A device and method for measuring trajectory offset

Abstract

The present invention relates to the technical field of automotive and trailer detection and test equipment, and particularly relates to a device and method for measuring track offset. The device for measuring track offset includes: a dot laser emitter, a photographing mechanism, and a processor. The dot laser emitter is used to be installed on the vehicle under test, irradiate vertically downward, and form a ground laser dot on the ground. The photographing mechanism is used to be installed on the vehicle under test to photograph the images of the ground laser dot and the ground reference line when the vehicle under test is running. The processor is signal-connected to the photographing mechanism, and is used to obtain the images photographed by the photographing mechanism, and determine the driving deviation amount of the vehicle under test according to the images of the ground laser dot and the ground reference line. This solution can solve the problems in the prior art that the water trace method is only applicable to low speed and short distance, with poor accuracy and inconvenient operation, and the GPS positioning method mainly has high cost and poor accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive and trailer detection and test equipment, and particularly relates to a device and method for measuring track offset Background Art

[0002] In dynamic driving tests of automobiles and trailers, many items involve the movement track of the vehicle body components relative to the ground. For example: the swing amplitude of the center of the rear axle of the trailer relative to the center of the front axle of the towing vehicle specified in the national standard GB / T 26778-2011 "Performance Requirements and Test Methods for Motor Vehicle Train"; the outer swing value of the vehicle specified in GB1589-2016 "Limits of Dimensions, Axle Loads and Masses for Motor Vehicles, Trailers and Motor Vehicle Train"; the deviation amount specified in GBT38679-2020 "Test Method for Vehicle Driving Deviation"; the lane deviation amount specified in standards such as GBT26773-2011 "Performance Requirements and Detection Methods for Lane Departure Warning Systems in Intelligent Transport Systems", etc. These parameters are all related to the driving track of the vehicle.

[0003] Currently, there are mainly two solutions in the industry for related detections: one is to install a water dripping device on the vehicle to spray water droplets onto the ground to form a track line, and the other is to use the GPS plus positioning base station method.

[0004] However, these two solutions have their own different defects: the water trace method is only applicable to low speeds and short distances, with poor accuracy and inconvenient operation; the GPS positioning method mainly has the defects of high cost and poor accuracy. Summary of the Invention

[0005] Aiming at the defects existing in the prior art, the purpose of the present invention is to provide a device and method for measuring track offset, which can solve the problems that the water trace method in the prior art is only applicable to low speeds and short distances, with poor accuracy and inconvenient operation, and the GPS positioning method mainly has the problems of high cost and poor accuracy.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is:

[0007] On the one hand, the present invention provides a device for measuring track offset, including:

[0008] A dot laser emitter, which is used to be installed on the vehicle to be measured, irradiate vertically downward, and form a ground laser dot on the ground.

[0009] A photographing mechanism, which is used to be installed on the vehicle to be measured, and photograph the images of the ground laser dot and the ground reference line when the vehicle to be measured is driving.

[0010] A processor, which is signal - connected to the photographing mechanism, is configured to obtain the images photographed by the photographing mechanism, and determine the driving deviation amount of the vehicle under test based on the images of the ground laser points and the ground reference line.

[0011] In some alternative solutions, a laser emitter is configured to emit a ground reference line onto the ground.

[0012] In some alternative solutions, the processor includes:

[0013] An analysis unit, which is configured to determine the driving deviation amount of the vehicle under test based on the images of the ground laser points and the ground reference line;

[0014] A display unit, which is arranged inside the vehicle under test to display the data of the driving deviation amount of the vehicle under test.

[0015] On the other hand, the present invention also provides a method for measuring the trajectory offset amount, which is implemented by using the trajectory offset amount measuring device described in any one of the above, and includes the following steps:

[0016] Drive the vehicle under test to travel at the vehicle speed and steering wheel operation requirements specified by the standard, and photograph the images of the ground laser points and the ground reference line when the vehicle under test is traveling;

[0017] Determine the driving deviation amount of the vehicle under test based on the images of the ground laser points and the ground reference line when the vehicle under test is traveling.

[0018] In some alternative solutions, use a laser emitter to emit a single - line beam along the road center line on the test road to form a ground reference line on the ground.

[0019] In some alternative solutions, before driving the vehicle under test to travel at the vehicle speed and steering wheel operation requirements specified by the standard, it further includes the step of obtaining a reference dimension, and the reference dimension is used to determine the driving deviation amount of the vehicle under test.

[0020] In some alternative solutions, the obtaining of the reference dimension includes:

[0021] Park the vehicle under test parallel to the ground reference line, so that the ground laser points are spaced apart from the ground reference line by a set distance;

[0022] Obtain the photographed images of the ground laser points and the ground reference line, and actually measure the distance between the ground laser points and the ground reference line;

[0023] Obtain the proportional relationship between the distance between the ground laser points and the ground reference line in the photographed images and the actually measured distance.

[0024] In some alternative solutions, when the vehicle under test is parked parallel to the ground reference line, the set distance between the ground laser point and the ground reference line is 0.4 - 0.6 m.

[0025] In some alternative solutions, determining the driving deviation amount of the vehicle under test based on the images of the ground laser point and the ground reference line when the vehicle under test is moving includes:

[0026] Based on the proportional relationship between the distance between the ground laser point and the ground reference line in the captured image and the actual measurement, and combining the images of the ground laser point and the ground reference line when the vehicle under test is moving, determine the driving deviation amount of the vehicle under test.

[0027] In some alternative solutions, the driving deviation amount of the vehicle under test is displayed in the vehicle at a set frequency through a display unit.

[0028] Compared with the prior art, the advantages of the present invention are as follows: When using this trajectory offset measurement device, a dot laser emitter is installed at the midpoint position of the front end of the vehicle under test. The dot laser emitter is vertically downward and forms a ground laser point on the ground after irradiation. A straight marking line is set on the road where the vehicle under test travels as the ground reference line. The photographing mechanism is installed near the dot laser emitter, and the adjustment of its height and focal length ensures that its viewing range can cover the extreme positions where the ground reference line and the ground laser point deviate on the ground. The vehicle under test is driven along the ground reference line, and during the driving process of the vehicle under test, the image of the ground laser point relative to the ground reference line obtained by the photographing mechanism is transmitted to the processor in real time. The processor automatically captures the ground laser point and the ground reference line in the image, and determines the driving deviation amount of the vehicle under test according to the images of the ground laser point and the ground reference line. This solution is applicable to various vehicle speed and distance conditions, and is generally applicable to the detection of various driving trajectory items; compared with the prior art water trace method with an accuracy of centimeter level, the measurement accuracy of this solution can be improved to millimeter level; compared with the GPS + positioning base station method, the test cost of this solution is reduced by more than 80%; and the test results of the trajectory curve and the offset amount are displayed in real time through the display, which is intuitive and convenient. Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0030] Figure 1 It is a schematic diagram of the trajectory offset measurement device in the embodiment of the present invention.

[0031] In the figure: 1. Dot laser emitter; 2. Vehicle to be measured; 3. Ground laser point; 4. Ground reference line; 5. Photographing mechanism; 6. Processor; 7. Laser emitter. Specific implementation manner

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0033] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] Figure 1 It is a schematic diagram of the trajectory offset measurement device in the embodiments of the present invention. As Figure 1 shown, the present invention provides a trajectory offset measurement device, including: a dot laser emitter 1, a photographing mechanism 5, and a processor 6.

[0035] The dot laser emitter 1 is used to be installed on the vehicle 2 to be measured, irradiate vertically downward, and form a ground laser point 3 on the ground; the photographing mechanism 5 is used to be installed on the vehicle 2 to be measured to photograph images of the ground laser point 3 and the ground reference line 4 when the vehicle 2 to be measured is running; the processor 6 is signal-connected to the photographing mechanism 5, and is used to obtain the images photographed by the photographing mechanism 5, and determine the driving deviation amount of the vehicle 2 to be measured according to the images of the ground laser point 3 and the ground reference line 4.

[0036] When using this trajectory offset measurement device, install the dot laser emitter 1 at the midpoint position of the front end of the vehicle 2 to be measured. The dot laser emitter 1 irradiates vertically downward and forms a ground laser point 3 on the ground. Set a straight marking line on the road where the vehicle 2 to be measured travels as the ground reference line 4. Install the photographing mechanism 5 near the dot laser emitter 1, and adjust its height and focal length to ensure that its viewing range can cover the extreme positions where the ground reference line 4 and the ground laser point 3 deviate on the ground. Make the vehicle 2 to be measured travel along the ground reference line 4, and during the running of the vehicle 2 to be measured, transmit the image of the ground laser point 3 relative to the ground reference line 4 obtained by the photographing mechanism 5 to the processor 6 in real time. The processor 6 automatically captures the ground laser point 3 and the ground reference line 4 in the image, and determines the driving deviation amount of the vehicle 2 to be measured according to the images of the ground laser point 3 and the ground reference line 4.

[0037] This solution is applicable to various vehicle speeds and distance conditions, and is generally applicable to the detection of various driving trajectory projects; compared with the existing water trace method with a centimeter-level accuracy, the measurement accuracy of this solution can be improved to the millimeter level; compared with the GPS + positioning base station method, the test cost of this solution is reduced by more than 80%; and the test results of the trajectory curve and offset are displayed in real time through the display, which is intuitive and convenient.

[0038] In this example, the photographing mechanism 5 is a camera. When determining the driving deviation amount of the measured vehicle 2 based on the images of the ground laser points 3 and the ground reference line 4, the relative distance between the ground laser points 3 and the ground reference line 4 can be determined through image processing by the installation position and focal length of the camera. It is also possible to, before the detection drive, park the measured vehicle 2 in a position parallel to the ground reference line 4, and make the ground laser points 3 and the ground reference line 4 have a certain distance interval. By actually measuring the actual distance between the ground laser points 3 and the ground reference line 4 at this time, use a measuring tool to accurately measure this dimension and use it as a reference dimension for subsequent dynamic calculations. Specifically, obtain the number of pixels between the pixel center points corresponding to the ground laser points 3 and the ground reference line 4 in the image captured by the camera. In this way, the actual length corresponding to each pixel on the ground can be obtained. During subsequent detection, the measured vehicle 2 travels along the ground reference line 4, and the number of pixels between the pixel center points corresponding to the ground laser points 3 and the ground reference line 4 in the image captured by the camera in real time can be obtained, and then the actual distance between the ground laser points 3 and the ground reference line 4 can be determined, thereby determining the driving deviation amount of the measured vehicle 2.

[0039] In addition, when adopting the method of parking the measured vehicle 2 in a position parallel to the ground reference line 4, making the ground laser points 3 and the ground reference line 4 have a certain distance interval, and determining the actual distance between the ground laser points 3 and the ground reference line 4 at this time, and the number of pixels between the pixel center points corresponding to the ground laser points 3 and the ground reference line 4 in the image captured by the camera, and determining the actual length corresponding to each pixel on the ground as a reference for subsequent testing, the distance interval between the ground laser points 3 and the ground reference line 4 is 0.4 - 0.6 m. This distance can also be determined according to the deviation limit situation of the measured vehicle 2, so that the actual length corresponding to each pixel on the ground in the image can be obtained more accurately.

[0040] In some alternative embodiments, the laser emitter 7 is used to emit the ground reference line 4 onto the ground.

[0041] In this embodiment, in order to adapt to the detection of the measured vehicle 2 at different positions, or to facilitate more flexible detection, the laser emitter 7 is installed on the ground, and a single-line beam is emitted along the road center line by the laser emitter 7 and falls on the ground to form the ground reference line 4.

[0042] Of course, in other embodiments, a straight line can also be directly drawn on the ground as the ground reference line 4, which can achieve basically the same effect. However, during each test, the vehicle can only travel along the defined ground reference line 4, which may cause some inconvenience in certain cases.

[0043] In some alternative embodiments, the processor 6 includes an analysis unit and a display unit. The analysis unit is configured to determine the driving deviation amount of the vehicle under test 2 based on the images of the ground laser points 3 and the ground reference line 4. The display unit is arranged inside the vehicle under test 2 to display the data of the driving deviation amount of the vehicle under test 2.

[0044] In this embodiment, in order to enable the tester to more intuitively obtain the data of the deviation amount, the display unit is arranged inside the vehicle. The display unit can display the images of the ground laser points 3 and the ground reference line 4 obtained in real time. In this way, the tester can see the real-time distance change between the ground laser points 3 and the ground reference line 4 through the real-time displayed images, which is more intuitive. On the other hand, the analysis unit is configured to determine the real-time distance between the ground laser points 3 and the ground reference line 4 based on the images of the ground laser points 3 and the ground reference line 4, so as to determine the driving deviation amount of the vehicle under test 2. And the numerical value of the driving deviation amount of the vehicle under test 2 is displayed on the display unit, which is convenient for the tester to more intuitively obtain the test data.

[0045] In other embodiments, the detection of items such as the vehicle's outward swing value, the swing amplitude of the trailer, and the lane offset amount can also be realized by changing the installation position of the laser emitter 7, the number of emitted light beams, and the radius of curvature.

[0046] On the other hand, as Figure 1 shown, the present invention also provides a method for measuring the trajectory offset amount, which is implemented by using the trajectory offset amount measuring device described in any one of the above. The method includes the following steps:

[0047] S1: Make the vehicle under test 2 travel according to the vehicle speed and steering wheel operation requirements specified by the standard, and capture the images of the ground laser points 3 and the ground reference line 4 when the vehicle under test 2 is traveling.

[0048] Before making the vehicle under test 2 travel according to the vehicle speed and steering wheel operation requirements specified by the standard, install a dot laser emitter 1 at the midpoint position of the front end of the vehicle under test 2. The dot laser emitter 1 is vertically downward and irradiates on the ground to form the ground laser points 3. Set a straight marking line on the road where the vehicle under test 2 travels during detection as the ground reference line 4. Install the photographing mechanism 5 near the dot laser emitter 1, and adjust its height and focal length to ensure that its viewing angle range can cover the extreme positions where the ground reference line 4 and the ground laser points 3 deviate on the ground.

[0049] Drive the vehicle under test 2 along the ground reference line 4 at the vehicle speed and steering wheel operation requirements specified by the standard. For example, Figure 1 at the A - A position in Figure 1 , and during the driving of the vehicle under test 2 (such as at the B - B position in Figure 1 ), obtain the image of the ground laser points 3 relative to the ground reference line 4 using the photographing mechanism 5, and transmit the image of the ground laser points 3 relative to the ground reference line 4 obtained by the photographing mechanism 5 to the processor.

[0050] In some alternative embodiments, use a laser emitter 7 to emit a linear beam along the center line of the test road, which forms the ground reference line 4 on the ground.

[0051] In this example, in order to adapt to the detection of the vehicle under test at different positions or for more flexible detection, install a laser emitter 7 on the ground, and the laser emitter 7 emits a linear beam along the center line of the road, which forms the ground reference line 4 on the ground.

[0052] Of course, in other embodiments, a straight line can also be directly drawn on the ground as the ground reference line 4, which can also achieve basically the same effect. However, during each test, the vehicle can only drive along the pre - defined ground reference line 4, which may cause some inconvenience in certain cases.

[0053] S2: Determine the driving deviation amount of the vehicle under test 2 according to the images of the ground laser points 3 and the ground reference line 4 when the vehicle under test 2 is driving.

[0054] Specifically, the processor 6 automatically captures the ground laser points 3 and the ground reference line 4 in the image, and determines the driving deviation amount of the vehicle under test 2 according to the images of the ground laser points 3 and the ground reference line 4.

[0055] In some alternative embodiments, before driving the vehicle under test 2 at the vehicle speed and steering wheel operation requirements specified by the standard, it further includes the step of obtaining a reference dimension, and the reference dimension is used to determine the driving deviation amount of the vehicle under test 2. The reference dimension can be used as a reference dimension for subsequent dynamic calculations.

[0056] In some alternative embodiments, the step of obtaining the reference dimension includes the following steps:

[0057] A: Park the vehicle under test 2 parallel to the ground reference line 4, so that the ground laser points 3 are spaced apart from the ground reference line 4 by a set distance.

[0058] Parking the vehicle under test 2 parallel to the ground reference line 4 means that the central axis of the vehicle under test 2 is parallel to the ground reference line 4.

[0059] B: Obtain the captured images of the ground laser point 3 and the ground reference line 4, and actually measure the distance between the ground laser point 3 and the ground reference line 4.

[0060] C: Obtain the proportional relationship between the distances between the ground laser point 3 and the ground reference line 4 in the captured images and the actual measurement.

[0061] In this example, before the detection run, the vehicle under test is parked in a position parallel to the ground reference line 4, and the ground laser point 3 and the ground reference line 4 are spaced apart by a certain distance. By actually measuring the actual distance between the ground laser point 3 and the ground reference line 4 at this time, a measuring tool is used to accurately measure this dimension and use it as a reference dimension for subsequent dynamic calculations. Specifically, obtain the number of pixels between the corresponding pixel center points of the ground laser point 3 and the ground reference line 4 in the image captured by the camera. In this way, the actual length corresponding to each pixel on the ground can be obtained. During subsequent detection, the vehicle under test 2 travels along the ground reference line 4, and the number of pixels between the corresponding pixel center points of the ground laser point 3 and the ground reference line 4 in the image captured by the camera in real time is obtained, and then the actual distance between the ground laser point 3 and the ground reference line 4 can be determined, thereby determining the driving deviation amount of the vehicle under test 2.

[0062] In some alternative embodiments, when the vehicle under test 2 is parked parallel to the ground reference line 4, the set distance between the ground laser point 3 and the ground reference line 4 is 0.4 - 0.6 m. In this example, 0.5 m is adopted.

[0063] The spacing distance between the ground laser point 3 and the ground reference line 4 can be determined according to the limit value of the driving deviation amount of the vehicle under test, so that the actual length corresponding to each pixel in the image can be obtained more accurately.

[0064] In some alternative embodiments, determining the driving deviation amount of the vehicle under test 2 according to the images of the ground laser point 3 and the ground reference line 4 when the vehicle under test 2 is running includes:

[0065] Determine the driving deviation amount of the vehicle under test 2 according to the proportional relationship between the distances between the ground laser point 3 and the ground reference line 4 in the captured images and the actual measurement, in combination with the images of the ground laser point 3 and the ground reference line 4 when the vehicle under test 2 is running.

[0066] During subsequent detection, the vehicle under test 2 travels along the ground reference line 4, and the number of pixels between the corresponding pixel center points of the ground laser point 3 and the ground reference line 4 in the image captured by the camera in real time is obtained. The actual length corresponding to each pixel between the corresponding pixel center points of the ground laser point 3 and the ground reference line 4 has been obtained previously. That is, the actual distance between the ground laser point 3 and the ground reference line 4 can be determined through the total number of pixels, thereby determining the driving deviation amount of the vehicle under test 2.

[0067] In some alternative embodiments, the driving deviation amount of the vehicle under test is displayed in the vehicle at a set frequency by a display unit.

[0068] To enable the tester to obtain the deviation amount data more intuitively, the display unit is arranged in the vehicle. The display unit can display the images of the ground laser point 3 and the ground reference line 4 obtained in real time. In this way, the tester can see the real-time distance change between the ground laser point 3 and the ground reference line 4 through the real-time displayed images, which is more intuitive. On the other hand, the analysis unit is used to determine the real-time distance between the ground laser point 3 and the ground reference line 4 according to the images of the ground laser point 3 and the ground reference line 4, so as to determine the driving deviation amount of the vehicle under test 2. And the numerical value of the driving deviation amount of the vehicle under test 2 is displayed on the display unit, which is convenient for the tester to obtain the test data more intuitively.

[0069] To sum up, when using the trajectory offset amount measuring device and method, a dot laser emitter 1 is installed at the midpoint position of the front end of the vehicle under test 2. The dot laser emitter 1 faces vertically downward and irradiates on the ground to form a ground laser point 3. A straight marking line is set on the road where the vehicle under test 2 travels as the ground reference line 4. The photographing mechanism 5 is installed near the dot laser emitter 1, and the adjustment of its height and focal length ensures that its viewing range can cover the extreme positions where the ground reference line 4 and the ground laser point 3 deviate on the ground. The vehicle under test 2 travels along the ground reference line 4, and during the travel of the vehicle under test 2, the image of the ground laser point 3 relative to the ground reference line 4 obtained by the photographing mechanism 5 is transmitted to the processor 6 in real time. The processor 6 automatically captures the ground laser point 3 and the ground reference line 4 in the image, and determines the driving deviation amount of the vehicle under test 2 according to the images of the ground laser point 3 and the ground reference line 4.

[0070] This solution is applicable to various vehicle speed and distance conditions, and is generally applicable to the detection of various driving trajectory items; compared with the existing water trace method with an accuracy of centimeter level, the measurement accuracy of this solution can be improved to millimeter level; compared with the GPS + positioning base station method, the test cost of this solution is reduced by more than 80%; and the trajectory curve and offset amount test results are displayed in real time through the display, which is intuitive and convenient.

[0071] The photographing mechanism 5 is a camera. When determining the driving deviation amount of the vehicle 2 to be measured based on the images of the ground laser points 3 and the ground reference line 4, before the driving detection, the vehicle 2 to be measured is parked at a position parallel to the ground reference line 4, and the ground laser points 3 and the ground reference line 4 are spaced apart by a certain distance. By actually measuring the actual distance between the ground laser points 3 and the ground reference line 4 at this time, a measuring tool is used to accurately measure this dimension and use it as a reference dimension for subsequent dynamic calculations. Specifically, the number of pixels between the corresponding pixel center points of the ground laser points 3 and the ground reference line 4 in the image captured by the camera is obtained. In this way, the actual length corresponding to each pixel in the image on the ground can be obtained. During subsequent detection, the vehicle 2 to be measured travels along the ground reference line 4, and the number of pixels between the corresponding pixel center points of the ground laser points 3 and the ground reference line 4 in the image captured by the camera in real time is obtained, and then the actual distance between the ground laser points 3 and the ground reference line 4 can be determined, thereby determining the driving deviation amount of the vehicle 2 to be measured.

[0072] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and defined, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0073] It should be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0074] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A device for measuring track offset, characterized in that, it includes: A dot laser emitter (1), which is used to be installed on the vehicle under test (2), irradiates vertically downward, and forms a ground laser point (3) on the ground; A photographing mechanism (5), which is used to be installed on the vehicle under test (2), and photographs the images of the ground laser point (3) and the ground reference line (4) when the vehicle under test (2) is running; A processor (6), which is signal-connected to the photographing mechanism (5), is used to obtain the images photographed by the photographing mechanism (5), and determine the driving deviation amount of the vehicle under test (2) according to the images of the ground laser point (3) and the ground reference line (4); A light emitter (7), which is used to emit a ground reference line (4) to the ground; The processor (6) includes: An analysis unit, which is used to determine the driving deviation amount of the vehicle under test (2) according to the images of the ground laser point (3) and the ground reference line (4); A display unit, which is used to be set inside the vehicle under test (2) to display the data of the driving deviation amount of the vehicle under test (2); During measurement, the vehicle under test (2) is made to run along the ground reference line (4), and during the running of the vehicle under test (2), the image of the ground laser point (3) relative to the ground reference line (4) obtained by the photographing mechanism (5) is transmitted to the processor (6) in real time. The processor (6) automatically captures the ground laser point (3) and the ground reference line (4) in the image, and determines the driving deviation amount of the vehicle under test (2) according to the images of the ground laser point (3) and the ground reference line (4).

2. A method for measuring track offset, characterized in that, it is realized by using the track offset measurement device as described in claim 1, and includes the following steps: Making the vehicle under test (2) run according to the vehicle speed and steering wheel operation requirements specified by the standard, and photographing the images of the ground laser point (3) and the ground reference line (4) when the vehicle under test (2) is running; Determining the driving deviation amount of the vehicle under test (2) according to the images of the ground laser point (3) and the ground reference line (4) when the vehicle under test (2) is running.

3. The method for measuring track offset as described in claim 2, characterized in that, A laser emitter (7) is used to emit a linear light beam along the road center line on the test road and fall on the ground to form a ground reference line (4).

4. The method for measuring track offset as described in claim 3, characterized in that, Before making the vehicle under test (2) run according to the vehicle speed and steering wheel operation requirements specified by the standard, it further includes the step of obtaining a reference dimension, and the reference dimension is used to determine the driving deviation amount of the vehicle under test (2).

5. The method for measuring track offset as described in claim 4, characterized in that, The obtaining of the reference dimension includes: Parking the vehicle under test (2) parallel to the ground reference line (4), so that the ground laser point (3) is set at a certain distance from the ground reference line (4); Obtaining the photographed images of the ground laser point (3) and the ground reference line (4), and actually measuring the distance between the ground laser point (3) and the ground reference line (4). Obtain the proportional relationship between the distance between the ground laser point (3) and the ground reference line (4) in the captured image and the actual measurement.

6. The trajectory offset measurement method according to claim 5, characterized in that when the vehicle under test (2) is parked parallel to the ground reference line (4), the set distance between the ground laser point (3) and the ground reference line (4) is 0.4 - 0.6 m.

7. The trajectory offset measurement method according to claim 6, characterized in that determining the driving deviation amount of the vehicle under test (2) according to the images of the ground laser point (3) and the ground reference line (4) when the vehicle under test (2) is driving, includes: determining the driving deviation amount of the vehicle under test (2) according to the proportional relationship between the distance between the ground laser point (3) and the ground reference line (4) in the captured image and the actual measurement, in combination with the images of the ground laser point (3) and the ground reference line (4) when the vehicle under test (2) is driving.

8. The trajectory offset measurement method according to claim 7, characterized in that the driving deviation amount of the vehicle under test (2) is displayed in the vehicle at a set frequency through a display unit.

Images