Method for determining an alignment of a vehicle

Abstract

The present invention relates to a method for determining an alignment of a vehicle, in particular for determining an alignment of a vehicle in relation to a vehicle calibration device. The present invention further relates to a method for determining an alignment of a vehicle.

Description

[0001] Method for determining the orientation of a vehicle

[0002] The present invention relates to a method for determining the orientation of a vehicle, in particular for determining the orientation of a vehicle with respect to a vehicle calibration device. Furthermore, the present invention relates to a system for determining the orientation of a vehicle.

[0003] To calibrate a driver assistance system, especially an Advanced Driver Assistance System (ADAS) (e.g., camera, radar, lidar), a corresponding vehicle calibration device is usually positioned relative to the vehicle according to the vehicle manufacturer's specifications. The vehicle calibration device can be, for example, a test target in front of the vehicle for calibrating the front camera or a radar horn mounted to the side behind the vehicle.

[0004] For most systems, the accuracy of calibration also depends on the accuracy of the calibration fixture's positioning relative to the vehicle. Thus, the positioning and orientation of the calibration fixture relative to the vehicle, as well as the measurement of the vehicle's position and orientation, are particularly important for accurate calibration.

[0005] The current state of the art proposes camera-based 3D detection of targets attached to the vehicle or CCD sensors in conjunction with laser distance sensors for position and alignment determination. These measurements provide the user with information about the distance and angle to the vehicle (or the driving axis) and assist in aligning the vehicle with respect to the calibration device or vice versa. In addition, there are methods that enable digital calculation or correction if a misalignment is detected.

[0006] A camera-based method for determining the orientation with respect to a calibration device is known, for example, from US 2020 / 208968 A1. Furthermore, a method for determining the orientation of a vehicle to be parked in automated parking systems based on pressure sensors is also known from Juzhong Zhang et al., "Vehicle Pose Estimation System Based on Pressure Sensor Array for Clamping Parking Robot," 2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), IEEE, August 8, 2021 (2021-08-08), pages 95-100.

[0007] These procedures can be complex and also prone to user error.

[0008] The object of the invention is therefore to provide a method and a system that does not have the disadvantages described above, or only to a reduced extent. To achieve this object, a method and a system according to the independent claims are proposed.

[0009] A first aspect of the invention relates to a method for determining an orientation of a vehicle with respect to a vehicle calibration device and comprises the following steps:

[0010] Measuring a first pressure distribution generated by a first wheel of the vehicle on a first measuring surface and determining an orientation of the first wheel and / or the vehicle based on the pressure distribution of the wheel.

[0011] In the context of this disclosure, a pressure distribution can be understood as the pressure exerted by the wheel, particularly in the area of ​​the wheel contact patch, at different positions on a surface, in particular the measuring surface. For this purpose, pressure values ​​are recorded at different positions on the measuring surface. The different positions at which the pressure is measured can be located, in particular, beneath the wheel, i.e., in the area of ​​the wheel contact patch (tire contact patch). It is clear to those skilled in the art that the term "wheel" used includes the term "a tire." Therefore, wherever the term "wheel" is disclosed in this document, it can also refer to tires. In general, the pressure values ​​can indicate the magnitude of the pressure, for example, how much force the wheel exerts at the respective location.Alternatively or additionally, the pressure values ​​can also indicate whether pressure is actually being generated at the respective position—i.e., binary yes / no pressure values. Pressure values ​​can also indicate whether the measured pressure is above a certain threshold.

[0012] The measuring surface can form part of a floor plane or be arranged parallel to the floor plane. The floor plane can be formed, for example, by a workshop floor. The measuring surface can be designed to be particularly flexible, so that the pressure exerted by the wheel at one position on the measuring surface does not influence the pressure value at another point, or only influences it as little as possible. The measuring surface can be formed, for example, by a position measuring mat, as described below. The alignment of the wheel can then be determined on the basis of the measured pressure distribution. The alignment of the vehicle's wheel can be understood in particular as the direction of travel of the wheel. The direction of travel can be a direction that runs parallel to the floor plane and perpendicular to the wheel's axis of rotation.The running direction can, for example, be an intersection line that forms a plane perpendicular to the rotation axis with the ground plane. The proposed method can therefore be used, for example, to determine the alignment of a wheel's running direction relative to the vehicle calibration device. For example, an angle between the running direction of a vehicle wheel and a preferred direction of the calibration device can be determined. In one variant, the alignment of the first wheel and / or the vehicle can be determined based on the pressure distribution of the wheel relative to the vehicle calibration device.

[0013] Alternatively or additionally, the vehicle's orientation can be determined based on the pressure distribution, in particular the pressure distribution or alignment of two wheels or the pressure distributions of one wheel measured at different times. The vehicle's orientation can be considered, for example, the orientation of a symmetry axis of the vehicle, or the orientation of the direction of travel or the orientation of the geometric driving axis of the vehicle. Thus, the proposed method can be used, for example, to determine an angle between the vehicle's direction of travel and a preferred direction of the vehicle calibration device.

[0014] Alternatively or in addition to wheel alignment, the center of gravity of the pressure distribution can also be determined. The center of gravity of the pressure distribution is suitable for determining the wheel position. The center of gravity can be determined using the conventional methods for determining the center of gravity of two-dimensional data, which are known to those skilled in the art. The vehicle calibration device can thus be positioned relative to the vehicle's position.

[0015] In some embodiments, the method may further comprise the step of determining an outline of a contact patch of the first wheel from the measured pressure distribution. Based on the outline, the alignment of the wheel can be determined, for example.

[0016] Alternatively or additionally, in some embodiments, the method may further comprise the following steps:

[0017] Measuring an early first pressure distribution of the first wheel of the vehicle on the first measuring surface; rolling the wheel on the first measuring surface; measuring a late first pressure distribution of the first wheel of the vehicle on the first measuring surface; and determining a direction of travel of the vehicle based on the measured early first pressure distribution and the measured late first pressure distribution.

[0018] This means that an early pressure distribution is measured at time t1, the wheel then rolls on the first measuring surface along its running direction on the first measuring surface and then, at a second time t2, where t2>t1, a measurement of a later pressure distribution is carried out. The vehicle's direction of travel can then be determined from the comparison of the early and later pressure distributions. The direction of travel can be used in further process steps as the preferred direction for calibrating the driver assistance systems. The direction of travel can, for example, be determined based on the center of gravity of the early pressure distribution and the center of gravity of the late pressure distribution. Based on these two centers of gravity, a directional vector can be determined that corresponds to the vehicle's direction of travel.

[0019] In some embodiments, the method may alternatively or additionally comprise the following steps:

[0020] Measuring a second pressure distribution generated by a second wheel of the vehicle on a second measuring surface, and

[0021] Determining an alignment of the two wheels based on the first pressure distribution and the second pressure distribution.

[0022] By determining the alignment of two wheels of the tracking axle, the geometric driving axis, or the vehicle's direction of travel, can be determined. The vehicle calibration device can then be aligned based on the determined vehicle direction of travel. In general, for example, a calibration plate of a vehicle calibration device can be aligned such that it forms a specific angle, for example, 90°, with the vehicle's direction of travel.

[0023] The method may additionally comprise the following step: determining a position and / or an orientation and / or a direction of travel of the vehicle based on the first pressure distribution and the second pressure distribution. The position of the vehicle can be used, for example, to adjust a distance between the vehicle calibration device and the vehicle.

[0024] In some embodiments of the method, measuring the first pressure distribution may include detecting the pressure generated by the first wheel at at least four measuring points on the first measuring surface. In some embodiments, at least one of the measuring points is located below the wheel. This enables reliable measurement of the pressure distribution generated by the wheel on the measuring surface.

[0025] In some embodiments of the method, measuring the first pressure distribution may comprise the following step:

[0026] Detecting the pressure generated by the first wheel at a plurality of measuring points on the first measuring surface, wherein the distance of one measuring point to its next adjacent measuring point is preferably greater than 1 cm, particularly preferably greater than 2 cm, and / or preferably less than 5 cm, particularly preferably less than 4 cm. The measuring points can be arranged, for example, in a grid.

[0027] Alternatively or additionally, measuring the first pressure distribution may include the following steps:

[0028] Detecting the pressure generated by the first wheel along a first measuring line running on the measuring surface; and

[0029] Detecting the pressure generated by the first wheel along a second measuring line running on the measuring surface; wherein the first measuring line and the second measuring line are arranged at an angle to each other, preferably at an angle of 90°. For example, the sum of all pressures generated along the respective measuring line can also be detected. In some embodiments, the maximum of the pressures generated along the respective measuring line can also be detected.

[0030] In further embodiments, measuring the first pressure distribution may comprise the following steps:

[0031] Detecting the pressures generated by the first wheel along a plurality of first measuring lines; wherein the first measuring lines run parallel to each other; and

[0032] Detecting the pressures generated by the first wheel along a plurality of second measuring lines; wherein the second measuring lines run parallel to each other.

[0033] In further embodiments of the method, a continuous pressure distribution can be generated by interpolating discrete measured values. This can, for example, increase the number of data points of the pressure distribution.

[0034] According to a further aspect, a system for carrying out the method described above is proposed, the system comprising:

[0035] - a position measuring mat with pressure determining means for measuring pressures generated by a first wheel of the vehicle on the position measuring mat;

[0036] - a first processor configured to

[0037] - to generate a pressure distribution from the pressures measured by the pressure determining means of the position mat; and

[0038] - to determine the alignment of the vehicle's first wheel based on the pressure distribution.

[0039] In this context, the fact that the processor generates a pressure distribution means that the processor links the pressures measured by the respective pressure-determining means with the positions at which the pressure-determining means are arranged. The position measuring mat can, for example, have a flexible measuring surface. The position measuring mat can, for example, have a height of more than 5 mm, or more than 10 mm, and / or a height of less than 50 mm or less than 40 mm. The position measuring mat can, for example, be rectangular and have a width of more than 300 mm or more than 400 mm and / or a length of more than 600 mm or more than 800 mm.

[0040] In some embodiments, the system comprises a vehicle calibration device, wherein the processor is preferably further configured to determine a position of the first wheel of the vehicle based on the pressure distribution, and the vehicle calibration device is adjustable based on the determined position and / or orientation of the vehicle. Adjustable here can mean, for example, that the vehicle calibration device is displaceable or, for example, electronically adjustable.

[0041] In some embodiments of the system, the pressure determining means comprise:

[0042] - Fluid-filled compressible channels integrated into the position measuring mat and running parallel to a measuring surface, each compressible channel having a pressure sensor for measuring the pressure of the fluid in the channel; and / or

[0043] - optical fibers integrated into the position measuring mat and running parallel to the measuring surface, each optical fiber having a transmission measuring device for determining a transmission of the optical fiber; and / or

[0044] - a plurality of stamps which are arranged to be displaceable in a direction perpendicular to the measuring surface and are designed to be displaced by exerting pressure on the measuring surface, and further comprising stamp determining means for determining a position of a stamp which has been displaced by exerting pressure on the measuring surface.

[0045] In this context, fluid means filled with a gas or a liquid. The channels can, for example, be filled with air and / or sealed in a fluid-tight manner so that the fluid cannot escape. Alternatively or additionally, the pressure-determining means comprise a plurality of pressure sensors, which are preferably arranged at regular intervals from one another, wherein, at least in some regions, the distance between one pressure sensor and its next adjacent pressure sensor is preferably greater than 1 cm, particularly preferably greater than 2 cm, and / or preferably less than 5 cm, particularly preferably less than 4 cm.

[0046] In further embodiments of the system, the system comprises at least one second position measuring mat with pressure determination means for measuring pressures generated by a second wheel of the vehicle on the second position measuring mat. Furthermore, the system may comprise a third position measuring mat for measuring pressures generated by a third wheel on the third position measuring mat. Furthermore, the system may comprise a fourth position measuring mat for measuring pressures generated by a fourth wheel on the fourth position measuring mat. In general, each position measuring mat can also be configured to measure the pressures of multiple wheels.

[0047] The position measuring mats can be connected to one another in a form-fitting and / or force-fitting manner, in particular detachably. The distances between the position measuring mats relative to one another can be fixed or predetermined. The system can therefore be modular in design. This allows the system to be used flexibly, for example, and also allows for the realization of a portable system. While a system with multiple position measuring mats is advantageous for some applications, a system with a single, i.e., exactly one, position measuring mat can be advantageous in others. The position mats mentioned above or the position mats mentioned below (first, second, third, fourth) can then form integral components of this single position measuring mat.

[0048] Some combinations that can be provided for the system are mentioned below as examples. The system can, for example, have one position measuring mat, wherein the position mat is arranged and designed such that the position measuring mat can detect the pressure distribution of two, three or four wheels of a vehicle. The system can, for example, have two position measuring mats, wherein the position measuring mats are arranged and designed such that each of the position measuring mats can detect the pressure distribution of two wheels of a vehicle. The system can, for example, have three position measuring mats, wherein the position mats are arranged and designed such that two of the position measuring mats can each detect the pressure distribution of one wheel of a vehicle and one of the position measuring mats can detect the pressure distribution of two wheels of that vehicle.The system may, for example, comprise four position measuring mats, wherein the position mats are arranged and configured such that each of the position measuring mats can detect the pressure distribution of a wheel of a vehicle.

[0049] The invention will be explained below with reference to figures.

[0050] Fig. 1 shows a first embodiment of a system for determining an orientation of a vehicle in plan view.

[0051] Fig. 2 shows a second embodiment of a system for determining an orientation of a vehicle and a vehicle in plan view.

[0052] Fig. 3 shows a third embodiment of a system for determining an orientation of a vehicle and a vehicle in plan view.

[0053] Fig. 4 shows a first embodiment of a position measuring mat.

[0054] Fig. 5 shows a second embodiment of a position measuring mat.

[0055] Fig. 6 Examples of pressure distributions generated by a vehicle wheel on a measuring surface.

[0056] Fig. 7 is a block diagram showing method steps for determining an orientation of a vehicle.

[0057] Figure 1 shows a first embodiment of a system for determining the alignment of a vehicle. In this embodiment, the system has four position measuring mats 20a, 20b, 20c, 20d. The position measuring mats 20a, 20b, 20c, 20d are arranged and configured such that each of the position measuring mats 20a, 20b, 20c, 20d can detect the pressure distribution of a wheel 11a, 11b, 11c, 11d of a vehicle 10. The position measuring mats 20a, 20b, 20c, 20d are each arranged at a corner of a rectangle. Two of the position measuring mats 20b, 20d, which are arranged together on a short side of the rectangle, can be larger in area than the other two position measuring mats 20a, 20c. The larger area position measuring mats 20b, 20c can be longer, particularly in the direction of travel, than the smaller area position measuring mats 20a, 20d.

[0058] Figure 1 shows the outlines 13a, 13b of different sized vehicle types. It is clear that, with the arrangement of the position measuring mats shown, both vehicles 13a with a comparatively short wheelbase and vehicles 13b with a comparatively long wheelbase can be measured with a single system. Systems are also possible in which the entire area of ​​the rectangle is configured as a single position measuring mat.

[0059] Figure 2 shows a further embodiment of a system configured to carry out the method. In this embodiment, the system comprises two position measuring mats 20a, 20b. The position measuring mats 20a, 20b are arranged and configured such that each of the position measuring mats 20a, 20b can respectively detect the pressure distribution of a wheel 11a, 11b of a vehicle 10. Based on the measured pressure distribution of the wheel 11a, 11b, the alignment 12a, 12b of the wheel can be determined. For this purpose, for example, a processor can use the pressures measured by pressure-determining means in the position measuring mat 20a, 20b and generate a pressure distribution. Furthermore, the alignment 12a, 12b of the respective wheel 11a, 11b can be determined from the pressure distribution. This can also be done by a processor that is configured accordingly.

[0060] The orientation 12a, 12b of the wheel 11a, 11b is the direction parallel to the ground plane and perpendicular to the wheel's rotational axis. The orientation 12a, 12b of the wheels of the tracking axle determines the vehicle's direction of travel when traveling straight ahead. The direction of travel or the geometric axis of travel corresponds to the angle bisector of the two orientations 12a, 12b of the wheels 11a, 11b. In some embodiments, the geometric axis of travel of the vehicle 10 can be determined from the pressure distribution of two wheels 11a, 11b. In this way, a vehicle calibration device 40 can be aligned with respect to the geometric axis of travel of the vehicle 10. In some embodiments, however, it may also be sufficient to align the vehicle calibration device 40 only with respect to the orientation of one wheel.The vehicle calibration device 40 can, for example, comprise or consist of a calibration plate with a printed calibration target. The vehicle calibration device 40 can be aligned such that it forms a specific angle, for example, 90°, with the direction of travel of the vehicle or another preferred direction, for example, an axis of symmetry, of the vehicle.

[0061] Figure 3a shows the measurement of an early first pressure distribution of the first wheel 11a of the vehicle 10 on the first measuring surface 20a. Figure 3b shows the measurement of a late first pressure distribution of the first wheel 11a of the vehicle 10 on the same measuring surface 20a, after the wheel 11a has rolled on the first measuring surface 20a. The direction of travel 35 of the vehicle 10 can be determined based on the early first pressure distribution and the later first pressure distribution. In Figures 3a and 3b, for example, the center of gravity 31a, 32a of the two pressure distributions is determined, and then the direction of travel 35 of the vehicle 10 is determined by connecting the two centers of gravity 31a, 32a.

[0062] Figure 4 shows a section of a sectional view of a first embodiment of a position measuring mat 20 with pressure-determining means 21. In this embodiment, the position measuring mat 20 has fluid-filled channels 22a, 22b, 22c, 22d, 22e. Each fluid-filled channel 22a, 22b, 22c, 22d, 22e forms a closed volume, so that fluid within the fluid-filled channel 22a, 22b, 22c, 22d, 22e cannot escape. The fluid-filled channels 22a, 22b, 22c, 22d, 22e run perpendicular to the sectional plane of Figure 4. In the illustrated embodiment, all fluid-filled channels 22a, 22b, 22c, 22d, 22e run parallel to one another. However, embodiments in which the fluid-filled channels 22a, 22b, 22c, 22d, 22e intersect each other are also possible. For example, two sets of fluid-filled channels 22a, 22b, 22c, 22d, 22e can be provided, with the channels of one set intersecting the channels of the other set.All channels in a set can run parallel to each other. The channels of one set can be arranged in a different horizontal plane than the channels of the other set.

[0063] The position measuring mat 20 has a measuring surface 25 facing the wheel 11 to be measured. The measuring surface 25 is typically oriented horizontally. In most embodiments, the fluid-filled channels 22a, 22b, 22c, 22d, 22e run parallel to this measuring surface 25.

[0064] The wheel 11 exerts pressure on the position measuring mat 20 on the area where the wheel 11 contacts the measuring surface 25. In doing so, some of the fluid-filled channels 22a, 22b, 22c, 22d, 22e may be deformed, in particular compressed. Due to the deformation of the fluid-filled channels 22a, 22b, 22c, 22d, 22e, the pressure within the fluid-filled channels 22a, 22b, 22c, 22d, 22e may change. The position measuring mat 20 has pressure sensors that make it possible to detect this pressure change in the fluid-filled channels 22a, 22b, 22c, 22d, 22e. The pressure sensors are not shown in Figure 4. The position measuring mat 20 can, for example, have a pressure sensor for each of the fluid-filled channels 22a, 22b, 22c, 22d, 22e. The fluid-filled channels and the pressure sensors can form the pressure-determining means 21.In some embodiments, the pressure sensors may be arranged outside the mat and fluidically connected to the respective fluid-filled channels 22a, 22b, 22c, 22d, 22e.

[0065] As an alternative or supplement, optical fibers 23a, 23b, 23c, 23d, 23e can be provided, which can be arranged in the position measuring mat 20 like the previously described fluid-filled channels 22a, 22b, 22c, 22d, 22e. The optical fibers 23a, 23b, 23c, 23d, 23e can each have a transmission measuring device. The optical fibers 23a, 23b, 23c, 23d, 23e and the transmission measuring devices can form the pressure determination means 21. The transmission measuring device can determine the transmission of the respective optical fiber 23a, 23b, 23c, 23d, 23e. For example, a transmission measuring device may comprise a light measuring device, for example a photodiode, which measures an intensity of light exiting at one end of the light guide 23a, 23b, 23c, 23d, 23e.In addition, the transmission measuring device can have a light generating device, for example an LED, which generates light that enters or is coupled into the light guide 23a, 23b, 23c, 23d, 23e at one end of the light guide 23a, 23b, 23c, 23d, 23e, wherein the light measuring device is arranged at the opposite end of the light guide 23a, 23b, 23c, 23d, 23e.

[0066] If the light guide 23a, 23b, 23c, 23d, 23e is deformed, for example, by the pressure exerted by a wheel on the measuring surface, the transmission of the light guide 23 changes, so that the intensity of the light exiting one end of the light guide 23a, 23b, 23c, 23d, 23e changes. By measuring the transmission of the light guides 23a, 23b, 23c, 23d, 23e, for example by measuring the intensities, a pressure value can be recorded, and a pressure distribution can then be generated from several pressure values.

[0067] Figure 5 shows a further embodiment of a position measuring mat 20. In this embodiment, the position measuring mat 20 has stamps 24a, 24b, 24c, 24d, 24e. The stamps 24a, 24b, 24c, 24d, 24e are arranged to be displaceable in the vertical direction and can be displaced, for example, by a wheel 11 positioned on the measuring surface 25 of the position measuring mat 20. The position measuring mat 20 can have stamp determining means configured to determine a position of a stamp 24a, 24b, 24c, 24d, 24e that has been displaced by the wheel 11. In this way, the pressure distribution that a wheel 11 of the vehicle 10 generates on the measuring surface 25 can be measured.

[0068] Figure 6 shows several examples of pressure distributions generated by a wheel 11 of the vehicle 10 on a measuring surface.

[0069] Figure 6a, for example, shows a pressure distribution 30 in which the pressure generated by the wheel 11 at a plurality of measuring points on the measuring surface 25 is recorded. The measuring points are arranged in a grid. Each measuring point can be represented by a pixel. The respective measured pressure is represented by the color of the respective pixel. The darker the color of the pixel, the stronger the pressure generated at the position corresponding to the pixel. It can be seen, for example, that this pressure distribution 30 is tilted upwards to the right. The orientation of the wheel 11 can be determined, for example, based on the axis of symmetry and / or based on the outline of the pressure distribution 30. Instead of a pressure value of the pressure generated at a measuring point, a value can also be specified to generate the pressure distribution, which indicates whether pressure is generated or not.whether a pressure is above or below a certain threshold.

[0070] Figures 6b, d and 6c, e show, for example, pressure distributions in which the pressure generated by the wheel 11 was recorded along a measuring line running on the measuring surface 25. Figure 6b shows, for example, pressure values ​​that were generated along measuring lines that run from left to right in Figure 6a. Figure 6b can therefore, for example, correspond to a projection of the pressure distribution 30 onto a vertical axis of Figure 6a. Figure 6c shows, for example, pressure values ​​that were generated along measuring lines that run from top to bottom in Figure 6a. Figure 6c can therefore, for example, correspond to a projection of the pressure distribution 30 onto the horizontal axis of Figure 6a. For example, the maximum pressure measured along the measuring line can be determined, or the sum of all pressures along the measuring line can be determined.This means, for example, that each measured value in Figure 6b corresponds to the maximum or sum of the pressure values ​​measured along a measurement line running from left to right. The same applies to the measured values ​​in Figure 6c with measurement lines running from top to bottom. In some embodiments, it can also be determined whether a pressure generated along a measurement line exceeds a certain threshold value or not. Figure 6d shows an enlarged view of Figure 6b. Figure 6e shows an enlarged view of Figure 6c.

[0071] Figure 7 shows a block diagram with method steps for determining the alignment of a vehicle. In a first step S1, a first pressure distribution generated by a first wheel 11 of the vehicle 10 on a first measuring surface 25 is measured. In a second step, an alignment of the first wheel 11 or the vehicle 10, for example, the direction of travel of the vehicle 10, is determined based on the pressure distribution of the wheel 11. In a further method step, the vehicle calibration device can be arranged based on the alignment of the first wheel 11 or the vehicle 10.

[0072] List of reference symbols:

[0073] 10 vehicles

[0074] 11a first wheel

[0075] 11b second wheel

[0076] 11c third wheel lld fourth wheel

[0077] 12a Alignment of the first wheel

[0078] 12b Alignment of the second wheel

[0079] 13a Outline of small vehicle

[0080] 13b Outline of large vehicle

[0081] 20a Position measuring mat

[0082] 20b Position measuring mat

[0083] 20c Position measuring mat

[0084] 20d position measuring mat

[0085] 21 Pressure determination means

[0086] 22a-e fluid-filled canal

[0087] 23a-e light guide

[0088] 24a-e stamp

[0089] 25 measuring surface

[0090] 30 Pressure distribution

[0091] 31a Position of the first wheel

[0092] 32a later position of the first wheel

[0093] 35 Direction of travel

[0094] 40 Vehicle calibration device

Claims

Patent claims 1. A method for determining an orientation of a vehicle (10) with respect to a vehicle calibration device (40), comprising the steps: Measuring a first pressure distribution (30) generated by a first wheel (11a) of the vehicle (10) on a first measuring surface (20a); Determining an alignment (12a) of the first wheel (11a) and / or the vehicle (10) based on the pressure distribution (30) of the wheel.

2. Method according to the preceding claim, wherein the alignment (12a) of the first wheel (11a) and / or the vehicle (10) is determined on the basis of the pressure distribution (30) of the wheel with respect to the vehicle calibration device (40).

3. The method according to claim 1 or 2, further comprising the step: Determining an outline of a contact area of ​​the first wheel (11a) from the measured pressure distribution (30).

4. Method according to one of the preceding claims, further comprising the steps: Measuring an early first pressure distribution of the first wheel (11a) of the vehicle (10) on the first measuring surface (20a); Rolling the wheel (11a) on the first measuring surface; Measuring a late first pressure distribution of the first wheel (11a) of the vehicle (10) on the first measuring surface (20a); Determining a direction of travel of the vehicle (10) based on the measured early first pressure distribution and the measured late first pressure distribution.

5. Method according to one of the preceding claims, further comprising the steps, Measuring at least one second pressure distribution generated by a second wheel (11b) of the vehicle (10) on a second measuring surface, and Determining an alignment (12a, 12b) of the two wheels (11a, 11b) based on the first pressure distribution (30a) and the second pressure distribution (30b).

6. The method according to the preceding claim, further comprising the step: Determining a position and / or orientation and / or direction of travel of the vehicle (10) based on the first pressure distribution and the second pressure distribution.

7. Method according to one of the preceding claims, wherein measuring the first pressure distribution (30a) comprises the following step: Detecting the pressure generated by the first wheel (11a) at at least four measuring points of the first measuring surface (20a).

8. A method according to any one of the preceding claims, wherein measuring the first pressure distribution comprises the following step: Detecting the pressure generated by the first wheel (11a) at a plurality of measuring points on the first measuring surface (20a), wherein the distance of a measuring point to its next adjacent measuring point is preferably greater than 1 cm, particularly preferably greater than 2 cm and / or preferably less than 5 cm, particularly preferably less than 4 cm.

9. Method according to one of the preceding claims, wherein measuring the first pressure distribution (30a) comprises the following steps: Detecting the pressure generated by the first wheel (11a) along a first measuring line extending on the measuring surface (20a); and Detecting the pressure generated by the first wheel (11a) along a second measuring line running on the measuring surface (20a); wherein the first measuring line and the second measuring line are arranged at an angle to one another, preferably at an angle of 90°.

10. Method according to the preceding claim, wherein measuring the first pressure distribution (30a) comprises the following steps: Detecting the pressures generated by the first wheel (11a) along a plurality of first measuring lines; wherein the first measuring lines run parallel to each other; and Detecting the pressures generated by the first wheel (11a) along a plurality of second measuring lines; wherein the second measuring lines run parallel to one another.

11. Method according to one of the preceding claims, wherein a continuous pressure distribution is generated by interpolation of discrete measured values.

12. System designed to carry out the method according to one of claims 1-11, comprising - a position measuring mat (20a) with pressure determining means (21) for measuring pressures generated by a first wheel (11a) of the vehicle (10) on the position measuring mat (20a); - a first processor configured to - to generate a pressure distribution (30a) from the pressures measured by the pressure determining means (21) of the position mat (20a); and - to determine an alignment (12a) of the first wheel (11a) of the vehicle (10) on the basis of the pressure distribution (30a).

13. System according to the preceding claim, further comprising a vehicle calibration device (40), wherein the processor is preferably further configured to determine a position of the first wheel (11a) of the vehicle (10) based on the pressure distribution and the vehicle calibration device is adjustable based on the determined position and / or orientation of the vehicle (10).

14. System according to one of the two preceding claims, wherein the pressure determining means (21) comprise: - Fluid-filled compressible channels (22a-e) that can be moved into the posi- onsmessmatte (20) and run parallel to a measuring surface (25), wherein each compressible channel (22a-e) has a pressure sensor for measuring the pressure of the fluid in the channel; and / or - optical fibers (23a-e) which are integrated into the position measuring mat (20) and run parallel to the measuring surface (25), wherein each optical fiber (23a-e) has a transmission measuring device for determining a transmission of the optical fiber (23a-e); and / or - a plurality of stamps (24a-e) which are arranged to be displaceable in the direction perpendicular to the measuring surface (25) and are designed to be displaced by exerting pressure on the measuring surface (25), and further comprising stamp determining means for determining a position of a stamp (24a-e) which has been displaced by exerting pressure on the measuring surface (25).

15. System according to one of claims 12-14, wherein the pressure determining means (21) comprise a plurality of pressure sensors which are preferably arranged at regular intervals from one another, wherein at least in some regions the distance of a pressure sensor to its next adjacent pressure sensor is preferably greater than 1 cm, particularly preferably greater than 2 cm and / or preferably less than 5 cm, particularly preferably less than 4 cm.

16. System according to one of claims 12-15, further comprising at least one second position measuring mat (20b) with pressure determining means (21) for measuring pressures generated by a second wheel (11a) of the vehicle (10) on the second position measuring mat (20b).

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