Method, device and system for checking the wheel alignment of motor vehicles

Abstract

The invention relates to a method for automatedly checking the wheel alignment of a motor vehicle (6) which is capable of driving at least partially autonomously, the method for checking the wheel alignment comprising: transmitting commands to the motor vehicle (6), in particular to a controller (9) in the motor vehicle (6), which commands cause the motor vehicle (6) to automatically make changes to the axle geometry of the motor vehicle (6), in particular steering angles, in order to bring the axle geometry of the motor vehicle (6) into different states in succession; and measuring the axle geometry of the motor vehicle (6) in the different states.

Description

[0001] M27846.9

[0002] Method, device and system for measuring the chassis of motor vehicles

[0003] The present invention relates to a method, a device, and a system for measuring the chassis of motor vehicles. The present invention relates in particular to a method, a device, and a system for automated chassis measurement of motor vehicles.

[0004] The chassis of a motor vehicle can be optically measured by taking and analyzing images of its components, particularly the wheels. This allows for the determination of relevant chassis parameters, such as camber, toe, and rim runout. Optionally, measuring plates with predefined patterns can be attached to the wheels to improve the accuracy and reliability of the chassis measurement results.

[0005] To perform a complete wheel alignment and determine all relevant chassis parameters, it may be necessary to deliberately change the chassis geometry during the alignment process to measure the chassis in different states. This may include, in particular, steering inputs and / or rolling the vehicle's wheels along their direction of travel.

[0006] The necessary changes to the chassis geometry during wheel alignment have previously been performed manually, with an operator / mechanic making the corresponding adjustments, such as steering inputs. A wheel alignment device can display to the operator / mechanic which change needs to be made next.

[0007] This manual procedure is time-consuming, labor-intensive, and prone to errors. Therefore, one object of the invention is to enable the measurement of the chassis of a

[0008] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] to improve motor vehicles, in particular to accelerate them and thereby reduce the risk of errors.

[0009] An inventive method for the automated chassis measurement of a motor vehicle capable of at least partially autonomous driving comprises transmitting commands to the motor vehicle, in particular to a control device in the motor vehicle, wherein the commands cause the motor vehicle to independently make changes to the axle geometry of the motor vehicle, in particular steering angles, in order to successively bring the axle geometry of the motor vehicle into different states. An inventive method further comprises measuring the axle geometry of the motor vehicle in the different states.

[0010] The invention also includes a control device designed and configured to transmit commands to a motor vehicle capable of at least partially autonomous driving, wherein the commands are intended to cause the motor vehicle to make changes to the axle geometry of the motor vehicle, in particular steering angles, in order to successively bring the axle geometry of the motor vehicle into different states.

[0011] In one embodiment, the control device is a separate unit, for example a diagnostic tester, designed separately from the chassis measurement device. Such a control device, designed as a separate unit, is intended and configured to communicate both with a vehicle to be measured, which is capable of at least partially autonomous driving, and with a chassis measurement device. In this way, an existing chassis measurement device can be upgraded to one capable of performing chassis measurements largely automatically, i.e., without manual intervention by a user.

[0012] In one embodiment, the control device is integrated into a motor vehicle, so that the motor vehicle is able to perform automated chassis measurement in conjunction with a suitable chassis measurement device.

[0013] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] The invention also includes a chassis measurement device equipped with a control device according to the invention, so that the chassis measurement device is able to independently perform an automated chassis measurement of a motor vehicle that is capable of driving at least partially autonomously and thereby selectively changing its axle geometry.

[0014] The invention further comprises a chassis measurement system, which includes a chassis measurement device according to the invention and several measuring plates. The measuring plates are designed and configured to be attached to the wheels of the motor vehicle to be measured before the chassis measurement.

[0015] A motor vehicle capable of at least partial autonomous driving can change its own axle geometry, in particular by steering and / or rolling its wheels in the direction of travel. This applies both to motor vehicles that can drive fully autonomously and to motor vehicles that can only drive autonomously under certain conditions, for example at low speeds and / or for parking.

[0016] The invention utilizes the capabilities of a motor vehicle that is able to drive at least partially autonomously and thereby selectively change its axle geometry, for example, by performing steering maneuvers and / or rolling movements of its wheels, in order to selectively bring the axle geometry of the motor vehicle into predetermined states and to measure the vehicle's chassis in each of these states. This allows the vehicle's chassis to be measured automatically, in particular without intervention from a user / mechanic.

[0017] This method of wheel alignment allows for faster measurement and requires less personnel than conventional wheel alignment, where changes to the axle geometry are made manually. Furthermore, the accuracy and reliability of the measurement results obtained through this method can be improved, as the risk of human error, which can occur with conventional, manual wheel alignment, is significantly reduced.

[0018] [l:\M\2\278\27846\250821__WA__FW__Antext_final.docx] The automated process of a chassis measurement according to the invention is exactly reproducible and always precisely replicates the steps of the chassis measurement specified by the manufacturer.

[0019] Since the invention utilizes the capabilities and properties of motor vehicles that can drive at least partially autonomously and of known chassis measurement devices, embodiments of the invention can be implemented cost-effectively. In particular, existing diagnostic testers designed to communicate with the control units of motor vehicles can be enabled, through a software update, to perform an inventive method for the automated chassis measurement of a motor vehicle.

[0020] In one embodiment, the commands are transmitted wirelessly from the control device to the vehicle, in particular via a WLAN or Bluetooth connection. A control device according to the invention can be equipped with suitable transmitters and receivers that enable wireless transmission of the commands. Wireless transmission of the commands is particularly user-friendly, as no cable connections to the vehicle need to be established and then disconnected after the chassis measurement is complete. Furthermore, work on the vehicle is not hindered by cable connections.

[0021] In one embodiment, the commands are transmitted from the control unit to the vehicle via a wired connection, for example, via an OBD2 interface. Wired transmission of commands from the control unit to the vehicle is particularly cost-effective and reliable, especially when an existing interface, such as an OBD2 interface, of the vehicle is used.

[0022] In one embodiment, a method according to the invention comprises executing a predetermined sequence plan containing various states of the axle geometry in order to successively bring the axle geometry of the motor vehicle into different predetermined states and to measure the axle geometry of the motor vehicle in the different states. By executing a predetermined sequence plan, it can be ensured that, within the framework of the chassis-

[0023] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] measurement all axle geometry states relevant for chassis measurement are set so that the axle geometry of the motor vehicle can be fully determined and measured.

[0024] In one embodiment, the method comprises the motor vehicle confirming, after receiving a command, that it has brought its axle geometry into a requested state, in particular into the last requested state. A control device according to the invention can be provided and configured to receive confirmation from the motor vehicle, by which the motor vehicle confirms that it has brought the axle geometry of the motor vehicle into a state requested by the control device.

[0025] In one embodiment, the chassis measurement device is designed in such a way that it independently recognizes, in particular without receiving confirmation from the motor vehicle, that the axle geometry of the motor vehicle has been brought into the requested state, and continues with the chassis measurement.

[0026] This ensures that the axle geometry of the vehicle being measured has been fully brought into a predetermined state before the wheel alignment is performed. This reduces the risk of errors in the wheel alignment that could arise from the vehicle not yet being, or not fully, brought into a predetermined state.

[0027] In one embodiment, the control device is part of a chassis measurement system, wherein the system also includes a chassis measurement device in addition to the control device. The control device can, in particular, be integrated into the chassis measurement device.

[0028] This makes it possible to provide a user with a chassis measurement device that is capable of performing chassis measurements largely automatically, i.e., without manual intervention by a user.

[0029] The chassis measurement system can also include at least one measuring plate, in particular four measuring plates, which are designed to be mounted on the wheels of a motor vehicle to be measured. By attaching

[0030] [I :\M\2\278\27846\250821 _WA_FW_Antext_final.docx] By using measuring plates on the wheels of the motor vehicle, the accuracy and reliability of the results of the chassis measurement can be improved even further.

[0031] In one embodiment, the chassis measurement device comprises two measuring heads. Each of the two measuring heads is designed and configured to be positioned on one side of the vehicle between a front wheel and a rear wheel, next to the vehicle, in order to measure the vehicle. Such a device allows for particularly space-saving vehicle measurement.

[0032] In one embodiment, the chassis measurement device is designed and configured to be positioned in front of the vehicle in order to measure the vehicle. A chassis measurement device designed to be positioned in front of the vehicle can be implemented particularly cost-effectively.

[0033] In one embodiment, the control device is designed and configured to communicate to the chassis measurement device the state into which the axle geometry of the motor vehicle was last brought, so that the chassis measurement device is able to continue the chassis measurement with the new state of the axle geometry of the motor vehicle.

[0034] An embodiment of the invention will be explained in more detail below with reference to the accompanying figures.

[0035] Brief description of the characters

[0036] Figure 1 shows a perspective view of a motor vehicle standing on a vehicle lift, a chassis measurement device and a control device according to an embodiment of the invention.

[0037] Figure 2 shows a schematic top view of the measuring station shown in Figure 1.

[0038] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] Figure 3 shows a schematic top view of a motor vehicle standing on a vehicle lift platform with a chassis measurement device and a control device according to a further embodiment of the invention.

[0039] Figure 4 shows a perspective view of the device for chassis measurement, which is designed according to the further embodiment of the invention.

[0040] Character description

[0041] Figure 1 shows a perspective view of a measuring station 1 equipped with a vehicle lift 2 and a vehicle 6 positioned on the vehicle lift 2. Figure 2 shows a schematic top view of the measuring station 1 shown in Figure 1.

[0042] The vehicle lift 2 shown in Figure 1 has four columns 3a, 3b, namely two rear columns 3a and two front columns 3b, a rear crossbeam 5a extending between the two rear columns 3a, and a front crossbeam 5b extending between the two front columns 3b. Left and right drive-on rails 4a, 4b rest on the crossbeams 5a, 5b. By lifting the crossbeams 5a, 5b, the drive-on rails 4a, 4b and the vehicle 6 standing on them can be raised, allowing repairs and adjustments to be carried out from underneath the vehicle 6.

[0043] The embodiment of the vehicle lift 2 with four columns 3a, 3b shown in Figure 1 is only an example. The invention can also be implemented with vehicle lifts 2 that have a different design.

[0044] Each of the four wheels 7a, 7b of the motor vehicle 6 is fitted with a measuring plate 8a, 8b by means of a wheel adapter 18. In the perspective view of Figure 1, only two of the four wheels 7a, 7b of the motor vehicle 6 are visible, namely the two wheels 7a, 7b on the right side of the motor vehicle 6, and three of the four measuring plates 8a, 8b. The two wheels 7a, 7b on the left side of the motor vehicle 6 are obscured by the body of the motor vehicle 6.

[0045] [r.\M\2\278\27846\250821_WA_FW_Antext_final.docx] To enable steering, the front wheels 7b of the motor vehicle 6 are positioned on turntables 16, which are arranged on or in the guide rails 4a, 4b.

[0046] A measuring head 10 is located on the outer (right) side of the right guide rail 4b and also on the outer (left) side of the left guide rail 4a. In Figure 1, the measuring head 10 positioned on the left guide rail 4a is not visible because it is obscured by the motor vehicle 6.

[0047] The measuring heads 10 are attached to the guide rails 4a, 4b of the vehicle lift 2 by suitable mounting means 14. The measuring heads 10 can, for example, be attached to the guide rails 4a, 4b by sliding them onto an outwardly directed holding device 14, which is attached to the respective guide rail 4a, 4b.

[0048] The measuring heads 10 are mounted in an approximately central position with respect to the longitudinal direction of the guide rail 4a, 4b and the motor vehicle 6. This allows a front image acquisition device 12b of each measuring head 10 (not visible in Figure 1) to capture images of the measuring plate 8b attached to the respective front wheel 7b, and a rearward-facing image acquisition device 12a of the measuring head 10 to capture images of the measuring plate 8a attached to the respective rear wheel 7a. The image acquisition devices 12a, 12b of the measuring heads 10 can be designed, in particular, as cost-effective 2D cameras.

[0049] The image recording devices 12a, 12b are aligned such that the viewing directions B of the image recording devices 12a, 12b are directed towards the measuring panels 8a, 8b attached to the wheels 7a, 7b of the motor vehicle 6.

[0050] Each measuring head 10 includes an image processing unit 13, which is designed to process and evaluate the images captured by the image acquisition devices 12a, 12b. Alternatively, the images captured by the image acquisition devices 12a, 12b can also be transferred to and processed by a single image processing unit 13 located inside or outside a measuring head 10.

[0051] On the inner sides of the two measuring heads 10 facing the motor vehicle 6, i.e., on the side oriented towards the respective opposite measuring head 10

[0052] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] On each side of each measuring head 10, a reference system 33 is provided. Each reference system 33 comprises a transverse camera and at least one optically perceptible element. The reference systems 33 of the two transversely opposed measuring heads 10 allow the two measuring heads 10 to reference each other transversely below the vehicle 6. In doing so, the positions and orientations of the two measuring heads 10 are determined relative to each other, so that the images of the measuring plates 8a, 8b from both measuring heads 10 can be brought into a common coordinate system.

[0053] The chassis measurement device 30 shown in Figures 1 and 2 also includes an operating and evaluation device 22, which is arranged on or at the measuring station 1. In the embodiment shown in Figures 1 and 2, the operating and evaluation device 22 is designed as a mobile device that is positioned next to the vehicle lift 2.

[0054] The operating and evaluation device 22 is equipped with a display device 24, for example a screen.

[0055] In an alternative embodiment, which is not explicitly shown in the figures, the operating and evaluation device 22 and the display device 24 can also be permanently attached to a wall of the measuring station 1.

[0056] Although the measuring station 1 shown in Figures 1 and 2 is equipped with a vehicle lift 2, the measuring heads 10 of the chassis measurement device 30 can also be used at measuring stations 1 that are not equipped with a vehicle lift 2. In particular, the measuring heads 10 can also be attached to guide rails 4a, 4b that are permanently installed on the floor of a measuring station 1, or placed next to the vehicle 6 on the floor of the measuring station 1.

[0057] To measure the chassis geometry of the motor vehicle 6, it may be necessary or advantageous to deliberately change the chassis geometry of the motor vehicle 6, for example by performing steering angles of the front wheels 7b or rolling movements of the front and rear wheels 7a, 7b of the motor vehicle 6.

[0058] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] Traditionally, these changes to the chassis geometry are carried out manually. The chassis measurement device 30 can, for example, issue instructions to an operator on the display device 24, prompting him to execute specified changes to the chassis geometry, such as specified steering angles.

[0059] According to one embodiment of the invention, a control device 20 is provided which is located at or on the measuring station 1 and which is designed to communicate with the motor vehicle 6, in particular with a control unit 9 of the motor vehicle 6, in order to transmit commands to the control unit 9 of the motor vehicle 6 which cause the motor vehicle 6 to carry out changes to the chassis geometry of the motor vehicle 6 requested by the control device 20.

[0060] The changes to the chassis geometry of the motor vehicle 6, which are made in response to commands transmitted from the control device 20 to the motor vehicle 6, may in particular include steering inputs of the front wheels 7b of the motor vehicle 6 and / or rolling movements of the wheels 7a, 7b of the motor vehicle 6.

[0061] When transmitting commands to the motor vehicle 6, the control device 20 can follow a predefined sequence, which is to be executed as part of measuring the chassis geometry of the motor vehicle 6. The predefined sequence can, in particular, include various states of the axle geometry, so that the axle geometry of the motor vehicle 6 is successively brought into the various predefined states by executing the sequence.

[0062] Furthermore, the control device 20 may be designed and configured to receive confirmation from the motor vehicle 6, in particular from a control unit 9 of the motor vehicle 6, by which the motor vehicle 6 confirms that the axle geometry of the motor vehicle 6 has been brought into the state last requested by the control device 20.

[0063] The control device 20 can be further configured to transmit the confirmation received from the motor vehicle 6 to the chassis measurement device 30, so that the chassis measurement device 30 can then

[0064] [IAM\2\278\27846\250821_WA_FW_Antext_final.docx} is informed that the chassis of motor vehicle 6 has been brought into the new condition and can be measured in this new condition.

[0065] The control device 20 can be part of the chassis measurement device 30. In particular, the control device 20 can be integrated into the chassis measurement device 30 so that it is not recognizable to a user as a separate device. From the user's perspective, in this case, the chassis measurement device 30 communicates with the motor vehicle 6, or with the control unit 9 of the motor vehicle 6, and transmits the commands for changing the axle geometry of the motor vehicle 6 to the motor vehicle 6.

[0066] In an alternative embodiment, the control device 20 can be configured separately from the chassis measurement device 30, as shown in Figures 1 and 2. The control device 20 can, for example, be configured as a mobile diagnostic tester 20, which is designed and configured to communicate with both the control unit 9 in the motor vehicle 6 and the chassis measurement device 30 in order to transmit the commands and confirmations described above between the motor vehicle 6 and the chassis measurement device 30.

[0067] The commands for changing the axle geometry of the motor vehicle 6 can be specified either by the control device 20 or by the chassis measurement device 30. In other words, in one embodiment, the control device (diagnostic tester) 20 can be in control of the process, specifying to both the motor vehicle 6 and the chassis measurement device 30 the states into which the axle geometry of the motor vehicle 6 is to be brought.

[0068] In another embodiment, the chassis measurement device 30 can control the process and specify to the motor vehicle 6 the states into which the axle geometry of the motor vehicle 6 is to be brought. In this case, the control device 20 serves as an interface or "intermediary" between the chassis measurement device 30 and the motor vehicle 6, in order to transmit the commands from the chassis measurement device 30 to the motor vehicle 6 and the confirmations that the commands have been executed from the motor vehicle 6 to the chassis measurement device 30.

[0069] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] An existing diagnostic tester can be upgraded to a control device 20 according to an embodiment of the invention in a cost-effective manner by means of a software update.

[0070] In another embodiment, the control device 20 can be integrated into the motor vehicle 6 itself, in particular into a control unit 9 of the motor vehicle 6. In this case, a user does not perceive the control device 20 as an independent device. From a user's perspective, it is the motor vehicle 6 itself that controls the chassis measurement by successively moving its chassis into various predefined states and informing the chassis measurement device 30 that the chassis has been moved into one of the predefined states, so that it can be measured by the chassis measurement device 30 in that state.

[0071] Communication between the control device 20 and the control unit 9 in the motor vehicle 6 and / or the chassis measurement device 30 can be wired or wireless.

[0072] Wireless communication can be achieved, for example, via a WLAN or Bluetooth connection. In this case, the control device 20, the control unit 9 in the motor vehicle 6, and / or the chassis measurement device 30 are equipped with corresponding transmitters and receivers that enable wireless communication. Wireless communication eliminates the need for disruptive cable connections at the measuring station 1.

[0073] Wired communication between the control device 20 and the control unit 9 in the motor vehicle 6 can, for example, take place via an OBD2 interface 26, which is provided in the motor vehicle 6. Wired communication can be implemented particularly cost-effectively.

[0074] Figure 3 shows a schematic top view of a measuring station 1 for chassis measurement with a motor vehicle 6 arranged on a vehicle lift and a device for chassis measurement 30, which is designed according to a further embodiment of the invention.

[0075] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] Figure 4 shows a perspective view of a device for chassis measurement 30, which is designed according to the further embodiment of the invention.

[0076] In the embodiment shown in Figures 3 and 4, the chassis measurement device 30 does not have measuring heads 10 with image acquisition devices 12a, 12b arranged laterally next to the motor vehicle 6. Instead, the image acquisition devices 12a, 12b are positioned in front of the vehicle lift 2 and the motor vehicle 6.

[0077] A chassis measurement device 30, designed according to the embodiment shown in Figures 3 and 4, comprises in particular a support 32 which extends in the form of a beam substantially horizontally transversely to the longitudinal axis L of the motor vehicle 6 in front of the motor vehicle 6 and on which the image acquisition devices 12a, 12b are attached. The image acquisition devices 12a, 12b can be arranged in particular near the outer ends of the support 32.

[0078] The chassis measurement device 30 shown in Figures 3 and 4 also includes an operating and evaluation device 22 and a display device 24. In the embodiment shown in Figure 3, the operating and evaluation device 22 and the display device 24 are mounted together with the support 32 on a support structure 36, for example a mobile or stationary column.

[0079] In alternative embodiments, the operating and evaluation device 22 and / or the display device 24 can also be arranged separately from the carrier 32 and the support structure 36, as shown in Figures 1 and 2.

[0080] Figures 3 and 4 also show a control device 20, which, like the control device 20 shown in Figures 1 and 2, is designed to communicate with the motor vehicle 6, in particular with a control unit 9 of the motor vehicle 6, in order to transmit commands to the control unit 9 of the motor vehicle 6, wherein the commands cause the motor vehicle 6 to execute changes to the chassis geometry of the motor vehicle 6 requested by the control device 20.

[0081] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] The details of the communication of the control device 20 and the execution of the automatic chassis measurement described in connection with Figures 1 and 2 also apply accordingly to the embodiment shown in Figures 3 and 4 and are therefore not repeated here.

[0082] Figures 3 and 4 show the control device 20 as an example part of the chassis measurement device 30. In further embodiments not explicitly shown in the figures, the control device 20 can be designed as an independent control device 20, for example as a mobile diagnostic tester, or integrated into the motor vehicle 6, in particular into a control unit 9 of the motor vehicle 6.

[0083] [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx]

Claims

M27846.9 Patent claims 1. Method for automated chassis measurement of a motor vehicle (6) capable of at least partially autonomous driving, wherein the chassis measurement method comprises transmitting commands from a control device (20) located outside the motor vehicle (6) at or on a measuring station (1) to the motor vehicle (6), in particular to a control unit (9) in the motor vehicle (6), which cause the motor vehicle (6) to independently make changes to the axle geometry of the motor vehicle (6), in particular steering angles, in order to successively bring the axle geometry of the motor vehicle (6) into different states; and measuring the axle geometry of the motor vehicle (6) in the different states.

2. Method according to claim 1, wherein the transmission of commands to the motor vehicle (6) is wireless, in particular via a WLAN connection or a Bluetooth connection, or wired, for example via an OBD2 interface.

3. Method according to claim 1 or 2, wherein the method comprises following a predetermined sequence plan which includes various states of the axle geometry in order to successively bring the axle geometry of the motor vehicle (6) into different predetermined states and to measure the axle geometry of the motor vehicle (6) in the different states.

4. Method according to any of the preceding claims, wherein the method comprises the motor vehicle (6) confirming that it has brought its axle geometry into a requested state, and / or [l:\M\2\278\27846V250821_WA_FW_Antext_final.docx] wherein a chassis measurement device (30) independently, in particular without receiving confirmation from the motor vehicle (6), recognizes that the axle geometry of the motor vehicle (6) has been brought into a requested state, and continues with the chassis measurement.

5. Control device (20) which can be arranged independently of a motor vehicle (6) on or at a measuring station (1) and is designed and configured to transmit commands to a motor vehicle (6), in particular to a control unit (9) in a motor vehicle (6), wherein the motor vehicle (6) is capable of driving at least partially autonomously, and wherein the commands are intended to cause the motor vehicle (6) to make changes to the axle geometry of the motor vehicle (6), in particular steering angles, in order to bring the axle geometry of the motor vehicle (6) successively into different states.

6. Control device (20) according to claim 5, wherein the control device (20) is designed and configured to transmit the commands wirelessly, in particular via a WLAN connection or via a Bluetooth connection, or wired, for example via an OBD2 interface, to the motor vehicle (6).

7. Control device (20) according to claim 5 or 6, wherein the control device (20) is designed and configured to execute a predetermined sequence plan containing various states of the axle geometry in order to successively bring the axle geometry of the motor vehicle (6) into various predetermined states.

8. Control device (20) according to one of claims 5 to 7, wherein the control device (20) is provided and configured to receive confirmation from the motor vehicle (6) by which the motor vehicle (6) confirms that it has brought the axle geometry of the motor vehicle (6) into a state requested by the control device (20). [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] 9. Control device (20) according to one of claims 5 to 8, wherein the control device (20) is part of a chassis measurement system which, in addition to the control device (20), also includes a chassis measurement device (30).

10. Control device (20) according to one of claims 5 to 8, wherein the control device (20) is integrated into a chassis measurement device (30).

11. Control device (20) according to claim 9, wherein the control device (20) is a separate device, for example a diagnostic tester, and wherein the control device (20) is designed and configured to communicate both with a motor vehicle (6) capable of driving at least partially autonomously and with the chassis measurement device (30).

12. Control device (20) according to one of claims 9 to 11, wherein the control device (20) is provided and configured to communicate to the chassis measurement device (30) the state into which the axle geometry of the motor vehicle (6) has last been brought.

13. Control device (20) according to one of claims 9 to 12, wherein the control device (20) is provided and configured to receive instructions from the chassis measurement device (30) which determine the state or states into which the axle geometry of the motor vehicle (6) is to be brought. [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx] 14. Chassis measurement system comprising a chassis measurement device (30) and a control device (20) according to any one of claims 10 to 13, wherein the chassis measurement device (30) is designed to recognize independently, without receiving confirmation from the motor vehicle (6), that the axle geometry of the motor vehicle (6) has been brought into a requested state, and to continue with the chassis measurement.

15. Chassis measurement system according to claim 14, wherein the chassis measurement device (30) has two measuring heads (10) which are provided and designed to be positioned laterally next to a motor vehicle (6) between the front wheels (7b) and the rear wheels (7a) in order to measure the motor vehicle (6); or wherein the chassis measurement device (30) is provided and designed to be positioned in front of the motor vehicle (6) in order to measure the motor vehicle (6). [l:\M\2\278\27846\250821_WA_FW_Antext_final.docx]

Images