CN102372030B - Method and system for measuring maximum steering angle of vehicle by applying changes of internal inclination and horizontal angle - Google Patents
Method and system for measuring maximum steering angle of vehicle by applying changes of internal inclination and horizontal angle Download PDFInfo
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- CN102372030B CN102372030B CN2011102204758A CN201110220475A CN102372030B CN 102372030 B CN102372030 B CN 102372030B CN 2011102204758 A CN2011102204758 A CN 2011102204758A CN 201110220475 A CN201110220475 A CN 201110220475A CN 102372030 B CN102372030 B CN 102372030B
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Abstract
The invention discloses a system and method for measuring a steering angle of a vehicle. The system comprises a camera, a measurement target and a measurement and calculation device, wherein the camera is arranged on front wheels of the vehicle, the measurement target is placed on the rear wheels of the vehicle, the system is used for measuring a front wheel inclination angle SAI and a change DL of a front wheel horizontal angle, the change DL of the front wheel horizontal angle is divided by the front wheel inclination angle SAI to obtain a maximum steering constant, and anti-sine calculation is carried out the maximum steering constant through a formula ASIN (anti-sine) (maximum steering constant) to obtain a maximum steering angle of the vehicle. The system and the method provided by the invention are used for designing and completing automatic measurement of a rear inclination, an internal inclination and a steering front toe out angle with low cost when a left front wheel is steered leftwards 20 degrees and the right front wheel is steered rightwards 20 degrees, and achieve the function of automatically measuring the maximum steering angle with low cost.
Description
Technical field
The present invention relates to vehicular four wheels detection and localization technical field, relate in particular to a kind of method and system of applying leaning angle and horizontal angle change measurement amount vehicle steering locking angle.
Background technology
At present, the sensor of general four-wheel position finder is due to the digital camera resolution adopted and the restriction of measurement range, can't effectively reach ± measurement range of 20 °, therefore can't 20 °, the front-wheel that turns left, after turn right under right 20 ° of front-wheel automatically measure casterangle, leaning angle and turn to before open up angle.Most four-wheel position finder adopts less corner automatically to measure hypsokinesis, leaning angle, turns to front exhibition angle with the method range estimation of observing mechanical corner dish angle index; Or turn to front exhibition angle, hypsokinesis, leaning angle with the method range estimation of observing mechanical corner dish angle index.Adopt less corner automatically to measure hypsokinesis, leaning angle, lost survey precision, increased the error of measuring.And the angle index by visual rotation angle disk turns front-wheel, because the angle index precision of visual rotation angle disk is poor, be difficult to maintain ± 0.5 °.Therefore, the method for the front exhibition of the angle index of visual rotation angle disk measurement front-wheel steering angle, hypsokinesis, leaning angle is science not, and the precision difficulty reaches depot's requirement.
At present, the high-grade localization machine of import adopts one group of electronic corner plate, reaches while turning to 20 ° of corners the purpose of automatically measuring casterangle, leaning angle, turning to front exhibition angle and steering locking angle to measure.Although electronic corner plate can accurately be measured the corner of front-wheel, also therefore need to increase cost.
Summary of the invention
In view of this, the invention provides a kind of system of applying leaning angle and horizontal angle change measuring vehicle steering locking angle, it is inaccurate that purpose is to solve the existing methods survey precision, and the problem that can automatically measure.
A kind of system of measuring vehicle deflection angle comprises: pick up camera, measurement target is characterized in that: pick up camera is placed in to the front-wheel of vehicle, measurement target is placed in to the trailing wheel of vehicle; Described systematic survey front wheel toe-in angle SAI and front-wheel horizontal angle change amount DL, with described horizontal angle change amount DL, obtain maximum divided by described front wheel toe-in angle SAI and turn to constant, by formula ASIN(maximum, turn to constant), to described maximum, turn to constant to carry out arc sine calculating, obtain the steering locking angle of vehicle.
Described system comprises the measurement calculating unit, for when the left-hand rotation revolver, reads and records revolver camber angle 1, revolver horizontal angle 1, revolver toe-in 1, rightly takes turns camber angle 1, rightly takes turns horizontal angle 1, rightly takes turns prenex 1; When turning right right the wheel, read and record revolver camber angle 2, revolver horizontal angle 2, revolver toe-in 2, the right camber angle 2 of taking turns, the right horizontal angle 2 of taking turns, rightly take turns prenex 2;
Described measurement calculating unit is according to following formula:
The prenex 2-revolver of left back inclination angle constant K L=1/SIN(revolver toe-in 1);
Right back inclination angle constant K R=1/SIN(is right takes turns that prenex 2-is right takes turns prenex 1);
Left inside inclination angle SAI_L=(revolver horizontal angle 2-revolver horizontal angle 1) x KL;
The right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of right inside inclination angle SAI_R=() x KR;
Calculate the value of SAI_L and right back inclination angle SAI_R;
Wherein, exhibition angle TOOT_L=revolver toe-in 2 before left steering; Before right steering, exhibition angle TOOT_R=is right takes turns prenex 1.
The Kingpin inclination angle of described systematic survey front-wheel;
With Horizontal tiltmeter, measure revolver horizontal angle 1 or revolver camber angle 1, right horizontal angle 1 or the right outside wheel angle 1 of inclining, revolver toe-in 1, right prenex 1 the value of taking turns of taking turns;
While forwarding steering locking angle to left, measure revolver horizontal angle 2 or revolver camber angle 2, right horizontal angle 2 or the right outside wheel angle 2 of inclining, revolver toe-in 2, right prenex 2 the value of taking turns of taking turns with Horizontal tiltmeter;
While forwarding steering locking angle to the right, measure its revolver horizontal angle 3 or revolver camber angle 3, rightly take turns horizontal angle 3 or the right outside wheel angle 3 of inclining, revolver toe-in 3, rightly take turns prenex 3 with Horizontal tiltmeter;
Described measurement calculating unit is according to following formula:
Left-hand rotation revolver maximum turns to constant SLL=(revolver horizontal angle 2-revolver horizontal angle 1)/SAI_L;
The right maximum of taking turns of turning left turns to the right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of constant SLR=()/SAI_R;
The right maximum of taking turns of turning right turns to the right right horizontal angle 1 of taking turns of horizontal angle 3-of taking turns of constant SRR=()/SAI_R;
Right-hand rotation revolver maximum turns to constant SRL=(revolver horizontal angle 3-revolver horizontal angle 1)/SAI_L;
Left-hand rotation revolver maximum turns to MAX_SLL=ASIN(SLL);
The right maximum of taking turns of turning left turns to MAX_SLR=ASIN(SLR);
The right maximum of taking turns of turning right turns to MAX_SRR=ASIN(SRR);
Right-hand rotation revolver maximum turns to MAX_SRL=ASIN(SRL);
Calculate the value of the steering locking angle of left-hand rotation revolver, the right right revolver of taking turns, turn right of taking turns, turn right of left-hand rotation.
Described pick up camera is the pick up camera of multi-disc optical mirror slip, described multi-disc optical mirror slip is installed on pick up camera with known predetermined angle mutually, when pick up camera rotated, actionless shooting target can form one or more projection imagings in this pick up camera through described multi-disc optical mirror slip.
Described pick up camera the place ahead is opened three slits and three eyeglasses is installed; The corner of described left-hand rotation revolver is 20 °, and the right corner of taking turns of described right-hand rotation is 20 °; When pick up camera during over against motionless measurement target 25, the imaging of described measurement target 25 through 0 ° of eyeglass 22 projection in sensitive chip 24; At pick up camera, turn left 20 ° the time ,-20 ° of eyeglasses 21 will be transferred to tiltedly to static measurement target 25, and the imaging of described measurement target 25 is the same during over against described measurement target 25 with pick up camera; At pick up camera, turn right 20 ° the time ,+20 ° of eyeglasses 23 will be transferred to over against to static measurement target 25, and the imaging of described measurement target 25 is the same during over against described measurement target 25 with pick up camera.
During by the pivoted wheels on vehicle bump toe-in, drive the change of camber angle and leaning angle, which eyeglass projection judgement is received on described sensitive chip 24 reflection is by; Rightly when front-wheel turns left take turns prenex increasing, camber angle reduces and leaning angle increases; When front-wheel was turned right, revolver was prenex increases, and camber angle reduces and leaning angle increases; If the toe-in of measuring does not increase and instead subtracts mean that this toe-in is via-20 ° of eyeglass 21 projections;
When front-wheel turned left, revolver was prenex reduces, and camber angle increases and leaning angle reduces; Rightly when front-wheel is turned right take turns prenex the minimizing, camber angle increases and leaning angle reduces; If the not anti-reflection of toe-in of measuring increases means that this toe-in is via+20 ° of eyeglass 23 projections.An embodiment of system according to the invention, described pick up camera is the pick up camera of multi-disc optical mirror slip, described multi-disc optical mirror slip is installed on pick up camera with known predetermined angle mutually, when pick up camera rotated, actionless shooting target can form one or more projection imagings in this pick up camera through described multi-disc optical mirror slip.
The invention provides a kind of method of measuring vehicle steering locking angle, measure front wheel toe-in angle SAI and front-wheel horizontal angle change amount DL, with described horizontal angle change amount DL, obtain maximum divided by described front wheel toe-in angle SAI and turn to constant, by formula ASIN(maximum, turn to constant), to described maximum, turn to constant to carry out arc sine calculating, obtain the steering locking angle of vehicle.
Described measurement front wheel toe-in angle SAI is specially: for when the left-hand rotation revolver, read and record revolver camber angle 1, revolver horizontal angle 1, revolver toe-in 1, rightly take turns camber angle 1, rightly take turns horizontal angle 1, rightly take turns prenex 1; When turning right right the wheel, read and record revolver camber angle 2, revolver horizontal angle 2, revolver toe-in 2, the right camber angle 2 of taking turns, the right horizontal angle 2 of taking turns, rightly take turns prenex 2;
Described measurement calculating unit is according to following formula:
The prenex 2-revolver of left back inclination angle constant K L=1/SIN(revolver toe-in 1);
Right back inclination angle constant K R=1/SIN(is right takes turns that prenex 2-is right takes turns prenex 1);
Left inside inclination angle SAI_L=(revolver horizontal angle 2-revolver horizontal angle 1) x KL;
The right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of right inside inclination angle SAI_R=() x KR;
Calculate the value of SAI_L and right back inclination angle SAI_R;
The corner of described left-hand rotation revolver is 20 °, and the right corner of taking turns of described right-hand rotation is 20 °; Exhibition angle TOOT_L=revolver toe-in 2 before left steering; Before right steering, exhibition angle TOOT_R=is right takes turns prenex 1;
The described steering locking angle that obtains vehicle is specially:
Measure the Kingpin inclination angle of front-wheel;
With Horizontal tiltmeter, measure revolver horizontal angle 1 or revolver camber angle 1, right horizontal angle 1 or the right outside wheel angle 1 of inclining, revolver toe-in 1, right prenex 1 the value of taking turns of taking turns;
While forwarding steering locking angle to left, measure revolver horizontal angle 2 or revolver camber angle 2, right horizontal angle 2 or the right outside wheel angle 2 of inclining, revolver toe-in 2, right prenex 2 the value of taking turns of taking turns with Horizontal tiltmeter;
While forwarding steering locking angle to the right, measure its revolver horizontal angle 3 or revolver camber angle 3, rightly take turns horizontal angle 3 or the right outside wheel angle 3 of inclining, revolver toe-in 3, rightly take turns prenex 3 with Horizontal tiltmeter;
Described measurement calculating unit is according to following formula:
Left-hand rotation revolver maximum turns to constant SLL=(revolver horizontal angle 2-revolver horizontal angle 1)/SAI_L;
The right maximum of taking turns of turning left turns to the right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of constant SLR=()/SAI_R;
The right maximum of taking turns of turning right turns to the right right horizontal angle 1 of taking turns of horizontal angle 3-of taking turns of constant SRR=()/SAI_R;
Right-hand rotation revolver maximum turns to constant SRL=(revolver horizontal angle 3-revolver horizontal angle 1)/SAI_L;
Left-hand rotation revolver maximum turns to MAX_SLL=ASIN(SLL);
The right maximum of taking turns of turning left turns to MAX_SLR=ASIN(SLR);
The right maximum of taking turns of turning right turns to MAX_SRR=ASIN(SRR);
Right-hand rotation revolver maximum turns to MAX_SRL=ASIN(SRL);
Calculate the value of the steering locking angle of left-hand rotation revolver, the right right revolver of taking turns, turn right of taking turns, turn right of left-hand rotation.
Pick up camera is placed in to front-wheel, and light source is placed in trailing wheel; Described pick up camera is the pick up camera of multi-disc optical mirror slip, described multi-disc optical mirror slip is installed on pick up camera with known predetermined angle mutually, when pick up camera rotated, actionless shooting target can form one or more projection imagings in this pick up camera through described multi-disc optical mirror slip.
Described pick up camera the place ahead is opened three slits and three eyeglasses is installed; The corner of described left-hand rotation revolver is 20 °, and the right corner of taking turns of described right-hand rotation is 20 °; When pick up camera during over against motionless measurement target 25, the imaging of described measurement target 25 through 0 ° of eyeglass 22 projection in sensitive chip 24; At pick up camera, turn left 20 ° the time ,-20 ° of eyeglasses 21 will be transferred to tiltedly to static measurement target 25, and the imaging of described measurement target 25 is the same during over against described measurement target 25 with pick up camera; At pick up camera, turn right 20 ° the time ,+20 ° of eyeglasses 23 will be transferred to over against to static measurement target 25, and the imaging of described measurement target 25 is the same during over against described measurement target 25 with pick up camera.
The present invention with low-cost design complete the front-wheel that turns left left 20 ° and automatically measure casterangle, leaning angle while turning right right 20 ° of front-wheel and turn to before open up angle, and by low cost, reach the method for automatic measurement steering locking angle.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the schematic diagram of camber angle in the four-wheel location;
Fig. 2 is the schematic diagram of horizontal angle in the four-wheel location;
Fig. 3 is the schematic diagram of angle of toein in the four-wheel location;
Fig. 4 is the schematic diagram of steering shaft in the four-wheel location;
Fig. 5 is that the schematic diagram at angle is opened up forward in four-wheel location transfer;
Fig. 6 is the schematic diagram of steering locking angle in the four-wheel location;
Fig. 7 is the schematic diagram that single motionless shooting target LED lamp and 0 ° of eyeglass of three seam pick up cameras align;
Fig. 8 is the schematic diagram that single motionless shooting target LED lamp and three seam pick up camera-20 ° eyeglasses align;
Fig. 9 is the schematic diagram that single motionless shooting target LED lamp and three seam pick up camera+20 ° eyeglasses align;
Figure 10 A measures the left-hand rotation outer corner measurement diagram of circuit of 20 ° of corners of front-wheel for application;
Figure 10 B measures the right-hand rotation outer corner measurement diagram of circuit of 20 ° of corners of front-wheel for application;
Figure 11 A changes the measurement amount vehicle diagram of circuit of steering locking angle left for applying leaning angle and horizontal angle;
Figure 11 B changes the measurement amount vehicle diagram of circuit of steering locking angle to the right for applying leaning angle and horizontal angle;
The specific embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment obtained, belong to the scope of protection of the invention.
Four-wheel position finder is that the modern vehicle maintenance chassis detects essential instrument, the toe-in of front wheel on measuring vehicle chassis, and flare, hypsokinesis, stub, introversion, turn to front exhibition, and maximum turns to equal angles, and the trailing wheel toe-in, flare, axis of thrust equal angles.
As shown in Figure 1, camber angle is the angle 3 of the inside or outward-dipping line 2 perpendicular to the ground of wheel 1, and camber angle is crossed the positive camber angle of normal employing wheel lean-out, is designed with the negative camber angle trend of using the wheel lean-in instead modern age.
As shown in Figure 2, horizontal angle is the angle 4 that wheel 1 rotates while rolling forwards, backwards.
As shown in Figure 3, angle of toein is the rear end distance A of left and right front-wheel and the front end difference apart from B.Toe-in is inwardly A > B means it is positive toe-in, is outwards that A<B means it is toe-out.
As shown in Figure 4, the rotating shaft when steering shaft is the wheel turning, this axle is to slope inwardly backward usually.Larger its camber angle of steering shaft and horizontal angle change larger when the equivalent bump toe-in.Kingpin caster angle is the angle 10 of the axial rear-inclined of front-wheel steering.Kingpin inclination angle is the intilted angle 11 of front-wheel steering axle.Happy and the safety of this two angular relationships vehicular drive.If bad, cause Vehicle Driving Cycle partially capable, the bearing circle of running at high speed is unstable, during turning, beats bearing circle effort, after turning bearing circle can not automatic rotary etc. problem.
As shown in Figure 5, while turn to front exhibition angle, be front-wheel steering angle C of wheel steering in addition while turning 20 °, be generally 18 °.
As shown in Figure 6, forward the end on one side steering locking angle is front-wheel steering, Yi Bian if 40 ° the time in addition the angle D of wheel steering be generally 36 °.
Turning to front exhibition angle and steering locking angle is the effective ways of diagnosing the wheel steering system fault, and general depot is bright fixed its standard all.Due to structures such as Vehicular turn connecting rod and chassis, according to the size of steering shaft casterangle, the angle that its front-wheel steering changes can drive its camber angle and change.Same relation, according to the size of steering shaft leaning angle, the angle that its front-wheel steering changes can drive the angle (abbreviation horizontal angle) of rotating before and after its front-wheel and change.These five angles have following geometric relationship
Bump toe-in amount: DT=(T2-T1);
Camber angle changes: DC=(C2-C1)
Horizontal angle changes: DL=(L2-L1)
Casterangle constant: K=1/SIN(DT)
Casterangle: CASTER=DC x K
Leaning angle: SAI=DL x K
Because the steering shaft of modern vehicle is an abstract axle that there is no entity, so this kingpin caster angle and leaning angle must be measured indirectly by above geometric relationship.Casterangle is that camber angle change amount is taken advantage of the casterangle constant, and leaning angle is that horizontal angle change amount is taken advantage of the casterangle constant.The casterangle constant is the trigonometric function of bump toe-in amount.While after left 20 ° of the front-wheel that turns left, turning right right 20 ° of front-wheel, this casterangle constant K is approximately 1.55, and while turning 10 °, this casterangle constant K is approximately 2.92, and while respectively turning 5 °, this casterangle constant K is approximately 5.76.
The sensor of current general four-wheel position finder is due to the digital camera resolution adopted and the restriction of measurement range, can't effectively reach ± measurement range of 20 °, under right 20 ° of the front-wheel that therefore can't turn right, automatically measure casterangle, leaning angle after left 20 ° of the front-wheel that turns left and turn to before open up angle.Most four-wheel position finders adopts less corner automatically to measure hypsokinesis, leaning angle at present, turns to front exhibition angle with the method range estimation of observing mechanical corner dish angle index; Or turn to front exhibition angle, hypsokinesis, leaning angle with the method range estimation of observing mechanical corner dish angle index.With less corner, automatically measure hypsokinesis, leaning angle, its conversion casterangle constant is 3～6, has therefore lost survey precision, has increased the error of measuring.It is not only inconvenient that the angle index of visual rotation angle disk turns 20 °, front-wheel, also needs left and right wheels to come fallback to observe and record the angle index of left and right rotation angles dish.The angle index precision of visual rotation angle disk is poor, is difficult to maintain ± 0.5 °.Therefore the angle index of visual rotation angle disk turns the method science not of measuring exhibition angle before front-wheel steering, hypsokinesis, leaning angle, and the precision difficulty reaches depot's requirement.Computer is record automatically, namely uses after hand input precision and the confidence level that also can't guarantee take off data.
High-grade localization machine adopts one group of electronic corner plate to reach while turning to 20 ° of corners the purpose of automatically measuring casterangle, leaning angle, turning to front exhibition angle and steering locking angle to measure.Although electronic corner plate can accurately be measured the corner of front-wheel, also therefore increase the approximately cost of 5,000 yuans.Some manufacturers adopts to be had ± and the measurement range pick up camera with great visual angle of 20 ° reaches while turning to 20 ° of corners and automatically measures hypsokinesis, leaning angle, turns to front exhibition angle.This design equally also needs to pay very large cost, purchases very expensive camera chip.This pick up camera with great visual angle still can't be measured steering locking angle automatically.
As shown in Figure 7, on prenex pick up camera, fill three eyeglasses be mutually-20 °, 0 ° ,+20 °, enlarge pick up camera and take measurement of an angle over 40 °.Pick up camera during over against motionless measurement target 25 its imaging through 0 ° of eyeglass 22 projection in low-angle imaging receiving plane, namely sensitive chip 24.
As shown in Figure 8, turn left 20 ° the time at pick up camera ,-20 ° of eyeglasses 21 will be transferred to tiltedly to motionless measurement target 25, its imaging as pick up camera over against the time.
As shown in Figure 9, turn right 20 ° the time at pick up camera ,+20 ° of eyeglasses 23 will be transferred to over against the measurement target 25 to motionless as pick up camera over against the time.
According to one embodiment of present invention, a kind of system of measuring vehicle deflection angle comprises: pick up camera, measurement target,
Pick up camera is placed in to the front-wheel of vehicle, measurement target is placed in to the trailing wheel of vehicle;
System comprises the measurement calculating unit, for when the left-hand rotation revolver, reads and record revolver camber angle 1, revolver toe-in 1, right camber angle, right prenex 1 the value of taking turns of taking turns; When turning right right the wheel, read and record revolver camber angle 2, revolver toe-in 2, right camber angle 2, the right value of taking turns toe-in 2 of taking turns;
Measure calculating unit according to following formula:
The prenex 2-revolver of left back inclination angle constant K L=1/SIN(revolver toe-in 1);
Right back inclination angle constant K R=1/SIN(is right takes turns that prenex 2-is right takes turns prenex 1);
Left back inclination angle CASTER_L=(revolver camber angle 1-revolver camber angle 2) x KL;
The right right camber angle 2 of taking turns of camber angle 1-of taking turns of right back inclination angle CASTER_R=() x KR;
Left inside inclination angle SAI_L=(revolver horizontal angle 2-revolver horizontal angle 1) x KL;
The right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of right inside inclination angle SAI_R=() x KR;
Exhibition angle TOOT_L=revolver toe-in 2 before left steering; Before right steering, exhibition angle TOOT_R=is right takes turns prenex 1.According to a vehicle of actual measurement, draw table 1:
Table 1
Above data are brought into to formula to be calculated:
CASTER_L=(revolver camber angle 1-revolver camber angle 2) x KL=7.30 °;
The right right camber angle 2 of taking turns of camber angle 1-of taking turns of CASTER_R=() x KR=10.10 °;
SAI_L(revolver horizontal angle 2-revolver horizontal angle 1) x KL=18.48 °;
The right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of SAI_R=() x KR=22.82 °;
The definition of deflection angle: when the vehicle straight-line travelling each tire must keeping parallelism unanimously forward, otherwise can cause wear on tyres.Vehicle is when turning, and four tires need be turned round the same center of circle tire laterally to be rubbed and be lowered minimum.The distance of this center of circle and tire is turn radius.Due to interior off-side wheel turn radius difference, need be less than nearside wheel during the turning of off-side wheel.Therefore turning to front exhibition angle is exactly the toe-in of front wheel when the vehicle maximum turns to.That is:
Exhibition angle before left steering: TOOT_L=revolver toe-in 2;
Before right steering, exhibition angle: TOOT_R=is right takes turns prenex 1;
The Kingpin inclination angle of systematic survey front-wheel; With Horizontal tiltmeter, measure revolver horizontal angle 1 or revolver camber angle 1, right horizontal angle 1 or the right outside wheel angle 1 of inclining, revolver toe-in 1, right prenex 1 the value of taking turns of taking turns; While forwarding steering locking angle to left, measure revolver horizontal angle 2 or revolver camber angle 2, right horizontal angle 2 or the right outside wheel angle 2 of inclining, revolver toe-in 2, right prenex 2 the value of taking turns of taking turns with Horizontal tiltmeter; While forwarding steering locking angle to the right, measure its revolver horizontal angle 3 or revolver camber angle 3, rightly take turns horizontal angle 3 or the right outside wheel angle 3 of inclining, revolver toe-in 3, rightly take turns prenex 3 with Horizontal tiltmeter;
Measure calculating unit according to following formula:
Left-hand rotation revolver maximum turns to constant SLL=(revolver horizontal angle 2-revolver horizontal angle 1)/SAI_L;
The right maximum of taking turns of turning left turns to the right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of constant SLR=()/SAI_R;
The right maximum of taking turns of turning right turns to the right right horizontal angle 1 of taking turns of horizontal angle 3-of taking turns of constant SRR=()/SAI_R;
Right-hand rotation revolver maximum turns to constant SRL=(revolver horizontal angle 3-revolver horizontal angle 1)/SAI_L;
Left-hand rotation revolver maximum turns to MAX_SLL=ASIN(SLL);
The right maximum of taking turns of turning left turns to MAX_SLR=ASIN(SLR);
The right maximum of taking turns of turning right turns to MAX_SRR=ASIN(SRR);
Right-hand rotation revolver maximum turns to MAX_SRL=ASIN(SRL);
Calculate the value of the steering locking angle of left-hand rotation revolver, the right right revolver of taking turns, turn right of taking turns, turn right of left-hand rotation.According to a vehicle of actual measurement, draw table 2:
Table 2
Drawn SAI_L=18.48 °; SAI_R==22.82 °;
Above data are brought into to formula to be calculated:
MAX_SLL=ASIN（SLL）=19.44；
MAX_SLR=ASIN（SLR）=-15.91；
MAX_SRR=ASIN（SRR）=19.97；
MAX_SRL=ASIN（SRL）=-16.47；
Pick up camera is the pick up camera of multi-disc optical mirror slip, described multi-disc optical mirror slip is installed on pick up camera with known predetermined angle mutually, when pick up camera rotated, actionless shooting target can form one or more projection imagings in this pick up camera through described multi-disc optical mirror slip.
Pick up camera the place ahead is left three slits and three eyeglasses is installed, be mutually-20 °, 0 ° ,+20 ° of angles; The corner of described left-hand rotation revolver is 20 °, and the right corner of taking turns of described right-hand rotation is 20 °; When pick up camera during over against motionless measurement target 25, the imaging of described measurement target 25 through 0 ° of eyeglass 22 projection in sensitive chip 24; At pick up camera, turn left 20 ° the time ,-20 ° of eyeglasses 21 will be transferred to tiltedly to static measurement target 25, and the imaging of described measurement target 25 is the same during over against described measurement target 25 with pick up camera; At pick up camera, turn right 20 ° the time ,+20 ° of eyeglasses 23 will be transferred to over against to static measurement target 25, and the imaging of described measurement target 25 is the same during over against described measurement target 25 with pick up camera.
During by the pivoted wheels on vehicle bump toe-in, drive the change of camber angle and leaning angle, which eyeglass projection judgement is received on described sensitive chip 24 reflection is by; Rightly when front-wheel turns left take turns prenex increasing, camber angle reduces and leaning angle increases; When front-wheel was turned right, revolver was prenex increases, and camber angle reduces and leaning angle increases; If the toe-in of measuring does not increase and instead subtracts mean that this toe-in is via-20 ° of eyeglass 21 projections; When front-wheel turned left, revolver was prenex reduces, and camber angle increases and leaning angle reduces; Rightly when front-wheel is turned right take turns prenex the minimizing, camber angle increases and leaning angle reduces; If the not anti-reflection of toe-in of measuring increases means that this toe-in is via+20 ° of eyeglass 23 projections.
Figure 10 A measures the left-hand rotation outer corner measurement diagram of circuit of 20 ° of corners of front-wheel for application; As shown in Figure 10 A, the left-hand rotation revolver, measure toe-in and see littlely, and the recording level angle, continue; When the edge of camera is prenex, irradiate not then, increase horizontal angle, when toe-in irradiate less than, and horizontal angle is while increasing, and determines prenexly for the left seam angle of camera adds toe-in value, now toe-in is 20.Record and calculate left back inclination angle, left inside inclination angle, the value of left steering toe-in.
Figure 10 B measures the right-hand rotation outer corner measurement diagram of circuit of 20 ° of corners of front-wheel for application; As shown in Figure 10 B, the right wheel of turning right, measure toe-in and see littlely, and the recording level angle, continue to turn right; When the edge of camera is prenex, irradiate not then, increase horizontal angle, when toe-in irradiate less than, and horizontal angle determines that right seam is prenex for the right seam angle of camera adds toe-in value while increasing, now toe-in is 20.Record and calculate right back inclination angle, right inside inclination angle, the value of right steering toe-in.The prenex 2-revolver of left back inclination angle constant K L=1/SIN(revolver toe-in 1);
Right back inclination angle constant K R=1/SIN(is right takes turns that prenex 2-is right takes turns prenex 1)
Left inside inclination angle SAI_L=(revolver horizontal angle 2-revolver horizontal angle 1) x KL;
The right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of right inside inclination angle SAI_R=() x KR;
The corner of left-hand rotation revolver is 20 °, and the right corner of taking turns of turning right is 20 °; Exhibition angle TOOT_L=revolver toe-in 2 before left steering; Before right steering, exhibition angle TOOT_R=is right takes turns prenex 1.
Figure 11 A is that leaning angle and horizontal angle change the measurement amount vehicle diagram of circuit of steering locking angle left.As shown in Figure 11 A, the left-hand rotation revolver, measure toe-in and see littlely, and the recording level angle, continue; When the edge of camera is prenex, irradiate not then, increase horizontal angle, when toe-in irradiate less than, and when horizontal angle increases, determine that toe-in adds toe-in value for the left seam angle of camera, now toe-in is 20, if in 3 seconds, obtain identical value, record and calculate the value of steering locking angle.
Figure 11 B is that leaning angle and horizontal angle change the measurement amount vehicle diagram of circuit of steering locking angle to the right.As shown in Figure 11 B, the right wheel of turning right, measure toe-in and see littlely, and the recording level angle, continue to turn right; When the edge of camera is prenex, irradiate not then, increase horizontal angle, when toe-in irradiate less than, and when horizontal angle increases, determine that toe-in adds toe-in value for the right seam angle of camera, now toe-in is 20, if in 3 seconds, obtain identical value, record and calculate the value of steering locking angle.
Left-hand rotation revolver maximum turns to constant SLL=(revolver horizontal angle 2-revolver horizontal angle 1)/SAI_L;
The right maximum of taking turns of turning left turns to the right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of constant SLR=()/SAI_R;
The right maximum of taking turns of turning right turns to the right right horizontal angle 1 of taking turns of horizontal angle 3-of taking turns of constant SRR=()/SAI_R;
Right-hand rotation revolver maximum turns to constant SRL=(revolver horizontal angle 3-revolver horizontal angle 1)/SAI_L;
Left-hand rotation revolver maximum turns to MAX_SLL=ASIN(SLL);
The right maximum of taking turns of turning left turns to MAX_SLR=ASIN(SLR);
The right maximum of taking turns of turning right turns to MAX_SRR=ASIN(SRR);
Right-hand rotation revolver maximum turns to MAX_SRL=ASIN(SRL).
According to one embodiment of present invention: at first pick up camera is placed in to front-wheel, light source is placed in to trailing wheel; Measure the Kingpin inclination angle of front-wheel; Namely left and right is prenex equal with prenex pick up camera, to forward the front-wheel craspedodrome to; With Horizontal tiltmeter, measure its revolver horizontal angle 1 or revolver camber angle 1, right horizontal angle 1 or the right outside wheel angle 1 of inclining of taking turns, revolver toe-in 1, rightly take turns prenex 1; While forwarding steering locking angle to left, with Horizontal tiltmeter, measure its revolver horizontal angle 2 or revolver camber angle 2 again, right horizontal angle 2 or the right outside wheel angle 2 of inclining of taking turns, revolver toe-in 2, rightly take turns prenex 2; While forwarding steering locking angle to the right, with Horizontal tiltmeter, measure its revolver horizontal angle 3 or revolver camber angle 3 again, right horizontal angle 3 or the right outside wheel angle 3 of inclining of taking turns, revolver toe-in 3, rightly take turns prenex 3; Bringing above-mentioned angle into following formula calculates:
Left-hand rotation revolver maximum turns to constant SLL=(revolver camber angle 2-revolver camber angle 1)/CASTER_L;
The right maximum of taking turns of turning left turns to the right right camber angle 1 of taking turns of camber angle 2-of taking turns of constant SLR=()/CASTER_R;
The right maximum of taking turns of turning right turns to the right right camber angle 1 of taking turns of camber angle 3-of taking turns of constant SRR=()/CASTER_R
Right-hand rotation revolver maximum turns to constant SRL=(revolver camber angle 3-revolver camber angle 1)/CASTER_L;
According to one embodiment of present invention:
Left-hand rotation revolver maximum turns to constant SLL=(revolver horizontal angle 2-revolver horizontal angle 1)/SAI_L;
The right maximum of taking turns of turning left turns to the right right horizontal angle 1 of taking turns of horizontal angle 2-of taking turns of constant SLR=()/SAI_R;
The right maximum of taking turns of turning right turns to the right right horizontal angle 1 of taking turns of horizontal angle 3-of taking turns of constant SRR=()/SAI_R;
Right-hand rotation revolver maximum turns to constant SRL=(revolver horizontal angle 3-revolver horizontal angle 1)/SAI_L;
Left-hand rotation revolver maximum turns to MAX_SLL=ASIN(SLL);
The right maximum of taking turns of turning left turns to MAX_SLR=ASIN(SLR);
The right maximum of taking turns of turning right turns to MAX_SRR=ASIN(SRR);
Right-hand rotation revolver maximum turns to MAX_SRL=ASIN(SRL).
Description of the invention provides for example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the various embodiment with various modifications that the present invention's design is suitable for special-purpose.
Claims (12)
1. the system of a measuring vehicle deflection angle, comprising: pick up camera, measurement target, measurement computer device is characterized in that:
Pick up camera is placed in to the front-wheel of vehicle, measurement target is placed in to the trailing wheel of vehicle;
Measurement device front wheel toe-in angle SAI and front-wheel horizontal angle change amount DL are calculated in described measurement, with described horizontal angle change amount DL, obtain maximum divided by described front wheel toe-in angle SAI and turn to constant, by formula ASIN(maximum, turn to constant), to described maximum, turn to constant to carry out arc sine calculating, obtain the steering locking angle of vehicle.
2. the system as claimed in claim 1 is characterized in that: described measurement computer device, when the left-hand rotation revolver, reads and records revolver camber angle 1, revolver horizontal angle 1, revolver toe-in 1, rightly takes turns camber angle 1, rightly takes turns horizontal angle 1, rightly takes turns prenex 1; When turning right right the wheel, read and record revolver camber angle 2, revolver horizontal angle 2, revolver toe-in 2, rightly take turns camber angle 2, rightly take turns horizontal angle 2, rightly take turns prenex 2;
Measure calculating unit according to following formula:
Left back inclination angle constant K L=1/SIN(revolver toe-in 2-revolver toe-in 1);
Right back inclination angle constant K R=1/SIN(is right take turns prenexly 2-right take turns prenex 1);
Left inside inclination angle SAI_L=(revolver horizontal angle 2-revolver horizontal angle 1) x KL;
Right inside inclination angle SAI_R=(the right horizontal angle 2-right horizontal angle 1 of taking turns of taking turns) x KR;
Calculate the value of SAI_L and SAI_R;
Wherein, exhibition angle TOOT_L=revolver toe-in 2 before left steering; Exhibition angle TOOT_R before right steering=right takes turns prenex 1.
3. system as claimed in claim 2 is characterized in that:
The Kingpin inclination angle of described systematic survey front-wheel;
With Horizontal tiltmeter, measure revolver horizontal angle 1 or revolver camber angle 1, right horizontal angle 1 or the right outside wheel angle 1 of inclining, revolver toe-in 1, right prenex 1 the value of taking turns of taking turns;
While forwarding steering locking angle to left, measure revolver horizontal angle 2 or revolver camber angle 2, right horizontal angle 2 or the right outside wheel angle 2 of inclining, revolver toe-in 2, right prenex 2 the value of taking turns of taking turns with Horizontal tiltmeter;
While forwarding steering locking angle to the right, measure its revolver horizontal angle 3 or revolver camber angle 3, rightly take turns horizontal angle 3 or the right outside wheel angle 3 of inclining, revolver toe-in 3, rightly take turns prenex 3 with Horizontal tiltmeter;
Described measurement calculating unit is according to following formula:
Left-hand rotation revolver maximum turns to constant SLL=(revolver horizontal angle 2-revolver horizontal angle 1)/SAI_L;
The right maximum of taking turns of turning left turns to constant SLR=(the right horizontal angle 2-right horizontal angle 1 of taking turns of taking turns)/SAI_R;
The right maximum of taking turns of turning right turns to constant SRR=(the right horizontal angle 3-right horizontal angle 1 of taking turns of taking turns)/SAI_R;
Right-hand rotation revolver maximum turns to constant SRL=(revolver horizontal angle 3-revolver horizontal angle 1)/SAI_L;
Left-hand rotation revolver maximum turns to MAX_SLL=ASIN(SLL);
The right maximum of taking turns of turning left turns to MAX_SLR=ASIN(SLR);
The right maximum of taking turns of turning right turns to MAX_SRR=ASIN(SRR);
Right-hand rotation revolver maximum turns to MAX_SRL=ASIN(SRL);
Calculate the value of the steering locking angle of left-hand rotation revolver, the right right revolver of taking turns, turn right of taking turns, turn right of left-hand rotation.
4. the system as claimed in claim 1 is characterized in that:
Described pick up camera is the pick up camera of multi-disc optical mirror slip, described multi-disc optical mirror slip is installed on pick up camera with the angle of being scheduled to mutually, when pick up camera rotated, actionless shooting target can form one or more projection imagings in this pick up camera through described multi-disc optical mirror slip.
5. system as claimed in claim 4 is characterized in that:
Described pick up camera the place ahead is opened three slits and three eyeglasses is installed; The corner of described left-hand rotation revolver is 20o, and the right corner of taking turns of described right-hand rotation is 20o; When pick up camera during over against motionless measurement target (25), the imaging of described measurement target (25) through 0o eyeglass (22) projection in sensitive chip (24); When pick up camera left-hand rotation 20o ,-20o eyeglass (21) will be transferred to tiltedly to static measurement target (25), and the imaging of described measurement target (25) is the same during over against described measurement target (25) with pick up camera; When pick up camera right-hand rotation 20o ,+20o eyeglass (23) will be transferred to over against to static measurement target (25), and the imaging of described measurement target (25) is the same during over against described measurement target (25) with pick up camera.
6. system as claimed in claim 5 is characterized in that:
During by the pivoted wheels on vehicle bump toe-in, drive the change of camber angle and leaning angle, which eyeglass projection judgement is received on described sensitive chip (24) reflection is by; Rightly when front-wheel turns left take turns prenex increasing, camber angle reduces and leaning angle increases; When front-wheel was turned right, revolver was prenex increases, and camber angle reduces and leaning angle increases; If the toe-in of measuring does not increase and instead subtracts mean that this toe-in is via-20o eyeglass (21) projection;
When front-wheel turned left, revolver was prenex reduces, and camber angle increases and leaning angle reduces; Rightly when front-wheel is turned right take turns prenex the minimizing, camber angle increases and leaning angle reduces; If increasing, the not anti-reflection of toe-in of measuring means that this toe-in is via+20o eyeglass (23) projection.
7. method of calculating the vehicle steering locking angle is characterized in that:
Measure front wheel toe-in angle SAI and front-wheel horizontal angle change amount DL, with described horizontal angle change amount DL, obtain maximum divided by described front wheel toe-in angle SAI and turn to constant, by formula ASIN(maximum, turn to constant), to described maximum, turn to constant to carry out arc sine calculating, obtain the steering locking angle of vehicle.
8. method as claimed in claim 7 is characterized in that:
Described measurement front wheel toe-in angle SAI is specially: for when the left-hand rotation revolver, read and record revolver camber angle 1, revolver horizontal angle 1, revolver toe-in 1, rightly take turns camber angle 1, rightly take turns horizontal angle 1, rightly take turns prenex 1; When turning right right the wheel, read and record revolver camber angle 2, revolver horizontal angle 2, revolver toe-in 2, rightly take turns camber angle 2, rightly take turns horizontal angle 2, rightly take turns prenex 2;
Measure calculating unit according to following formula:
Left back inclination angle constant K L=1/SIN(revolver toe-in 2-revolver toe-in 1);
Right back inclination angle constant K R=1/SIN(is right take turns prenexly 2-right take turns prenex 1);
Left inside inclination angle SAI_L=(revolver horizontal angle 2-revolver horizontal angle 1) x KL;
Right inside inclination angle SAI_R=(the right horizontal angle 2-right horizontal angle 1 of taking turns of taking turns) x KR;
Calculate the value of SAI_L and right back inclination angle SAI_R;
9. method as claimed in claim 8, it is characterized in that: the corner of described left-hand rotation revolver is 20o, the right corner of taking turns of described right-hand rotation is 20o; Exhibition angle TOOT_L=revolver toe-in 2 before left steering; Exhibition angle TOOT_R before right steering=right takes turns prenex 1;
10. method as claimed in claim 8, it is characterized in that: the described steering locking angle that obtains vehicle is specially:
Measure the Kingpin inclination angle of front-wheel;
With Horizontal tiltmeter, measure revolver horizontal angle 1 or revolver camber angle 1, right horizontal angle 1 or the right outside wheel angle 1 of inclining, revolver toe-in 1, right prenex 1 the value of taking turns of taking turns;
While forwarding steering locking angle to left, measure revolver horizontal angle 2 or revolver camber angle 2, right horizontal angle 2 or the right outside wheel angle 2 of inclining, revolver toe-in 2, right prenex 2 the value of taking turns of taking turns with Horizontal tiltmeter;
While forwarding steering locking angle to the right, measure its revolver horizontal angle 3 or revolver camber angle 3, rightly take turns horizontal angle 3 or the right outside wheel angle 3 of inclining, revolver toe-in 3, rightly take turns prenex 3 with Horizontal tiltmeter;
Described measurement calculating unit is according to following formula:
Left-hand rotation revolver maximum turns to constant SLL=(revolver horizontal angle 2-revolver horizontal angle 1)/SAI_L;
The right maximum of taking turns of turning left turns to constant SLR=(the right horizontal angle 2-right horizontal angle 1 of taking turns of taking turns)/SAI_R;
The right maximum of taking turns of turning right turns to constant SRR=(the right horizontal angle 3-right horizontal angle 1 of taking turns of taking turns)/SAI_R;
Right-hand rotation revolver maximum turns to constant SRL=(revolver horizontal angle 3-revolver horizontal angle 1)/SAI_L;
Left-hand rotation revolver maximum turns to MAX_SLL=ASIN(SLL);
The right maximum of taking turns of turning left turns to MAX_SLR=ASIN(SLR);
The right maximum of taking turns of turning right turns to MAX_SRR=ASIN(SRR);
Right-hand rotation revolver maximum turns to MAX_SRL=ASIN(SRL);
Calculate the value of the steering locking angle of left-hand rotation revolver, the right right revolver of taking turns, turn right of taking turns, turn right of left-hand rotation.
11. method as claimed in claim 7 is characterized in that:
Pick up camera is placed in to front-wheel, and light source is placed in trailing wheel; Described pick up camera is the pick up camera of multi-disc optical mirror slip, described multi-disc optical mirror slip is installed on pick up camera with the angle of being scheduled to mutually, when pick up camera rotated, actionless shooting target can form one or more projection imagings in this pick up camera through described multi-disc optical mirror slip.
12. method as claimed in claim 11 is characterized in that:
Described pick up camera the place ahead is opened three slits and three eyeglasses is installed; The corner of described left-hand rotation revolver is 20o, and the right corner of taking turns of described right-hand rotation is 20o; When pick up camera during over against motionless measurement target (25), the imaging of described measurement target (25) through 0o eyeglass (22) projection in sensitive chip (24); When pick up camera left-hand rotation 20o ,-20o eyeglass (21) will be transferred to tiltedly to static measurement target (25), and the imaging of described measurement target (25) is the same during over against described measurement target (25) with pick up camera; When pick up camera right-hand rotation 20o ,+20o eyeglass (23) will be transferred to over against to static measurement target (25), and the imaging of described measurement target (25) is the same during over against described measurement target (25) with pick up camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011102204758A CN102372030B (en) | 2011-08-03 | 2011-08-03 | Method and system for measuring maximum steering angle of vehicle by applying changes of internal inclination and horizontal angle |
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| CN2011102204758A CN102372030B (en) | 2011-08-03 | 2011-08-03 | Method and system for measuring maximum steering angle of vehicle by applying changes of internal inclination and horizontal angle |
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| FR2326679A1 (en) * | 1975-10-01 | 1977-04-29 | Moniot Philippe | Vehicle wheel castor and inclination angle measurement - employs electrical potentiometer with pendulum attached to cursor to control remote electrical display |
| US5165177A (en) * | 1991-09-17 | 1992-11-24 | Bear Automotive Service Equipment Company | SAI and caster compensation for live caster and live camber readings |
| JP3895541B2 (en) * | 2000-12-13 | 2007-03-22 | 本田技研工業株式会社 | Wheel alignment measuring method and measuring apparatus |
| JP2005315882A (en) * | 2005-04-21 | 2005-11-10 | Bridgestone Corp | Method for adjusting car wheel alignment |
| CN101811516A (en) * | 2010-04-19 | 2010-08-25 | 新大洋机电集团有限公司 | Method for designing front wheel alignment parameters of ultraminiature electric automobile |
| CN101979268B (en) * | 2010-09-25 | 2012-09-05 | 合肥工业大学 | Automobile steering wheel shimmy control method |
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