JP2004053447A

JP2004053447A - Vehicle measuring apparatus and method

Info

Publication number: JP2004053447A
Application number: JP2002212186A
Authority: JP
Inventors: Tatsuro Yano; 矢野　達朗; Koichi Yoshida; 吉田　耕一; Takeshi Tsujimura; 辻村　健
Original assignee: Nippon Telegraph and Telephone Corp
Current assignee: Nippon Telegraph and Telephone Corp
Priority date: 2002-07-22
Filing date: 2002-07-22
Publication date: 2004-02-19

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that error is generated in measurement, missing is generated in measurement data and measurement work amount is large, when a vehicle runs over a parking frame and parks and a vehicle parks obliquely, since a trajectory to be scanned is decided by setting the parking frame as refeence or decided manually by a measuring person, in the conventional measuring solution. <P>SOLUTION: By using a system for measuring a vehicle wherein a laser beam 4 is cast in an arbitrary direction, and coordinate values of a location 5 reflecting the laser beam 4 are obtained, a plurality of portions on a car surface are measured. Coordinate values of the portions are calculated, and position and direction of a plane of symmetry of the vehicle are presumed by using the calculated data. The trajectory to be scanned is decided by setting the plane as the reference. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、任意の方向ヘレーザを照射しレーザが反射した場所の座標値を得て車両を計測するシステムにおいて、車両の在否・位置・形状等を計測する時に生じる計測誤差を削減し計測データの欠損を防ぎ、計測作業を簡易化するために、車両の対称面を推定するための、車両計測装置および方法に関するものである。
【０００２】
【従来の技術】
現在、ＩＴＳ（高度道路交通システム）に関連したセンシング技術の開発が活発に行われている。その開発課題の一つに車両の在否検知や車種判別などへの応用が期待されている車両計測手法の確立がある。従来の計測手法は、レーザ距離計を計測対象である車両の上方に設置し、走査により得た距離と方向の情報から走査した位置を計算し、車両の在否・位置・形状等を計測するものである。
【０００３】
【発明が解決しようとする課題】
従来の車両計測手法では、走査する軌道を駐車枠を基準に決定するまたは計測者が手動で決定しているため、車両が駐車枠からはみ出して駐車されている場合や斜めに駐車されている場合などでは、計測に誤差が生じ計測データに欠損も生じ計測作業量も多い。
【０００４】
【課題を解決するための手段】
任意の方向ヘレーザを照射し、レーザが反射した場所の座標値を得る車両を計測するシステムを用いて、車体表面上の複数箇所を計測し、その箇所の座標値を計算しそのデータを用いて車両の対称面の位置と方向を推定し、この面を基準に走査する軌道を決定する。
【０００５】
【発明の実施の形態】
本発明にかかる計測装置の実施形態の一例を、図１〜１０を用いて説明する。
【０００６】
図１は、任意の方向ヘレーザを照射してレーザが反射した場所の座標値を得る車両を計測するシステムの概略を説明したものである。このシステムは、レーザ距離計（１）を姿勢制御装置（２）に積載し両機を、システム制御装置（３）で制御し、レーザビーム（４）を照射しレーザビーム反射点（５）の位置を（式１）を用いて計算しレーザビーム反射点（５）の座標値を得るものである。
【０００７】
【数１】

【０００８】
Ｘ，Ｙ，Ｚ：レーザビーム反射点の３次元座標値
Ｌ：レーザ距離計からレーザビーム反射点までの距離
Ｈ：レーザ距離計の積載面からの高さ
Φ：パン角
Θ：チルト角
本発明は、前記システムを用いて計測対象である車両（６）の在否・位置・形状等を計測するために用いる計測装置および測定方法である。
【０００９】
図２は、本発明である車両計測装置を用いて推定する車両の対称面を説明したものである。
【００１０】
車両（６）の在否・位置・形状等を計測するには、車両（６）の形状を特徴的に表す対称面（７）を計測することが有効である。この対称面（７）は、車両進行方向と平行で車両が載る地面などの積載面（８）に対して鉛直かつ、車体側面から等距離な場所にある面である。本発明は、前記システムを用いて計測対象である車両（６）の対称面（７）の方向と位置を推定する計測装置である。
【００１１】
図３は、駐車枠を基準に走査軌道を決定する従来の方法を用いて計測した場合に生じる、計測結果の誤差と欠損の一例を説明したものである。計測結果１（１０）は、駐車枠（９）に対して車両（６）が斜めにかつはみ出して駐車されている場合に、駐車枠（９）を基準に決定した走査軌道１（１１）を計測した計測結果であり、車両の対称面（７）とはずれた場所が計測されているため、誤差と欠損が生じた計測結果が得られている。
【００１２】
図４は、車両をその中に含む領域内の複数箇所を前記計測システムを用いて計測したレーザビーム反射点群の一例を説明したものである。駐車枠（９）より大きい計測領域（１２）を設定し、その内部をメッシュ状に区切った線の交点のＺ軸方向上の物体表面上の点の座標を計測する。白三角で示したものは、積載面（８）上が計測されたレーザビーム反射点群１（１３）である。黒三角で示したものは、車両（６）上が計測されたレーザビーム反射点群２（１４）である。反射点群の識別は（式２）においてｈ_ｚ＜０の場合はレーザビーム反射点群１（１３）、ｈ_ｚ≧０の場合はレーザビーム反射点群２（１４）とする。
【００１３】
【数２】

【００１４】
Ｒ_ｚ：レーザビーム反射点のＺ座標値
Ｂ_ｚ：積載面のＺ座標値
ε_ｚ：閾値
図５は、車体表面上の複数箇所の座標値を用いてその箇所における法線単位ベクトルを計算する一例を説明したものである。レーザビーム反射点１〜３（１７）〜（１９）の座標値を用い（式３）により再構成面（２０）を形成し、この面の法線単位ベクトルを再構成面法線単位ベクトル１（２１）とする。
【００１５】
【数３】

【００１６】
（ｘ_１，ｙ_１，ｚ_１）：レーザビーム反射点１の座標値
（ｘ_２，ｙ_２，ｚ_２）：レーザビーム反射点２の座標値
（ｘ_３，ｙ_３，ｚ_３）：レーザビーム反射点３の座標値
（Ｎ_ｘ，Ｎ_ｙ，Ｎ_ｚ）：再構成面法線単位ベクトル
同様に計算して得た再構成面法線単位ベクトル１〜４（２１）〜（２４）を平均して車体表面上の複数箇所における法線単位ベクトル（Ｎ_ｘ，Ｎ_ｙ，Ｎ_ｚ）（１６）を得る。
【００１７】
図６は、複数の法線単位ベクトルの方向と位置が最も多い方向と位置を計算するために仮定する面の一例を説明したものである。傾きと切片を変化させて移動させる面を駐車枠（９）の中心点（２５）を基準に探索用面（２６）として（式４）により定義する。
【００１８】
【数４】

【００１９】
ＳＳ_ｙ［ｉ，ｊ］：探索用面（傾きｉ番目、切片ｊ番目）のＹ座標値
θ［ｉ］：探索用面の傾き（ｉ番目）
ｂ［ｊ］：探索用面のＹ切片（ｊ番目）
探索用面と方向と位置が一致する法線単位ベクトルの数を（式５）により数え、一番値が大きいときの探索用面の方向と位置が車両の対称面の方向と位置であると推定する。
【００２０】
【数５】

【００２１】
ＨＳ［ｉ，ｊ］：ハフ空間（傾きｉ、切片ｊ）
Ｎ_ｘ［ｉ，ｊ，ｋ］，Ｎ_ｙ［ｉ，ｊ，ｋ］：法線単位ベクトルの成分
ε：閾値
θ［ｉ］：探索用面の傾き
ｕ（ｔ）：投票値
ｔ：境界条件
図７は、推定した車両の対称面の一例を説明したものである。法線単位ベクトル群（１５）の傾向を探索用面を移動させた結果、方向と位置が法線単位ベクトルと最も多く一致する面の方向と位置を車両の推定対称面（２７）とする。
【００２２】
図８は、車両の推定対称面（２７）を基準に走査する軌道を決定して前記システムにより計測した計測結果２（２８）を説明したものである。
【００２３】
本発明の車両計測装置により走査軌道２（２９）が車両の対称面（７）上になっているため、計測結果に誤差および欠損などが生じない。
【００２４】
図９は、本発明である車両計測装置を用いて車両の対称面の方向と位置を推定するシミュレーションを行った車両のモデルを説明したものである。レーザ距離計（１）は車両（６）に対して上方に位置し、駐車枠（９）に対して車両（６）が斜めにかつはみ出して駐車されている状況の車両のモデルを用いてシミュレーションを行った。
【００２５】
図１０は、本発明である車両計測装置を用いて車両の対称面の方向と位置を推定するシミュレーションを行った結果得た再構成面と法線単位ベクトルを説明したものである。車体の表面の形状に即した再構成面（２０）が得られ、再構成面法線単位ベクトルを用いて再構成面（２０）の交点における法線単位ベクトル（１６）が得られた。
【００２６】
図１１は、本発明である車両計測装置を用いて車両の対称面の方向と位置を推定するシミュレーションを行った結果得た法線単位ベクトルの傾向をハフ空間へ投票した結果を説明したものである。θ＝１２°，ｂ＝０．１の法線単位ベクトル（１６）が最も多く投票された結果が得られた。
【００２７】
図１２は、本発明である車両計測装置を用いて車両の対称面の方向と位置を推定するシミュレーションを行った結果得た対称面と車両のモデルの位置関係を説明したものである。シミュレーションを行った結果の推定対称面（２７）の方向と位置が車両（６）の対称面の方向と位置と一致した結果が得られた。
【００２８】
以上、本発明者によってなされた発明を、前記実施例に基づき具体的に説明したが、本発明は、前記実施例に限定されるものではなく、その要旨を逸脱しない範囲において種々変更可能であることは勿論である。
【００２９】
なお、前記各式を簡単に説明すると、以下のとおりである。
（式１）レーザビーム反射点の３次元座標値の計算
（式２）レーザビーム反射点群の識別計算
（式３）車体表面再構成面の方程式
（式４）探索用面の定義
（式５）ハフ空間への投票の計算
【００３０】
【発明の効果】
本発明により、車両の対称面を基準に走査する軌道を決定することができるため、車両の駐車枠に対する位置や向きに左右されることなく計測を行うことができる。正確な軌道を決定して計測するため、従来の技術で生じていた計測誤差の削減と計測データの欠損を防止することができる。計測作業の自動化を進めることができるため、遠隔計測または無人計測が可能になる。車両の対称面を計測することにより、車両の駐車されている位置や方向も正確に把握できる。
【図面の簡単な説明】
【図１】車両を計測するシステムを示す図である。
【図２】車両の対称面を示す図である。
【図３】従来技術による計測結果の誤差と欠損の一例を示す図である。
【図４】レーザビーム反射点群の一例を示す図である。
【図５】法線単位ベクトルの一例を示す図である。
【図６】傾向探索用面の一例を示す図である。
【図７】推定対称面の一例を示す図である。
【図８】推定対称面を用いた計測結果の一例を示す図である。
【図９】シミュレーションに用いる車両のモデルを示す図である。
【図１０】再構成面と法線単位ベクトル（シミュレーション結果）を示す図である。
【図１１】ハフ空間への投票結果（シミュレーション結果）を示す図である。
【図１２】推定対称面（シミュレーション結果）を示す図である。
【符号の説明】
１…レーザ距離計、２…姿勢制御装置、３…システム制御装置、４…レーザビーム、５…レーザビーム反射点、６…車両、７…対称面、８…積載面、９…駐車枠、１０…計測結果１、１１…走査軌道１、１２…計測領域、１３…レーザビーム反射点群１、１４…レーザビーム反射点群２、１５…法線単位ベクトル群、１６…法線単位ベクトル、１７…レーザビーム反射点１、１８…レーザビーム反射点２、１９…レーザビーム反射点３、２０…再構成面、２１…再構成面法線単位ベクトル１、２２…再構成面法線単位ベクトル２、２３…再構成面法線単位ベクトル３、２４…再構成面法線単位ベクトル４、２５…中心点、２６…探索用面、２７…推定対称面、２８…計測結果２、２９…走査軌道２。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention is directed to a system for measuring a vehicle by irradiating a laser to an arbitrary direction and obtaining a coordinate value of a place where the laser is reflected. TECHNICAL FIELD The present invention relates to a vehicle measuring device and method for estimating a symmetry plane of a vehicle in order to prevent loss of the vehicle and simplify a measuring operation.
[0002]
[Prior art]
Currently, sensing technology related to ITS (Intelligent Transport System) is actively being developed. One of the development issues is the establishment of a vehicle measurement method that is expected to be applied to the detection of the presence or absence of a vehicle, the classification of a vehicle type, and the like. The conventional measurement method is to install a laser rangefinder above the vehicle to be measured, calculate the scanned position from the distance and direction information obtained by scanning, and measure the presence / absence, position, shape, etc. of the vehicle Things.
[0003]
[Problems to be solved by the invention]
In the conventional vehicle measurement method, the trajectory to be scanned is determined based on the parking frame or the measurer manually determines the trajectory to scan, so that the vehicle is parked outside the parking frame or parked diagonally. In such cases, an error occurs in the measurement, the measurement data is lost, and the amount of measurement work is large.
[0004]
[Means for Solving the Problems]
By irradiating the laser in any direction and using a system that measures the vehicle that obtains the coordinate value of the place where the laser reflected, measure a plurality of locations on the body surface, calculate the coordinate values of those locations, and use the data The position and direction of the symmetry plane of the vehicle are estimated, and the trajectory to scan based on this plane is determined.
[0005]
BEST MODE FOR CARRYING OUT THE INVENTION
An example of an embodiment of a measuring device according to the present invention will be described with reference to FIGS.
[0006]
FIG. 1 schematically illustrates a system for measuring a vehicle that irradiates a laser beam to an arbitrary direction and obtains a coordinate value of a place where the laser beam is reflected. In this system, a laser distance meter (1) is mounted on an attitude control device (2), and both devices are controlled by a system control device (3) to irradiate a laser beam (4) and a position of a laser beam reflection point (5). Is calculated using (Equation 1) to obtain the coordinate value of the laser beam reflection point (5).
[0007]
(Equation 1)

[0008]
X, Y, Z: three-dimensional coordinate value of laser beam reflection point L: distance from laser rangefinder to laser beam reflection point H: height from mounting surface of laser rangefinder Φ: pan angle Θ: tilt angle Is a measuring device and a measuring method used for measuring presence / absence, position, shape, etc. of the vehicle (6) to be measured using the system.
[0009]
FIG. 2 illustrates a symmetry plane of a vehicle estimated using the vehicle measurement device according to the present invention.
[0010]
In order to measure the presence / absence, position, shape, and the like of the vehicle (6), it is effective to measure a symmetry plane (7) that is characteristic of the shape of the vehicle (6). The symmetry plane (7) is a plane parallel to the traveling direction of the vehicle and perpendicular to the loading surface (8) such as the ground on which the vehicle rests and equidistant from the side of the vehicle body. The present invention is a measuring device for estimating a direction and a position of a symmetry plane (7) of a vehicle (6) to be measured using the system.
[0011]
FIG. 3 illustrates an example of an error and a loss of a measurement result that occur when measurement is performed using a conventional method of determining a scanning trajectory based on a parking frame. The measurement result 1 (10) indicates the scanning trajectory 1 (11) determined based on the parking frame (9) when the vehicle (6) is parked obliquely and protruding from the parking frame (9). The measurement result is a measured result, and a place deviating from the symmetry plane (7) of the vehicle is measured, and thus a measurement result having an error and a loss is obtained.
[0012]
FIG. 4 illustrates an example of a laser beam reflection point group obtained by measuring a plurality of points in an area including a vehicle therein using the measurement system. A measurement area (12) larger than the parking frame (9) is set, and the coordinates of a point on the object surface in the Z-axis direction at the intersection of the lines dividing the inside thereof into a mesh shape are measured. What is indicated by a white triangle is a laser beam reflection point group 1 (13) in which the area on the loading surface (8) is measured. What is indicated by a black triangle is a group 2 (14) of laser beam reflection points measured on the vehicle (6). In Equation 2, the reflection point group is identified as a laser beam reflection point group 1 (13) when h _z <0, and a laser beam reflection point group 2 (14) when h _z ≧ 0.
[0013]
(Equation 2)

[0014]
R _z : Z coordinate value of the laser beam reflection point B _z : Z coordinate value of the loading surface ε _z : threshold value FIG. 5 calculates the normal unit vector at a plurality of points on the vehicle body surface using the coordinate values of the points. This is one example. Using the coordinate values of the laser beam reflection points 1 to 3 (17) to (19), a reconstruction plane (20) is formed by (Equation 3), and the normal unit vector of this plane is defined as the reconstruction plane normal unit vector 1 (21).
[0015]
[Equation 3]

[0016]
(X ₁ , y ₁ , z ₁ ): coordinate value of laser beam reflection point 1 (x ₂ , y ₂ , z ₂ ): coordinate value of laser beam reflection point 2 (x ₃ , y ₃ , z ₃ ): laser Coordinate values ( _Nx , _Ny , _Nz ) of beam reflection point 3: Reconstructed surface normal unit vectors 1 to 4 (21) to (24) obtained by calculation in the same manner as the reconstructed surface normal unit vector On average, normal unit vectors ( _Nx , _Ny , _Nz ) (16) at a plurality of locations on the vehicle body surface are obtained.
[0017]
FIG. 6 illustrates an example of a plane assumed for calculating the direction and position where the direction and position of the plurality of normal unit vectors are the largest. A plane to be moved by changing the inclination and the intercept is defined by (Equation 4) as a search plane (26) based on the center point (25) of the parking frame (9).
[0018]
(Equation 4)

[0019]
SS _y [i, j]: Y coordinate value of search plane (i-th slope, j-th intercept) θ [i]: slope of search plane (i-th)
b [j]: Y intercept of search plane (j-th)
The number of normal unit vectors having the same direction and position as the search surface is counted by (Equation 5), and it is assumed that the direction and position of the search surface when the largest value is the direction and position of the symmetry plane of the vehicle. presume.
[0020]
(Equation 5)

[0021]
HS [i, j]: Huff space (slope i, intercept j)
N _x [i, j, k], N _y [i, j, k]: component of normal unit vector ε: threshold value θ [i]: inclination of search surface u (t): voting value t: boundary condition FIG. 7 illustrates an example of the estimated symmetry plane of the vehicle. As a result of moving the search surface for the tendency of the normal unit vector group (15), the direction and position of the surface whose direction and position most coincide with the normal unit vector are set as the estimated symmetry plane (27) of the vehicle.
[0022]
FIG. 8 illustrates a measurement result 2 (28) obtained by determining a trajectory to scan based on the estimated symmetry plane (27) of the vehicle and measuring the trajectory by the system.
[0023]
Since the scanning trajectory 2 (29) is on the symmetry plane (7) of the vehicle by the vehicle measuring device of the present invention, no error or loss occurs in the measurement result.
[0024]
FIG. 9 illustrates a vehicle model that has been simulated to estimate the direction and position of the vehicle symmetry plane using the vehicle measurement device according to the present invention. The laser range finder (1) is located above the vehicle (6), and is simulated using a vehicle model in which the vehicle (6) is parked obliquely and protruding from the parking frame (9). Was done.
[0025]
FIG. 10 illustrates a reconstructed surface and a normal unit vector obtained as a result of performing a simulation for estimating a direction and a position of a symmetry plane of a vehicle using the vehicle measurement device according to the present invention. A reconstructed surface (20) conforming to the shape of the vehicle body surface was obtained, and a normal unit vector (16) at the intersection of the reconstructed surface (20) was obtained using the reconstructed surface normal unit vector.
[0026]
FIG. 11 illustrates the result of voting the tendency of the normal unit vector obtained in the simulation for estimating the direction and position of the symmetry plane of the vehicle using the vehicle measuring device of the present invention into the Hough space. is there. The result that the normal unit vector (16) with θ = 12 ° and b = 0.1 was voted the most was obtained.
[0027]
FIG. 12 illustrates the positional relationship between the symmetry plane and the vehicle model obtained as a result of performing a simulation for estimating the direction and position of the symmetry plane of the vehicle using the vehicle measurement device according to the present invention. A result was obtained in which the direction and position of the estimated symmetry plane (27) as a result of the simulation matched the direction and position of the symmetry plane of the vehicle (6).
[0028]
As described above, the invention made by the inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and can be variously modified without departing from the gist of the invention. Of course.
[0029]
The above equations are briefly described as follows.
(Equation 1) Calculation of three-dimensional coordinate value of laser beam reflection point (Equation 2) Identification calculation of laser beam reflection point group (Equation 3) Equation of vehicle body reconstruction surface (Equation 4) Definition of search surface (Equation 5) ) Calculation of voting in Huff space
【The invention's effect】
According to the present invention, it is possible to determine the trajectory to be scanned on the basis of the symmetry plane of the vehicle, so that the measurement can be performed without depending on the position and the direction of the vehicle with respect to the parking frame. Since an accurate trajectory is determined and measured, it is possible to reduce a measurement error and prevent a loss of measurement data, which occur in the related art. Since the measurement work can be automated, remote measurement or unmanned measurement becomes possible. By measuring the plane of symmetry of the vehicle, the position and direction in which the vehicle is parked can be accurately grasped.
[Brief description of the drawings]
FIG. 1 is a diagram showing a system for measuring a vehicle.
FIG. 2 is a diagram illustrating a plane of symmetry of the vehicle.
FIG. 3 is a diagram showing an example of an error and a loss of a measurement result according to the related art.
FIG. 4 is a diagram showing an example of a laser beam reflection point group.
FIG. 5 is a diagram illustrating an example of a normal unit vector.
FIG. 6 is a diagram illustrating an example of a trend search surface.
FIG. 7 is a diagram illustrating an example of an estimated symmetry plane.
FIG. 8 is a diagram illustrating an example of a measurement result using an estimated symmetry plane.
FIG. 9 is a diagram showing a model of a vehicle used for simulation.
FIG. 10 is a diagram showing a reconstructed surface and a normal unit vector (simulation result).
FIG. 11 is a diagram showing a voting result (simulation result) for the Huff space.
FIG. 12 is a diagram illustrating an estimated symmetry plane (simulation result).
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Laser range finder, 2 ... Attitude control device, 3 ... System control device, 4 ... Laser beam, 5 ... Laser beam reflection point, 6 ... Vehicle, 7 ... Symmetry plane, 8 ... Loading surface, 9 ... Parking frame, 10 ... Measurement results 1, 11 ...

Scanning trajectory

1, 12 ... Measurement area, 13 ... Laser beam

reflection point group

1, 14 ... Laser beam

reflection point group

2, 15 ... Normal unit vector group, 16 ... Normal unit vector, 17 ... Laser beam reflection points 1, 18 ... Laser beam reflection points 2, 19 ... Laser beam reflection points 3, 20 ... Reconstructed surface, 21 ... Reconstructed surface normal unit vector 1, 22 ... Reconstructed surface

normal unit vector

2 , 23 ... Reconstructed surface normal unit vector 3, 24 ... Reconstructed surface

normal unit vector

4, 25 ... Center point, 26 ... Search plane, 27 ... Estimated symmetry plane, 28 ...

Measurement result

2, 29 ... Scanning trajectory 2.

Claims

In a system for measuring a vehicle configured by a control unit that irradiates a laser in an arbitrary direction and a calculation unit that calculates a coordinate value of a location where the laser is reflected,
A control unit that measures a plurality of locations on the vehicle body surface using the system; and a calculation unit that calculates a coordinate value of the measured location and uses the value to estimate a symmetry plane of the vehicle. Vehicle measuring device.

The vehicle measuring device according to claim 1,
A vehicle measuring device, comprising: a calculating unit that calculates a surface shape of a vehicle body from coordinate values of a plurality of points on the vehicle body surface obtained by using the system.

The vehicle measuring device according to claim 2,
A vehicle measurement device comprising: a calculation unit that calculates a normal unit vector at a plurality of locations on a vehicle body surface using the calculated surface shape.

The vehicle measuring device according to claim 3,
A vehicle measuring device, comprising: a calculation unit that performs a calculation for estimating a symmetry plane of a vehicle using the calculated normal unit vectors at the plurality of locations.

The vehicle measuring device according to claim 4,
A calculation unit that performs a calculation to move the assumed surface and estimate the direction and position of the surface when its direction and position most frequently coincide with a plurality of normal unit vectors to be the direction and position of the symmetry plane of the vehicle. A vehicle measuring device comprising:

The vehicle measuring device according to claim 5,
A vehicle measuring device, comprising: a calculation unit configured to perform a calculation by forming a plane assumed to enhance the accuracy of estimating a symmetry plane of a vehicle with two orthogonal planes.

Irradiating a laser beam in an arbitrary direction to measure a plurality of locations on the vehicle body surface; calculating a coordinate value of the plurality of locations on the vehicle body surface where the laser is reflected from the measurement result of the step; Performing a calculation for estimating a plane of symmetry of the vehicle using the coordinate values.

The vehicle measuring method according to claim 7,
A vehicle measuring method comprising calculating a surface shape of a vehicle body from the coordinate values of a plurality of points on the vehicle body surface.

The vehicle measuring method according to claim 8,
A method for measuring a vehicle, comprising calculating a normal unit vector at a plurality of locations on a vehicle body surface using the calculated surface shape.

The vehicle measuring method according to claim 9,
A vehicle measurement method, comprising: performing a calculation for estimating a symmetry plane of a vehicle using the calculated normal unit vectors at the plurality of locations.

The vehicle measuring method according to claim 10,
A step of performing a calculation of moving the assumed surface and estimating the direction and position of the surface when its direction and position most frequently coincide with the plurality of normal unit vectors to be the direction and position of the symmetric plane of the vehicle A method for measuring a vehicle, comprising:

The vehicle measuring method according to claim 11,
A vehicle measurement method, comprising: performing a calculation by configuring a plane assumed to improve the accuracy of estimating a symmetry plane of a vehicle by two orthogonal planes.