WO2012175264A1 - Dispositif et procédé destinés à positionner un système externe par rapport à un véhicule à moteur - Google Patents

Dispositif et procédé destinés à positionner un système externe par rapport à un véhicule à moteur Download PDF

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Publication number
WO2012175264A1
WO2012175264A1 PCT/EP2012/059472 EP2012059472W WO2012175264A1 WO 2012175264 A1 WO2012175264 A1 WO 2012175264A1 EP 2012059472 W EP2012059472 W EP 2012059472W WO 2012175264 A1 WO2012175264 A1 WO 2012175264A1
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WO
WIPO (PCT)
Prior art keywords
target
measuring
image
unit
units
Prior art date
Application number
PCT/EP2012/059472
Other languages
German (de)
English (en)
Inventor
Adriano Macchia
Christian Wagmann
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP12729898.2A priority Critical patent/EP2724118A1/fr
Publication of WO2012175264A1 publication Critical patent/WO2012175264A1/fr

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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

Definitions

  • the invention relates to a device and a method for positioning an external device, in particular a calibration device of a cruise control system or a lane departure warning, with respect to a motor vehicle.
  • Modern motor vehicles have a variety of systems, such as adaptive cruise control systems or lane departure warning systems, that assist the driver. These systems use optical detectors to detect the preceding vehicle or lane boundary lines. For a correct warning behavior, the viewing direction of the detection devices with respect to the motor vehicle must be known exactly.
  • the detection devices on the motor vehicle are usually calibrated with the aid of an external calibration device which is mounted, for example, on a frame in a known position relative to the motor vehicle.
  • Calibration devices are relatively inflexible and require a lot of space.
  • a device according to the invention for positioning an external device relative to a motor vehicle comprises a device according to independent claim 1.
  • the number of components of the positioning device is reduced. There are only two units of measurement required, which can also be portable, which greatly simplifies their positioning relative to the vehicle.
  • the positioning device according to the invention makes it possible to flexibly position the external device to the motor vehicle. The attachment of the external device at predetermined reference positions with known orientation to the motor vehicle is not necessary, whereby the number of components and the space requirement is significantly reduced.
  • the positioning device according to the invention enables a reliable and error-free positioning of an external device with respect to a motor vehicle.
  • the positioning device comprises only two measuring units that determine its position relative to the motor vehicle by means of two wheels mounted on the target and two target unit on the external device.
  • a measuring unit of the device comprises a reference target, an image acquisition unit and an optical device.
  • the measuring unit can be positioned, for example, in a longitudinal position between the measuring target and the target unit of the external device of a respective motor vehicle side.
  • the left-hand measuring unit on the left-hand side of the motor vehicle may be positionable at a longitudinal position between a measuring target on a left-hand wheel of the motor vehicle and the left-hand target unit.
  • the optical device is capable of imaging images of at least three of the measurement and reference targets and the target units, which are arranged at different positions in space, on the image acquisition unit, the images of the measurement and reference targets and of the target units each being arranged on separate image areas be directed to the image capture surface. This prevents the images of the targets from falling together on one image area, which would mean that the images would first have to be assigned to the respective target before the evaluation.
  • the image pickup unit includes an image pickup surface having a first image area for capturing an image of the target units, a second image area for capturing an image of the target, and a third image area for capturing an image of the reference target. With such an image pickup unit, it is possible to simultaneously record images of three different targets.
  • the mapping of the three targets to be measured by the measuring unit on separate image areas of the image recording surface of the image recording unit enables rapid evaluation of the images of the targets.
  • the measurement targets are, for example, plates on which target features are mounted in a specific arrangement. These target features can be arranged in any shape, number and arrangement on the target and form the geometry of the target.
  • the measuring targets are fixed in a known position, for example via an adapter to a wheel.
  • the reference targets are attached to the measuring units in such a way that they are visible from the respective measuring unit positioned on the other side of the vehicle.
  • the external device may be, for example, a calibration board on which geometric elements are applied, which are detected by the optical detection devices on the vehicle and used for their calibration.
  • At least one target unit is attached to the external device.
  • a target unit may, for example, correspond to a measurement target described above. It is also conceivable to attach a plurality of target units to the external device.
  • the wheels on which the measurement targets are mounted may be the wheels of the front axle. In such an arrangement of the measurement targets, the external device is aligned with respect to the front axle of the motor vehicle.
  • the images of the measurement and reference targets are evaluated by the evaluation device, by using reference images of the measurement and reference targets and the
  • Target unit to be compared These reference images consist of images of the measurement and reference targets and the target units, which were recorded at known angles and at known intervals and stored in the evaluation device. By comparing the recorded images with the reference images, the orientation and the position of the measurement targets and the target units and thus also the wheels and the external device relative to the measuring unit can be determined.
  • the position of the left measurement unit must be be known relative to the right unit of measurement. This is determined by the evaluation of the images of the reference targets attached to the measuring units.
  • the left and right target units together form a target unit, thereby reducing the number of components on the external device.
  • the one target unit is mounted centrally, for example, on the upper edge of the external device, so that it can be detected by the left and the right measuring unit.
  • the reference targets are each punctiform, in particular in the form of an LED, and the distance of the measuring units in the vehicle transverse direction is known.
  • each measuring unit has a tilt sensor.
  • the evaluation device is designed such that it determines the position of the external device, thereby comparing the images of the reference targets with reference images to determine the position of the measuring units, the known distance of the measuring units in the vehicle transverse direction and the inclination of the two measuring units.
  • a point reference reference represents a very simple and inexpensive form of a reference target, with its use, the additional determination of the inclination of the measuring unit and the knowledge of the distance of the measuring units in the vehicle transverse direction is necessary to determine the position of the measuring units to each other.
  • the reference targets are in each case designed as at least two light points arranged in a line, in particular LEDs, with a predetermined spacing, and each of the measuring units has an inclination sensor.
  • a reference target is a 2D target with which the distance as well as the angular displacement of the measuring units relative to one another can be determined by comparison with reference images of the reference targets. For the calculation of the position of the external device by the evaluation unit, when using such a 2D target, only the inclination of the inclination sensor determined by the inclination sensor is
  • Measuring units necessary, but not the previously determined distance of the measuring units in the vehicle transverse direction to each other.
  • the reference targets are in the form of a plurality of light spots, in particular LEDs, in a surface with respectively predetermined distances from one another or as light points present in different areas and planes, in particular LEDs formed.
  • a reference target represents a 3D target.
  • Measurement units provided a motion sensor, which, when it detects a movement of at least one of the measuring units, a picture of the measuring and
  • Target targets and the target unit by the image recording units triggers.
  • a motion sensor may for example consist of a pendulum, wherein a movement of one of the measuring units results in a deflection of the pendulum. This ensures that, as soon as the position of the measuring units relative to each other or to the measurement targets and the target unit changes, this is newly determined by image acquisition of the measurement and reference targets and the target unit and thus the calculation of the position of the external device always the current Stand correspond. It is also conceivable that the motion sensor detects a movement of at least one of the measuring or reference targets or the at least one target unit or a movement of the motor vehicle and then triggers an image acquisition. It is thereby achieved that a change in the position of the measuring or reference targets or of the target unit or of the motor vehicle results in a new determination of the position of the external device from current image recordings of the measuring and reference targets and of the target unit.
  • the image recording units and the evaluation unit are designed for periodic or continuous image acquisition of the measurement and reference targets, which ensures that the position of the measurement units relative to one another is regularly updated.
  • the optical device is a prism, a beam splitter, a mirror, a lens or a combination of these elements, with which images of the measurement and reference targets and the
  • Target unit can be imaged on the designated image areas of the image acquisition unit.
  • the invention further relates to a measuring station with a motor vehicle standing thereon, on whose two opposite wheels in the transverse direction of the motor vehicle measuring targets are mounted, and with an external device positioned on the measuring station.
  • the measuring station according to the invention further comprises a device for positioning an external device of the type described above.
  • the invention further comprises a method for positioning an external device according to the independent method claim.
  • FIG. 1 shows a schematic representation of a measuring station with two target units, with a device for positioning an external device with respect to a motor vehicle and with a measuring target attached to two of the wheels of a motor vehicle according to an embodiment of the invention
  • FIG. 2 shows a schematic representation of a measuring station with an external device, with a device for positioning an external device with respect to a motor vehicle and with a measuring target attached to two of the wheels of a motor vehicle according to an exemplary embodiment of the invention
  • FIG. 3 is a schematic diagram of three image pickup surface areas of an image pickup unit of the apparatus for positioning an external device with respect to a motor vehicle of FIG. 1;
  • FIG. 4 shows a schematic representation of a measuring station with a target unit, with a device for positioning an external device with respect to a motor vehicle and with a measuring target attached to two of the wheels of a motor vehicle according to a further exemplary embodiment of the invention.
  • a measuring station 2 with two target units 14, 16, with a device for positioning an external device with respect to a motor vehicle and with two of the wheels 4, 6 of a motor vehicle mounted measuring targets 8, 10 shown schematically.
  • the device for positioning an external device consists of a left and a right measuring unit 18, 20, which are opposite to each other with respect to the not shown extended longitudinal axis of the motor vehicle.
  • the measuring station shown in Fig. 1 is substantially symmetrical to the extended longitudinal axis of the motor vehicle, which is why the structure is first described by way of example with reference to the left side of the motor vehicle.
  • the left measuring unit 18 is arranged centrally between the left motor vehicle wheel 4 and the left target unit 14 on a left side of the motor vehicle.
  • the left measuring device 18 includes a left optical device 22 and a left image pickup unit 38.
  • a left measuring target 8 and a target unit 14 located on the left side of the vehicle on the wheel 4, a left measuring target 8 and a target unit 14, which is arranged on the left side of the vehicle so that it Messtarget 8 relative to a horizontal opposite.
  • the measuring target 8 is mounted at the height of the central axis of the wheel 4 via an adapter to the latter such that it protrudes in the axial direction to the left and is within the field of view of the left-hand measuring unit 18.
  • the target unit 14 is attached to an external device, not shown here, for example, a calibration board.
  • a left-hand reference target 12 attached by way of example above on the right-hand side of the measuring unit 18.
  • Such a reference target 12 can be, for example, a single LED or several LEDs mounted in a known position on the measuring unit 18.
  • the left optical device 22 is arranged in a right region of the measuring unit 18 and centrally between the left measuring target 8 and the left target unit 14. Left behind the optical device 22, the image pickup unit 38 is arranged. Furthermore, optical light paths represented by arrows are shown in FIG. 1.
  • Optical path 46 extends from the left target unit 14 to the left optical device 22, and an optical path 24 extends from the left measuring target 8 to the left optical device 22. Also shown is an optical light path 26 from the opposite reference target 44 toward the left optical device 22 extends.
  • the left optical device 22 directs the light paths 24, 26 and the light path 46 to a common light path 28, which is shown in Fig. 1 in the form of three arrows, the on the left image pickup unit 38 impinges.
  • images of the measurement target 8, the target unit 14 and the reference target 44 are imaged on the image recording surface of the left image acquisition unit 38.
  • the right-hand optical device 30 from the right-hand measuring target 10 is the right-hand one
  • FIG. 1 further shows an evaluation device 42, which is connected to the left image acquisition unit 38 and the right image acquisition unit 40 via a cable.
  • FIG. 2 shows a schematic illustration of a measuring station 52 with an external device 50, with a device for positioning the external device 50 relative to a motor vehicle and with a measuring target 8, 10 attached to two of the wheels 4, 6 of a motor vehicle right measuring unit 18, 20 and the measuring targets 8, 10 and the target units 14, 16 are shown in more detail.
  • the evaluation device 42, the reference targets 12, 44 and the optical light paths 24, 26, 32, 34, 46, 48 are not shown.
  • each measuring target 8, 10 consists of a substantially square plate whose horizontal center line is parallel to the respective vehicle wheel axis.
  • On the targets 8, 10, 14, 16 are arranged in a certain pattern, circular optical
  • Target Features 68 As an example, ten such target features 68 arranged in the same pattern are shown on the measurement targets 8, 10 and the target units 14, 16. The target features 68 are arranged symmetrically to a vertical centerline of the targets 8, 10, 14, 16. FIG. 2 also shows that the plate-shaped measuring targets 8, 10 are arranged at an angle of, for example, 30 ° to the motor vehicle contact surface.
  • the external device 50 is shown in the form of a rectangular plate, on the sides of which the target units 14, 16 are attached via a mounting frame in such a way that they each face a measuring target 8, 10 of the motor vehicle wheels 4, 6.
  • the target units 14, 16 can be arranged at any conceivable position on the external device, as long as they are detectable by the measuring units 18, 20.
  • the mirror assembly 56, 58 comprises two mirrors, which are exemplarily at right angles to each other, the front of the two mirrors at an angle of 45 ° to the vertical in the vehicle transverse direction and the rear of the two mirrors of a mirror assembly 56, 58 at an angle of -. 45 ° to the vertical in the vehicle transverse direction.
  • the mirrors have a small distance from each other and do not touch.
  • the cameras 60, 62 are aligned with the mirror arrangements 56, 58 of the respective measuring devices 18, 20, so that the light paths deflected from the front and from the rear towards the side by the mirror arrangements 56, 58 impinge on the cameras 60, 62 and are picked up there can be.
  • the upper image pickup surface 72 has a rectangular shape that is divided into three rectangular image areas 74, 76, 78.
  • the first and second image areas 74, 76 divide an upper portion of the image pickup surface 72 at the vertical centerline into two equally sized image areas 74, 76 and occupy approximately three quarters of the total image pickup surface 72.
  • the third image area 78 comprises a horizontal lower longitudinal stripe of approximately one quarter of the image recording surface 72.
  • images of the target features 68 of the measurement and reference targets 8, 10, 12, 44 and the target units 14, 16 are shown on the image areas 74, 76, 78 wherein the images on the first image area 74 correspond to the ten target features 68 of the target units 14, 16 and the images on the second image area 76 correspond to those of an associated measurement target 8, 10.
  • On the third image area 78 an image of the reference target 12, 44 is imaged with its target features 68 on the left and right edges of the third image area 78.
  • image recording surfaces 80, 88 illustrated in FIG. 3 the images of the target features 68 are not shown for the sake of simplicity.
  • FIG. 3 is vertically subdivided into three image areas 82, 84, 86.
  • the first and second image areas 82, 84 are the same size and located at the outer right edge and outer left edge of the image pickup surface 80, respectively.
  • the third image area 86 is about one quarter Imaging surface 80 includes.
  • FIG. 3 shows an image recording surface 88, which is subdivided into three image regions 90, 92, 94, wherein the third image region 94 is circular and lies in the center of the image recording surface 88.
  • the first image area 90 forms the left side and the second one
  • Image area 92 the right side of the image pickup surface, wherein the first and the second image area 90, 92 are the same size and symmetrical to each other.
  • Fig. 4 shows a measuring station 93 with all elements of Fig. 1, instead of two target units 14, 16 only one target unit 102 is shown at the level of the elongated longitudinal axis of the motor vehicle and in addition to the measuring units 18 and 20 each have a tilt sensor 94, 98 and a motion sensor 96, 100 is arranged.
  • the left tilt sensor 94 is located in the lower left area of the measuring unit 18, and right next to it, the left motion sensor 96 is arranged.
  • the tilt and motion sensors 94, 96, 98, 100 of each measuring unit 18, 20 are in addition to the
  • FIG. 4 shows that of the
  • Target unit 102 on the optical devices 22, 30 of the measuring units 18, 20 directed light paths 104, 106, which are transmitted from the optical devices 30, 22 to the image pickup devices 38, 40.
  • the mode of operation of the device for positioning an external device with respect to a motor vehicle is explained below by way of example with reference to the left-hand motor vehicle side with the aid of the left-hand measuring unit 18.
  • the optical device 22 directs the light paths from the measurement and reference targets 8,
  • the light path 46 is deflected by the target unit 14 through the upper mirror of the mirror assembly 56 at an angle of 90 ° in the direction of the image pickup unit 60, and the light path 24 from the left measuring target 8 is deflected by the rear mirror of the mirror assembly 56 at an angle of 90 ° in the direction of the image pickup unit 60.
  • the light path from the reference target 44 is not deflected in the exemplary mirror assembly 56 in FIG.
  • the light paths 24, 26, 46 impinge on the image recording unit 38, wherein, as shown in FIG.
  • the light path 46 from the target unit 14 is an image on the first image area 74
  • the light path 24 of the left measuring target 8 is an image on the second image area 76
  • the light path 26 of the reference target 44 generates an image on the third image area 78 of the image pickup unit 46.
  • the shape of the regions 74, 76, 78 depends on the mirror assembly 56.
  • the images captured by the image recording unit 38 are then evaluated by the evaluation device 42 in order to calculate the orientation of the wheel 4 and the target unit 14 relative to the left-hand measuring unit 18.
  • the images of the measurement and reference targets 10, 12 and the target unit 16 are detected by the right image acquisition unit 40 and analyzed by the evaluation device 42.
  • the evaluation device 42 compares the image regions 74, 76, 78 of the image recording units 38, 40 with reference data. These reference data include images of the measurement and reference targets, which were recorded at a known angle and a known propriety and are stored in the evaluation.
  • the orientation of the wheel 4 and the left side target unit 14 is determined by the evaluator 42 by displaying the images of the left measurement target 8 and the left
  • Target unit 14 and their optical target features 68 on the first and second image area 74, 76 with reference images of the measuring target 8 and the target unit 14 are compared.
  • the orientation of the right measurement target 10 and the right target unit 16 relative to the right measurement unit 20 is determined.
  • the position and orientation of the left measuring unit 22 relative to the right measuring unit 24 is determined. This is determined by the evaluation of the image reference targets 12, 44 on the image areas 78, 86, 94 of the image acquisition unit 38, 40.
  • the determination of the orientation of the measuring units 18, 20 relative to one another can be carried out in various ways, which depend on the type of the respective reference targets 12, 44.
  • the reference target 12, 44 may for example be point-shaped, ie consist of a single LED, which requires that for determining the relative position of the measuring units 18, 20 to each other, the distance of these in the vehicle transverse direction each other known and stored in the evaluation device 42, and that on Each of the measuring units 18, 20, a tilt sensor 94, 98 is present, which is connected to the evaluation device 42 and determines the inclination of the respective measuring unit 18, 20, as shown with reference to the reference numerals 94 and 96 in Figure 4.
  • the image of the reference target 12, 44 made of an LED on the associated image area 78, 86, 94 of the image recording surface can then be used by the
  • Evaluation device the orientation of the measuring units 18, 20 are determined in the vehicle longitudinal direction relative to each other.
  • the position of the measuring units relative to one another ie the distance and the angular displacement of the measuring units, can be calculated from the comparison of the image of the 2D target with a reference image.
  • a tilt sensor 94, 98 which is connected to the evaluation device 42 and determines the inclination of the respective measuring unit 18, 20, be provided on each of the measuring units 18, 20, as described with reference to the reference symbols 94 and 96 is shown in FIG.
  • the distance between the two measuring units 18, 20 to each other need not be known.
  • Measuring units 18, 20 in the vehicle transverse direction are Measuring units 18, 20 in the vehicle transverse direction.
  • a motion sensor 96, 100 may additionally be provided in each of the measuring units 18, 20, which detects a movement of the respective measuring units 18, 20 and thereupon takes a picture of the measuring targets 8, 10,
  • Target units 14, 16 and the reference targets 12, 44 triggers, which are then evaluated by the evaluation device 42
  • a periodic or continuous updating of the measured data is also possible.
  • an image recording of the measurement targets, 8, 10, the target units 14, 16 and reference targets 12, 44 is performed at predetermined time intervals, and these data are evaluated by the evaluation device 42.
  • the optical data of the reference targets 12, 44 may be continuously monitored to be changed once a change is detected in the data to recalculate the position of the measuring units 18, 20 relative to each other.

Abstract

L'invention concerne un dispositif destiné à positionner un système externe (50), s'agissant notamment d'un système de calibrage d'une installation de régulation de la vitesse ou d'un avertisseur de sortie involontaire de voie, par rapport à un véhicule à moteur, comportant une unité de mesure de gauche (18) destinée au positionnement sur un côté gauche du véhicule à moteur, l'unité de mesure de gauche pouvant être positionnée de façon à permettre la détection, depuis ladite unité de mesure de gauche, d'une cible de mesure située sur une roue gauche dudit véhicule à moteur et d'une unité de cible gauche (14) dudit système externe (50). En outre, ledit dispositif comprend une unité de mesure de droite (20) destinée au positionnement sur un côté droit du véhicule à moteur, de façon à permettre la détection, depuis l'unité de mesure de droite (20), d'une cible de mesure située sur une roue droite (6) dudit véhicule à moteur et d'une unité de cible droite (16) dudit système externe (50). Chacune des deux unités de mesure comprend une cible de référence (12, 44) visible respectivement depuis l'autre unité de mesure (18, 20), une unité d'acquisition d'images (38, 40) et un système optique (22, 30). L'unité d'acquisition d'images (38, 40) présente une surface d'acquisition d'images (72, 80, 88) pourvue d'une première zone d'image (74, 82, 90) destinée à détecter une image de la cible de mesure (8, 10) située sur la roue du véhicule à moteur (4, 6), d'une deuxième zone d'image (76, 84, 92) destinée à détecter un image des unités de cible (14, 16) du système externe (50), et d'une troisième zone d'image (78, 86, 94) destinée à détecter une image de la cible de référence (12, 44). Le système optique (22, 30) est disposé et réalisé de façon à obtenir dans la première zone d'images (74, 82, 90) une image de la cible de mesure (8, 10) de la roue du véhicule à moteur, dans la deuxième zone d'images (76, 84, 92) une image des unités de cible (14, 16) du système externe (50), et dans la troisième zone d'images (78, 86, 94) une image de la cible de référence (12, 44). En outre, le dispositif comprend un système d'analyse (42) qui est réalisé de façon à ce qu'il détermine la position du système externe (50) par rapport audit véhicule à moteur, à partir des images qui sont détectées par les zones d'image des deux unités de mesure et qui représentent les cibles de mesure (8, 10) des roues du véhicule à moteur, les unités de cible (14, 16) du système externe (50) et les cibles de référence (12, 44), en procédant à une comparaison avec des images de référence représentant les cibles de mesure (8, 10) et les unités de cible (14, 16).
PCT/EP2012/059472 2011-06-21 2012-05-22 Dispositif et procédé destinés à positionner un système externe par rapport à un véhicule à moteur WO2012175264A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12729898.2A EP2724118A1 (fr) 2011-06-21 2012-05-22 Dispositif et procédé destinés à positionner un système externe par rapport à un véhicule à moteur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110077897 DE102011077897A1 (de) 2011-06-21 2011-06-21 Vorrichtung und Verfahren zum Positionieren einer externen Einrichtung bezüglich eines Kraftfahrzeugs
DE102011077897.7 2011-06-21

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WO2012175264A1 true WO2012175264A1 (fr) 2012-12-27

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EP (1) EP2724118A1 (fr)
DE (1) DE102011077897A1 (fr)
WO (1) WO2012175264A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017213421A1 (de) * 2017-08-02 2019-02-07 Robert Bosch Gmbh Verfahren und Vorrichtung zum Kalibrieren eines Referenztargets

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5731870A (en) * 1995-05-24 1998-03-24 Fori Automation, Inc. Intelligent sensor method and apparatus for an optical wheel alignment machine
US5943783A (en) * 1992-09-04 1999-08-31 Balco, Incorporated Method and apparatus for determining the alignment of motor vehicle wheels
US20060152711A1 (en) * 2004-12-30 2006-07-13 Dale James L Jr Non-contact vehicle measurement method and system
DE102008042018A1 (de) * 2008-09-12 2010-03-18 Robert Bosch Gmbh Verfahren zum Justieren oder Kalibrieren eines Fahrzeugumfeldsensors sowie Fahrzeugumfeldsensor-Justier- oder Kalibrier-Anordnung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5943783A (en) * 1992-09-04 1999-08-31 Balco, Incorporated Method and apparatus for determining the alignment of motor vehicle wheels
US5731870A (en) * 1995-05-24 1998-03-24 Fori Automation, Inc. Intelligent sensor method and apparatus for an optical wheel alignment machine
US20060152711A1 (en) * 2004-12-30 2006-07-13 Dale James L Jr Non-contact vehicle measurement method and system
DE102008042018A1 (de) * 2008-09-12 2010-03-18 Robert Bosch Gmbh Verfahren zum Justieren oder Kalibrieren eines Fahrzeugumfeldsensors sowie Fahrzeugumfeldsensor-Justier- oder Kalibrier-Anordnung

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EP2724118A1 (fr) 2014-04-30

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