EP3485226A1 - Procédé permettant de définir les paramètres de la géométrie de roulement des roues d'un essieu suiveur, utilisation dudit procédé, banc d'essai de véhicule et unité de mesure - Google Patents

Procédé permettant de définir les paramètres de la géométrie de roulement des roues d'un essieu suiveur, utilisation dudit procédé, banc d'essai de véhicule et unité de mesure

Info

Publication number
EP3485226A1
EP3485226A1 EP17749114.9A EP17749114A EP3485226A1 EP 3485226 A1 EP3485226 A1 EP 3485226A1 EP 17749114 A EP17749114 A EP 17749114A EP 3485226 A1 EP3485226 A1 EP 3485226A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
measuring
orientation
wheels
wheel
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Withdrawn
Application number
EP17749114.9A
Other languages
German (de)
English (en)
Inventor
André Deutsch
Thomas Kolb
Simon Stroh
Thomas Tentrup
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Assembly Products GmbH
Original Assignee
Duerr Assembly Products GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Assembly Products GmbH filed Critical Duerr Assembly Products GmbH
Publication of EP3485226A1 publication Critical patent/EP3485226A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/28—Beam projector and related sensors, camera, inclinometer or other active sensing or projecting device
    • G01B2210/283—Beam projectors and related sensors
    • G01B2210/286—Projecting a light pattern on the wheel or vehicle body

Definitions

  • the present invention relates to a method for determining parameters of the chassis geometry of wheels of a non-steered axle of a vehicle according to the preamble of claim 1, a use of the method according to claims 2 and 3, a test stand according to claim 4 and a measuring unit according to claim 6.
  • the parameters of the chassis geometry of the wheels are determined by assigning each wheel of each side of the vehicle in each case a measuring unit which detects at least one parameter of the orientation of the respective wheel plane relative to a reference frame associated with the test bench (test bed reference system).
  • measurements of the parameters of the chassis geometry are made in two positions in the longitudinal direction of the test bed (x-direction).
  • the parameters of the wheels of both the steered and non-steered axles are recorded in both positions. In order to be able to take into account a steering angle at the wheels of the steered axle, the steering angle is still detected in both positions of the vehicle via the steering wheel position (in conjunction with the steering ratio).
  • the measuring unit detects the at least one parameter of the orientation of the respective wheel plane by projecting a planar pattern on the wheel.
  • the evaluation of the image of the two-dimensional pattern makes it possible to determine the position of the plane of the wheel. This procedure is described, for example, in EP 0 280 941 A1.
  • the present invention is based on the object to reduce the effort in determining the Radscherkompens Being parameters of the chassis geometry of wheels of a vehicle.
  • At least one parameter (61) of the orientation of a vehicle-related reference system relative to the test bench reference system in this first position is determined for a first position of the vehicle in the test stand. Furthermore, measured values for determining at least one parameter of the orientation of the respective wheel planes are detected by the measuring units assigned to the wheels of the non-steered axle in this first position and / or the at least one parameter of the orientation of the respective wheel planes and / or a derived value determined.
  • the vehicle is moved to a second position of the vehicle in the test bench, which is offset from the first position in the longitudinal direction of the vehicle in the test bench.
  • the at least one parameter (62) of the orientation of the vehicle-related reference system relative to the test bench reference system is determined in this second position.
  • measured values for determining the at least one parameter of the orientation of the respective wheel planes in this second position are detected by the measuring units which are assigned to the wheels of the non-steered axle in this second position and / or the at least one parameter of the orientation of respective wheel plane and / or a value derived therefrom.
  • the measured values for determining the at least one parameter of the orientation of the respective wheel planes and / or the at least one parameter of the orientation of the respective wheel planes, which was determined from the detected measured values, and / or the value derived therefrom in the first position and in the second position are converted in the first position and in the second position in such a way that the converted measured values for determining the at least one parameter of the orientation of the respective wheel planes and / or the converted at least one parameter of the orientation of respective wheel planes, which was determined from the detected measured values, and / or the converted value derived therefrom in the first position and in the second position relative to a common reference system.
  • the present invention is therefore based on the finding that only by measuring the parameters of the non-steered axle (i.e., the rear axle of the vehicle) is it possible to determine the parameters of the wheels of the rear axle in the common frame of reference. This saves effort in terms of the structure of the measurement technique and also in terms of the evaluation, because the parameters of the wheels of the steered axle can remain unnoticed. In particular, it is therefore not necessary to additionally record the parameters of the wheels of the steered axle in the two measuring positions for determining the parameters of the wheels of the non-steered axle.
  • the measurements are made which relate to the determination of the orientation of the wheel plane. These measurements are made with the measuring units calibrated on the bench reference system. In order to be able to evaluate the measurements in the two measuring positions together for the wheel envelope compensation, it is necessary to convert these two measurements to a common reference system. This is necessary because the location of the vehicle-related reference system relative to the bench reference system in the two measurement positions of the vehicle does not have to match. In other words, the vehicle can change its orientation relative to the test bench when moving from the first measurement position to the second measurement position. Without limiting the general public to another choice of a common frame of reference, the relationships should be explained by the following equations:
  • OChl, B, BZ OChl B , Cal - ⁇
  • OChl, A, BZ OChl ; A, cal " ⁇ A
  • OChr, B, BZ OChr, B, cal + ⁇
  • OChr, A, BZ OChr, A, cal + ⁇ A
  • the quantity ⁇ enters the toe angle of the respective wheel.
  • the indices have the following meanings:
  • A the size refers to the measuring position A
  • BZ means that the size refers to the defined vehicle-related frame of reference (BZ)
  • hl the size refers to the rear, left wheel
  • the size refers to the rear right wheel
  • cal the size refers to the measuring unit calibrated on the bench reference frame.
  • the respective orientation " ⁇ " is eliminated, so that as a result the respective values "a” are present in the vehicle-related reference system.
  • the wheel-steer compensated lane values ⁇ , ⁇ and a.hr, Bz are determined by averaging the vehicle-related lane values in positions A and B. and it applies:
  • oc'hi, BZ (oChiA BZ + ⁇ , ⁇ , ⁇ , BZ) / 2 (3)
  • the wheel-steer compensated track values 'hi ; B , cai and' hr, B, cai in position B and in the frame of reference of the test bench are given by:
  • the at least one parameter ( ⁇ ) of the orientation of the vehicle-related reference system relative to the test bench reference system is determined.
  • the vehicle-related reference system can be defined, for example, by the perpendicular of the connecting line between the centers of the wheels of the non-steered axle of the vehicle, which lies in the horizontal plane and is oriented in the direction of travel of the vehicle to the front.
  • the test bench reference system is defined by the longitudinal direction of the test bench (x-direction).
  • the test bed reference system is usually defined by the calibration gauge of the test bench. The measured values of the measuring units are available in the test bench reference system, to which the measuring units are calibrated.
  • Claim 2 relates to the use of the method according to claim 1 in a vehicle setting for the measurement and adjustment of driver assistance systems.
  • driver assistance systems are systems and / or units of the vehicle to assist the driver and / or to implement an autonomous driving operation.
  • the driver assistance systems are aligned with the geometric driving axis of the vehicle.
  • the geometric driving axis is determined by the method according to claim 1.
  • Claim 3 relates to the use of the method according to claim 1 in a Fahrwerksinstellstand for measuring and setting parameters of the chassis geometry on wheels of a steered axle of the vehicle.
  • the vehicle further has at least one non-steered axle.
  • the Fahrtechniksinstellstand each have a wheel for the wheels of the right and left side of the vehicle steered axle of the vehicle.
  • Each wheel receptacle consists of a floating plate and a double roller, wherein at least one roller can be driven by the double rollers.
  • the geometric driving axis is determined by the method according to claim 1.
  • Claim 3 describes the use of the method of claim 1 for a chassis adjustment for parameters of the chassis geometry on wheels of a steered axle, wherein the parameters are adjusted relative to the driving axis of the vehicle.
  • the vehicle has at least one non-steered axle.
  • the test stand has for measuring the driving axis of the vehicle only two measuring positions in the x-direction, in which measuring units are present, which detect at least one parameter of the chassis geometry of at least one non-steered axle of the vehicle.
  • the parameter of the wheels of the non-steered axle can be determined with less metrological effort than is known in the procedure according to WO 2010/025723 AI.
  • With the present invention makes it possible to detect the parameters of the wheels of the non-steered axle with reduced metrological effort (especially without a wheel bearing for the wheels of the non-steered axle). Nevertheless, the parameters of the wheels of the steered axle in their setting position (ie, when these wheels get up on the wheel receivers) can be adjusted relative to the parameter of the wheels of the non-steered axle, which was determined with reduced metrological effort.
  • Claim 4 relates to a measuring, testing and / or setting for vehicles, wherein the vehicle has at least one non-steered axle.
  • the test stand has for measuring the driving axis of the vehicle only two measuring positions in the x-direction, in each of which a measuring unit for each wheel of a non-steered axle of the right and left side of the vehicle is present, the measuring units measured values for determining at least one parameter of the orientation of Record wheel plane of the respective wheel. Furthermore, an evaluation unit is present, to which the measured values of the measuring units are fed and in which the geometric driving axis is determined.
  • Claim 4 describes the technical equipment of a running gear, with the present invention, the radumtschkompensiere determination of parameters of the chassis geometry of the wheels of the non-steered axle can be done - such as the determination of the geometric driving axis.
  • Claim 5 enters an embodiment of the measurement, testing and / or setting stand according to claim 4, wherein the measuring, testing and / or setting a Fahrtechniksinstellstand is for the measurement and adjustment of parameters of the chassis geometry of wheels of the steered axle of the vehicle ,
  • the measuring, testing and / or setting stand has in each case a wheel receptacle for the wheels of the right and left vehicle side of the steered axle of the vehicle, the wheel receptacle each consisting of a floating plate and a double roller. At least one of the double rollers is in each case assigned a drive element for transmitting a drive or braking torque to the at least one roller.
  • the wheels of the steered axle stand during the execution of the measuring, testing and and / or adjustments on the respective wheel.
  • the test stand has two measuring positions in the x-direction, in each of which there is one measuring unit for each wheel of a non-steered axle on the right and left side of the vehicle.
  • the measuring units record measured values for determining at least one parameter of the orientation of the wheel plane of the respective wheel.
  • an evaluation unit is present, to which the measured values of the measuring units are fed and in which at least the geometric driving axis is determined for the vehicle in the position in which the wheels of the steered axle of the vehicle stand up on the wheel receivers.
  • a sensor unit is further provided for detecting changes in the orientation of the vehicle-related reference system relative to the test bench reference system.
  • Claim 5 describes the technical equipment of a chassis stand to detect and set the parameters of the chassis geometry on the wheels of the steered axle. These parameters of the chassis geometry of the wheels of the steered axle must be measured and adjusted in relation to the geometric driving axis.
  • the chassis stand has the technical means to detect the parameters of the orientation of the wheel plane of the wheels of the non-steered axle in the two measuring positions.
  • the parameters of the orientation with respect to the geometric travel axis can be determined for the measuring units of the wheels of the steered axle.
  • the position of the vehicle-related reference system relative to the test bench reference system for example, via the measurement of the wheel centers of the wheels of the non-steered axle of the vehicle is known.
  • Claim 5 describes an embodiment of the measuring, testing and / or setting state, in which one of the measuring positions in the x direction corresponds to the position of the wheels of the non-steered axle of the vehicle, in which the wheels of the steered axle of the vehicle on the respective Get up wheel.
  • the sensor unit and the measuring unit may be identical.
  • the position of the vehicle-related reference system is defined by the position of the wheel center points of the wheels of the non-steered axle, it is possible to detect the metrological detection of the position of the wheel centers of these wheels with a measuring unit which detects the orientation of the wheel planes of these wheels.
  • Claim 6 relates to a measuring unit, which is provided in particular for use in conjunction with one of the aforementioned method or one of the aforementioned measurement, testing, and / or setting states.
  • the measuring unit evaluates the image of a two-dimensional pattern which is projected onto the wheel surface. The evaluation determines the orientation of the wheel plane.
  • the planar pattern consists of several parallel lines.
  • the planar pattern is generated by a sensor which emits light linearly, is oriented so that the line of this line-shaped emitted light is not oriented horizontally.
  • the sensor for carrying out a measurement of the orientation of the wheel plane in the vehicle longitudinal direction is movable (x-direction). The image of the line of this sensor is evaluated in several positions of the sensor in the x-direction in order to compose an image of a planar pattern of several parallel lines.
  • the measuring unit which simultaneously emits several lines, is replaced by a sensor that emits only one line.
  • This sensor is assigned to the test bench so that this sensor is movable in the longitudinal direction of the test stand.
  • the scanning of the sensor with only one line simulates the measurement with several parallel lines.
  • the successively recorded images of the projected line can be used directly to determine the orientation of the plane of the wheel from this flat image.
  • the parallel lines of the two-dimensional pattern from connecting lines between points of the individual images of the line-shaped emitted light resulting from measurements at different positions of the sensor. This makes it possible, the measurement carried out with the oblique oriented lines attributed to the measurement with the horizontally oriented lines of a multiline sensor.
  • the line of the sensor is oriented obliquely to the horizontal. This is related to the displacement of the sensor in the longitudinal direction of the vehicle (x-direction). For a horizontal line, this line would only be shifted "in itself.” A line oriented at an angle to the horizontal is displaced in parallel by the displacement of the sensor.
  • the line of the sensor is generated by the line is generated by a scanning operation by means of a punctiform light source.
  • the distance in the x-direction between the two measurement positions must be known. There are different possibilities for this. If the test stand has two measuring units on each side of the vehicle, their distance in the evaluation unit can be taken into account as the distance between the two measuring positions. As far as the measuring unit can be moved in the x-direction (longitudinal direction of the test stand), the distance of the two measuring positions in the x-direction can be determined from the distance by which the measuring units are moved between the two measuring positions. It is also possible to determine this distance based on the wheel revolutions of the wheels of the vehicle when it is rolled from the first measuring position to the second measuring positions and the wheel circumference is known.
  • FIG. 1 is a schematic diagram of a chassis stand
  • FIG. 2 shows a schematic representation of a vehicle in the chassis stand in the position A
  • FIG. 3 shows a schematic representation of a vehicle in the landing gear stand in the position B
  • Fig. 4-6 Wheels each with projected lines.
  • FIG. 1 shows a schematic diagram of a chassis level 1 for determining and adjusting the chassis geometry of a vehicle.
  • This chassis stand 1 has two lanes 2 and 3. In each of the lanes 2 and 3 is a wheel 4 and 5, respectively.
  • wheel mounts are constructed so that they are mounted on a floating plate and have a double roller system on which the respective wheel stands up.
  • at least one of the rollers is driven by this double roller system.
  • each of the upstanding wheels can be uniformly rotated by rotation of the driven roller (s) without bringing mechanical stresses into the corresponding axle.
  • the upstanding wheels are the wheels of the steered axle of the vehicle. This is the front axle in conventional vehicles.
  • Each of these wheel receivers 4 and 5 are each assigned a measuring unit 6 or 7.
  • the fixed measuring units 6 and 7 for the front axle each have at least two triangulation sensors which illuminate the tire side front with at least one laser line and thus measure the chassis geometry parameters.
  • UPF UPF-280 941 AI.
  • the parameters of the chassis geometry are detected by wheels that stand up on the respective wheel receivers 4 and 5 respectively.
  • these measuring probes 8 and 9 have a region x v in which these measuring probes 8 and 9 can be moved. While the measuring probes 8 and 9 are traversed in this area x v , the measuring probes 8 and 9 respectively take several measurements of Parameters of the wheel geometry of wheels performed, each located in the measuring range of the measuring probes 8 and 9 respectively.
  • Each of these measuring units 8 and 9 has two triangulation sensors, which are arranged in a V-shape, so that the at least one laser line per triangulation probe radially illuminates the tire side face when the movable measuring units 8 and 9 are centered on one of the rear wheels.
  • This radial illumination has the advantage that the image of the lines on the tire is created in such a way that the bead of the tire is illuminated. As a result, the image of the line is characteristic, so that changes are clearly visible.
  • the chassis parameters to be determined per wheel are at least the toe angle and the coordinates of the wheel center in the horizontal (x.y plane).
  • the chassis stand has a calibration gauge that defines a basic coordinate system by inserting it into the stand, into which the coordinate systems of the four measuring units are transferred by measuring the calibration gauge. This is the reference system assigned to the test bench.
  • the position B is defined by the fact that the front wheels of the vehicle stand up in the wheel receivers 4, 5 at the front between the rollers of the respective twin-pulley system.
  • the orientation of the vertical axis of the rear axle in the x, y plane in relation to the basic coordinate system of the calibration gauge can be determined Assign (test bench reference system) in position A. This involves the determination of the at least one parameter of the orientation of the vehicle-related reference system (example: orientation of the vertical of the rear axle) relative to the test bench reference system (defined via the calibration gauge).
  • the wheel center points are used to measure the orientation of the vertical axis of the rear axle in the x, y plane with respect to the base coordinate system of the calibration gauge in position B. It should be noted that this orientation of the vertical axis of the rear axle to the base coordinate system calibration gauge between the positions A and B may change if the vehicle is not moved when moving from position A to position B exactly in the longitudinal direction of the test bed. This is the determination of the at least one parameter of the orientation of the vehicle-related reference system (in this example: orientation of the vertical of the rear axle) relative to the test bench reference system (defined via the calibration gauge) in position B.
  • the Radscherkompensation for the rear wheels is performed. This is explained in the patent application WO 2010/025723 AI.
  • the parameters of the front wheels are determined by means of the wheel receivers 4, 5 and the associated measuring units 6, 7 in a conventional manner by the front wheels are set in the implementation of the measurement in rotation. As a result, several measurements are carried out at different angular positions by the rotation of the wheels, which mean a turnover measurement.
  • the steering angle can be taken into account by using a steering wheel balance.
  • Figure 4 shows a schematic diagram of a rear wheel 401. It can be seen that the measuring probe is moved relative to the rear wheel. The probe is represented by the projected lines 402 and 403. In addition, the center line 404 of the probe is shown. In particular, from the position of the center line 404 in the three representations of FIG. 4, it can be seen that the measuring probe is moved forward past the rear wheel 401 in the vehicle longitudinal direction of the vehicle. The lines 402 and 403 strike at different points of the rear wheel 401.
  • FIG. 5 shows the wheel 401 with a plurality of the projected lines 402 and 403, which were taken at different times during the movement of the measuring probe relative to the rear wheel 401.
  • FIG. 6 shows that the evaluation of the lines can take place in such a way that the measuring points are separated according to their z-coordinate (ie with respect to the vertical position) and divided into bands of measured values of similar z-coordinates. These bands can be treated as lines below.
  • the present invention can be used to log the measurements. Likewise, deviations from nominal values can be displayed so that corrections of the parameters of the chassis geometry can be made by appropriate adjustments.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé permettant de définir les paramètres de la géométrie de roulement des roues d'un essieu suiveur, l'utilisation dudit procédé, un banc d'essai de véhicule et une unité de mesure. Le procédé consiste à définir les paramètres de la géométrie de roulement des roues de l'essieu arrière d'un véhicule à partir de mesures de l'angle de pincement dans deux positions de mesure du véhicule sur un banc d'essai, qui sont opposées dans une direction x. On effectue ainsi une compensation du voile. L'essieu ainsi défini géométriquement peut être utilisé pour ajuster un système d'aide à la conduite ainsi que pour ajuster les paramètres de la géométrie de roulement des roues motrices de l'essieu avant. Une unité de mesure peut être conçue de telle manière que plusieurs lignes parallèles permettant de produire un modèle plat sont produites par un déplacement parallèle dans la direction x d'un capteur qui émet une lumière linéaire comportant une ligne. Ledit capteur linéaire peut à son tour être remplacé par un capteur comportant une source de lumière ponctuelle qui balaie une ligne.
EP17749114.9A 2016-07-12 2017-07-12 Procédé permettant de définir les paramètres de la géométrie de roulement des roues d'un essieu suiveur, utilisation dudit procédé, banc d'essai de véhicule et unité de mesure Withdrawn EP3485226A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016112712.4A DE102016112712A1 (de) 2016-07-12 2016-07-12 Verfahren zur Bestimmung von Parametern der Fahrwerkgeometrie von Rädern einer nicht gelenkten Achse, Verwendung des Verfahrens, Prüfstand für ein Fahrzeug sowie eine Messeinheit
PCT/DE2017/100575 WO2018010729A1 (fr) 2016-07-12 2017-07-12 Procédé permettant de définir les paramètres de la géométrie de roulement des roues d'un essieu suiveur, utilisation dudit procédé, banc d'essai de véhicule et unité de mesure

Publications (1)

Publication Number Publication Date
EP3485226A1 true EP3485226A1 (fr) 2019-05-22

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP17749114.9A Withdrawn EP3485226A1 (fr) 2016-07-12 2017-07-12 Procédé permettant de définir les paramètres de la géométrie de roulement des roues d'un essieu suiveur, utilisation dudit procédé, banc d'essai de véhicule et unité de mesure

Country Status (7)

Country Link
US (1) US20190301859A1 (fr)
EP (1) EP3485226A1 (fr)
JP (1) JP2019522200A (fr)
KR (1) KR20190026855A (fr)
CN (1) CN109661562A (fr)
DE (1) DE102016112712A1 (fr)
WO (1) WO2018010729A1 (fr)

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Publication number Priority date Publication date Assignee Title
US20240255283A1 (en) * 2021-05-28 2024-08-01 Michigan Scientific Corporation Wheel Position and Orientation Measurement System
CN113503838B (zh) * 2021-06-04 2022-07-26 东风柳州汽车有限公司 一种卡车中心轴线偏移量测量方法

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US4745469A (en) 1987-02-18 1988-05-17 Perceptron, Inc. Vehicle wheel alignment apparatus and method
IT1294940B1 (it) * 1997-08-01 1999-04-23 Corghi Spa Metodo e dispositivo per regolare l'assetto di un autoveicolo
DE19911017B4 (de) * 1999-03-12 2010-11-11 Daimler Ag Verfahren zur Justierung eines Abstandssensors eines Kraftfahrzeugs
JP2001004344A (ja) * 1999-06-25 2001-01-12 Anzen Motor Car Co Ltd 車両ホイールのアライメント測定装置
DE19934864A1 (de) * 1999-07-24 2001-02-08 Bosch Gmbh Robert Vorrichtung zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen
DE102006022935A1 (de) * 2006-05-15 2007-11-22 Otto Nussbaum Gmbh & Co. Kg Verfahren und Vorrichtung zur Radschlag-Kompensation bei der Achsvermessung
DE102006035924A1 (de) * 2006-07-31 2008-02-07 Robert Bosch Gmbh Verfahren zum Bestimmen der Drehachse und des Drehzentrums eines Fahrzeugrads
DE102006036671A1 (de) * 2006-08-03 2008-02-07 Dürr Assembly Products GmbH Verfahren zur Bestimmung der Achsgeometrie eines Fahrzeugs
DE102007017302A1 (de) * 2007-04-11 2008-10-16 Siemens Ag Verfahren zur Ermittlung des Sturzes und/oder der Spur und zugehörige Vorrichtung
DE102008001339A1 (de) * 2008-04-23 2009-10-29 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrwerksvermessung
DE102008045307A1 (de) * 2008-09-02 2010-03-04 Dürr Assembly Products GmbH Vorrichtung und Verfahren zum Bestimmen und Einstellen der Fahrwerksgeometrie eines Fahrzeuges
DE102008042024A1 (de) * 2008-09-12 2010-03-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur optischen Achsvermessung von Kraftfahrzeugen
CN102150010A (zh) * 2008-09-12 2011-08-10 罗伯特·博世有限公司 用于光学地测量轴的靶结构,靶结构组件和装置
DE102013108682B3 (de) * 2013-08-09 2014-09-11 Dürr Assembly Products GmbH Vorrichtung und Verfahren zur Messung und Ermittlung relevanter Parameter für die Einstellung der Fahrtrichtungen zweier lenkbarer Achsen eines Fahrzeugs relativ zueinander

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Publication number Publication date
WO2018010729A1 (fr) 2018-01-18
DE102016112712A1 (de) 2018-01-18
CN109661562A (zh) 2019-04-19
US20190301859A1 (en) 2019-10-03
KR20190026855A (ko) 2019-03-13
JP2019522200A (ja) 2019-08-08

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