wherein the frame includes a support structure extending vertically to support the panel oriented in the vertical plane; a position detector, including a sensor and configured to capture values of a position parameter, representative of a position of the support structure, in real time; a processing unit, including a processor, operatively connected to the position detector and configured to process the values of the position parameter in real time to derive information regarding an actual position of the support structure relative to the vehicle, wherein the frame of the vehicle calibration assistance structure further includes a grippable portion extending in a direction parallel to the vertical plane and spaced therefrom and located on the side of the rear face of the panel, the apparatus further comprising a screen configured to provide the person driving the support structure with the real time information regarding the actual position of the support structure relative to the vehicle, wherein the screen has a display oriented in a direction inclined with respect to the forward direction. ### Claim 2 (depends on 1) The apparatus according to claim 1, comprising a memory which includes reference data relating to a predetermined position of a reference calibration device relative to a reference vehicle, wherein the processing unit is configured to derive information regarding a reference position of the support structure relative to the vehicle as a function of the reference data stored in the memory, the reference calibration device including a reference panel. ### Claim 3 (depends on 2) The apparatus according to claim 2, wherein the processing unit is configured to compare in real time the information regarding the actual position of the support structure with the information regarding the reference position of the support structure in order to provide information regarding a difference between the actual position of the support structure and the reference position of the support structure relative to the vehicle. ### Claim 4 (depends on 3) The apparatus according to claim 3, wherein the information regarding the difference between the actual position of the support structure and the reference position of the support structure includes movement instructions. ### Claim 5 (depends on 1) The apparatus according to claim 1, comprising an interface, configured to provide a person driving the support structure with the real time information regarding the actual position of the support structure relative to the vehicle. ### Claim 6 (depends on 1) The apparatus according to claim 1, comprising a motion actuator connected to the base unit for moving the support structure, wherein the processing unit is configured to generate a drive signal as a function of the information regarding the actual position of the support structure relative to the vehicle and to send the drive signal to the motion actuator in order to move the support structure. ### Claim 7 (depends on 1) The apparatus according to claim 1, wherein the support structure is manually driveable by a person, and wherein the apparatus comprises an interface including the screen, mounted on the support structure or on the vehicle calibration assistance structure. ### Claim 8 (depends on 7) The apparatus according to claim 7, wherein the support structure includes a grippable portion which can be held by the person to drive the support structure manually. ### Claim 9 (depends on 1) The apparatus according to claim 1, wherein the vehicle calibration assistance structure is movable relative to the support structure along a vertical direction, wherein the position detector includes a height distance meter including a further sensor mounted on the vehicle calibration assistance structure and directed towards a floor the base unit rests on, in order to measure a height of the vehicle calibration assistance structure relative to the floor. ### Claim 10 (depends on 1) The apparatus according to claim 1, wherein the position detector includes: at least one distance meter including an emitter/transmitter and mounted on the vehicle calibration assistance structure or on the support structure; a positioning target element including a further panel and associated with a wheel of the vehicle, wherein the at least one distance meter is configured to measure the distance of the positioning target element from the vehicle calibration assistance structure or from the support structure. ### Claim 11 (depends on 1) The apparatus according to claim 1, wherein the position detector includes: an optical device, mounted on the support structure and oriented in a first direction, to view graphical features of the vehicle; a positioning target element, including a further panel and positioned in a predetermined position, at a distance from the support structure; a matching camera mounted on the support structure and oriented in a second direction, to view the positioning target element. ### Claim 12 (depends on 1) The apparatus according to claim 1, wherein the position detector includes: a positioning target element, including a further panel and associated with the vehicle calibration assistance structure and oriented in a forward direction towards the service area; a positioning device, which is spaced from the support structure and includes: an optical device, oriented in a lateral direction to view graphical features of the vehicle, a matching camera, oriented towards the support structure to see the positioning target element. ### Claim 13 (depends on 1) The apparatus according to claim 1, wherein the vehicle calibration assistance structure includes a reflector, the reflector being configured for reflecting electromagnetic waves for performing calibration of a radar sensor of the vehicle. ### Claim 14 (depends on 1) The apparatus according to claim 1, wherein the calibration device includes a target panel having a surface bearing a combination of predetermined graphical features, the calibration device being configured to calibrate an ADAS camera of the vehicle. ### Claim 15 (depends on 1) The apparatus according to claim 1, wherein the screen is mounted on the support structure removably. ### Claim 16 (depends on 1) The apparatus according to claim 1, wherein the screen is movably associated with the support structure so it can be oriented. ### Claim 17 (depends on 1) The apparatus according to claim 1, further comprising: a motion actuator associated with the support structure; a remote control connected to the motion actuator, the remote control being configured to send drive commands to the motion actuator, so that the support structure is driven by the person using the remote control. ### Claim 18 An apparatus for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle positioned in a service area, comprising: a base unit, including a plurality of wheels rotating about respective axes of rotation, wherein at least one wheel of the plurality of wheels is pivotable about a respective swivel axis, perpendicular to the respective axis of rotation; a support structure integral with the base unit; a vehicle calibration assistance structure, mounted on the support structure and including a frame and calibration device, wherein the calibration device includes a panel oriented in a plane and configured to facilitate aligning or calibrating the ADAS sensor of the vehicle, wherein the support structure is drivable in such a way that the sensor of the vehicle can detect the calibration device; a position detector, including a sensor and configured to capture values of a position parameter, representative of a position of the support structure, in real time; a processing unit, including a processor, operatively connected to the position detector and configured to process the values of the position parameter in real time to derive information regarding an actual position of the support structure relative to the vehicle, wherein the support structure is manually drivable by a person, and wherein the frame of the vehicle calibration assistance structure is configured to support a screen for providing the person driving the support structure with the real time information regarding the actual position of the support structure relative to the vehicle, wherein the support structure includes a grippable portion which can be held by the person to drive the support structure manually, the grippable portion including a first zone and a second zone, the first zone being spaced from the second zone along a transversal axis, the transversal axis being inclined with respect to a vertical direction and spaced from the panel. ### Claim 19 An apparatus for calibrating an ADAS sensor of an advanced driver assistance system of a vehicle positioned in a service area, comprising: a base unit, including a plurality of wheels rotating about respective axes of rotation, wherein at least one wheel of the plurality of wheels is pivotable about a respective swivel axis, perpendicular to the respective axis of rotation; a support structure integral with the base unit; a vehicle calibration assistance structure, mounted on the support structure and including a frame and a calibration device, wherein the calibration device includes a panel configured to facilitate aligning or calibrating the ADAS sensor of the vehicle, wherein the support structure is drivable in such a way that the sensor of the vehicle can detect the calibration device, wherein the panel is positioned in a vertical plane and has a front face oriented in a forward direction to be viewed by the ADAS sensor of the vehicle and a rear face oriented in a backward direction opposite the forward direction, and wherein the frame includes a support structure extending vertically to support the panel oriented in the vertical plane; a position detector, including a sensor and configured to capture values of a position parameter, representative of a position of the support structure, in real time; a processing unit, including a processor, operatively connected to the position detector and configured to process the values of the position parameter in real time to derive information regarding an actual position of the support structure relative to the vehicle, wherein the frame of the vehicle calibration assistance structure further includes a grippable portion extending in a direction parallel to the vertical plane, the grippable portion including a first zone and a second zone, the first zone being spaced from the second zone along a transversal axis, the transversal axis being inclined with respect to a vertical direction, the apparatus further comprising a screen configured to provide the person driving the support structure with the real time information regarding the actual position of the support structure relative to the vehicle, wherein the screen has a display oriented in a direction inclined with respect to the forward direction.