Apparatus and method for determining parameters of a steering wheel

Abstract

The invention relates to an apparatus (100) for determining a steering wheel steering angle (70) and / or an inclination angle (80) of a steering wheel (300) of a vehicle (250) which is positioned at a measurement location, comprising at least one image recording device (150) which generates a point cloud (400) representing the steering wheel (300), at least one positioning device (130) for positioning the at least one image recording device (150) at at least one measurement position (140) relative to the steering wheel (300), and an evaluation unit (190) which evaluates the point cloud (400) captured by the at least one image recording device (150), wherein a defined measurement location coordinate system (101) is assigned to at least the measurement location. The invention also relates to a test bench (200) having such an apparatus (100), and to a method for determining a steering wheel steering angle (70) and / or an inclination angle (80) of a steering wheel (300).

Description

[0001] Description

[0002] title

[0003] Device and method for determining parameters of a steering wheel

[0004] State of the art

[0005] The invention relates to a device and a method for determining parameters of a steering wheel, in particular a steering wheel angle and / or a steering wheel tilt.

[0006] Several methods are known for precisely setting the steering wheel angle in vehicle production. These methods involve measuring both the current steering wheel angle and the steering wheel's tilt.

[0007] From WO2018059628A1, a device for detecting the steering wheel angle and tilt of a vehicle is known, wherein the device has at least two cameras with which the steering wheel is recorded. At least three reference objects are detachably attached to the steering wheel. Based on the recorded images, photogrammetric image processing methods are performed to determine the tilt of the steering wheel and the steering wheel angle.

[0008] German patent DE 102013021475 A1 describes an optical steering angle determination method in which the steering wheel's angle of rotation is measured fully automatically using a camera and an image processing algorithm. A 3D light section sensor projects a predefined spatially or temporally coordinated pattern onto the vehicle's steering wheel using a light projector. A camera captures the projected pattern. A geometric distortion of the captured pattern compared to the projected pattern is determined, and a 3D model of the steering wheel is created based on these distortions. From this model, the current steering angle is calculated. Prior to determining the current steering wheel angle, comparative data sets are provided, obtained through a calibration measurement.

[0009] Disclosure of the invention

[0010] DAP-4340WO

[0011] 2025-11-05 The object of the invention is to create a device for detecting the steering wheel angle and the inclination of the steering wheel of a vehicle, in which the mounting of reference objects on the steering wheel is eliminated and a high cycle time is possible.

[0012] Another task is to create a method for detecting the steering wheel angle and the tilt of the steering wheel of a vehicle, in which the mounting of reference objects on the steering wheel is eliminated and a high cycle time is possible.

[0013] The problems are solved by the features of the independent claims. Favorable embodiments and advantages of the invention become apparent from the further claims, the description, and the drawings.

[0014] A device for determining the steering wheel angle and / or inclination of a vehicle's steering wheel positioned at a measurement location is proposed. The device comprises at least one image acquisition device that generates a point cloud representing the steering wheel, at least one positioning device for positioning the at least one image acquisition device at at least one measurement position relative to the steering wheel, and an evaluation unit that evaluates the point cloud captured by the at least one image acquisition device, wherein at least one measurement location is assigned a defined measurement location coordinate system.

[0015] The measurement location can be, for example, a test bench, such as a chassis alignment stand, to which a defined coordinate system is assigned via the measurement location coordinate system.

[0016] Advantageously, the image acquisition device can have a 3D sensor or be designed as such. Camera images are converted into 3D coordinates using methods such as stereophotogrammetry. The basis for the evaluation is a 3D point cloud of the object being measured, which can essentially be generated with any 3D sensor.

[0017] DAP-4340WO

[0018] 2025-11-05 Advantageously, the positioning device can position the image capture device in such a way that, firstly, the entire steering wheel is captured, and secondly, the image capture device can be set at the steepest possible angle to the steering wheel. In particular, the image capture device or measuring position can be located outside the vehicle.

[0019] According to a favorable design of the device, a calibration gauge for determining the coordinate system of the measuring location can be arranged at least temporarily at the measuring location.

[0020] For calibration, a so-called calibration gauge, such as those used on vehicle test benches, can be advantageously employed. This calibration gauge represents a defined measurement object for all 3D sensors, whose position and orientation within the measurement location coordinate system are known. Additionally, a target in the form of a calibration frame can be provided, featuring a measuring surface with optical features for aligning the 3D sensor for steering wheel measurement. The position and orientation of this target within the measurement location coordinate system are known and can be arranged arbitrarily. This allows the 3D measurement data from the image acquisition device to be transformed into the measurement location coordinate system.

[0021] With a favorable design of the device, at least one positioning element can be arranged outside the vehicle. Advantageously, no assembly work is required inside the vehicle, which is beneficial for short cycle times.

[0022] In a favorable embodiment of the device, a positioning unit can be arranged on each side of the vehicle. This allows for the rapid testing of vehicles with different steering wheel positions, i.e., right-hand drive and left-hand drive vehicles, without requiring any modifications to the positioning unit.

[0023] According to a favorable embodiment of the device, the at least one image acquisition device can be pivotable about at least one axis of the measurement location coordinate system and / or displaceable along at least one axis of the measurement location coordinate system and / or be fixedly mounted in the measurement location coordinate system.

[0024] DAP-4340WO

[0025] 2025-11-05 For this purpose, at least one positioning device can have a robot arm on which the image acquisition device is arranged. The robot arm can be moved with many degrees of freedom, so that the image acquisition device, e.g. the 3D sensor, can be positioned as desired, e.g. moved, swiveled, tilted.

[0026] Alternatively, at least one positioning device may have a holder, for example a portal in a test stand, on which the image acquisition device is arranged, which is spatially displaceable in a measurement location coordinate system, in particular a measurement location coordinate system, in the vertical and / or transverse direction and / or longitudinal direction relative to the vehicle.

[0027] Alternatively, at least one image acquisition device can be mounted on a holder fixed in the measurement location coordinate system and swiveled or tilted there. The person skilled in the art will select a suitable positioning device according to the measurement location.

[0028] If multiple image acquisition devices and / or multiple positioning devices are present, for example one image acquisition device can be located on a robot arm and another on a holder.

[0029] In a favorable embodiment of the device, a type recognition device for identifying the vehicle type can be provided. In particular, at least one measurement position of the at least one image acquisition device and / or at least one parameter set for evaluating the point cloud can be assigned to the identified vehicle type.

[0030] The vehicle type identification system knows the vehicle's dimensions, allowing the image acquisition system to be optimally adjusted. This enables the device to examine different vehicle types.

[0031] According to another aspect of the invention, a test bench is proposed with a device for determining a steering wheel angle and / or an inclination of a steering wheel of a vehicle that is positioned at a measuring point.

[0032] DAP-4340WO

[0033] 2025-11-05 The device comprises at least one image acquisition device that generates a point cloud representing the steering wheel, at least one positioning device for positioning the at least one image acquisition device at at least one measurement position relative to the steering wheel, and an evaluation unit that evaluates the point cloud captured by the at least one image acquisition device, wherein at least one measurement location is assigned a defined measurement location coordinate system.

[0034] The test bench could, for example, be a chassis alignment stand.

[0035] Advantageously, a short cycle time can be achieved, making it possible to determine and adjust the steering angle and other parameters of the vehicle and its chassis in mass production of vehicles.

[0036] A 3D sensor based on stereophotogrammetry can be advantageously used as an image acquisition device.

[0037] According to a further aspect of the invention, a method is proposed for determining a steering wheel angle and / or a tilt of a steering wheel of a vehicle positioned at a measurement location, wherein an image acquisition device generates a point cloud representing the steering wheel, wherein a positioning device positions the image acquisition device relative to the steering wheel at at least one measurement position, wherein an evaluation unit evaluates the point cloud generated by the image acquisition device, and wherein at least the measurement location is assigned a defined measurement location coordinate system.

[0038] The measurement location can advantageously be a test bench, in particular a chassis alignment stand.

[0039] With a favorable implementation of the method, the point cloud can be transformed into the measurement location coordinate system. This can be achieved through calibration using a calibration gauge. Transforming the calibrated axes from the coordinate system of the image acquisition device to the measurement location coordinate system requires only minimal computation time, thus enabling a suitably short cycle time.

[0040] DAP-4340WO

[0041] 2025-11-05 The vehicle is typically positioned essentially straight at the measurement location within the measurement location's coordinate system, roughly parallel to its longitudinal axis, so that the coordinate systems of the measurement location and the vehicle practically coincide for determining the steering angle and steering wheel tilt. The point cloud analysis refers to the plane of the steering wheel, which can be determined after calibration and a corresponding coordinate transformation into the measurement location's coordinate system.

[0042] With a favorable design of the procedure, calibration can be performed for each measuring position.

[0043] A calibration gauge with an additional calibration frame can be used for this purpose, which defines a calibration coordinate system for the image acquisition device. It is advantageous to be able to perform calibration for each vehicle type.

[0044] According to a favorable embodiment of the method, at least one measuring position can be fixed, or the measuring position can be moved from a calibration position to the measuring position.

[0045] The image capture device can be precisely positioned using a robotic arm or a holder that can be moved and / or swiveled in one to three spatial directions.

[0046] With a favorable embodiment of the method, at least one measurement position can be dynamically adjusted. In particular, calibration can be performed and conversion to different measurement positions can be carried out by means of a coordinate transformation between the coordinate system of the image acquisition device and the measurement location coordinate system.

[0047] Alternatively or additionally, a so-called hand-eye calibration can be performed to subsequently obtain measured values ​​in the measurement location coordinate system in any sensor positioning by the robot (see, for example, the publication by Hangi Zhuang et al., “Camera-Aided Robot Calibration”, CRC Press, April 24, 2018, Chapter 8, ISBN: 9781351462730).

[0048] DAP-4340WO

[0049] 2025-11-05 Advantageously, the transformation of the coordinates can be carried out with high accuracy based on the calibration.

[0050] With a favorable embodiment of the method, vehicle type identification can be performed to recognize the vehicle type. In particular, at least one measurement position of the image acquisition device and / or at least one parameter set for evaluating the point cloud can be assigned to the recognized vehicle type.

[0051] The vehicle type identification system knows the vehicle's dimensions, allowing the image acquisition system to be optimally adjusted. This enables the examination of different vehicle types at the measurement site.

[0052] With a favorable design of the procedure, an evaluation procedure can be carried out in which distinctive features of the steering wheel in the point cloud of the steering wheel are analyzed, the position of which on the steering wheel is specified, and their angle and inclination in the measurement location coordinate system are derived by comparison with the specified positions.

[0053] Advantageously, no separate elements are required, as intrinsic features of the steering wheel can be used precisely, such as edges, recesses, and controls, which can be empirically defined. Furthermore, no CAD model is necessary.

[0054] Alternatively or additionally, an evaluation procedure can be carried out according to a favorable embodiment of the method, in which a comparison is made between the point cloud of the steering wheel and an existing master steering wheel with known angle and known inclination, and the steering wheel inclination is derived from a difference determined in the comparison.

[0055] Advantageously, a master model can first be trained for the evaluation, which represents a steering wheel with a known steering wheel angle and known steering wheel tilt.

[0056] DAP-4340WO

[0057] November 5, 2025. Advantageously, no separate elements need to be attached to the steering wheel, as intrinsic features of the steering wheel, such as edges, recesses, and controls, can be used with pinpoint accuracy. The steering angle can be detected with high precision. Determining the difference requires minimal computation time. Furthermore, no CAD model is needed for the evaluation.

[0058] According to a favorable embodiment of the procedure, an evaluation procedure can alternatively or additionally be carried out in which symmetrical features and their position on the steering wheel in the calibrated measurement location coordinate system are used on the basis of the point cloud, whereby the steering wheel angle is derived from a required rotation of the point cloud, in which the features lie on a horizontal plane.

[0059] This approach takes advantage of the fact that steering wheels are typically symmetrical when viewed from above. The steering angle can then be detected with high accuracy.

[0060] Since the symmetrically present features are automatically determined by the algorithm, there is no need to train a master model, which in turn saves setup time when integrating new vehicle models.

[0061] With a favorable design of the procedure, an evaluation procedure can be carried out in which a master is generated from a CAD model of the steering wheel, with which the point cloud is compared and the steering wheel angle and the tilt of the steering wheel are derived from a difference determined in the comparison.

[0062] A CAD model known for steering wheels can be used here.

[0063] According to a favorable design of the procedure, if a result of the comparison is implausible and / or the number of points in the point cloud is too low and / or a quality criterion is below a permissible threshold, a different measurement position can be taken.

[0064] This increases the significance of the measurement and the accuracy of determining the steering wheel angle.

[0065] DAP-4340WO

[0066] 2025-11-05 According to a favorable design of the procedure, if a result of the comparison is implausible and / or the number of points in the point cloud is too low and / or a quality criterion lies outside a permissible range of values, another evaluation procedure can be carried out.

[0067] This increases the significance of the measurement and the accuracy of determining the steering wheel angle.

[0068] drawing

[0069] Further advantages will become apparent from the following description of the drawings. The figures illustrate exemplary embodiments of the invention. The figures, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations.

[0070] They show, for example:

[0071] Fig. 1 shows an embodiment of the invention with a device at a measuring location in the form of a test stand, in particular a chassis alignment stand;

[0072] Fig. 2 shows the chassis alignment stand from Figure 1 with a calibration gauge with a calibration frame as a coordinate calibration device for calibrating the measurement location coordinate system;

[0073] Fig. 3 is an isometric view of components of the device with coordinate systems and directions in the chassis adjustment stand from Figure 1;

[0074] Fig. 4 is the isometric view from Figure 3 rotated by 90°;

[0075] Fig. 5 is an isometric view of a vehicle in the chassis adjustment stand from Figure 1 ,

[0076] Fig. 6 shows a detail with a different view of the vehicle in the chassis adjustment stand from Figure 5;

[0077] Fig. 7 shows a point cloud of a steering wheel;

[0078] Fig. 8 shows a steering wheel with a steering angle;

[0079] Fig. 9 shows the steering wheel with corrected steering angle;

[0080] Fig. 10 shows the steering wheel in side view;

[0081] Fig. 11 shows a flowchart of the method according to the invention.

[0082] DAP-4340WO

[0083] 2025-11-05 Embodiments of the invention

[0084] In the figures, similar or equivalent components are numbered with the same reference symbols. The figures merely show examples and are not to be understood as limiting.

[0085] Before the invention is described in detail, it should be noted that it is not limited to the respective components of the device or the respective process steps, as these components and processes may vary. The terms used here are intended solely to describe particular embodiments and are not used restrictively. Furthermore, where the singular or indefinite articles are used in the description or in the claims, this also refers to the plural of these elements, unless the overall context clearly indicates otherwise.

[0086] The directional terminology used below, including terms like "left," "right," "above," "below," "in front," "behind," "after," and the like, serves only to improve the understanding of the figures and is in no way intended to limit their generality. The components and elements depicted, their interpretation, and their use may vary according to the considerations of a person skilled in the art and be adapted to the specific applications.

[0087] Figure 1 shows, as an embodiment of the invention, a device 100 for determining a steering wheel angle and / or a steering wheel inclination of a vehicle at a measuring location in the form of a chassis alignment stand 200. Figure 2 shows the chassis alignment stand 200 from Figure 1 with a calibration gauge 110 as a coordinate calibration device for calibrating the measuring location coordinate system.

[0088] The measurement location is defined, for example, by roller pairs 212, 214 for the wheels of the front axle and roller pairs 222, 224 for the wheels of the rear axle, on which the wheels of the vehicle are positioned during the measurement.

[0089] DAP-4340WO

[0090] 2025-11-05 Sensor devices 202, 206 for one side and 204, 208 for the other side of the vehicle serve in the exemplary chassis alignment stand 200 to carry out measurements and adjustments usual on a chassis alignment stand 200.

[0091] The device 100 has at least one image acquisition device 150 which generates a point cloud 400 (Figure 7) representing the steering wheel 300 (Figures 6, 8, 9), at least one positioning device 130 for positioning the at least one image acquisition device 150 at a measuring position 140 (Figures 2, 5, 6) relative to the steering wheel 300 (Figures 6, 8, 9), and an evaluation unit 190 which evaluates at least the point cloud 400 captured by the at least one image acquisition device 150.

[0092] In this case, at least one vehicle 250 at the measurement location is assigned a defined measurement location coordinate system 101 with a vertical axis with direction 10, a longitudinal axis with directions 12, and a transverse axis with directions 14, corresponding to the coordinate system 101 of the measurement location. If the measurement location is a test stand 200, for example, a chassis alignment stand, the coordinate system of the test stand 200 is the measurement location coordinate system 101. This is illustrated in Figures 3 and 4. A coordinate system can be specified for each component at the measurement location, for example, a test stand 200. These can partially coincide, for example, for the sensor devices 202, 204, 206, 208 in the illustrated embodiment, which are used, for example, during chassis alignment in a chassis alignment stand. It is advantageous to use the measurement location coordinate system 101 for the alignment of these sensor devices 202, 204, 206, 208.The sensor devices 202, 204, 206, 208 are used in chassis adjustment.

[0093] Here, 12 denotes a direction along the longitudinal axis, for example the positive direction, and 22 the opposite direction, for example the negative direction. Similarly, 14 denotes a direction along the transverse axis, for example the positive direction, and 24 the opposite direction, for example the negative direction. The reference symbol 10 denotes the positive direction of the vertical axis.

[0094] DAP-4340WO

[0095] 2025-11-05 The calibration gauge 110 in Figure 2 is used to calibrate the image acquisition device 150. Discs 112, 114, corresponding to the position of the front axle wheels, and discs 122, 124, corresponding to the position of the rear axle wheels, are arranged laterally on a frame at the correct distance from each other in the direction of the longitudinal axis and in the direction of the transverse axis, and parallel to a longitudinal axis of the vehicle. The longitudinal axis of the vehicle corresponds to the direction of travel.

[0096] As can be seen in the isometric views in Figures 3 and 4, a coordinate system can be specified for different components, such as the measurement location coordinate system 101 of the measurement location in the form of the test stand 200, a calibration coordinate system 103 for the calibration of the image acquisition device 150, which is symbolized by a calibration frame 120, and a coordinate system 104 of the image acquisition device 150.

[0097] For the calibration coordinate system 103 of the calibration frame 120, the vertical axis is characterized by the positive direction 30, while the longitudinal axis is indicated by the positive direction 32 and the transverse axis by the positive direction 34. The orientation and position of the calibration frame 120 of the calibration gauge 110 in the test stand 200 are known by measurement with a conventional coordinate measuring system, such as a coordinate measuring machine. Thus, the relationship between the measurement location coordinate system 101 and the calibration frame 120 and the associated calibration coordinate system 103 is also known.

[0098] For the coordinate system 104 of the image acquisition device 150, the vertical axis is indicated by the positive direction 40, while the longitudinal axis is indicated by the positive direction 42 and the transverse axis by the positive direction 44. The coordinate system 104 of the image acquisition device 150 can be oriented arbitrarily relative to the measurement location coordinate system 101 of the test stand 200 and also relative to the calibration coordinate system 103 of the calibration frame 120.

[0099] Calibration allows the measurement points of a 3D point cloud in one of the different coordinate systems 101, 103, 104 to be transformed into the other coordinate systems 101, 103, 104 by means of a simple coordinate transformation.

[0100] DAP-4340WO

[0101] Figure 5, dated 2025-11-05, shows an isometric view of a vehicle 250 in the test stand 200, in particular the chassis adjustment stand, from Figure 1. Figure 6 shows a detail with a different viewpoint of the vehicle 250 in the test stand 200, in particular the chassis adjustment stand, from Figure 5.

[0102] The wheels of the front axle of vehicle 250 are located on the roller pairs 212, 214, the wheels of the rear axle on the non-visible roller pairs 222, 224. The longitudinal axis of vehicle 250 is arranged essentially parallel to the longitudinal axis of the measurement location coordinate system 101.

[0103] The image acquisition device 150 is attached to a positioning device 130, for example in the form of a robot arm, and is located in a measuring position 140 in which a steering wheel 300 of the vehicle 250 can be completely captured by the image acquisition device 150 through an opening 252 for a side window in the driver's door.

[0104] Figure 7 shows an example point cloud 400 of a steering wheel. Figure 8 shows a steering wheel 300 with a steering angle of 80°. Figure 9 shows the steering wheel 300 with a corrected steering angle of 80°. Figure 10 illustrates a longitudinal tilt angle of 80° of the steering wheel.

[0105] A favorable method for determining the steering angle and / or inclination of a steering wheel 300 of the vehicle 250 positioned at the measuring point, for example the chassis adjustment stand 200, can have steps that are shown in Figure 11.

[0106] In a first step S100, calibration is carried out at the measuring location, for example chassis adjustment stand 200, to define well-defined coordinate systems 101, 103, 104 of the measuring location, image acquisition device 150 and calibration frame 120 for the position of the steering wheel 300.

[0107] In step S102, the vehicle 250 is placed at the measuring location, whereby type identification is performed automatically or, optionally, the vehicle type is manually specified to the evaluation unit 190. The measuring position 140 of the image acquisition device 150 and / or at least one parameter set for evaluating the point cloud 400 is assigned to the identified vehicle type.

[0108] DAP-4340WO

[0109] 2025-11-05 In step S104, the image acquisition device 150 is brought by the positioning device 130 into a suitable measuring position 140 in which the steering wheel 300 can be optically detected.

[0110] The measuring position 140 can be fixed or moved from a calibration position to measuring position 140. A calibration can be performed for each measuring position 140.

[0111] Alternatively, the measuring position 140 can be dynamically set, in particular by performing a calibration and converting to different measuring positions 140 by means of a coordinate transformation between the measuring location coordinate system 101 of the test stand 200 and the coordinate system 104 of the image acquisition device 150.

[0112] In step S106, a point cloud 400 representing the steering wheel 300 is generated.

[0113] In step S108, the evaluation unit 190 evaluates the point cloud 400 generated and derived by the image acquisition device 150, whereby at least the measurement location is assigned a defined coordinate system 101, which is known from the calibration.

[0114] In step S110, the point cloud 400 is transformed into the measurement location coordinate system 101 of the test bench 200.

[0115] In step 120, an evaluation procedure is carried out in which distinctive features of the steering wheel 300 in the point cloud 302, 304, 306, 308 of the steering wheel 300 are analyzed, whose position on the steering wheel 300 is specified, and whose angle and inclination in the coordinate system of the vehicle are derived by comparison with the specified positions.

[0116] Different evaluation methods can be used.

[0117] DAP-4340WO

[0118] 2025-11-05 For the evaluation of the point cloud 400, a comparison can be made between the point cloud 400 of the steering wheel 300 and an existing master steering wheel with known angle and known inclination, and the steering wheel angle and the inclination of the steering wheel 300 can be derived from a difference determined in the comparison.

[0119] Alternatively or additionally, for the evaluation of the point cloud 400, symmetrical features and their position on the steering wheel 300 in the calibrated measurement location coordinate system 101 in the directions 10, 12, 14 can be used on the basis of the point cloud 400, whereby the steering wheel angle 70 is derived from a required rotation of the point cloud 400, in which the features lie on a horizontal 60.

[0120] Alternatively or additionally, a master can be generated from a CAD model of the steering wheel 300 to evaluate the point cloud 400, with which the point cloud 400 is compared and the steering angle and the inclination of the steering wheel 300 can be derived from a difference determined in the comparison.

[0121] In the optional step S130, it can be checked whether a comparison between point cloud 400 and the target is implausible and / or whether the number of points in point cloud 400 is too low and / or whether a quality criterion is below a permissible threshold.

[0122] In the optional step S132, if a comparison between point cloud 400 and the target is implausible and / or the number of points in point cloud 400 is too low and / or a quality criterion is below a permissible threshold, another measurement position 140 can be taken.

[0123] In the optional step S134, if a comparison is implausible and / or the number of points in point cloud 400 is too low and / or a quality criterion lies outside a permissible range of values, another evaluation procedure can be carried out additionally or alternatively.

[0124] DAP-4340WO

[0125] 2025-11-05 Reference number

[0126] 10 Upward direction

[0127] 12 Longitudinal direction positive

[0128] 14 Transverse direction positive

[0129] 20 Upward direction

[0130] 22 Longitudinal direction negative

[0131] 24 Transverse direction negative

[0132] 30 direction

[0133] 32 direction

[0134] 34 direction

[0135] 40 direction

[0136] 42 direction

[0137] 44 direction

[0138] 60 Horizontal

[0139] 70° steering angle

[0140] 80° angle inclination

[0141] 100 Device

[0142] 101 Measurement location coordinate system

[0143] 103 Calibration Coordinate System

[0144] 104 Coordinate system Image acquisition device

[0145] 110 Calibration gauge

[0146] 112 disc

[0147] 114 disc

[0148] 120 calibration frames

[0149] 122 disc

[0150] 124 disc

[0151] 130 Positioning device

[0152] 140 measuring position

[0153] 150 Image capture device 3D sensor

[0154] 180 Type identification device

[0155] 190 evaluation units

[0156] 200 chassis adjustment stand

[0157] 202 Sensor device

[0158] 204 Sensor device

[0159] 206 Sensor device

[0160] 208 Sensor device

[0161] 212 pairs of rollers

[0162] DAP-4340WO

[0163] 2025-11-05 214 Pair of rollers

[0164] 222 pair of rollers

[0165] 224 pairs of rollers

[0166] 250 Vehicle 252 Window opening

[0167] 300 steering wheel

[0168] 302 Feature

[0169] 304 Feature

[0170] 306 Feature 308 Feature

[0171] 400 point cloud

[0172] DAP-4340WO 2025-11-05

Claims

Claims 1. Device (100) for determining a steering wheel angle (70) and / or a tilt angle (80) of a steering wheel (300) of a vehicle (250) positioned at a measurement location, comprising at least one image acquisition device (150) that generates a point cloud (400) representing the steering wheel (300), at least one positioning device (130) for positioning the at least one image acquisition device (150) at at least one measurement position (140) relative to the steering wheel (300), and an evaluation unit (190) that evaluates the point cloud (400) captured by the at least one image acquisition device (150), wherein at least one measurement location is assigned a defined measurement location coordinate system (101).

2. Device according to claim 1, wherein a calibration gauge (110) for determining the measurement location coordinate system (101) is arranged at least temporarily at the measurement location.

3. Device according to one of the preceding claims, wherein the at least one positioning device (130) is arranged outside the vehicle (250).

4. Device according to one of the preceding claims, wherein a positioning device (130) is arranged on each side of the vehicle (250).

5. Device according to one of the preceding claims, wherein the at least one image acquisition device (150) is pivotable about at least one axis of the measurement location coordinate system (102) and / or displaceable along at least one axis of the measurement location coordinate system (102) and / or is fixedly mounted in the measurement location coordinate system (102).

6. Device according to one of the preceding claims, wherein a type recognition device (180) is provided for recognizing a vehicle type of the vehicle (250), in particular wherein the at least one measuring position (140) of the at least one image acquisition device (150) and / or at least one parameter set for evaluating the point cloud (400) can be assigned to the recognized vehicle type. DAP-4340WO 2025-11-05 7. Test stand (200) with a device (100) according to one of the preceding claims, wherein the test stand (200) at the measuring location is assigned the measuring location coordinate system (101) as a defined coordinate system, in particular wherein the test stand (200) is a chassis adjustment stand.

8. Method for determining a steering wheel angle (70) and / or a tilt angle (80) of a steering wheel (300) of a vehicle (250) positioned at a measurement location, wherein an image acquisition device (150) generates a point cloud (400) representing the steering wheel (300), wherein a positioning device (130) positions the image acquisition device (150) relative to the steering wheel (300) at at least one measurement position (140), wherein an evaluation unit (190) evaluates the point cloud (400) generated by the image acquisition device (150), wherein at least one measurement location is assigned a defined measurement location coordinate system (101).

9. Method according to claim 8, wherein the point cloud (400) is transformed into the measurement location coordinate system (101).

10. Method according to one of claims 8 to 9, wherein a calibration is performed for each measuring position (140).

11. Method according to one of claims 8 to 10, wherein the at least one measuring position (140) is fixed or wherein the measuring position (140) is moved from a calibration position to the measuring position (140).

12. Method according to one of claims 8 to 10, wherein the at least one measuring position (140) is dynamically adjusted, in particular wherein a calibration is performed and a conversion to different measuring positions (140) is carried out by a coordinate transformation from the coordinate system (104) of the image acquisition device (150) to the measuring location coordinate system (101). DAP-4340WO 2025-11-05 13. Method according to one of claims 8 to 12, wherein type recognition is performed to identify the vehicle type of the vehicle (250), in particular wherein the at least one measuring position (140) of the image acquisition device (150) and / or at least one parameter set for evaluating the point cloud (400) is assigned to the identified vehicle type.

14. Method according to one of claims 8 to 13, wherein an evaluation method is carried out in which distinctive features (302, 304, 306, 308) of the steering wheel (300) in the point cloud (400) of the steering wheel (300) are analyzed, the position of which on the steering wheel (300) is specified, and the angle and inclination of which are derived in the measurement location coordinate system (101) by comparison with the specified positions.

15. Method according to one of claims 8 to 14, wherein an evaluation method is carried out in which a comparison is made between the point cloud (400) of the steering wheel and an existing master steering wheel with known steering wheel angle and known tilt angle, and the steering wheel angle (70) and the tilt angle (80) of the steering wheel (300) are derived from a difference determined in the comparison.

16. Method according to one of claims 8 to 15, wherein an evaluation method is carried out in which symmetrical features and their position on the steering wheel (300) are used on the basis of the point cloud (400), wherein the steering wheel angle (70) is derived from a required rotation of the point cloud (400) in which the features lie on a horizontal (60).

17. Method according to any one of claims 8 to 16, wherein an evaluation method is carried out in which a master is generated from a CAD model of the steering wheel, with which the point cloud (400) is compared and from a difference determined in the comparison the steering wheel angle (70) and the tilt angle (80) of the steering wheel (300) is derived. DAP-4340WO 2025-11-05 18. Method according to one of claims 14 to 17, wherein if a result of the comparison is implausible and / or a number of points in the point cloud (400) is too low and / or a quality criterion is below a permissible threshold, another measuring position (140) is taken.

19. Method according to any one of claims 14 to 18, wherein if a result of the comparison is implausible and / or a number of points in the point cloud (400) is too small and / or a quality criterion lies outside a permissible range of values, another evaluation method is carried out. DAP-4340WO 2025-11-05

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