EP3455584A1 - Method for detecting the direction of orientation of a vehicle and use of the method - Google Patents
Method for detecting the direction of orientation of a vehicle and use of the methodInfo
- Publication number
- EP3455584A1 EP3455584A1 EP17730362.5A EP17730362A EP3455584A1 EP 3455584 A1 EP3455584 A1 EP 3455584A1 EP 17730362 A EP17730362 A EP 17730362A EP 3455584 A1 EP3455584 A1 EP 3455584A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- test device
- orientation
- emission
- test
- 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.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/06—Testing the alignment of vehicle headlight devices
- G01M11/064—Testing the alignment of vehicle headlight devices by using camera or other imaging system for the light analysis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
- G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/06—Testing the alignment of vehicle headlight devices
- G01M11/067—Details of the vehicle positioning system, e.g. by using a laser
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/68—Analysis of geometric attributes of symmetry
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Definitions
- the present invention relates to a method according to the preamble of claim 1.
- the direction of the orientation of the vehicle is in this case the direction of the axis of symmetry of the vehicle body.
- the invention relates to a use of the method according to one of claims 3, 4 or 5.
- test device which can determine the beam direction of the headlight with respect to a defined axis of the test device.
- This defined axis of the test device runs in the horizontal plane.
- the test device is moved in front of the vehicle in the lateral direction to check the right and left headlights and adjust if necessary.
- the vehicle and the test equipment it is necessary for the vehicle and the test equipment to be aligned with each other in such a way that the longitudinal direction of the vehicle (ie the axis of symmetry of the vehicle, which in the headlamp setting is the direction of vehicle orientation in the sense of the present patent application), is parallel is to the defined axis of the test facility.
- the tester emits a calibrated laser beam, which - in the horizontal plane - perpendicular to the defined axis of the test device.
- the inspection device can be positioned in front of the headlight of the vehicle to be tested while being rotated about the vertical axis such that the laser beam intersects two points of the vehicle body lying on the left and right side of the vehicle. These two points can be, for example, the corners of the bonnet at the transition of the front edge of the bonnet on the one hand to the right side edge of the hood and on the other hand, the left side edge of the hood.
- the test device is aligned by a rotation about the vertical axis, the defined axis of the test device is parallel to the symmetrical longitudinal axis of the vehicle body. Subsequently, the headlights are checked and can - if necessary - be adjusted.
- the present invention is based on the object to simplify the recognition of the direction of the orientation of a vehicle relative to a defined direction of a test device for aggregates of the vehicle.
- recording direction is meant the central axis of the solid angle of the respective recorded image.
- Vehicles usually have a symmetry with respect to a vertical section in the center of the vehicle body in the longitudinal direction of the vehicle body. Examples of some "disturbing" elements of the vehicle in this symmetry are listed in connection with claim 2.
- the correlation of the two parts of the photographic image of both the front side and the rear side is greater than in a vehicle whose direction of orientation is oblique to the direction in which the camera is taken , From the size of the correlation can thus derive the direction of the orientation of the vehicle.
- the correlation can in turn be derived by taking into account the two parts of the photograph during the photographing area. It is also possible to evaluate characteristic points or lines in the photograph in their position and orientation to each other to determine the correlation.
- the recording of the front page is evaluated for itself and the recording of the back.
- a combination can be done by an average for the orientation of the vehicle is formed after the separate evaluation of the photographic image of the frontside and the photographic image of the back.
- the maximum value of the correlation can be determined depending on the rotation angle of the camera.
- the direction of orientation of the vehicle can be determined from the angle of rotation of the camera during the photographic recording with respect to an exit direction of the camera before the rotation (desired direction of the camera).
- the camera can be mounted, for example, in the area of a test device on a so-called portal.
- This portal represents a bow to which various test equipment can be attached. It is then possible to determine the orientation of the vehicle relative to the portal.
- This different weighting can also consist in the fact that certain areas of the photographic image are completely disregarded in the evaluation.
- a first example is that the logos of some vehicle manufacturers are asymmetrical with respect to a reflection about a vertical center axis. In the area in which the logos of these vehicle manufacturers in the front and in the rear of the vehicle are mounted and visible, this asymmetry reduces the correlation in the two parts of the photograph.
- Another example is asymmetries that can arise due to manufacturing tolerances. This can be, for example, different gap distances between the engine hood or the tailgate or the boot lid and the respective fender from the left side of the vehicle and the right side of the vehicle.
- the outside mirror on the left is usually larger than the outside mirror on the right. This affects both the front view and the rear view of a vehicle.
- Such an asymmetric design results, for example, from the fact that on the driver's side a bulge is up to accommodate the display elements in the instrument cluster. Such a bulge may also be visible when viewed from the front of the vehicle. This primarily concerns the front view of a vehicle because the dashboard is only vaguely visible, if at all, in the rear view.
- a number plate is also not mirror symmetrical with respect to the vertical center plane of the vehicle in the longitudinal direction of the vehicle. This affects both the front view and the rear view of a vehicle. However, this effect does not matter in a vehicle to be tested at the end of the tape, because the number plates are not yet mounted there.
- the exhaust pipe can be located offset to the center plane asymmetrically only on one side of the vehicle. This concerns the rear view of a vehicle. This affects practically only the rear view of a vehicle, because the exhaust pipe is not visible in the front view.
- these areas for example as regards the shape of the gap between the bonnet and the right and left fenders - may also constitute a characteristic line for determining the correlation between the two parts of the photograph. It may therefore be expedient, instead of a weaker weighting of this area, to provide a post-processing of the photograph in the sense that a black line with a uniform width corresponding to the course of the center line of the gap between the hood and the right and left fenders over the image of the respective gap is placed.
- a black line with a uniform width corresponding to the course of the center line of the gap between the hood and the right and left fenders over the image of the respective gap is placed.
- the course of the respective gap can thus be taken into account.
- Claim 3 relates to the use of the method according to any one of the preceding claims for controlling or regulating the alignment of a test device for units of a vehicle for carrying out a test procedure or for carrying out a test and adjustment process.
- the test device has a defined direction in such a way that the emitting and / or receiving direction of at least one unit of the vehicle is checked with the testing device during the testing process or during the checking and setting process, whether this emission and / or receiving direction with corresponds to the defined direction of the test device.
- the test device is aligned before carrying out the test procedure so that the defined direction of the test device is oriented relative to the direction of the orientation of the vehicle.
- the test device may be a test device for the emission direction of headlights described above.
- the headlights are adjusted relative to the symmetry axis of the vehicle body.
- ACC Automatic Cruise Control
- the direction of the orientation of the vehicle is related to the direction of the body of the vehicle.
- the described aggregates of the vehicle ie the ACC Sensors
- the geometric travel axis of the vehicle corresponds to the bisector of the toe angles of the wheels of the rear axle of the vehicle.
- the geometric driving axis of the vehicle coincides with the axis of symmetry of the vehicle body.
- tolerances in the adjustment of the parameters of the chassis geometry as well as manufacturing tolerances in the manufacture of the body.
- the geometric travel axis may deviate from the symmetry axis of the vehicle body.
- a deviation of the geometric driving axis from the axis of symmetry of the vehicle is detected and detected. It is thus also possible to orient the test device in the direction of the orientation of the vehicle in the sense of the vehicle body so that the "offset" of the difference of the geometric travel axis of the vehicle to the symmetry axis of the vehicle body is taken into account the orientation of the vehicle "expressly includes such an embodiment, in which the test device is aligned with the geometric axis of the vehicle.
- a check of the unit of the vehicle can be made, whether its emission or reception direction is in the straight ahead. It depends on the alignment of the test facility, whether this test is based on the axis of symmetry of the vehicle body or based on the geometric driving axis of the vehicle.
- a test merely checks that the corresponding unit is correctly aligned. In a test and setting the test device is used to give during the implementation of the adjustment of the unit immediately feedback, whether the setting of the unit is within the tolerance range.
- Claim 4 relates to a use of the method according to one of claims 1 or 2 for testing the emission and / or reception direction of at least one unit relative to the direction of the orientation of the vehicle with a test device.
- the test device has a defined direction in such a way that the emission and / or reception direction of at least one aggregate of the vehicle with the test device during the testing process is checked to see whether this radiating and / or receiving direction coincides with the defined direction of the test device.
- the test device is aligned in such an alignment position that the emission and / or reception direction of the at least one unit of the vehicle in this alignment position of the test device coincides with the defined direction of the test device.
- the emission and / or reception direction of the at least one aggregate is derived relative to the direction of orientation of the vehicle from the detected direction of the orientation of the vehicle and the alignment position of the test device.
- the test device is aligned with the emission and / or reception direction of the unit. It is then evaluated to what extent the test device has been rotated in order to be aligned with the actual emission and / or reception direction of the unit. Taking into account the detected direction of the orientation of the vehicle can be detected from the alignment position of the test device, whether the emission and / or reception direction of the unit of the vehicle is set correctly based on the direction of the orientation of the vehicle.
- Claim 5 relates to the use of the method according to one of claims 1 or 2 for the derivation of a correction value in the evaluation of test results in the performance of test work for units of the vehicle by means of a test device.
- the test device has a defined direction in such a way that the emission and / or reception direction of at least one unit of the vehicle is checked with the test device during the test procedure, if this emission and / or reception direction coincides with the defined direction of the test device.
- the test device is constantly aligned so that the defined direction of the test device is constant in so far that it is at most displaceable in parallel with a displacement of the test device.
- the correction value is determined depending on the deviation of the detected direction of the orientation of the vehicle with respect to the defined direction of the test device.
- the evaluation can in turn also be made based on the geometric driving axis of the vehicle, according to the explanations in connection with claim 3.
- the procedure according to the present invention has advantages over known methods.
- a reference shot of an identical vehicle with a defined orientation is first recorded. From a comparison of a recording of a vehicle with the reference recording, the orientation of the vehicle is then compared relative to the defined orientation of the identical vehicle in the reference recording.
- only those vehicles can be measured, to which a reference recording is present.
- vehicles of identical vehicle type differ in appearance. This may be due to the fact that a vehicle type has a sports suspension as an option. The visual appearance of such a vehicle is different from the production vehicle, because in the photographic Recording the visible size of the wheels or the ride height of the vehicle are different. Other deviations may be due to fog lights as special equipment, ventilation slots for a vehicle with turbocharger or the like.
- Fig. 2 a photograph of another vehicle in front view
- Fig. 3 a portal system for measuring the orientation of a vehicle.
- FIG. 1 shows a photograph of a vehicle in front view.
- a symmetry plane 1 shown in phantom.
- This plane of symmetry is represented by the line shown.
- the plane of symmetry results as a plane which is aligned parallel to the direction in which the camera is taken up or in which the direction in which the camera is picked up lies in this plane of symmetry.
- the dash-dot vertical center line of the vehicle (dash-dotted line with the reference numeral 1 of Figure 1) lies in this plane of symmetry.
- the portion to the left of the vertical plane of symmetry 1 of the vehicle in the photograph is correlated with the portion to the right of the vertical plane of symmetry 1 of the vehicle in the photograph.
- parts 4, 5.1, 5.2 and 6.1 and 6.2 of the photograph are marked with dot-dash lines which are not mirror-symmetrical to the plane of symmetry 1, even if the orientation of the vehicle is straight.
- the part 4 of the photographic image is the interior mirror of the vehicle. This is set to the seating position of the driver. Due to the rotation of the inner mirror, this is then no longer symmetrical to the plane of symmetry. 1
- the exterior mirrors are located on the right and left, respectively. These exterior mirrors often have different dimensions in vehicles, so that the two exterior mirrors in parts 5.1 and 5.2 of the photographic image are likewise not symmetrical to the plane of symmetry 1.
- Part 6.2 of the photograph shows a curvature of the instrument panel upwards to accommodate the instrument cluster and the steering wheel. These elements are not present on the other side of the vehicle, so that these elements are also asymmetrical to the plane of symmetry 1. Therefore, the part 6.2 of the photograph is also drawn in dash-dotted lines. The corresponding part 6.1 of the photograph on the other side of the vehicle is also shown in phantom.
- the photographic image of the vehicle with respect to the two parts left and right of the plane of symmetry 1 reaches a maximum value of the correlation when the orientation of the vehicle is straight.
- This maximum of the correlation is also determined by further elements which are not provided separately in the figure 1 with reference numerals such as the fog lights, the contour line of the bumper, the wheels of the vehicle and the outer contour of the vehicle body.
- the correlation can be determined, for example, as a normalized value by mathematically mirroring one of the two parts of the photographic image left or right of the plane of symmetry 1, and then determining the correlation of the unsized part of the photographic image with the mirrored part of the photographic image.
- this correlation is determined in standardized form, so that the value of "1" corresponds to the maximum of the correlation, and if the correlation is lower, it can be concluded that the orientation of the vehicle is not straightforward.
- FIG. 3 shows a gantry system 301 for measuring the orientation of a vehicle. It can be seen that a camera 302 is mounted on the portal system 301. Advantageously, the recording direction of the camera 302 is oriented so that it is oriented perpendicular to the portal system 301 and thus also to the plane of the drawing.
- a testing and measuring device 303 can be seen, which is movable according to the directions of the arrows 304 to the left and right.
- a testing and measuring device 303 can be seen, which is movable according to the directions of the arrows 304 to the left and right.
- the camera 302 can also be laterally displaceable (not explicitly shown here).
- the orientation of the vehicle can then be determined by the camera is rotated until there is a maximum correlation of the image halves.
- the orientation of the vehicle relative to a target value of the orientation then corresponds to the angle through which the camera was rotated until the maximum of the correlation has been established.
- the photographic image is computationally or graphically rotated until the maximum of the correlation is established.
- the "angle" of this computational or graphical rotation of the photographic image corresponds to the deviation of the orientation of the vehicle from a target value of the orientation.
- the testing and measuring device 303 can also be laterally moved so far that the opening under the portal 301 is free, so that a vehicle can drive under the portal. This proves to be advantageous for vehicle testing because Then a vehicle can drive away from the test position and at the same time can drive into another vehicle in the test position.
- the vehicles are each shown from a substantially horizontal receiving direction. It can be seen that the photograph can also be taken by the vehicle is taken obliquely from above.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016108973.7A DE102016108973A1 (en) | 2016-05-13 | 2016-05-13 | Method for detecting the direction of orientation of a vehicle and use of the method |
PCT/DE2017/100406 WO2017194061A1 (en) | 2016-05-13 | 2017-05-12 | Method for detecting the direction of orientation of a vehicle and use of the method |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3455584A1 true EP3455584A1 (en) | 2019-03-20 |
Family
ID=59067429
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17730362.5A Withdrawn EP3455584A1 (en) | 2016-05-13 | 2017-05-12 | Method for detecting the direction of orientation of a vehicle and use of the method |
Country Status (7)
Country | Link |
---|---|
US (1) | US20190195623A1 (en) |
EP (1) | EP3455584A1 (en) |
JP (1) | JP2019516978A (en) |
KR (1) | KR20190002691A (en) |
CN (1) | CN109154493A (en) |
DE (1) | DE102016108973A1 (en) |
WO (1) | WO2017194061A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110539689A (en) * | 2018-05-28 | 2019-12-06 | 保时捷股份公司 | Method for adapting the orientation of a headlight |
JP2022067928A (en) * | 2020-10-21 | 2022-05-09 | 株式会社Subaru | Object estimation device, related object estimation method, and vehicle |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0663911B2 (en) * | 1988-07-29 | 1994-08-22 | マツダ株式会社 | Headlight optical axis adjustment method |
DE69330466T2 (en) * | 1992-09-04 | 2002-04-11 | Snap On Tech Inc | METHOD AND DEVICE FOR DETERMINING THE ALIGNMENT OF MOTOR VEHICLE WHEELS |
DE19636526A1 (en) * | 1996-09-09 | 1998-03-12 | Hella Kg Hueck & Co | Sighting device for a vehicle headlight tester |
DE19932294A1 (en) * | 1999-07-10 | 2001-01-11 | Volkswagen Ag | Motor vehicle headlamp adjustment method by detecting position of vehicle and indicating desired location of light beam on projection area |
DE10017568A1 (en) * | 2000-04-10 | 2001-10-11 | Seatec Softwareentwicklung Und | Determination of the central plane of a vehicle, for use as a reference in headlight adjustments, is achieved using front and rear cameras linked to a computer with a data record corresponding to the shape of the car |
JP2004126947A (en) * | 2002-10-02 | 2004-04-22 | Toyota Motor Corp | Image processor and image processing method |
JP2005331352A (en) * | 2004-05-19 | 2005-12-02 | Mazda Motor Corp | Positioning system and positioning method |
DE102010062770A1 (en) * | 2010-12-09 | 2012-06-14 | Maha Maschinenbau Haldenwang Gmbh & Co. Kg | Tester |
JP5759161B2 (en) * | 2010-12-16 | 2015-08-05 | キヤノン株式会社 | Object recognition device, object recognition method, learning device, learning method, program, and information processing system |
DE102014208673A1 (en) * | 2013-09-06 | 2015-03-12 | Robert Bosch Gmbh | Method and traffic monitoring device for detecting a wrong-way drive of a motor vehicle |
DE102013112976A1 (en) * | 2013-09-30 | 2015-04-02 | Hochschule für Technik und Wirtschaft Dresden | Arrangement and method for determining the chassis and other characteristics of a vehicle |
KR101510336B1 (en) * | 2013-11-14 | 2015-04-07 | 현대자동차 주식회사 | Device for inspecting driver assistance system of vehicle |
-
2016
- 2016-05-13 DE DE102016108973.7A patent/DE102016108973A1/en not_active Ceased
-
2017
- 2017-05-12 US US16/301,302 patent/US20190195623A1/en not_active Abandoned
- 2017-05-12 CN CN201780029423.8A patent/CN109154493A/en active Pending
- 2017-05-12 KR KR1020187035521A patent/KR20190002691A/en unknown
- 2017-05-12 WO PCT/DE2017/100406 patent/WO2017194061A1/en unknown
- 2017-05-12 JP JP2018558770A patent/JP2019516978A/en active Pending
- 2017-05-12 EP EP17730362.5A patent/EP3455584A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
JP2019516978A (en) | 2019-06-20 |
CN109154493A (en) | 2019-01-04 |
DE102016108973A1 (en) | 2017-11-16 |
KR20190002691A (en) | 2019-01-08 |
US20190195623A1 (en) | 2019-06-27 |
WO2017194061A1 (en) | 2017-11-16 |
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