EP3997415A1 - Alignement de véhicule et système d'étalonnage de capteur - Google Patents

Alignement de véhicule et système d'étalonnage de capteur

Info

Publication number
EP3997415A1
EP3997415A1 EP20836603.9A EP20836603A EP3997415A1 EP 3997415 A1 EP3997415 A1 EP 3997415A1 EP 20836603 A EP20836603 A EP 20836603A EP 3997415 A1 EP3997415 A1 EP 3997415A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
target
orientation
sensor
relative
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Withdrawn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
EP20836603.9A
Other languages
German (de)
English (en)
Inventor
David M. Deboer
Brecht Desmet
Ryan M. Jefferies
Jon D. Lawrence
Thijs Pirmez
Ward Van De Walle
Fredriek Vanneste
Ben Wahlstrom
Nicholas R. Nelson
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.)
BPG Sales and Technology Investments LLC
Original Assignee
BPG Sales and Technology Investments LLC
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 BPG Sales and Technology Investments LLC filed Critical BPG Sales and Technology Investments LLC
Publication of EP3997415A1 publication Critical patent/EP3997415A1/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Withdrawn legal-status Critical Current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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/065—Scissor linkages, i.e. X-configuration
    • 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
    • G01B2210/12—Method or fixture for calibrating the wheel aligner
    • 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
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/143—One or more cameras on each side of a vehicle in the main embodiment
    • 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 is directed to a system for aligning a vehicle, including for calibration of sensors on the vehicle relative to one or more calibration targets.
  • ADAS Advanced Driver Assistance System
  • a conventional ADAS system will utilize one or more sensors. While these sensors are aligned and/or calibrated by the manufacturer during production of the vehicle whereby they are able to provide accurate driver assistance functionality, the sensors may need realignment or recalibration periodically, such as due to the effects of wear and tear, or misalignment due to driving conditions or through mishap, such as a collision.
  • the present invention provides a method and system for calibrating and/or aligning a vehicle-equipped sensor by determining the alignment of the vehicle tire and wheel assemblies using non-contact wheel alignment sensors.
  • the orientation of the vehicle is determined, such as relative to the non-contact wheel alignment sensors, whereby a calibration target may be aligned with the vehicle equipped sensor, whereupon the vehicle equipped sensor may be calibrated, such as in accordance with specifications set by the vehicle manufacturer.
  • a system for aligning a target to a vehicle for calibration of a sensor equipped on the vehicle includes a plurality of non-contact wheel alignment sensors configured for use in determining the orientation of tire and wheel assemblies of the vehicle relative.
  • the system further includes a target adjustment frame including a base frame, a target mount moveably mounted on the target adjustment frame with the target mount configured to support a target, the target adjustment frame further including a plurality of actuators configured to selectively move the target mount relative to the base frame, wherein the target adjustment frame is in a known orientation, such as relative to the non- contact wheel alignment sensors or a lift supporting the non-contact wheel alignment sensors.
  • a computer system configured to selectively actuate the actuators to position the target relative to the vehicle positioned in front of the target adjustment frame, with the target mount being moveable by the actuators longitudinally and laterally with respect to a longitudinal axis of the vehicle when positioned in front of the target adjustment frame, vertically, and rotationally about a vertical axis.
  • the computer system is configured to determine the orientation of the vehicle relative to the target adjustment frame based on the orientation of the tire and wheel assemblies of the vehicle and to actuate the actuators responsive to the determination of the orientation of the vehicle relative to the target adjustment frame to position the target relative to a sensor of the vehicle whereby the sensor is able to be calibrated using the target.
  • the system includes a vehicle lift to which the non-contact wheel alignment sensors are mounted.
  • Non-contact wheel alignment sensors may be provided to determine the orientation of each tire and wheel assembly of the vehicle, and the non-contact wheel alignment sensors may be movable laterally and/or longitudinally relative to the vehicle.
  • the computer system may include at least one controller local to the non-contact wheel alignment sensors and/or to the target frame. Still further, the computer system may include a remote computer accessible by the one or more controllers via an Internet.
  • the base frame of the target adjustment frame is longitudinally moveable relative to the non-contact wheel alignment sensors, such as by being longitudinally moveable upon at least one rail.
  • a method of aligning a target to a vehicle for calibration of a sensor equipped on the vehicle includes determining the orientation of tire and wheel assemblies of the vehicle using non-contact wheel alignment sensors, and positioning a target held by a target adjustment frame relative to the vehicle based on the determined orientation of the tire and wheel assemblies of the vehicle, where the steps of determining the orientation of tire and wheel assemblies and positioning a target held by the target adjustment frame may be performed using the above noted system.
  • a system for use with operations on a vehicle includes a target adjustment frame including a base frame, a target mount moveably mounted on the base frame with the target mount configured to support an object for use with operations on a vehicle, with the target adjustment frame further including a plurality of actuators configured to selectively move the target mount relative to the base frame, with the base frame being in a known orientation, such as a known coordinate system.
  • the system also includes multiple non-contact wheel alignment sensors configured for use in determining the orientation of a vehicle when the vehicle is positioned in front of the target adjustment frame.
  • a computer system is configured to selectively actuate the actuators to position the target mount relative to the vehicle positioned in front of the target adjustment frame, with the target mount being moveable by the actuators about a plurality of axes, where the computer system is configured to determine the orientation of the vehicle relative to the base frame and to actuate the actuators responsive to the determination of the orientation of the vehicle to position the target mount into a desired position relative to the vehicle based on the known orientation of the base frame whereby the object supported on the target mount is positioned relative to the vehicle.
  • the object supported by the target mount is a target for use in calibrating a sensor of the vehicle, with the target mount being positioned relative to the vehicle whereby the target is positioned relative to the sensor for calibration of the sensor.
  • the object supported by the target mount is a headlight aimer sensor for use in evaluating the aim of a headlight of the vehicle, where the target mount is positioned relative to the vehicle whereby the headlight aimer sensor is positioned relative to the headlight for evaluating the aim of the headlight.
  • the non-contact wheel alignment sensors are operable for use in determining the
  • the system includes a vehicle lift to which the non-contact wheel alignment sensors are mounted.
  • the lift may include runways upon which the tire and wheel assemblies of the vehicle are disposed when the vehicle is on the lift, with the non- contact wheel alignment sensors being movably mounted along sides of the runways for longitudinal movement.
  • the lift may include rails disposed along sides of the runways with the non-contact wheel alignment sensors mounted for movement on the rails.
  • the system may further include a laser sensor mountable to the lift for evaluating the orientation of structural components on the underside of the vehicle, such as vehicle frame components, when the vehicle is disposed on the lift.
  • the present invention further contemplates a method of aligning an object for use in evaluating a vehicle component comprising positioning a vehicle in front of a target adjustment frame, determining the orientation of the vehicle using non-contact wheel alignment sensors, and positioning an object held by the target adjustment frame relative to the vehicle based on the determined orientation of the vehicle.
  • the target adjustment frame includes a base frame, a target mount moveably mounted on the base frame with the target mount configured to support the object, and with the target adjustment frame further including a plurality of actuators configured to selectively move the target mount about a plurality of axes relative to the base frame.
  • the base frame is in a known orientation wherein the actuators are selectively actuated to position the target mount held by the target adjustment frame based on the determined orientation of the vehicle to position the object into a known position relative to a component of the vehicle.
  • the object supported by the target mount may be a target for use in calibrating a sensor of the vehicle, or a headlight aimer sensor for use in evaluating the aim of a headlight of the vehicle.
  • the step of determining the orientation of the vehicle involves determining the orientation of tire and wheel assemblies of the vehicle using non-contact wheel alignment sensors for use in determining the orientation of the vehicle. Still further, determining the orientation of tire and wheel assemblies of the vehicle may include determining the orientation of tire and wheel assemblies of the vehicle at two positions of the vehicle. The method may further involve use of a vehicle lift with the non-contact wheel alignment sensors being mounted to the vehicle lift.
  • the present invention provides a system and method for accurately positioning a calibration target relative to a sensor of a vehicle and calibrating the sensor, such as in accordance with OEM specifications.
  • the accurate positioning and calibration of the sensor thus aids in optimizing the performance of the sensor to in turn enable the sensor to perform its ADAS functions.
  • FIG. 1 is a perspective view of a vehicle alignment system in accordance with aspects of the present invention shown with a lift in a lowered orientation;
  • FIG. 2 is a perspective view of the system of FIG. 1 shown with a vehicle in a first position on the lift in a lowered position;
  • FIG. 2A is a perspective view of non-contact wheel alignment sensors of the system of FIG. 1 shown adjacent a tire and wheel assembly of a vehicle;
  • FIG. 2B is a perspective view of a tire and wheel assembly of FIG. 2A illustrating aspects of a non-contact wheel alignment sensor
  • FIG. 3 is a perspective view of the system of FIG. 1 shown with the vehicle in a second position on the lift in a lowered position;
  • FIG. 4 is a perspective view of the system of FIG. 1 shown with the vehicle positioned on turning plates on the lift in a lowered position;
  • FIG. 5 is a perspective view of the system of FIG. 1 shown with the vehicle positioned on turning plates on the lift in a raised position;
  • FIG. 6 is a front perspective view of a target adjustment frame or stand of the system of FIG. 1 in accordance with aspects of the present invention and shown separate from the system of FIG. 1;
  • FIG. 7 is a rear perspective view of the target adjustment frame of FIG. 6;
  • FIGS. 8 and 9 are perspective views of the system of FIG. 1 with the target adjustment frame shown in a first position and a second position relative to a vehicle and with a calibration target mounted thereto;
  • FIG. 10 is a perspective view of the target adjustment frame of FIG. 6 shown with a headlight aimer sensor mounted thereto;
  • FIG. 11 is a side cross sectional view of the headlight aimer sensor of FIG. 10;
  • FIG. 12 is a perspective view of the system of FIG. 1 shown with the headlight aimer sensor mounted to the target adjustment frame relative to a vehicle;
  • FIG. 13 is a front perspective view of the system of FIG. 1 shown with the lift in an elevated position and a vehicle level measuring sensor disposed beneath the vehicle. DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • FIG. 1 illustrates an exemplary vehicle alignment and sensor calibration system 20 in accordance with the present invention.
  • a vehicle lift 22 supports a vehicle 24 with a target adjustment frame or stand 26 positioned in front of lift 22 and with lift 22 including non- contact wheel alignment sensors 28 disposed about vehicle 24.
  • Sensors 28 operate to determine alignment information regarding tire and wheel assemblies 30 of vehicle 24, along with position information of vehicle 24 on lift 22.
  • target frame 26 may be used to position one or more targets 32 supported on target frame 26, and in particular to align targets 32 relative to one or more ADAS sensors 34 of vehicle 24, including by moving target frame 26 along rails 36a, 36b longitudinally relative to lift 22 and vehicle 24.
  • ADAS sensors may be radar sensors for adaptive cruise control (“ACC”), imaging systems such as camera sensors for lane departure warning (“LDW”) and other ADAS camera sensors disposed about vehicle, as well as other sensors, such as LIDAR, ultrasonic, and infrared (“IR”) sensors of an ADAS system, including sensors mounted inside the vehicle, such as forward facing cameras, or exterior mounted sensors, with the targets supported on stand 26 constructed for calibration of such sensors, including grids, patterns, trihedrals, and the like.
  • ACC adaptive cruise control
  • LWD latitude and ultrasonic sensors
  • IR infrared
  • System 20 is additionally usable by an operator 38 in the setting of the vehicle alignment by adjustment of tire and wheel assemblies 30 when lift 22 is in an elevated or raised orientation (FIG. 5). Still further, system 20 is additionally used for checking and or setting the position or aim of the headlight or other lights of vehicle 24 by way of a vehicle light aimer sensor 40 that is mountable to target frame 26 (FIG. 12), as well as checking vehicle height information. Accordingly, system 20 is useful in vehicle repair and maintenance procedures, such as for example after a collision or other occurrence in which aspects of the vehicle require checking and/or adjustment. [0033] With initial reference to FIGS.
  • lift 22 of system 20 is disclosed as including in the illustrated embodiment spaced apart runways 42 for supporting the tire and wheel assemblies 30 of vehicle 24, as well as ramps 44 to enable vehicle 24 to drive onto runways 42.
  • Runways 42 in turn include float plates or turning plates 46 upon which the front tire and wheel assemblies 30 of vehicle 24 are positioned (FIGS. 4 and 5) in the process of measuring and setting the alignment of vehicle 24.
  • lift 22 is disclosed as a scissors lift having scissor leg or lift assemblies 48 (FIG. 5) supporting each runway 42, whereby when elevated a space or gap between the runways 42 is provided so as to enable operator 38 access beneath vehicle 24. It should be appreciated, however, that alternative lifts may be employed, including single post or four post lifts.
  • lift 22 includes non-contact wheel alignment sensors 28 mounted thereto, with the illustrated embodiment including four pairs of sensors 28, where each of the separate pairs of sensors 28 are moveable longitudinally on lift 22 so as to be disposed adjacent a separate wheel and tire assembly 30 of vehicle 24.
  • sensors 28 are moveable longitudinally on lift 22 so as to measure orientation of wheel and tire assemblies 30 in more than one position of vehicle 24 on lift 22, as well as to be used with vehicles having differing wheelbases. That is the two pairs of sensors 28 at each runway 42 may be synchronously moved together so as to maintain the spacing between each pair of sensors 28, as well as moved independently of each other to increase or decrease the spacing between the two pair of sensors 28 at each runway to as to accommodate different vehicles.
  • lift 22 includes longitudinal rails 50 adjacent the outside of each runway 42 and extending parallel with runways 42, with mounts 52 for sensors 28 being longitudinally moveable along rails 50.
  • each mount 52 supports two sensors 28.
  • Mounts 52 may additionally accommodate lateral movement of the supported sensors 28, such as by way of lateral rails, adjustable or adjustment plates, or the like. That is, laterally aligned pairs of sensors 28 on each runway 42 may be laterally adjusted to accommodate or compensate for vehicles of differing widths.
  • sensors 28 are configured and operate so as to be able to measure the orientation of wheel and tire assemblies 30 over a wide range of lateral positions of the wheel and tire assembly 30 relative to the sensor 28.
  • sensors 28 are able to accommodate vehicles of differing widths, as well as situations in which the vehicle 24 is not laterally centered on runways 42. For example, accommodating situations in which the vehicle 24 is disposed on runways 42 with its left side closer to the outside edge of the left runway or its right side closer to the outside edge of the right runway.
  • Actuators 51 are provided at each mount 52 for moving the mounts 52 longitudinally along rails 50, where in the illustrated embodiment actuators 51 are electrical linear actuators. Alternatively, geared tracks, adjustment screws, hydraulic or pneumatic piston actuators, or the like may be employed. Similarly, such actuators may be employed for moving the mounts 52 and/or sensors 28 laterally. Alternatively, the sensors and/or mounts 52 may be manually positionable by operator 38.
  • each sensor 28 is constructed and operates as a non- contact wheel alignment sensor as disclosed in pending U.S. provisional patent application sr. no. 63/016,064, filed on April 27, 2020, which is incorporated herein by reference.
  • each sensor 28 may be constructed and/or operate in accordance with any of U.S. Pat. Nos. 7,864,309, 8,107,062 and 8,400,624, which are incorporated herein by reference.
  • each sensor 28 includes a light projector for projecting a pattern onto the tire and wheel assemblies 30, with one sensor 28 of a given pair of sensors 28 projecting onto a portion of the tire to the left of the center of the wheel and the other sensor 28 projecting onto a portion of the tire to the right of the center of the wheel.
  • each sensor 28a, 28b of a pair of sensors projects a pattern 53 of light, shown as parallel lines, onto a tire and wheel assembly 30a of vehicle 24a, with one sensor 28a projecting onto a left side portion 31a of the assembly 30a and the other sensor 28b projecting onto the right side portion 31b of assembly 30a.
  • Each sensor 28 additionally includes a digital camera for imaging the light reflected from the tire and wheel assembly that the given sensor 28 projected thereon, as well as includes a processor for processing the reflected images.
  • the use of parallel lines provides a greater depth of view of sensors 28 by enabling the sensors 28 to view tire and wheel assemblies 30 that are further or closer to sensors 28.
  • the resulting reflected images from each sensor 28 are then processed, such as by way of a central controller or computer 54 to obtain the alignment or orientation of each wheel tire and wheel assembly 30, as well as to determine an accurate orientation of vehicle 24 on lift 22, which may include, for example, determining the orientation of the vertical center plane of vehicle 24.
  • the alignment determination may include, for example, determining points along the projected patterns 53 to determine a crown of the bulge of the tire so as to determine a circle 55a in three-dimensional space representative of the tire and wheel assembly, as well as determination of a center point 55b of the tire and wheel assembly, and/or determination of a plane 55c representative of the tire and wheel assembly (see FIG. 2B).
  • the orientation of vehicle 24 is thus determinable based on the known position or orientation of each tire and wheel assembly 30 in a three-dimensional coordinate frame, including based on the center points 55b of assemblies 30.
  • non-contact wheel alignment sensors may be employed, and that alternative arrangements of non-contact wheel alignment sensors may be employed within the scope of the present invention, including more or fewer sensors on each side of lift 22.
  • a single sensor arrangement may be employed on each side for separately measuring both the front and rear wheel assemblies 30.
  • the longitudinal rails 50 may enable the separate positioning of the sensor arrangement at both the front and rear wheel assemblies 30.
  • a single sensor may be employed at each tire and wheel assembly, for example a single sensor that is able to project over the entirety of the tire and wheel assembly.
  • non-contact wheel alignment sensors with alternative projection patterns, camera arrangements and/or other configurations may be employed. Still further, non-contact wheel alignment sensors with expanded fields of vision that operate to determine alignment and vehicle position information while a vehicle is moving through a field of vision may be employed, such as for example as disclosed in U.S. Pat. 9,677,974, which is incorporated herein by reference.
  • An alternative system employing such non-contact wheel alignment sensors may measure wheel alignment as a vehicle is moved over a given distance, such as from a first position to a second position on runways 42 rather than separate measurements at different positions.
  • a diagnostic reader device may initially be connected to vehicle 24, such as by being plugged into an onboard diagnostic (“OBD”) port of vehicle 24 so as to obtain information regarding vehicle 24, such as information regarding the vehicle make and model, year, information regarding the ADAS sensors on vehicle 24, and/or information regarding the size of the tire and wheel assemblies 30.
  • OBD onboard diagnostic
  • Such information may be acquired via accessing one or more electronic control units (“ECUs”) of vehicle 24 and may be acquired by computer 54 directly, or may be obtained by an alternative portable controller or computing device 56 for use by operator 38, such as a tablet computer, and transmitted to computer 54, or may be used by computing device 56 independently of computer 54.
  • ECUs electronice control units
  • operator 38 may be prompted by a program on computer 54 and/or 56 to manually enter information, such as the tire size of the tire and wheel assemblies 30. It should be appreciated that such information may then be used in the alignment setting and sensor calibration of vehicle 24, as discussed in more detail below, and may be obtained prior to vehicle 24 driving onto lift 22 or once the vehicle 24 is driven onto lift 22. Alternatively to obtaining vehicle information via an OBD port, operator 38 may enter information into computer 54 and/or 56.
  • Vehicle 24 is driven onto runways 42 via ramps 44 when lift 22 is in a lowered orientation and is then initially driven or manually pushed into a first or an initial position as shown in FIG. 2.
  • the four sets of sensors 28 may be moved along rails 50 as needed so as to be disposed adjacent to or aligned with each of the four tire and wheel assemblies 30.
  • sensors 28 may be moved into the first position with vehicle 24 then being manually pushed by operator 38 so as to align the tire and wheel assemblies 30 with the positioned sensors 28.
  • the alignment of the sensors 28 with the tire and wheel assemblies 30 is obtained with a left one of the pairs of sensors 28 projecting on the portion left of the center of a given tire and wheel assembly 30 and the right one of the pairs of sensors projecting on the portion right of the center of the tire and wheel assembly 30.
  • the sensors 28 are thereby used to determine the wheel alignment or orientation of the four tire and wheel assemblies 30, including the center of each tire and wheel assembly 30, as well as the position of vehicle 24 on runways 42 of lift 22.
  • Vehicle 24 is subsequently moved into a second or subsequent position, which in the illustrated embodiment as shown in FIG. 3 is forward of the first position.
  • the four sets of sensors 28 are moved forward along rails 50 so as to be disposed adjacent to or aligned with each of the four tire and wheel assemblies 30 in the second position.
  • computer 54 may automatically move sensors 28 into the appropriate second position based on the vehicle information obtained by computer 54 and/or 56 regarding vehicle 24, with vehicle 24 then being manually pushed by operator 38 so as to align the tire and wheel assemblies 30 with the re -positioned sensors 28 in the second position.
  • sensors 28 are again used to determine the wheel alignment or orientation of the four tire and wheel assemblies 30 and the position of vehicle 24 on runways 42 of lift 22 in the second position.
  • the determination of the wheel alignment of the tire and wheel assemblies in two positions, along with the movement of the vehicle 24 such that the tire and wheel assemblies 30 are rotationally re -positioned, provides the ability to obtain toe measurement of the tire and wheel assemblies 30 with runout compensation.
  • the two sets of determinations enable system 20 to determine runout-compensated thrust angle of vehicle 24 whereby, as discussed in more detail below, a target 32 on target adjustment stand 26 may be positioned into a desired orientation for calibration of one or more sensors on vehicle 24.
  • the first positon of vehicle 24 on lift 22 is longitudinally behind turning plates 46 on runways 42, and the second position of vehicle 24 on lift 22 is longitudinally in front of turning plates 46, with the distance between the first and second positions resulting in approximately a one -half rotation or 180 degrees of rotation of the tire and wheel assemblies 30.
  • vehicle 24 may then be put into a third or adjustment or alignment position in which the front or forward or steering tire and wheel assemblies 30 are disposed on the turning plates 46, as shown in FIG. 4.
  • the four sets of sensors 28 are again moved along rails 50 so as to be disposed adjacent to or aligned with each of the four tire and wheel assemblies 30 in the alignment position.
  • float plates 46 upon which the steerable tire and wheel assemblies 30 of vehicle 24 are located such as the front wheels of the vehicle 24 in the illustrated embodiment, conventionally allows the steerable tire and wheel assemblies 30 to be turned left and right, such as in performing a conventional sweep for measuring caster angle.
  • a conventional steering wheel level (not shown) may be installed to vehicle 24, along with a conventional steering wheel retainer (not shown), so as to set and maintain a centered orientation for the steering wheel.
  • the second position may be on the float plates 46.
  • the vehicle may be moved a known amount or, based on a known tire size, the amount of rotation of the tire and wheel assemblies 32 can be determined for the runout-compensation calculation. It should be appreciated that alternatively the orientation of the wheel assemblies 30 may be measured at a single position if runout-compensated values are not required, or may be measured at more than two positions.
  • Lift 22 may then be extended into a raised or elevated position or orientation, such as shown in FIG. 5, whereby operator 38 is readily able to access the underside of vehicle 24 between lift assemblies 48 so as to be able to adjust the alignment of the tire and wheel assemblies 30 as needed.
  • This includes, for example, adjusting the toe and camber of the tire and wheel assemblies 30 on each side of vehicle 24, such as by adjusting tie rods.
  • computers 54 and/or 56 may include a screen for displaying a graphical representation of the alignment parameters, such as toe and camber, during alignment adjustment, with sensors 28 providing continuous determinations during adjustment as feedback to the operator 38.
  • Computers 54 and/or 56 may include an alignment program for graphically aiding operator 38 in the process of adjusting the alignment, as well as for recording the alignment results and final alignment settings.
  • the fender height or ride height of vehicle 24 may also be obtained using sensors 28, where height measurements may be used in determining the ADAS sensor heights on the vehicle.
  • the ADAS sensors being calibrated are disposed at a predetermined position on the vehicle relative to the vehicle assembly, such as relative to portions of the vehicle body and as established during assembly of the vehicle.
  • system 20 may then be able to determine the sensor height of the ADAS sensors based on the known location of the vehicle sensor on the vehicle 24, with that information in turn being used to position the target 32 relative to the vehicle sensor 34 being calibrated, as discussed in more detail below.
  • the cameras of sensors 28 may be used to measure the fender height, such as via conventional object recognition operations.
  • fender height determination may additionally be based on known geometric characteristics of the vehicle make and model, such as the mounting of the body relative to the frame or suspension components as is conventionally known.
  • Sensors 28 may additionally be adjustable vertically relative to runways 42, such as via an actuator to raise or lower sensors 28 to accommodate the measuring of differing fender heights.
  • one or more separate cameras may be used to measure the fender height, such as a camera positioned at or adjacent each sensor 28.
  • a separate sensor for measuring fender height such a sensor may be configured as a vertically adjustable camera, where the camera is mounted to a vertically oriented stand or tree and is movable along the stand such as via an actuator or the like.
  • the moveable or adjustable mounting of sensors 28 on lift 22 enables use of system 20 with vehicles of differing sizes, including both wheelbase length and width.
  • longitudinal adjustment of sensors 28 disposed by the rear wheel assemblies 30 enables use of system 20 with differing length vehicles when the front wheel assemblies 30 are positioned on the float plates 46.
  • Sensors 28 are thus operable to measure the alignment of wheel assemblies 30, and as noted are additionally operable for use in determining the orientation of vehicle 24 on lift 22, such as relative to runways 42, and including both laterally and longitudinally on runways 42, as well as vertically via the fender height determination. This includes, for example, determining the vertical center plane of the vehicle 24.
  • sensors 28 are disposed in a known geometric orientation relative to each other and about runways 42.
  • a controller of system 20 such as controller 54, is able to determine the vertical center plane of the vehicle 24, which is defined as a vertically oriented plane passing through the center of the vehicle 24.
  • a lateral center point of a target 32 may be aligned coincident with the vehicle’s ADAS sensors with respect to the vertical center plane.
  • a controller such as controller 54 or 56 as discussed below, issues control signals for controlling the driven motion of target adjustment frame 26 to which a target, such as target panel 32, may be mounted such that the target panel 32 is aligned to the relevant vehicle ADAS sensors.
  • the target 32 can be positioned in the three dimensional coordinate system so to be in a predetermined orientation relative to the sensor 34 of vehicle 24.
  • the target 32 may be positioned relative to the vehicle 24 and sensor 30 longitudinally, laterally and rotationally about a vertical axis based on specifications for a calibration procedure, such as based on OEM calibration specifications.
  • controllers 54 or 56 are additionally operable to provide instructions to operator 38, as well as position and operate sensors 28 to obtain the orientations of wheel assemblies 30 as well as the orientation of vehicle 24 on lift 22.
  • Controllers 54 and/or 56 may have programs or stored in memory operational instructions for a given vehicle based on make and model, as well as based on equipped sensors, or may receive information via a remote computer, such as a remote server, via an Internet connection.
  • target frame 26 is positioned relative to vehicle 24 on lift 22 when lift 22 is in its lowered orientation whereby calibration of the sensors 34 on vehicle 24 may be performed, such as in accordance with OEM specifications.
  • Calibration of sensors 34 on vehicle 24 requires positioning of targets 32 relative to sensors 34 in order to perform a calibration operation, such as in accordance with OEM specifications. Accordingly, upon determining the orientation of vehicle 24 on lift 22, the position of target frame 26 may be adjusted, as discussed below.
  • target adjustment frame 26 is positioned on rails 36a, 36b for longitudinal movement relative to lift 22 and vehicle 24, where frame 26 is in a known orientation relative to lift 22 whereby targets 32 may be positioned relative to vehicle 24, and thereby sensors 34, with vehicle 24 in a known, determined position on runways 42 of lift 22.
  • base frame 60 of target frame 26 is in a known orientation relative to lift 22, whereby based on a determination of the orientation or position of vehicle 24 on lift 22, the orientation of vehicle 24 to target frame 26 is thus determined.
  • vehicle target frame 26 is adjustable longitudinally along rails 36a, 36b to obtain a first, initial or gross orientation of target frame 26, and hence a target 32 mounted thereto, relative to vehicle 24 on lift 22 when lift 22 is in the lowered orientation.
  • a base frame 60 of target frame 26 is mounted for movement along rails 36a, 36b.
  • Target frame 26 may be both manually moveable along rails 36a, 36b via operator 38 pushing on handle 62, as well as automatically adjustable along rails 36a, 36b, such as via a one or more rail actuators, chain drive, pulley system or the like.
  • Target frame 26 may additionally be secured to rails 36a, 36b, such as by a manual lock 64, so as to retain base frame 60 in a rough initial position, such as upon manual movement by operator 38 based on directions provided via controller 54 and/or 56.
  • target frame 26 is additionally moveable longitudinally in a more precise or fine orientation, as well as laterally with respect to the vehicle 24, and vertically, as well as rotationally about the vertical axis.
  • target frame 26 is substantially similar to the target frame disclosed in co-pending U.S. patent application sr. no. 16/398,404, U.S. Pub. No. 2019/0331482A1, which is incorporated herein by reference in its entirety, including with respect to the construction, operation and use of the target frame, but with a difference being the omission of imager housings disclosed in U.S. patent application sr. no. 16/398,404.
  • target adjustment frame 26 movably supports target 32 and includes controller 66.
  • base frame 60 of target adjustment frame 26 is generally rectangular with various frame members and includes wheels 68 for riding on rail 36a and includes a linear slide 70 for riding on rail 36b, with wheels 68 and slide 70 mounted to frame 60.
  • base frame 60 need not include wheels 68 and/or slide 70 such as, for example, in embodiments in which base frame 60 is movable along rails 36a, 36b by a rail actuator.
  • Rails 36a, 36b may be set during installation or adjustable to be level, and/or the sliding connection of base frame 60 with rails 36a, 36b may be adjustable for controlling of level movement, with rails 36a, 36b being in a fixed arrangement relative to lift 22 such that the orientation or position of base frame 60 relative to lift 22 is known.
  • Target adjustment frame 24 further includes a base member 72 that is moveable forwards and backwards via an actuator 74 along an X-axis, where base member 72 is mounted for sliding movement in rails 76 of base frame 60 and the X-axis is thus parallel to rails 76 for movement longitudinally relative to vehicle 24 when in the orientation of FIG. 2.
  • a tower assembly 78 is rotatably mounted to base member 72 via a bearing (not shown). The pivoting or rotatable mounting on base member 72 enables tower assembly 78 to be rotated about the vertical or Z-axis by way of actuator 80, as well as translated or moved longitudinally by actuator 74 via movement of base member 72.
  • Tower assembly 78 in turn includes an upright frame member configured as a vertically oriented tower 82 with vertically oriented rails 84, with a target support assembly 86 being mounted to rails 84 whereby the assembly 86 is moveable up and down in the vertical or Z- axis, where assembly 86 is moveable by way of actuator 88.
  • Target support assembly 86 is mounted to rails 84 for vertical movement, with a target mount 90 in turn being mounted to horizontal rail 92.
  • Target mount 90 is configured to hold target 32 and is horizontally moveable along rail 92 by way of actuator 94, with target mount 90 including various pegs and/or cutouts for supporting targets when targets are selectively removabley hung on or attached to mount 90.
  • Actuators 74, 80, 88 and 94 are operably connected, such as by control wires, with controller 66 whereby controller 66 is able to selectively activate the actuators to move their associated components of target adjustment frame 26.
  • one or more rail actuators may be employed to move the entirety of target adjustment frame 26 along rails 36a, 36b by translating movement of base frame 60 on rails 36a, 36b. It should be appreciated that various constructions or types of actuators may be used, including for actuators 174, 80, 88 and 94 for movement of the various components of target adjustment frame 26, as well as for rail actuators used to translate base frame 60 on rails 36a, 36b.
  • actuators 74, 80, 88 and 94 are constructed as electrical linear actuators.
  • the actuators may be constructed as geared tracks, adjustment screws, hydraulic or pneumatic piston actuators, or the like.
  • alternative arrangements of target adjustment frame and actuators may be employed for positioning of a target within the scope of the present invention.
  • base member 72 may be configured for lateral movement relative to base frame 60 and/or tower 78 may be configured for lateral movement relative to base member 72.
  • system 20 may need not include actuator 72 for providing fine adjustment of the lateral position of base member 72 along rails 76.
  • System 20 may additionally include distance sensors, such as time-of-flight sensors, for monitoring and/or controlling the distance of target frame 26 to lift 22.
  • distance sensors such as time-of-flight sensors
  • laterally separated plates 96 may be provided on base frame 60 for use with distance sensors 98 (FIG. 13) configured as time-of-flight (“ToF”) sensors on lift 22, where in particular plates 96 are mounted to panels that rotate about the vertical axis with tower 82.
  • ToF time-of-flight
  • controllers 54 or 56 may provide instructions to operator 38 as to what specific target 32 to mount to target mount 90 for a given vehicle sensor 34 that is to be calibrated.
  • Each target 32 may be provided with a radio-frequency identification (“RFID”) tag and the operating program of system 20 may require confirmation that a correct target is selected.
  • RFID radio-frequency identification
  • operator 38 may use controller 56, or a handheld scanner or the like that is interfaced with controller 54 and/or 56, to scan the target 32 to confirm selection of the correct target 32 for calibration of a particular sensor 34 of vehicle 24. As understood from FIG. 8, operator 38 then hangs target 32 on target mount 90 with target frame 26 in an initial position.
  • System 20 may then provide instructions to operator 38 to position the target frame 26 into a rough orientation relative to lift 22, such as shown in FIG. 9.
  • controllers 54 or 56 may provide instructions to operator 38 to manually move target frame 26 along rails 36a, 36b via handle 62 and to then fix target frame 26 into position via lock 64. This positioning may be confirmed via distance sensors 98.
  • controllers 54 or 56 may then provide signals to controller 66 for precisely adjusting the target 32 via actuators 74, 80, 88 and 94 so as to orient the target 32 relative to the sensor 34 based on the predetermined orientation or position of vehicle 24 on lift 22 as determined via sensors 28, including based on the known and defined orientation of lift 22 to target frame 26, and the defined position of target 32 for the position of the ADAS sensor 34 on vehicle 24, such as based on OEM calibration procedures.
  • controller 54 may transmit wheel alignment and vehicle orientation information to a remote computer, such as to a remote server via an Internet connection, along with vehicle information regarding the vehicle under test, with the remote computer in turn transmitting position information instructions to controller 66 to position target 32 via actuators 74, 80, 88 and 94, and including actuators for moving target frame 26 along rails 36a, 36b.
  • a calibration procedure or program may be initiated and run. For example, via the connection with the diagnostic port of vehicle 24, one or more vehicle computers may be initiated to perform a calibration routine that is set and supplied by the OEM whereby the sensor becomes calibrated for use with the vehicle 24.
  • system 20 is also operable for use in checking and adjusting the orientation of projecting lights on vehicle 24, such as headlights 114, running lights and/or fog lights, and the like, which operation is discussed with reference to FIGS. 10-12.
  • a light or headlight aimer sensor 40 is mounted to target frame 26, and in particular shown mounted to target mount 90. Headlight aimer sensor 40 may be used in connection with system 20 for use in the alignment of lights of vehicle 24 when vehicle 24 is on lift 22, such as headlights, fog lights and the like.
  • headlight aimer sensor 40 includes a Fresnel lens 102 mounted at the front of housing 104 with an internal imaging plate or projection surface 106 disposed at the back of housing 104, along with an internal digital imager or camera 108.
  • Camera 108 is connectable via a wire or cable to controller 66 or controllers 54 and/or 56 whereby images obtained by camera 108 may be projected for viewing, such as by operator 38 on a monitor associated with controller 54 or 56.
  • cable 110 is configured as a power over Ethernet cable.
  • Housing 104 further includes rear mounting brackets, with spaced apart mounting pegs or pins 112 that are used to supportively hang sensor 40 to target mount 90, such as within correspondingly spaced detents on target mount 90.
  • Headlight aimer sensor 40 may further include a handle on top of housing 104 to aid in carrying sensor 40, as well as in hanging and removing sensor 40 to and from target mount 90.
  • the specifics of vehicle 24 are obtained, such as by reading out of the on board diagnostic port of vehicle 24, such as to obtain the make, model and year of vehicle 24, which may as well include obtaining information regarding additional details regarding vehicle 24, such as configuration information regarding vehicle 24 as to lights on vehicle 24 in addition to specifics of ADAS sensors.
  • an operator 38 may enter information regarding vehicle 24 into system 20, such as into computer 54 and/or 56.
  • target frame 26 is able to selectively position headlight aimer sensor 40 directly in front of lights of vehicle 24 for alignment purposes, such as in front of each of the headlights 114 of vehicle 24 with lift 22 in the lowered orientation for determining the projection orientation of the headlight 114 and adjusting as necessary, such as in the case of a vehicle 24 that has been in a collision where the headlights have been replaced.
  • target frame 26 may be initially longitudinally moved along rails 36a, 36b so as to move headlight aimer sensor 40 to be in an approximate longitudinal distance from the headlights 114 of vehicle 24, such as by manually moving target frame 26 along rails 36a, 36b and then locking base frame 60 relative to rails 36a, 36b.
  • Target frame 26 may then automatically accurately position headlight aimer sensor 40 by way of actuators 74, 80, 88 and 94.
  • a headlight 114 of vehicle 24 projecting through Fresnel lens 102 camera 108 detects the image projected onto projection surface 106, with the camera image in turn being displayed to operator 38 on a monitor.
  • the displayed image may include a grid for measuring the height and/or side position of the headlight 114 relative to the vehicle 24 for aiding the operator 38 to accurately and correctly adjust the physical orientation of the headlight 114 of the vehicle 24 both with regard to the proper height and horizontal or side projection orientation.
  • target frame 26 may automatically position headlight aimer sensor 114 in front of the opposite side headlight 114 of vehicle 24 for subsequent adjustment of that headlight.
  • headlight aimer sensor 40 may be utilized with alternative systems employing target frame 26.
  • headlight aimer sensor 40 may be used with the system described and disclosed in U.S. Pub. App. No. 2019/0331482A1 of application serial no. 16/398,404, which is incorporated herein by reference in its entirety.
  • headlight aimer sensor 40 may be used with yet further embodiments and configurations of target frame 26, which is configured to moveably position targets, such as headlight aimer sensor 40, into a desired orientation relative to a vehicle 24.
  • operator 38 may receive instructions from controller 54 and/or 56, as well as provide input signals to system 20 via controller 54 and/or 56, such as to confirm that the target frame 26 has been oriented into an initial position and to initiate precise positioning of a target, such as a target 32 or target 40, via controller 66 of target frame 26 by actuators 74, 80, 88 and 94.
  • remote processing may be employed via a remote computer, such as a remote server connected via the Internet.
  • flexible power and communication connections are provided with respect to sensors 28 on lift 22, for both movement of sensors 28 on rails 50 as well as for raising and lowering of lift 22, and as well as for movement of target frame 26 along rails 36a, 36b.
  • system 20 is additionally operable for use in checking the orientation of the frame components of vehicle 24.
  • a laser mapping system may be employed, such as supplied by Chief Automotive Technologies of Madison, Indiana.
  • a cross bar 116 is installed so as to extend between the two runways 42, with the cross bar 116 supporting a laser scanner 118.
  • targets, such as target 120 shown in FIG. 13, are additionally hung from structural components of vehicle 24, such as frame components disposed about the vehicle 24.
  • Laser scanner 118 is then used to map the vertical orientation of the structural components on the underside of vehicle 24, such as to determine if any frame straightening operations are required, or if such operations were successfully performed.
  • a MERIDIAN LIVE MAPPING system with GALILEO scanner supplied by Chief Automotive Technologies is employed. It should be appreciated, however, that alternative such systems may be utilized. Still further, the ride height of vehicle 22 may be determined based on the use of other sensors, such as a laser mapping system supplied by Chief Automotive Technologies.
  • Controller 54 may additionally be used for storing the records of calibration and alignment results, including for ADAS sensors 34 and headlight aiming determinations, as well as wheel and tire assembly 30 alignment and frame alignment measuring. Such records may be kept, such as by VIN number, as confirmation of accurate settings. Still further, controllers 54 and/or 56 may be used by operator 38 for controlling setup, entering data regarding vehicle 24, initiating calibration procedures, initiating system 20 to provide signals to controller 66 for precise positioning of target mount 90, raising and lowering lift 22, and the like, as well as to control positioning of sensors 28 along rails 50 and positioning of target frame 26 along rails 36a, 36b. And as noted, system 20 may provide instructions to operator 38 via controllers 54 and/or 56.
  • a computer system comprising computers 54, 56 and controller 66 is operable to determine the orientation of the vehicle 24 based on information from sensors 28, and to selectively actuate the actuators of target frame 26 to position the target mount 90.
  • the computer system may further include or comprise a remote computer, such as a remote server, accessible via an Internet connection.
  • the orientation of lift 22 relative to target frame 26 is important to the accurate positioning of a target 32 relative to ADAS sensors 34 on vehicle 24 when vehicle 24 is disposed on runways 42 of lift 22. Sensors 28 therefore may be calibrated such that their position relative to lift 22 is known, including for example such as relative to runways 42. Accordingly, one or more calibration gauges may be employed to calibrate the orientation of the sensors 28 relative to the lift 22, such as calibrating the coordinate system of the sensors 28 to the runways 42. For example, one or more calibration gauges having a known geometry may be secured to runways 42 in a known orientation on runways 42.
  • Sensors 28 may then be activated in a calibration procedure whereby the spatial orientation of the gauges is detected and subsequently used for determining the orientation of a vehicle 24 on runways 42 based on the measured orientation of the wheel assemblies 30.
  • Such calibration gauges may be sized to provide a surface upon which the light patterns projected by sensors 28 may be projected, where the surface is of a known configuration, such as flat, and as noted with the gauges in a known orientation on runways 42, such as square to runways 42 at a known depth from an edge of runways 42.
  • Separate such gauges may be positioned in front of each pair of sensors 28 simultaneously, or a single such gauge may be employed that is selectively located in front of each sensor 28.
  • alternative means of calibrating sensors 28, including relative to lift 22 may be employed.
  • system 20 may be employed within the scope of the present invention.
  • each sensor 28 movably mounted via rails 50
  • alternative structure and arrangements may be used to provide for adjustment of positioning of sensors 28 on lift 22.
  • system 20 may alternatively not require lateral adjustment of sensors 28.
  • targets such as target panel 32 and headlight aiming sensor 40 on target mount 90
  • targets may be supported by target frame 26.
  • targets may be affixed to a front framework of target frame 26 for positioning a horizontally disposed mat target along the floor surface.
  • a system in accordance with the present invention may not include or employ a lift for the vehicle.
  • the non-contact wheel alignment sensors may still be employed to obtain the wheel assembly orientations as well as the vehicle orientation, with such information being used to accurately position target frame 24 and a target mounted thereto relative to the ADAS sensors of the vehicle.
  • an operator 38 would not be able to adjust the alignment of the wheel assemblies 30 from underneath the vehicle 24 while standing at the same level as the target frame 26.
  • Such an arrangement could, however, be used in the case of a facility in which a pit is provided whereby an operator 38 could adjust the alignment of the wheel assemblies while positioned in the pit.
  • an operator 38 may perform various steps and checks in different orders than as discussed herein, such as checking headlight aim orientation prior to calibration of ADAS sensors.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un système et un procédé d'alignement d'une cible (32) ou d'un capteur de lumière (40) sur un véhicule (24) pour l'étalonnage d'un capteur (34) ou l'alignement d'une lumière (114) sur le véhicule (24) comprenant de multiples capteurs d'alignement de roue sans contact (28) destinés à être utilisés pour déterminer l'orientation du véhicule (24). Un châssis de réglage de cible (26) comprend un support de cible (90) monté mobile sur un châssis de base (60), et de multiples actionneurs (74, 80, 88, 94) configurés pour déplacer sélectivement le support de cible (90) par rapport au châssis de base (60), le châssis de base (60) étant dans une orientation connue. Un système informatique actionne sélectivement les actionneurs pour positionner une cible (32) ou un capteur de lumière (40) par rapport au véhicule (24), le support de cible (90) étant mobile autour d'une pluralité d'axes sur la base de la détermination de l'orientation du véhicule (24) par rapport au châssis de réglage de cible (26).
EP20836603.9A 2019-07-11 2020-07-11 Alignement de véhicule et système d'étalonnage de capteur Withdrawn EP3997415A1 (fr)

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US201962872908P 2019-07-11 2019-07-11
US202063040083P 2020-06-17 2020-06-17
PCT/IB2020/056533 WO2021005578A1 (fr) 2019-07-11 2020-07-11 Alignement de véhicule et système d'étalonnage de capteur

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JP (1) JP7566865B2 (fr)
KR (1) KR20220032093A (fr)
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AU (1) AU2020309243A1 (fr)
CA (1) CA3146507A1 (fr)
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JP7566865B2 (ja) 2024-10-15
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AU2020309243A1 (en) 2022-02-17
CN114270136A (zh) 2022-04-01
CA3146507A1 (fr) 2021-01-14
CN114270136B (zh) 2024-10-25

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