Method for calibrating and / or adjusting intrinsic coordinate system of vehicle component with respect to coordinate system of vehicle, and vehicle test bench for carrying out method

Abstract

The invention relates to a method in which a position and an orientation of a test board assembly (1) at a current position are to be determined. A test board assembly (1) interacts with a vehicle assembly in a vehicle test board. In order to be able to calibrate vehicle components, the position and orientation of the test bench component (1) must be known. The position of the test bench assembly (1) in the vehicle test bench is variable. As a result, it is possible to induce a torque in the event of a lateral offset of the test bench assembly (1), which torque tilts the support (2) of the test bench assembly (1). In determining the position and orientation of the test bench assembly (1), the tilt of the support (2) should be taken into account and compensated if necessary. The invention also relates to a vehicle test bench for carrying out such a method.

Description

Technical Field

[0001] The invention relates to a method for calibrating and / or adjusting the intrinsic coordinate system of a vehicle component relative to the coordinate system of the vehicle according to the preamble of claim 1, and a vehicle test bench for carrying out the method according to the preamble of claim 5. Background Art

[0002] When calibrating the intrinsic coordinate system of the vehicle component relative to the coordinate system of the vehicle, the deviation of the intrinsic coordinate system of the vehicle component relative to the coordinate system of the vehicle is stored in the control unit and is subsequently taken into account when evaluating the signals of the sensors of the vehicle component. The vehicle component can also be adjusted so that its intrinsic coordinate system is consistent with the coordinate system of the vehicle or, if necessary, the deviation of the intrinsic coordinate system from the coordinate system of the vehicle is minimized. If a deviation still exists, this can then be taken into account in the evaluation (calibration).

[0003] Vehicle components are installed in vehicles, which detect and evaluate the environment around the vehicle. To this end, these vehicle components must be aligned in a defined manner with the vehicle's coordinate system. Vehicle components can be, for example, cameras, radar sensors or laser radar (LIDAR) systems. These vehicle components have their own coordinate system.

[0004] This involves aligning the intrinsic coordinate system of the vehicle component relative to the coordinate system of the vehicle. Exact alignment of this intrinsic coordinate system of the vehicle component relative to the coordinate system of the vehicle with the required accuracy cannot be achieved simply by virtue of the defined installation position in the vehicle.

[0005] Vehicle components are mounted on the vehicle (e.g. body, windshield, mirrors, bumpers, etc.). The body is thus the reference system for aligning the intrinsic coordinate system of the vehicle component. The installation position of the vehicle component is defined relative to the body or to the body "around" the installation position. Errors in the body as a "reference system" for the installation of the vehicle component lead to errors in aligning the intrinsic coordinate system of the vehicle component relative to the vehicle coordinate system for each vehicle component.

[0006] Even if the vehicle body coordinate system is error-free, the mounting itself may always be subject to certain errors at a defined mounting position on the vehicle body, which also results in errors in aligning the intrinsic coordinate system of the respective vehicle component relative to the vehicle coordinate system.

[0007] Another problem with the definition of "aligning the intrinsic coordinate system of the corresponding vehicle component with the coordinate system of the vehicle" is that the relevant coordinate system of the vehicle may be independent of the vehicle body. If the vehicle component involves dynamically detecting the environment during the continuous movement of the vehicle, the relevant coordinate system is the geometric driving axis of the vehicle.

[0008] The geometrical axis of travel is defined as the bisector of the track angle of the wheels on a defined reference axis. For passenger vehicles (PKW), the reference axis is the rear axle axis, at which the wheels are usually not steered. If the wheels on this reference axis are steered, the geometrical axis of travel of the vehicle is defined accordingly in the operating state in which the steering angle of the wheels on the defined axis is equal to zero.

[0009] The track angle is a parameter of the vehicle's chassis geometry.

[0010] The vehicle coordinate system defined by the geometrical axis of travel of the vehicle does not necessarily have to coincide with the vehicle coordinate system resulting from the geometry of the vehicle body.

[0011] Therefore, the intrinsic coordinate systems of the vehicle components are calibrated relative to the vehicle coordinate system. For the calibration and / or adjustment of these vehicle components, the vehicle is placed in a vehicle test bench, in which the coordinate system of the vehicle is determined relative to the coordinate system of the vehicle test bench. Alternatively, the vehicle can also be positioned in the vehicle test bench in such a way that the vehicle coordinate system is defined relative to the coordinate system of the vehicle test bench. In the vehicle test bench, test bench components are arranged, whose intrinsic coordinate systems are known relative to the coordinate system of the vehicle test bench.

[0012] A method is known from DE 10 2019 113 441 A1 for assigning an intrinsic coordinate system of a first component of a vehicle to detect a space laterally of the vehicle relative to a coordinate system associated with the vehicle. In this case, a test bench is designed to perform measurement and / or adjustment work on a component of a vehicle and has a measuring device for determining at least one axis of a coordinate system associated with the vehicle with reference to the coordinate system assigned to the test bench. In addition, the intrinsic coordinate system of the measuring device has been assigned in advance in a defined manner relative to the coordinate system of the test bench when calibrating the test bench. In addition to the measuring device, there is (at least) a measuring unit. This measuring unit is mechanically fastened to the measuring device so that the intrinsic coordinate system of the measuring unit is assigned in a defined manner with reference to the intrinsic coordinate system of the measuring device.

[0013] A method for calibrating a detection device is known from EP 2 789 997 A1. The detection device is designed for three-dimensional geometric detection of an environment. The detection device comprises at least one inertial measurement system for temporarily determining the trajectory of the detection device by calculation. The method comprises the following steps:

[0014] a) i) positioning and / or orienting the detection device in a relative position and / or relative orientation relative to at least one reference point characterized by at least one predetermined relative coordinate, or

[0015] ii) determining at least one relative coordinate, which characterizes the relative position and / or relative orientation of the detection device relative to at least one reference point;

[0016] b) determining at least one error quantity for the deviation of at least one relative coordinate according to step a) from the relative coordinate(s) temporarily determined by calculation by the inertial measurement system;

[0017] c) If the error quantity meets a predetermined correction criterion: the trajectory temporarily determined by the inertial measurement system through calculation is corrected.

[0018] A method for calibrating at least one vehicle sensor arranged in a vehicle is known from WO 2022 184 475 A1. The method comprises the following steps:

[0019] Provide the vehicle in a calibration space,

[0020] detecting the position of the vehicle in a spatially fixed coordinate system by means of an optical detection system arranged in a calibration space,

[0021] Determine the position of the vehicle sensors involved in a spatially fixed coordinate system,

[0022] Arranging a calibration object in a detection field of an associated vehicle sensor in a calibration space,

[0023] detecting a position of a calibration object in a spatially fixed coordinate system to obtain a first relative position,

[0024] The vehicle sensor detects the position of the calibration object in a coordinate system fixed to the vehicle sensor as a second relative position,

[0025] calculating intrinsic and / or extrinsic calibration parameters by comparing the first relative position with the second relative position,

[0026] as well as

[0027] These calibration parameters are stored in the relevant vehicle sensor and / or in an electronic unit coupled to the relevant vehicle sensor.

[0028] Based on the known relationship between the intrinsic coordinate system of the test bench component and the coordinate system of the vehicle test bench, and based on the known relationship of the coordinate system of the vehicle relative to the coordinate system of the vehicle test bench, it can be determined, when the intrinsic coordinate system of the corresponding vehicle component coincides with the coordinate system of the vehicle, at what solid angle the vehicle component must have in order to identify the corresponding test bench component. This solid angle is the target value. By comparing the actually measured solid angle with this target value, the intrinsic coordinate system of the corresponding vehicle component can be calibrated and / or adjusted relative to the coordinate system of the vehicle.

[0029] It is known that test bench components in vehicle test benches are designed so that their position can be changed. This allows adaptation to different vehicles by changing the position of the test bench components. This is particularly important in the case of vehicles of different sizes. The position of the test bench components can also be changed to simulate different test situations and experimental situations.

[0030] When the position is changed, the relationship between the intrinsic coordinate system of the test bench component and the coordinate system of the vehicle test bench can be determined in the following manner, namely: the intrinsic coordinate system of the test bench component is measured relative to the coordinate system of the vehicle test bench when the test bench component is in the initial position (X0-Y0-Z0 position) in the vehicle test bench. The change of the position of the test bench component in the vehicle test bench can be achieved by manipulating the drive unit to change the position of the test bench component. This causes the displacement and / or rotation of the test bench component, wherein by manipulating the drive unit it is known how much the position of the test bench component has changed in the coordinate system of the vehicle test bench. Correspondingly, it is also known whether the component is rotated around one axis or even around multiple axes and by how much angle it is rotated in the corresponding case. If the relationship between the intrinsic coordinate system of the test bench component and the coordinate system of the vehicle test bench at the X0-Y0-Z0 position is known, the relationship between the intrinsic coordinate system of the test bench component and the coordinate system of the vehicle test bench can be obtained by manipulating the drive unit to change the position of the component.

[0031] The relationship between the intrinsic coordinate system of the test bench component and the coordinate system of the vehicle test bench can also be determined by determining the position of one or more reference points of the test bench component relative to the coordinate system of the vehicle test bench. The intrinsic coordinate system of the test bench component when the initial position (X0-Y0-Z0 position) of the test bench component in the vehicle test bench is determined relative to the coordinate system of the vehicle test bench. Summary of the invention

[0032] The object on which the invention is based is to improve the accuracy with which the intrinsic coordinate system of a vehicle component is determined, even in the event of positional changes of the test bench component.

[0033] This object is achieved by a method for calibrating and / or adjusting a natural coordinate system of a vehicle component relative to a coordinate system of the vehicle according to claim 1 .

[0034] Calibration and / or adjustment is first performed by positioning the vehicle in the vehicle test bench. The coordinate system of the vehicle positioned in the vehicle test bench is defined relative to the coordinate system of the vehicle test bench. This can be performed by positioning the vehicle in the vehicle test bench and then determining the coordinate system of the vehicle relative to the coordinate system of the vehicle test bench. This can also be performed by parking the vehicle at a defined position and in a defined orientation on the vehicle test bench.

[0035] Calibration and / or adjustment of the vehicle component is performed based on the interaction of the vehicle component to be calibrated with the test bench component. The test bench component can be positioned at different locations in the vehicle test bench. Here, the intrinsic coordinate system of the test bench component is defined relative to the coordinate system of the vehicle test bench.

[0036] Defining the intrinsic coordinate system of the test bench assembly relative to the coordinate system of the vehicle test bench is performed by fastening the test bench assembly to the support. The position of at least one reference point of the support in the coordinate system of the vehicle test bench is determined in the initial position (X0-Y0-Z0 position) of the support. In addition, the position and / or orientation of the intrinsic coordinate system of the support of the test bench assembly in the coordinate system of the vehicle test bench is determined in the initial position (X0-Y0-Z0 position) of the support.

[0037] When the position and / or orientation of the intrinsic coordinate system of the test bench component at the current position in the coordinate system of the vehicle test bench is obtained, the current position of at least one reference point of the bracket in the coordinate system of the vehicle test bench is determined. By determining the displacement of at least one reference point of the bracket (the coordinates in the coordinate system of the vehicle test bench at the current position (XYZ position) compared to the position of the at least one reference point of the bracket in the coordinate system of the vehicle test bench at the initial position (X0-Y0-Z0 position) of the bracket), the position and / or orientation of the intrinsic coordinate system of the bracket at the current position in the coordinate system of the vehicle test bench is determined as the displacement of the intrinsic coordinate system of the bracket at the current position compared to that at the initial position.

[0038] The intrinsic coordinate system of the test bench components is defined relative to the coordinate system of the vehicle test bench taking into account the following factors:

[0039] the position and / or orientation of the intrinsic coordinate system of the test bench assembly relative to the intrinsic coordinate system of the support in the current position of the test bench assembly,

[0040] a change in the position and / or orientation of the intrinsic coordinate system of the support in the current position of the test bench assembly compared to the position and / or orientation of the intrinsic coordinate system of the support in the initial position, and

[0041] The position and / or orientation of the intrinsic coordinate system of the support relative to the coordinate system of the vehicle test bench in the initial position.

[0042] If the test bench assembly is rigidly fastened to the support and the support itself is rigid, the position and / or orientation of the intrinsic coordinate system of the test bench assembly relative to the intrinsic coordinate system of the support is constant. If the support does not have telescopic elements and / or swivel joints, by means of which the structure of the support can be changed by means of controllable drive elements, the support itself is rigid. If the structure of the support can be changed in the manner described, changes in the structure of the support can be taken into account by actuating the drive elements in the current position compared to actuating the drive elements in the initial position.

[0043] Thus, the test bench assembly is fastened to a support which can be displaced in the vehicle test bench so that the current position of the support compared to the initial position is known. The intrinsic coordinate system of the support can be displaced without changing the orientation of the intrinsic coordinate system of the support relative to the orientation of the coordinate system of the vehicle test bench.

[0044] If necessary, the support can still have a plurality of telescopic elements and / or swivel joints, whereby the structure of the support can be changed, so that the position and / or orientation of the test bench component in the coordinate system of the vehicle test bench can be changed by changing the structure of the support by means of drive elements that operate the telescopic elements or swivel joints.

[0045] Thus, in the coordinate system of the vehicle test bench, changes in position and / or orientation can be made by:

[0046] By displacing the support of the test bench assembly in the vehicle test bench

[0047] and / or

[0048] By changing the structure of the bracket.

[0049] In the mode of operation according to the prior art, changes in the position and / or orientation of the intrinsic coordinate system of the support are only taken into account (in addition to displacements of the support) if the structure of the support is changed by a rotational joint in the support or by telescopic elements of the support. Changes in the structure of the support are implemented by correspondingly actuated drive elements.

[0050] According to the invention, the method takes into account that the support tilts when the common center of gravity of the support and the test bench assembly fastened thereto is no longer located vertically above the support's bearing surface, but is offset laterally. This generates a torque acting on the support's bearing surface. If the support itself is stable to the extent that it does not deform (bend), deformations of the support may occur in the region of the support's bearing surface. In this region, a pivot axis may also be provided, about which the support can be rotated in a defined manner in the event of a lateral tilt.

[0051] It is important to take into account the tilting of the support according to the invention that this tilting is not caused by a structural change of the support by the drive. Instead, this tilting is caused by the torque described. This tilting causes the natural axis of the support to change in the coordinate system of the vehicle test bench.

[0052] The structure of the support is defined. This means that in a first embodiment, the support has a rigid shape (i.e., the support itself has no deformation). In a further (second) embodiment, the support may have one or more joints and / or be able to extend and retract along one or more elements. The resulting structural changes of the support are known (by manipulating the drive element). In addition, in this further embodiment, the support also has no other deformations.

[0053] According to the invention, the method further comprises the following features: at least one reference point of the support is defined by a straight line on which these reference points lie. The straight line forms a pivot axis about which the support rotates due to a torque when the center of gravity of the test bench assembly is laterally offset in the vertical direction relative to the straight line.

[0054] The orientation of the support in relation to the tilt about the pivot axis in the X0-Y0-Z0 position is measured in the intrinsic coordinate system of the tilt measuring unit by means of the tilt measuring unit. The orientation of the support in relation to the tilt about the pivot axis in the intrinsic coordinate system of the tilt measuring unit is also measured in the current position by means of the tilt measuring unit. Based on the measurement data of the tilt measuring unit, a change in the orientation of the support in relation to the tilt about the pivot axis in the current position compared to the orientation of the support in relation to the tilt about the pivot axis in the X0-Y0-Z0 position is determined.

[0055] The orientation of the intrinsic coordinate system of the support of the test bench assembly in the coordinate system of the vehicle test bench is derived from:

[0056] the orientation of the bracket in the coordinate system of the vehicle test bench at the X0-Y0-Z0 position, and

[0057] This is done by taking into account the change in the orientation of the intrinsic coordinate system of the support which is derived from the measurement data of the inclination measuring unit.

[0058] The invention is based on the fact that the measurement of the orientation by means of the inclination measuring unit within the scope of the evaluation is carried out "only" as a differential measurement and the change of the orientation in two positions relative to one another. The measured data of the inclination measuring unit are linked to the coordinate system of the test bench in that the position and orientation of the pivot axis (which are known in the coordinate system of the vehicle test bench - both in the initial position and in the current position) are linked to the coordinate system of the test bench.

[0059] In the simplest case, this pivot axis is constant and does not change. This can be the case, for example, if the support of the test bench assembly is guided on rails and the position and orientation of the rails in the coordinate system of the vehicle test bench are known. If the support can be displaced along the rails but is otherwise rigidly fastened to the rails, then these rails form the pivot axis.

[0060] Under corresponding torques, this can cause the rail to deform. This can be limited or even completely avoided if the support is supported on a plate supported on the rail via a pivot axis. The rail is thus "lightened" because the pivot axis absorbs the torque. Such a design has proven to be advantageous in particular when not only one test bench component but several test bench components are guided on the rail. By means of the design of the support via the pivot axis, reactions on the coordinates of other test bench components caused by deformations of the guide rail can be limited or avoided.

[0061] In one embodiment of the method according to claim 2, the position and / or orientation of the test bench component and / or the support for the test bench component in the X0-Y0-Z0 position in the coordinate system of the vehicle test bench is measured at the support's X0-Y0-Z0 position. This measurement is taken into account when determining the orientation of the proper coordinate system of the support for the test bench component in the coordinate system of the vehicle test bench in the current position.

[0062] Alternatively to such a measurement (and therefore in the sense of claim 1 as a whole), the position and orientation of the support in the X0-Y0-Z0 position can also be achieved "by definition" when the support is fastened to a structure (e.g. a rail), whereby the orientation of the support is assumed to be known.

[0063] Then it can be determined as follows:

[0064] In the first position, at least one reference point of the support is determined in the longitudinal direction of the guide rail. If the support has one or more joints, the structure of the support is changed so that: the center of gravity of the unit "support and test bench assembly" is as far as possible above at least one reference point of the support in the vertical direction. If the center of gravity cannot be placed directly above the reference point, the center of gravity is positioned so that the torque acting around the pivot axis through the reference point (or multiple reference points) is as small as possible. This makes it possible that: in the X0-Y0-Z0 position, there may be a slight tilt due to the lateral displacement of the center of gravity. This is the X0-Y0-Z0 position where the "reference value" of the inclination measuring unit is recorded. In addition, all measured values ​​of the inclination measuring unit are based on this "reference value" to form a difference. If the displacement path of the support along the guide rail is known, the current position and orientation of the test bench assembly can be determined separately from this.

[0065] In one embodiment of the method according to claim 3 , the position of at least one reference point of the support in the coordinate system of the vehicle test bench is measured in the current position of the support.

[0066] This enables the intrinsic coordinate system of the test bench assembly to be determined precisely with reference to the coordinate system of the vehicle test bench including the measured values ​​of the inclination measuring unit.

[0067] In a design of the method according to claim 4, the support has a controllable drive element for one or more telescopic elements of the support and / or a controllable drive element for rotating parts of the support around one or more rotational joints of the support. In order to compensate for the described effects of the torque, these controllable drive elements are controlled in such a way that the position and / or orientation of the intrinsic coordinate system of the test bench component relative to the coordinate system of the vehicle test bench is corrected by the following measures. First, the target position and target orientation of the intrinsic coordinate system of the test bench component in the coordinate system of the vehicle test bench are determined by:

[0068] determining the position of at least one reference point of the support in the current position in the coordinate system of the vehicle test bench,

[0069] Determine the position and orientation of the test bench component's intrinsic coordinate system in the support's intrinsic coordinate system,

[0070] as well as

[0071] The orientation of the intrinsic coordinate system of the support in the X0-Y0-Z0 position relative to the coordinate system of the vehicle test bench is taken into account.

[0072] Therefore, a target position of the intrinsic coordinate system of the test bench assembly is first determined, so that the effects of the deviations caused by the described torques are neglected.

[0073] Then, the actuator of the support is adjusted so that the actual position and actual orientation of the intrinsic coordinate system of the test bench assembly in the coordinate system of the vehicle test bench at the current position are consistent with the target position and target orientation of the test bench assembly in the coordinate system of the vehicle test bench.

[0074] The controllable drive element is therefore controlled in this case so that a tilt of the support, which would lead to a deviation of the intrinsic coordinate system of the test bench assembly, is compensated by the control of the drive element, so that the tilt of the support is counteracted by a targeted change in the structure of the support. The structure is changed in such a way that the actual position and the actual orientation of the intrinsic coordinate system of the test bench assembly are brought into line with the target position and the target orientation of the intrinsic coordinate system of the test bench assembly.

[0075] Claim 5 relates to a vehicle test bench for carrying out a method according to any of the preceding claims. The vehicle test bench has a test bench component which has a linearly guided position change. The support of the test bench component is supported on or at the track by means of a support element. The support element is supported in such a way that the support element of the support of the test bench component can be brought to different positions in the longitudinal direction of the track by means of a drive device or manually. According to the invention, the support element has a supporting element, via which the support element is additionally supported next to the track.

[0076] This design has proven to be advantageous because the weight of the support and the test bench components fastened thereto does not necessarily have to be completely absorbed by the rail. A portion of the weight and also a portion of the described torque is absorbed (removed) by the support element. This reduces the described effect of the support tilting caused by the torque.

[0077] The support element can be supported on a floor rail in the vehicle test bench. Depending on the design of the vehicle test bench, the support element can be supported on a rail that is part of a hanger system in the vehicle test bench. Such a hanger system has the advantage that the floor area of ​​the vehicle test bench remains free so that further measuring units can be positioned there or a correspondingly enlarged vehicle entry and exit area can be provided.

[0078] It has proven to be useful to carry out the method according to the invention with respect to a remaining inclination of the support.

[0079] It should be noted that, compared to the prior art, the placement of the support element to reduce or avoid tilting of the support is itself an invention. The right to file a divisional application for this constructive design is expressly reserved, in which it is expressly not to implement any of the above methods.

[0080] In the design of the vehicle test bench according to claim 6, the support element comprises two parts connected to each other via a pivot axis. The first part of the support element is supported on the rail. The second part of the support element is supported beside the rail via a supporting element.

[0081] In this respect, this has proven to be advantageous, since the reaction of the described torque on the rail can thereby be reduced. Possible deformations of the rail can thereby be reduced or even completely avoided.

[0082] The design of the vehicle test bench according to claim 6 may also be a component of the aforementioned divisional application.

[0083] In the embodiment of the vehicle test bench according to claim 6 , when carrying out one of the above-mentioned methods, the position and orientation of the pivot axis is advantageously defined by the connection of the two parts of the support element.

[0084] In the design of the vehicle test bench according to claim 7, the support element comprises two parts connected to each other. The first part of the support element is supported on the track. The second part of the support element can be displaced in the Z direction relative to the first part of the support element and is supported beside the track by the support element.

[0085] As an alternative or in addition to connecting the two parts via a pivot axis in the sense of claim 6, the two parts can also be connected to each other such that the second part can be displaced relative to the first part in the Z direction. The second part is in turn supported by a support element.

[0086] If the rail is a floor rail, whether raising or lowering the support element causes the stand to tilt depends on the flatness of the floor of the vehicle test bench. Such a tilting is possible when there is a pivot axis in the sense of claim 6 even with a rigid support element, which causes the guide rail to deform.

[0087] In this context, it is advantageous if the two parts can be displaced relative to one another in the vertical direction (Z direction). The second part can then be raised or lowered depending on elevations or undulations in the ground. Since the second part of the support element can be displaced relative to the first part of the support element in the Z direction, reaction effects on the rails are advantageously reduced or completely avoided. Furthermore, the displacement in the Z direction ensures that, depending on the position of the support element, the support does not tilt due to uneven ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Embodiments of the present invention are shown in the accompanying drawings. In the accompanying drawings:

[0089] Figure 1 : shows a test bench assembly, which is fastened to a bracket having a telescopic element and a rotation joint;

[0090] Figure 2 : Shows the basis for being in another operating position Figure 1 Test bench components;

[0091] Figure 3 : Shows the basis for being in another operating position Figure 1 Test bench components;

[0092] Figure 4 : shows a top view of a support element, on which a bracket is arranged, and the support element has a rail on which the support element is guided;

[0093] Figure 5 : shows a first supporting element, Figure 4 a vertical cross section of a diagram of ; and

[0094] Figure 6 : shows a further supporting element, Figure 4 A vertical cross section of an illustration. DETAILED DESCRIPTION

[0095] Figure 1 A test bench assembly 1 is shown, which is fastened to a support 2. The support comprises a plurality of elements 3,4,5.

[0096] The elements 3 and 4 can be extended and retracted according to arrows 6 and 7 .

[0097] Elements 3 and 4 as well as elements 4 and 5 are connected to one another via rotary joints 8 and 9. These elements can be rotated relative to one another according to arrows 10 and 11.

[0098] For the rotation about the rotary joints 8 and 9 , actuatable drive elements are provided.

[0099] Likewise, there are controllable drive elements to achieve retractability of elements 3 and 4 .

[0100] The test bench assembly 1 is fastened to the element 5. This fastening is also achieved via a swivel joint (not shown here).

[0101] The support 2 and the test bench assembly 1 fastened thereto can be moved in the vehicle test bench. For example, the support 2 can be guided along rails, chains or guide cables.

[0102] It can be seen that an inclination measuring unit 12 is fastened to the element 3 of the support 2. The inclination measuring unit 12 can be, for example, a Mems sensor known per se.

[0103] Figure 2 Shown in another operating position according to Figure 1 In the operating position shown here, the center of gravity of the support 2 and the test bench assembly 1 is above the bearing surface of the support 2. This is advantageously the X0-Y0-Z0 position, which is referred to herein as the initial position.

[0104] In the initial position, the support 2 and the test bench assembly 1 exert no torque that could tilt the support.

[0105] Figure 3 Shown in another operating position according to Figure 1 Test bench component 1.

[0106] It can be seen that the test bench assembly is positioned laterally offset relative to the bearing surface of the support 2 (defined by the bearing surface of the element 3) due to the corresponding rotation at the rotation joints 8 and 9. A torque is thereby generated which tilts the support 2 laterally.

[0107] exist Figure 3 The dotted lines in the figure show the arrangement of the support 2 and the test bench assembly 1 when the support 2 is not tilted.

[0108] The dashed lines therefore illustrate the "target position and target orientation" corresponding to the intrinsic coordinate system of the test bench assembly, which is provided with reference numeral 1 '. Correspondingly, the components of the support 2' are also provided with reference numerals 3', 8', 4', 9', 5'.

[0109] The exhibited deviations can be taken into account by means of a conversion during the evaluation (ie during the calibration and / or adjustment of the vehicle component).

[0110] In the embodiment shown here, the structure of the support 2 can be adjusted by means of the telescopic elements 3 and 4 and the swivel joints 8 and 9. Thus, deviations of the actual position and actual orientation of the test bench assembly (position 1) from the target position and target orientation (position 1') detected according to the invention can also be compensated. This compensation is carried out in such a way that the test bench assembly 1 (taking into account the tilting of the support 2 caused by the torque caused by the lateral displacement of the test bench assembly) is again in the target position (1') and has the target orientation.

[0111] Figure 4 A plan view of a support element 401 is shown, on which the carrier 2 is mounted.

[0112] The support element 401 is guided on a rail 402 .

[0113] The supporting element 401 comprises a first part 403 and a second part 404. The first part 403 is fastened on the rail 402 and is guided along the rail 402. The second part 404 is fastened on the first part 403, which is illustrated by the marking arrow 405.

[0114] The fastening may be such that the two parts 403 and 404 are movable relative to each other along a pivot axis and / or are displaceable relative to each other in a vertical direction at a location indicated by a marking arrow 405 .

[0115] The support 2 is mounted on the second part 404 of the support element 401 .

[0116] Figure 5 A cross-sectional view of a first support element is shown. Figure 4 A vertical cross section of an illustration.

[0117] Therein are shown a rail 402 , a first part 403 of a support element, a second part 404 of a support element and (partially) the support 2 .

[0118] The second part 404 of the support element is supported on the ground by wheels 502 .

[0119] The pivot axis 501 can be seen, about which the second part 404 of the bearing element can be pivoted relative to the first part 403 .

[0120] If the wheels 502 of the second part 404 of the support element move over ground unevennesses when the support element moves along the track 402, these ground unevennesses can be compensated by a pivoting movement of the second part 404 of the support element relative to the first part 403 of the support element.

[0121] Furthermore, by fastening the second part 404 of the support element to the first part 403 of the support element by means of a pivot axis, a defined pivot axis is obtained with respect to a tilting of the support 2 due to a torque which can be achieved by a lateral displacement of the common center of gravity of the support and the test bench assembly 1 fastened thereto.

[0122] As a result, the inclination of the support 2 changes, but this inclination can be measured with an inclinometer and compensated for by calculation or by actuating drive elements to change the structure of the support 2 .

[0123] This arrangement makes it possible to limit the reaction of the support element on the rail 402 .

[0124] Figure 6 A cut through with additional support elements is shown. Figure 4 A vertical cross section of an illustration.

[0125] There are shown a guide rail 402, a first part 403 of the support element and a second part 404 of the support element. The support 2 is not shown here, but in this embodiment is also located on the second part 404 of the support element.

[0126] The second portion 404 of the support element is supported at the bottom by wheels 602 .

[0127] It can be seen that the second part 404 of the support element is fastened to the first part 403 of the support element, wherein the second part 404 of the support element is displaceable in the vertical direction relative to the first part of the support element according to arrow 603 .

[0128] If the wheels 602 of the second part 404 of the support element move over ground irregularities when the support element moves along the track 402, these ground irregularities can be compensated by moving the second part 404 of the support element in the vertical direction relative to the first part 403 of the support element. As a result, the inclination of the support 2 does not change, however the Z coordinate of the support (and also the test bench assembly 1) changes.

[0129] This arrangement can also limit the reaction of the support element on the rail 402 .

Claims

1. A method for calibrating and / or adjusting a natural coordinate system of a vehicle component relative to a coordinate system of the vehicle, wherein the calibration and / or adjustment is performed by positioning the vehicle in a vehicle test bench, wherein a calibration and / or adjustment of the vehicle component to be calibrated is performed based on the interaction of the vehicle component to be calibrated with the test bench component (1), wherein the test bench assembly (1) can be positioned at different positions (402; 3, 4, 5, 6, 7; 8, 9, 10, 11) in the vehicle test bench, wherein the intrinsic coordinate system of the test bench assembly (1) is defined relative to the coordinate system of the vehicle test bench, wherein a coordinate system of the vehicle positioned in the vehicle test bench is defined relative to a coordinate system of the vehicle test bench, The test bench assembly (1) is fastened to the bracket (2), and the inherent coordinate system of the test bench assembly (1) is defined relative to the coordinate system of the vehicle test bench. wherein the position of at least one reference point of the support (2) at the initial position (X0-Y0-Z0 position) of the support (2) in the coordinate system of the vehicle test bench is determined, wherein the position and / or orientation of the intrinsic coordinate system of the support (2) of the test bench assembly (1) in the coordinate system of the vehicle test bench is determined at the initial position (X0-Y0-Z0 position) of the support (2), wherein the position and / or orientation of the intrinsic coordinate system of the test bench component (1) in the current position in the coordinate system of the vehicle test bench is determined, For this purpose, the current position of at least one reference point of the support (2) in the coordinate system of the vehicle test bench is determined. The position and / or orientation of the intrinsic coordinate system of the support (2) at the current position in the coordinate system of the vehicle test bench is determined as the displacement of the intrinsic coordinate system of the support (2) at the current position compared to the intrinsic coordinate system of the support (2) at the initial position by the following determination method: Determine at least one reference point of the support (2) At the coordinates of the current position (XYZ position) in the coordinate system of the vehicle test bench Compared to The position of at least one reference point of the support (2) in the coordinate system of the vehicle test bench at the initial position (X0-Y0-Z0 position) of the support (2) The displacement that occurs, The intrinsic coordinate system of the test bench assembly (1) is defined relative to the coordinate system of the vehicle test bench by taking into account the following factors: the position and / or orientation of the intrinsic coordinate system of the test bench assembly (1) relative to the intrinsic coordinate system of the support (2) at the current position of the test bench assembly (1), a change in the position and / or orientation of the intrinsic coordinate system of the support (2) at the current position of the test bench assembly (1) compared to the position and / or orientation of the intrinsic coordinate system of the support (2) at the initial position, as well as the position and / or orientation of the intrinsic coordinate system of the support (2) relative to the coordinate system of the vehicle test bench in the initial position, Features: The reference point is defined by a straight line on which at least one reference point of the support (2) lies, wherein the straight line forms a pivot axis, and when the common center of gravity of the support (2) and the test bench assembly (1) is laterally offset relative to the straight line in the vertical direction, the support (2) rotates around the pivot axis due to torque; measuring, by means of an inclination measuring unit (12), the orientation of the support (2) in the X0-Y0-Z0 position in relation to the inclination about the pivot axis in the intrinsic coordinate system of the inclination measuring unit (12); By means of the inclination measuring unit (12), measuring the orientation of the support (2) in the current position in relation to the inclination about the pivot axis in the intrinsic coordinate system of the inclination measuring unit (12); Determining, based on the measurement data of the inclination measuring unit (12), a change in the orientation of the support (2) at the current position in relation to the inclination occurring around the pivot axis compared to the orientation of the support (2) at the X0-Y0-Z0 position in relation to the inclination occurring around the pivot axis; The orientation of the intrinsic coordinate system of the support (2) of the test bench assembly (1) in the coordinate system of the vehicle test bench is determined according to the following: the orientation of the support (2) in the coordinate system of the vehicle test bench at the X0-Y0-Z0 position, and By taking into account the change in the orientation of the intrinsic coordinate system of the support (2) determined from the measurement data of the inclination measuring unit (12).

2. The method according to claim 1, It is characterized in that Measuring the position and / or orientation of the test bench assembly (1) and / or the bracket (2) of the test bench assembly (1) at the X0-Y0-Z0 position of the bracket (2) in the coordinate system of the vehicle test bench at the X0-Y0-Z0 position; as well as The measurements are taken into account when determining the orientation of the intrinsic coordinate system of the support (2) of the test bench assembly in the current position in the coordinate system of the vehicle test bench.

3. The method according to claim 2, It is characterized in that At the current position of the support (2), the position of at least one reference point of the support (2) in the coordinate system of the vehicle test bench is measured.

4. The method according to any one of claims 1 to 3, It is characterized in that In the case where the support (2) has controllable drive elements (6, 7) for one or more telescopic elements (3, 4) and / or has controllable drive elements (10, 11) for rotating components (4, 5) of the support (2) about one or more rotary joints (8, 9), the position and / or orientation of the intrinsic coordinate system of the test bench assembly (1) relative to the coordinate system of the vehicle test bench is corrected by the following measures: The target position and the target orientation of the intrinsic coordinate system of the test bench assembly (1) in the coordinate system of the vehicle test bench are determined by: determining the position of at least one reference point of the support (2) at the current position in the coordinate system of the vehicle test bench, determining the position and orientation of the intrinsic coordinate system of the test bench assembly (1) in the intrinsic coordinate system of the support (2), Taking into account the orientation of the intrinsic coordinate system of the support (2) at the X0-Y0-Z0 position relative to the coordinate system of the vehicle test bench; The actuator of the bracket (2) is adjusted so that the actual position and actual orientation of the intrinsic coordinate system of the test bench component (1) at the current position in the coordinate system of the vehicle test bench are consistent with the target position and target orientation of the test bench component (1') in the coordinate system of the vehicle test bench.

5. A vehicle test bench for carrying out the method according to any one of the preceding claims, The vehicle test bench has a test bench component (1), which has a linearly guided (402) position change, The support (2) is supported on or at a rail (402) by means of a supporting element (401), The supporting element (401) is supported in such a manner that the supporting element (401) of the bracket (2) of the test bench assembly (1) can be brought to different positions along the longitudinal direction of the track (402) by a driving device or manually. It is characterized in that The support element (401) has supporting elements (502, 602) by which the support element is additionally supported next to the rail (402).

6. The vehicle test bench according to claim 5, It is characterized in that The support element (401) comprises two parts (403, 404) connected to each other via a pivot axis (501), wherein the first portion (403) of the support element (401) is supported on the track (402), as well as The second portion (404) of the support element (401) is supported beside the rail (402) via the support element (502).

7. The vehicle test bench according to claim 5 or 6, It is characterized in that The supporting element (401) comprises two parts (403, 404) connected to each other, wherein the first portion (403) of the support element (401) is supported on the track (402), as well as wherein the second portion (404) of the support element (401) capable of being displaced in a Z direction (603) relative to the first portion (403) of the support element (401), as well as It is supported next to the rail (402) by the support element (602).

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