JP2003097915A - Device and system for measuring behavior of wheel and device for analyzing state of wheel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure displacements of six degrees of freedom which are the toe angle, the camber angle, the castor angle, the up/down displacement, the front/rear displacement and the left/right displacement, without being in contact with a wheel. SOLUTION: The system is provided with LED lamps 2 which are mounted on an inner side surface 1b of the wheel 1, at least two CCD cameras 4A, 4B which are mounted on a car body or a chassis frame so as to be opposite to the LED lamps 2 and stereoscopically photograph the LED lamps 2 in at least two directions, and a behavior measuring/processing device 10 which receives a photographed image of the LED lamps 2 photographed by the CCD cameras 4A, 4B as image data directly or through a data recorder, calculates three- dimensional positional information of each LED lamp 2 from the image data and computes the angular displacement and/or the translational displacement of the wheel to be measured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wheel behavior measuring device and system for measuring the behavior of a wheel when the vehicle is running.
In addition, the present invention relates to a wheel state analysis device that analyzes the state of the wheel when the vehicle is traveling from the static and dynamic characteristics of the wheel.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication (Kokai) No. 8-184430 discloses a wheel alignment, which is directly attached to an outer surface of a wheel and supported by a vehicle body. The wheel alignment includes toe angle displacement, camber angle displacement, lateral displacement, longitudinal displacement, and vertical displacement. A measuring device capable of measuring displacement with five degrees of freedom is disclosed.

[0003]

However, since the above-mentioned measuring device is directly attached to the wheel, it is insufficient in that the movement of the wheel is considerably affected.

Further, since the structure is attached to the outer surface of the wheel, other measuring devices cannot be attached at the same time for measurement. For example, the external force acting on the wheel when the vehicle is running and the behavior of the wheel are simultaneously measured. However, it is insufficient in that the result of associating both data cannot be obtained.

The present invention has been made in view of the above problems, and an object of the present invention is to contact a wheel, toe angle, camber angle,
(EN) A wheel behavior measuring device capable of measuring a 6-degree-of-freedom displacement such as a caster angle, a vertical displacement, a longitudinal displacement, and a lateral displacement, and a wheel state analyzing device.

[0006]

In order to solve the above-mentioned problems and to achieve the object, a wheel behavior measuring device of the present invention is a wheel behavior measuring device for measuring the behavior of a wheel when a vehicle is traveling, Based on a plurality of objects to be imaged attached to the inner surface of the wheel, at least two imaging means attached to the vehicle body to image the objects to be imaged, and image data relating to the objects to be imaged captured by the imaging means. And a behavior measuring unit that obtains three-dimensional position information of the object to be imaged and calculates angular displacement and / or translational displacement of the wheel.

Preferably, at the time of measuring the toe angle of the wheels, at least two of the objects to be imaged are mounted along the front-rear direction of the vehicle body so as to be substantially horizontal to the vehicle body.

Further, preferably, at the time of measuring the toe angle of the wheel, at least two of the objects to be imaged are arranged in the front-rear direction of the vehicle body so as to be substantially horizontal with respect to the vehicle body when the suspension makes a predetermined stroke. Mounted along.

Further, preferably, at the time of measuring the camber angle of the wheels, at least two of the objects to be imaged are mounted so as to be substantially vertical to the vehicle body.

Further, preferably, the other object to be imaged fixed to one of the image pickup means is imaged by the other of the image pickup means together with the object to be imaged attached to the inner surface of the wheel, and each of the image pickup means Relative position displacement measuring means for measuring relative position displacement, and when the relative position displacement measured by the relative position displacement measuring means exceeds a predetermined value, the relative position displacement is measured in a state of exceeding a predetermined value. An abnormality determination means for determining the angular displacement and / or the translational displacement of the wheel as an abnormal value is further provided.

Further, preferably, a wheel-side mounting member is provided, in which the plurality of objects to be imaged are arranged on the same plane of the same member and mounted on the inner surface of the wheel.

Further, preferably, at least two of the image pickup means are attached to the vehicle body through the same vehicle body side attachment member.

Further, preferably, at least three objects to be imaged are provided, and the measuring means calculates a plane where each of the objects to be imaged exists from the three-dimensional position information of the object to be imaged, and when the vehicle travels. The angular displacement and translational displacement of the wheel are simultaneously measured from the generated normal vector displacement of the plane and the displacement of the center of gravity of the plane.

Further, preferably, the plane in which the object to be imaged is calculated by the measuring means is calculated by the least square method using the three-dimensional position information of at least four objects to be imaged.

Further, preferably, the at least two image pickup means are arranged so that an angle formed by the central axes of the respective image pickup means is substantially a right angle with one object to be imaged as an intersection.

Further, preferably, a distance correction means for correcting the focal length of the image pickup means or the relative distance between the image pickup means and the object to be picked up based on the change rate of the vehicle speed and the change rate of the steering rudder angle which are predicted in advance. Is further provided.

The vehicle behavior measuring system of the present invention is a wheel behavior measuring system for measuring the behavior of a wheel when the vehicle is traveling, and is a vehicle behavior measuring system which is mounted on a vehicle body and a plurality of objects to be imaged. At least two image pickup devices for picking up the image pickup object and three-dimensional position information of the image pickup object are calculated based on the image data of the image pickup object taken by the image pickup device, and the behavior of the wheel. A behavior measurement device that measures data, an external force measurement device that is attached to the outer surface of a wheel and measures external force data that acts on the wheel, a behavior data that is obtained by the behavior measurement device, and an external force data that is obtained by the external force measurement device at the same time. And a data analysis processing device for measuring and associating both data.

The vehicle state analyzing apparatus of the present invention is a wheel state analyzing apparatus for analyzing the state of a wheel when the vehicle is running from the static and dynamic characteristics of the wheel, and the dynamic state of the wheel obtained by an actual running test. Dynamic data input means for inputting characteristic data, static data input means for inputting static characteristic data of wheels obtained by a non-driving test, design data input means for inputting design data of a vehicle, and each of the inputs It is provided with an analyzing means for comparing at least two data of the means to analyze the state of the wheel, and an output means for outputting the analysis result by the analyzing means.

Further, preferably, the analysis result is output to a simulation device for evaluating the dynamic performance of the vehicle and reflected as a characteristic parameter of the simulation device.

[0020]

As described above, according to the first aspect of the invention, the three-dimensional position information of the object to be imaged is obtained based on the image data of the object to be imaged captured by the image pickup means.
By calculating the angular displacement and / or translational displacement of the wheel, the toe angle, camber angle,
Caster angle, vertical displacement, longitudinal displacement, and lateral displacement of 6 degrees of freedom can be measured.

According to the second aspect of the present invention, at the time of measuring the toe angle of the wheels, at least two objects to be imaged are mounted along the front-rear direction of the vehicle body so as to be substantially horizontal to the vehicle body. Thereby, the measurement accuracy of the toe angle displacement can be improved.

According to the third aspect of the present invention, at the time of measuring the toe angle of the wheels, at least two of the objects to be imaged are placed substantially horizontally with respect to the vehicle body when the suspension makes a predetermined stroke. By being attached along the front-rear direction, the measurement accuracy of the toe angle displacement can be improved.

According to the fourth aspect of the present invention, at the time of measuring the camber angle of the wheels, at least two objects to be imaged are mounted so as to be substantially vertical to the vehicle body, thereby measuring the camber angle displacement. The accuracy can be improved.

According to the invention of claim 5, another object to be imaged fixed to one of the imaging means is imaged by the other of the imaging means together with the object to be imaged attached to the inner surface of the wheel, and each imaging means When the measured relative position displacement exceeds a predetermined value while measuring the relative position displacement of the vehicle, the angular displacement and / or the translational displacement of the wheel measured with the relative position displacement exceeding the predetermined value are abnormal values. By determining that the reliability of the measurement data can be improved.

According to the sixth aspect of the present invention, the plurality of objects to be imaged are provided on the same plane of the same member and provided with the wheel side mounting member mounted on the inner side surface of the wheel. It is possible to reduce the error and displacement of the relative position of the imaged object.

According to the invention of claim 7, since at least two of the image pickup means are attached to the vehicle body through the same vehicle body side attachment member, an error in the relative position of the image pickup means due to the behavior of the wheels and The displacement can be reduced.

According to the invention of claim 8, the plane in which each of the objects to be imaged is calculated from the three-dimensional position information of at least three objects to be imaged, and the normal vector of the plane generated as the vehicle travels. The measurement error can be reduced by simultaneously measuring the angular displacement and the translational displacement of the wheel from the displacement and the displacement of the center of gravity of the plane.

According to the ninth aspect of the present invention, the plane of the object to be imaged is calculated by the least squares method using the three-dimensional position information of at least four objects to be imaged, thereby reducing the measurement error. can do.

According to the invention of claim 10, at least 2
By disposing the one image pickup unit such that the center axis of each image pickup unit makes a substantially right angle with one object to be imaged as an intersection, it is possible to reduce a measurement error in the line-of-sight direction of the image pickup unit.

According to the invention of claim 11, the focal length of the image pickup means or the relative distance between the image pickup means and the object to be imaged is corrected based on the predicted change rate of the vehicle speed and the change rate of the steering angle. Therefore, the measurement error can be reduced.

According to the twelfth aspect of the present invention, it is possible to construct a system in which the behavior data obtained by the behavior measurement device and the external force data obtained by the external force measurement device can be simultaneously measured, and both data can be associated with each other. It is possible to obtain high results.

According to the thirteenth aspect of the present invention, at least two of the wheel dynamic characteristic data obtained by the actual running test, the wheel static characteristic data obtained by the non-running test, and the vehicle design data are included. By comparing the above, and by analyzing the state of the wheel and outputting the analysis result, it is possible to evaluate the dynamic characteristics for the wheel behavior in the transient region.

According to the invention of claim 14, the analysis result is
It is output to a simulation device that evaluates the dynamic performance of the vehicle, and is reflected as a characteristic parameter of the simulation device to build a simulation model that includes dynamic characteristic data in addition to static characteristic data and design data. Or, the validity can be evaluated.

[0034]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The embodiments described below are examples as means for realizing the present invention, and the present invention can be applied to modifications or variations of the following embodiments without departing from the spirit of the present invention. .

FIG. 1 is a schematic diagram of a wheel behavior measuring device according to an embodiment of the present invention.

The wheel behavior measuring device of the present embodiment is a device for measuring the behavior of the wheels when the vehicle is running in an actual running test performed by actually running the vehicle.

The apparatus is provided with a plurality of markers or LED lamps 2 as objects to be imaged, which are attached to the inner side surface 1b of the wheel 1 (for example, the inner side surface of the axle housing) and the LED lamps 2 facing each other. At least two that are mounted on the vehicle body or chassis frame shown in the figure and image the LED lamp 2 in at least two directions in stereo
CCD cameras 4A and 4B as one image pickup means, and captured images of the LED lamps 2 captured by these CCD cameras 4A and 4B are directly or as image data from a data recorder or the like, and each LED is extracted from the image data.
A behavior measurement processing device 10 as a behavior measurement unit that obtains three-dimensional position information of the ramp 2 and calculates an angular displacement and / or a translational displacement of a wheel to be measured.

Angle (rotation) measured as the behavior of the wheel
The displacements are the toe angle, the camber angle, and the caster angle of the wheel. The toe angle is the rotational displacement about the Z axis shown in FIG. 2, the camber angle is the rotational displacement about the Y axis, and the caster angle is The rotation displacement is about the Z axis. Also,
The translational displacement is defined by three axes orthogonal to each other as shown in FIG. 2, which are the vertical (Z-axis) direction, the front-back (Y-axis) direction, and the horizontal (X-axis).
It is the displacement excluding the rotation component along the (axis) direction.

That is, the wheel behavior measuring device of this embodiment is
By photographing the displacement of the LED lamp 2 caused by the behavior of the wheel 1 by the CCD cameras 4A and 4B in a non-contact state, a total of 6 degrees of freedom of the toe angle, the camber angle, the caster angle, the vertical displacement, the longitudinal displacement, and the lateral displacement. Can measure the displacement of the wheels.

FIGS. 3 and 4 show the arrangement of the LED lamps 2 when measuring the toe angle of the wheel. At the time of measuring the toe angle of the wheel, the suspension arm moves the stroke center P.
When the position 3A which has not been stroked around 0 is moved to the position 3B which is stroked by a predetermined amount θ, at least two LED lamps 2A and 2B have a positional relationship P1 which is substantially horizontal with respect to the vertical direction of the vehicle body. It is attached along the front-back direction of the vehicle body. Due to the above layout, LE
D2 becomes substantially horizontal with respect to the vertical direction of the vehicle body when the suspension strokes by a predetermined amount, so that the measurement accuracy of the toe angle displacement, which is the rotational displacement around the Z axis shown in FIG. 2, can be improved.

FIG. 5 shows the arrangement of the LED lamps 2 when measuring the camber angle of the wheels. At the time of measuring the camber angle of the wheels, at least two LED lamps 2C and 2D are arranged in the front-rear (Y-axis) direction of the vehicle body. It is attached so as to be in a substantially vertical state (Z-axis direction). Due to the above arrangement relationship, the measurement accuracy of the camber angle displacement, which is the rotational displacement about the Y axis shown in FIG. 2, can be improved by the same action as the toe angle.

FIG. 6 shows a structure for determining the reliability of measurement data, and FIG. 7 shows a method for determining the reliability.
In one of the two CCD cameras 4B, an object 2'to be imaged such as an LED lamp is attached directly or via a bracket or the like, and the LE attached to this camera 4B is attached.
The L lamp 2'is attached to the inner surface 1b of the wheel 1
An image is taken by the other CCD camera 4A together with the ED lamp 2.

In the behavior measurement processing device 10, as shown in FIG. 7, the relative position displacement amount of each camera is calculated from the image data obtained from each CCD camera 4A, 4B as the relative position displacement measuring means, and the abnormality determining means is provided. When the relative position displacement amount exceeds the predetermined threshold value D, the measurement data regarding the angular displacement and / or the translational displacement of the wheel measured in the period T1 in which the relative position displacement amount exceeds the predetermined threshold value D is determined to be an abnormal value. To do.

FIG. 8 exemplifies the mounting structure of the LED lamp 2 on the inner side surface 1b of the wheel 1.
Is a plate-shaped wheel-side mounting member 5 having a flat surface without steps.
Are arranged on the same plane and are attached to the inner surface 1b of the wheel 1. With the above configuration, the LED 2 depending on the behavior of the wheel
It is possible to reduce the relative position error and displacement.

The CCD cameras 4A and 4B are also attached to the vehicle body or chassis frame via vehicle body side attachment members such as the same bracket (not shown). With the above configuration, it is possible to reduce the error and displacement of the relative positions of the CCD cameras 4A and 4B due to the behavior of the wheels.

As shown in FIG. 9, the two CCD cameras 4A and 4B are arranged so that the angle γ formed by the center lines (line of sight) S1 and S2 of each camera with one LED lamp 2 as an intersection is substantially right angle. The measurement error in the center line direction of the camera can be reduced in this case.

Further, in order to reduce the measurement error, FIG.
As shown in FIG. 11, the vehicle speed change rate and the steering steering angle change rate are predicted in advance by experiments and the predicted values are set as threshold values α and β, respectively, and the driving mode A is set to the threshold value α or β or less. Then, the focal lengths of the CCD cameras 4A and 4B or the relative distances L1 and L2 between the CCD cameras 4A and 4B and the LED lamp 2 are corrected to Lb and Ld, and in the driving mode B in which the thresholds α and β are exceeded, the CCD cameras 4A and 4A,
The focal length of 4B or the relative distances L1 and L2 between the CCD cameras 4A and 4B and the LED lamp 2 may be corrected to La and Lc.

In this case, for example, in the feeling evaluation test which is one of the steering stability tests, the measurement error can be reduced by bringing the camera position closer to the LED lamp position. [Method of calculating rotational displacement and translational displacement] The three-dimensional position of the LED lamp 2 is two straight lines, that is, two CCD cameras 4
Obtained as the intersection of the center lines of A and 4B, the simultaneous equations are obtained from the straight lines formed by the light point of the LED lamp 2 and the center lines (line of sight) of the two CCD cameras 4A and 4B, and the solution derived from these equations is the intersection point. 3D position information. Also, these equations are calculated from the pixel positions in the image data.

The three-dimensional coordinates (object coordinate system) of the measurement point (position of the LED lamp 2) and the position coordinates (camera coordinate system) viewed from the CCD cameras 4A and 4B are related by the following formula 1.

[0051]

[Equation 1]

The camera parameter C is determined from the known three-dimensional position information X, Y, Z of the LED lamp 2 and the camera position coordinate information Xc, Yc by using calibration. Hc is a scale factor.

The 12 unknowns as the camera parameter C are obtained by using 6 reference points, but in order to improve the calibration accuracy, they are obtained by the least squares method using 6 or more reference points.

Next, a method of calculating the normal vector by the least square method will be described.

12 and 13 are diagrams for explaining a method of calculating the plane in which each LED lamp 2 exists from the three-dimensional position information in which at least three or four LED lamps 2 in the image data exist. In the present embodiment, the angular displacement and the translational displacement of the wheel are simultaneously measured from the normal vector displacement of the plane and the displacement of the center of gravity of the plane that occur as the vehicle travels.

The plane on which the LED lamp 2 exists is
It is calculated by the least squares method using the three-dimensional position information of at least three or four LED lamps 2.

A specific calculation method will be described below.

As shown in FIG. 12, each LED lamp 2
The equation of the plane (LED plane) where is present is ax + by
Let + cz = d.

In order to obtain the toe angle, the camber angle, and the caster angle, it suffices to know the inclination of the LED plane, that is, the plane normal vector (a, b, c). If the i-th LED coordinate is (x _i , y _i , z _i ), the following Expression 2 is established.

Ax _i + by _i + cz _i = d + e _i (2) However, since (x _i , y _i , z _i ) has an error, the error e _i is included on the right side. When N LED lamps are put together, the following equation 3 is obtained, and the sum of squared errors is given by the following equation 4. In order to minimize this squared error, it is partially differentiated by A and set to zero (Equation 5 below).

[0061]

[Equation 2]

Therefore, the most appropriate normal vector of the LED plane estimated from the measurement data of the N LED coordinates can be calculated from the following equation 6.

[0063]

[Equation 3] [Wheel Behavior Analysis] A plurality of LED lamps 2 and CCD cameras 4A and 4B of the wheel behavior measuring device according to the present embodiment.
Is arranged on the inner side surface 1b of the wheel 1, so that an external force measuring device for measuring an external force acting on the wheel 1 is attached to the outer side surface 1a of the wheel 1 to perform a J-turn test or the like, thereby Wheel behavior data calculated from three-dimensional position information (wheel dynamic characteristic data obtained by an actual running test) and external force data acting on the wheel (wheel dynamic characteristic data obtained by an actual running test) It is possible to construct a system capable of simultaneously measuring and associating both data as wheel dynamic characteristic data obtained by an actual running test, and it is possible to obtain a more accurate result than the conventional one.

FIG. 14 exemplifies the measurement results of the rotational displacements of the toe angle, camber angle, and caster angle of the wheel as the behavior data, and FIG. 15 shows the vertical (Z) of the wheel as the behavior data.
The measurement results of translational displacement along the axis direction, the front-back (Y-axis) direction, and the left-right (X-axis) direction are illustrated.

Further, FIG. 16 shows the vertical (Z-axis) direction of the wheel, the front-back (Y-axis) direction, and the left-right (X-axis) of the external force data.
The measurement result of the external force (load) acting in the axial direction is illustrated.

Further, as a wheel condition analyzing device, wheel dynamic characteristic data obtained by the above-mentioned actual running test, suspension characteristic data obtained by a vibration test and the like (static characteristic data obtained by a non-running test), By comparing at least two pieces of design data of the vehicle (suspension) to analyze the behavior of the wheels and outputting the analysis results, the dynamic characteristics with respect to the behavior of the wheels in the transient region (during braking) Caster angle, transient wheel behavior of toe angle, hardness and elastic properties of rubber bush) can be evaluated.

As shown in FIG. 19, the analysis result is calculated, for example, as a toe angle that changes with time. If the integrated value of this toe angle with time is the total characteristic change, the bump characteristics (FIG. 17) and Static characteristic data such as lateral force characteristics (Fig. 18), and wheel dynamics related to other wheel behavior characteristics (Figs. 14 and 15) and external force characteristics (Fig. 16) that cannot be represented by static characteristic data. It can be separated into characteristic data.

FIG. 20 exemplifies the system block of the wheel condition analyzing device, and the data analysis processing device 21 inputs the dynamic characteristic data of the wheels, the static characteristic data and the design data of the vehicle, and from these data. The state of the wheels when the vehicle is running is analyzed and the analysis result is output. Further, this analysis result is output to the simulation device 22 for evaluating the dynamic performance of the vehicle, reflected as a characteristic parameter of the simulation device 22, and displayed on the display terminal 2.
The simulation result is output to 3 or the like.

This makes it possible to construct a simulation model including dynamic characteristic data in addition to static characteristic data and design data, or to evaluate its validity.

[Brief description of drawings]

FIG. 1 is a schematic diagram of a wheel behavior measuring device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a wheel behavior measuring device according to an embodiment of the present invention.

FIG. 3 is a diagram showing an arrangement of LED lamps when measuring a toe angle of a wheel.

FIG. 4 is a diagram showing an arrangement of LED lamps when measuring a toe angle of a wheel.

FIG. 5 is a diagram showing an arrangement of LED lamps when measuring a camber angle of a wheel.

FIG. 6 is a diagram showing a configuration for determining the reliability of measurement data.

FIG. 7 is a diagram showing a method of determining reliability of measurement data.

FIG. 8 is a diagram showing a mounting configuration of an LED lamp on a wheel.

FIG. 9 is a diagram showing a relative positional relationship between two CCD cameras.

FIG. 10 is a diagram showing a relative positional relationship between two CCD cameras.

FIG. 11 is a diagram showing a relative positional relationship between two CCD cameras.

FIG. 12 is a diagram illustrating a method of calculating a plane where each LED lamp exists from three-dimensional position information where the LED lamp exists in the image data.

FIG. 13 is a diagram illustrating a method of calculating a plane where each LED lamp exists from three-dimensional position information where the LED lamp exists in the image data.

FIG. 14 is a diagram showing measurement results of rotational displacements of a wheel toe angle, a camber angle, and a caster angle as behavior data.

FIG. 15 is a vertical (Z-axis) direction of wheels as behavior data,
It is a figure which shows the measurement result of the translational displacement along the front-back (Y-axis) direction and the left-right (X-axis) direction.

FIG. 16 is a vertical (Z-axis) direction of a wheel as external force data,
It is a figure which shows the measurement result of the external force (load) which acts on front-back (Y-axis) direction and left-right (X-axis) direction.

FIG. 17 is a diagram showing a measurement result of suspension bump characteristics as static characteristic data.

FIG. 18 is a diagram showing a measurement result of a lateral force characteristic of a suspension as static characteristic data.

FIG. 19 shows dynamic characteristic data and static characteristic data of wheels,
It is a figure which shows the analysis result which analyzed the behavior of the wheel by comparing at least 2 of the design data of a vehicle.

FIG. 20 is a diagram showing a system block of the wheel condition analyzing device of the present embodiment.

[Explanation of symbols]

1 wheel 2 LED lamp 3 suspension arms 4A, 4B CCD camera 5 Wheel side mounting member 10 Behavior measurement processing device 21 Data analysis processor 22 Simulation device 23 Display terminal

Continued front page    (72) Inventor Yo Koizumi             3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda             Within the corporation (72) Inventor Naoki Yamada             3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda             Within the corporation F term (reference) 2F065 AA04 AA09 AA31 BB27 BB29                       CC12 FF05 JJ03 JJ05 JJ07                       JJ26 QQ18 QQ24 QQ25

Claims (14)

[Claims] 1. A wheel behavior measuring device for measuring the behavior of a wheel while the vehicle is traveling, comprising: a plurality of objects to be imaged attached to an inner surface of the wheel; and an object to be imaged attached to a vehicle body. Three-dimensional position information of the object to be imaged is obtained based on at least two image capturing means and image data of the object to be imaged captured by the image capturing means, and angular displacement and / or translational displacement of the wheel is calculated. A wheel behavior measuring device comprising: a behavior measuring means. 2. When measuring the toe angle of a wheel, at least two of the objects to be imaged are mounted along the front-rear direction of the vehicle body so as to be substantially horizontal to the vehicle body. Item 1. The wheel behavior measuring device according to Item 1. 3. When measuring the toe angle of a wheel, at least two of the objects to be imaged are placed substantially horizontally with respect to the vehicle body when the suspension makes a predetermined stroke.
The wheel behavior measuring device according to claim 1, wherein the wheel behavior measuring device is mounted along the front-rear direction of the vehicle body. 4. The at least two objects to be imaged are mounted so as to be substantially vertical to the vehicle body when measuring the camber angle of the wheels.
The wheel behavior measuring device described in 1. 5. The other object to be imaged fixed to one of the imaging means is imaged by the other of the imaging means together with the object to be imaged attached to the inner surface of the wheel, and the relative position displacement of each imaging means. And relative position displacement measuring means for measuring the relative position displacement measured by the relative position displacement measuring means exceeds a predetermined value, the angle of the wheel measured in a state where the relative position displacement exceeds a predetermined value The wheel behavior measuring device according to claim 1, further comprising an abnormality determining unit that determines the displacement and / or the translational displacement as an abnormal value. 6. The wheel behavior measurement according to claim 1, further comprising a wheel-side mounting member in which the plurality of objects to be imaged are arranged on the same plane of the same member and mounted on the inner surface of the wheel. apparatus. 7. The wheel behavior measuring device according to claim 1, wherein at least two of the imaging means are attached to the vehicle body via the same vehicle body side attachment member. 8. At least three objects to be imaged are provided, wherein the measuring means calculates a plane on which each of the objects to be imaged exists from three-dimensional position information of the object to be imaged, and the plane is generated as the vehicle travels. The wheel behavior measuring device according to claim 1, wherein the angular displacement and the translational displacement of the wheel are simultaneously measured from the normal vector displacement of the plane and the center of gravity displacement of the plane. 9. The method according to claim 8, wherein the plane of the object to be imaged calculated by the measuring means is calculated by a least square method using three-dimensional position information of at least four objects to be imaged. Wheel behavior measuring device. 10. The at least two imaging means are
The wheel behavior measuring device according to claim 1, wherein the object is arranged such that an angle formed by the center axes of the respective image pickup means is substantially right angle with one object to be imaged as an intersection. 11. A distance correction means for correcting the focal length of the image pickup means or the relative distance between the image pickup means and the object to be imaged on the basis of the change rate of the vehicle speed and the change rate of the steering rudder angle which are predicted in advance. The wheel behavior measuring device according to claim 1, wherein 12. A wheel behavior measurement system for measuring the behavior of a wheel when a vehicle is traveling, comprising: a plurality of objects to be imaged attached to an inner surface of the wheel; and an object to be imaged attached to a vehicle body. A behavior measuring device that calculates at least two three-dimensional position information of the object to be imaged based on image data of the object to be imaged captured by the imager and at least two imaging devices and measures the behavior data of the wheel. And an external force measuring device that is attached to the outer surface of the wheel and measures the external force data that acts on the wheel, the behavior data by the behavior measuring device, and the external force data by the external force measuring device are simultaneously measured, and both data are associated. And a data analysis processing device for controlling the wheel behavior. 13. A wheel condition analyzing device for analyzing a condition of a wheel when the vehicle is running from static and dynamic properties of the wheel, wherein the dynamic property data of the wheel obtained by an actual running test is input. At least two of data input means, static data input means for inputting static characteristic data of wheels obtained by non-running test, design data input means for inputting vehicle design data, and data by each input means And a means for analyzing the state of the wheel, and an output means for outputting the analysis result by the analyzing means. 14. The wheel state analysis device according to claim 13, wherein the analysis result is output to a simulation device that evaluates the dynamic performance of the vehicle and is reflected as a characteristic parameter of the simulation device.