CN111339620B - Dynamic auxiliary line precision testing method and system - Google Patents
Dynamic auxiliary line precision testing method and system Download PDFInfo
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- CN111339620B CN111339620B CN201811454272.3A CN201811454272A CN111339620B CN 111339620 B CN111339620 B CN 111339620B CN 201811454272 A CN201811454272 A CN 201811454272A CN 111339620 B CN111339620 B CN 111339620B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The embodiment of the application belongs to the field of auxiliary line testing, and relates to a dynamic auxiliary line precision testing method and system. The technical scheme provided by the application comprises the following steps: adjusting the relative position of the image pickup device and the center line of the coordinate graph so that the image pickup device obtains the image information of the coordinate graph; the control center calculates coordinate points covered on the coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel; connecting the camera device with the control center through a P-CAN (controller-area network) so that the control center obtains steering wheel angle information, and inputting the steering wheel angle information to the camera device in a simulation way on an upper computer, wherein the control center controls an actual auxiliary line to rotate on the coordinate graph by an angle corresponding to the rotation angle of the steering wheel, so as to obtain a coordinate point covered by the actual auxiliary line on the coordinate graph; and comparing the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph to obtain accuracy information of the dynamic auxiliary line.
Description
Technical Field
The application relates to the technical field of auxiliary line testing, in particular to a dynamic auxiliary line precision testing method and system.
Background
Currently, visual image systems are increasingly installed on real vehicles, and particularly, reversing image systems become more or less standard and matched systems of medium-sized vehicle types. Most of the current reversing image systems comprise reversing auxiliary lines and dynamic auxiliary line functions. The predicted reversing track is generated by acquiring the steering wheel angle signal and projected to the display screen in real time after coordinate conversion, so that the dynamic auxiliary line function provides reliable reference for reversing operation of a user, and the dynamic auxiliary line is required to have certain precision requirements.
Disclosure of Invention
The application aims to provide a method for testing the precision of a dynamic auxiliary line, which can test the precision of the dynamic auxiliary line in a laboratory and can test the precision of the dynamic auxiliary line at any angle of a steering wheel.
In order to solve the above-mentioned problems, the embodiment of the present application provides the following technical solutions:
a dynamic auxiliary line precision testing method comprises the following steps:
adjusting the relative position of the image pickup device and the center line of the coordinate graph so that the image pickup device obtains the image information of the coordinate graph;
the control center calculates coordinate points covered on the coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel;
connecting the camera device with the control center through a P-CAN (controller-area network) so that the control center obtains steering wheel angle information, and inputting the steering wheel angle information to the camera device in a simulation way on an upper computer, wherein the control center controls an actual auxiliary line to rotate on the coordinate graph by an angle corresponding to the rotation angle of the steering wheel, so as to obtain a coordinate point covered by the actual auxiliary line on the coordinate graph;
and comparing the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph to obtain accuracy information of the dynamic auxiliary line.
Through adopting above-mentioned technical scheme, can test dynamic auxiliary line in the laboratory, calculate the coordinate point that theoretical auxiliary line that rotation angle corresponds of steering wheel covered on the coordinate diagram, simulate input steering wheel corner information and obtain the coordinate point that actual auxiliary line covered on the coordinate diagram, compare current theoretical auxiliary line and the coordinate point that actual auxiliary line covered on the coordinate diagram, obtain the accuracy information of dynamic auxiliary line, can test the precision of dynamic auxiliary line under any angle to the steering wheel.
Further, the step of adjusting the relative position of the image capturing device and the center line of the coordinate graph so that the image capturing device obtains the image information of the coordinate graph specifically includes:
the camera device is arranged on a mounting bracket, wherein the camera device is arranged on the mounting bracket according to the mounting position of the camera device on a real vehicle;
before the mounting bracket is moved to the coordinate graph, the mounting positions of the mounting bracket and the center line of the coordinate graph are adjusted according to the relative positions of the center of the imaging surface of the imaging device and the center line of the real vehicle.
Through adopting above-mentioned technical scheme, in the laboratory to the test of dynamic auxiliary line, camera device's installation height, angle need correspond with original camera device's on the real car installation height, the angle, adjust the mounted position of installing support and coordinate diagram central line for camera device's image plane center and the relative position of coordinate diagram central line, want to correspond with camera device center and the relative position at real car center on the real car, with the test environment that establishes and go up the dynamic auxiliary line on the real car and correspond completely, thereby carry out the simulation test to the dynamic auxiliary line in the laboratory.
Further, the control center calculates the rotating position of the theoretical auxiliary line corresponding to the rotating angle of the steering wheel on the coordinate graph according to the wheelbase, the wheel base and the width dimension of the real vehicle.
By adopting the technical scheme, the theoretical auxiliary line position corresponding to the steering wheel rotation angle is calculated according to the specific condition of the real vehicle, so that the simulation test of the dynamic auxiliary line is facilitated.
Further, the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph are compared automatically or manually through a control center.
By adopting the technical scheme, the accuracy information of the dynamic auxiliary line can be obtained through comparison.
In order to solve the technical problems set forth above, the embodiment of the application also provides a dynamic auxiliary line precision test system,
the system comprises an image pick-up device, a coordinate graph and a control center;
the image pickup device is used for acquiring image information of the coordinate graph;
the control center calculates coordinate points covered on the coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel;
the camera device is connected with the control center through a P-CAN so that the control center CAN acquire steering wheel angle information;
after the upper computer simulates the steering wheel angle information to the image pickup device, the control center controls the actual auxiliary line to rotate on the coordinate graph by an angle corresponding to the rotation angle of the steering wheel, so as to obtain a coordinate point covered by the actual auxiliary line on the coordinate graph, and the current theoretical auxiliary line is compared with the coordinate point covered by the actual auxiliary line on the coordinate graph, so that accuracy information of the dynamic auxiliary line is obtained.
Through adopting above-mentioned technical scheme, can test dynamic auxiliary line in the laboratory, calculate the coordinate point that theoretical auxiliary line that rotation angle corresponds of steering wheel covered on the coordinate diagram, simulate input steering wheel corner information and obtain the coordinate point that actual auxiliary line covered on the coordinate diagram, compare current theoretical auxiliary line and the coordinate point that actual auxiliary line covered on the coordinate diagram, obtain the accuracy information of dynamic auxiliary line, can test the precision of dynamic auxiliary line under any angle to the steering wheel.
Further, the dynamic auxiliary line precision testing system further comprises a mounting bracket, and the camera device is mounted on the mounting bracket at a mounting position corresponding to the camera device on the real vehicle.
Through adopting above-mentioned technical scheme, in the laboratory to the test of dynamic auxiliary line, camera device's installation height, angle need correspond with original camera device's on the real car installation height, the angle, adjust the mounted position of installing support and coordinate diagram central line for camera device's image plane center and the relative position of coordinate diagram central line, want to correspond with camera device center and the relative position at real car center on the real car, with the test environment that establishes and go up the dynamic auxiliary line on the real car and correspond completely, thereby carry out the simulation test to the dynamic auxiliary line in the laboratory.
Further, the dynamic auxiliary line precision testing system further comprises an upper computer, wherein the upper computer is used for sending control information to the control center.
By adopting the technical scheme, various instructions can be conveniently input during testing.
Further, the camera is a camera, and the camera is connected with the control center through a video acquisition card, so that images shot by the camera are displayed on an upper computer or a display device connected with the control center.
Through adopting above-mentioned technical scheme, the coordinate graph information that the camera shot shows through on host computer or the display device, conveniently compares theoretical auxiliary line and actual auxiliary line.
Compared with the prior art, the embodiment of the application has the following main beneficial effects:
the method and the system for testing the precision of the dynamic auxiliary line can test the dynamic auxiliary line in a laboratory, calculate the coordinate point covered by the theoretical auxiliary line on the coordinate graph corresponding to the rotation angle of the steering wheel, simulate the angle information of the steering wheel to obtain the coordinate point covered by the actual auxiliary line on the coordinate graph, compare the current theoretical auxiliary line with the coordinate point covered by the actual auxiliary line on the coordinate graph to obtain the precision information of the dynamic auxiliary line, and test the precision of the dynamic auxiliary line under any angle of the steering wheel.
Drawings
In order to more clearly illustrate the solution of the present application, a brief description will be given below of the drawings required for the description of the embodiments, it being apparent that the drawings in the following description are some embodiments of the present application and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a dynamic auxiliary line precision testing method in an embodiment of the application;
FIG. 2 is a schematic diagram of a dynamic auxiliary line precision test system according to an embodiment of the present application;
FIG. 3 is a graph of coordinate points covered by a theoretical auxiliary line and an actual auxiliary line in an embodiment of the present application;
fig. 4 is a schematic diagram of a theoretical auxiliary line calculation method in an embodiment of the application.
Reference numerals illustrate:
1. a mounting bracket; 2. an image pickup device; 3. a graph; 4. a control center; 5. P-CAN; 6. video acquisition card.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the foregoing description of the drawings are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
A dynamic auxiliary line precision testing method, as shown in figure 1, comprises the following steps:
s100, adjusting the relative position of an image pickup device and the central line of a coordinate graph so that the image pickup device obtains image information of the coordinate graph;
s200, the control center calculates coordinate points covered on a coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel;
s300, connecting the image pickup device with the control center through a P-CAN5 so that the control center obtains steering wheel angle information, and inputting the steering wheel angle information to the image pickup device in a simulation way on an upper computer, wherein the control center controls an actual auxiliary line to rotate on the coordinate graph by an angle corresponding to the rotation angle of the steering wheel, so as to obtain a coordinate point covered by the actual auxiliary line on the coordinate graph;
s400, comparing coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph to obtain accuracy information of the dynamic auxiliary line.
The P-CAN is also called a CAN card, the function of the P-CAN is that the CAN is converted into USB, and a message on a CAN network CAN be transmitted to an upper computer through a WSB interface, and the CAN message is checked through software; or converting the analog information of the software on the upper computer into CAN message through the information output by the USB interface and transmitting the CAN message to the control center.
According to the method for testing the precision of the dynamic auxiliary line, the control information is sent to the control center of the laboratory through the upper computer, the dynamic auxiliary line can be tested in the laboratory, the control center calculates the coordinate point covered by the theoretical auxiliary line on the coordinate graph corresponding to the rotation angle of the steering wheel, the coordinate point covered by the actual auxiliary line on the coordinate graph is obtained by simulating the input of the steering wheel rotation angle information, the precision information of the dynamic auxiliary line can be obtained by comparing the current theoretical auxiliary line with the coordinate point covered by the actual auxiliary line on the coordinate graph, and the precision information of the dynamic auxiliary line can be tested for the precision of the dynamic auxiliary line under any angle of the steering wheel.
The step of adjusting the relative position of the image pickup device and the center line of the coordinate graph so that the image pickup device obtains the image information of the coordinate graph is realized by the following steps:
the camera device is arranged on a mounting bracket, wherein the camera device is arranged on the mounting bracket according to the mounting position of the camera device on a real vehicle;
before the mounting bracket is moved to the coordinate graph, the mounting positions of the mounting bracket and the center line of the coordinate graph are adjusted according to the relative positions of the center of the imaging surface of the imaging device and the center line of the real vehicle.
In the laboratory test of the dynamic auxiliary line, the installation height and the angle of the camera device are required to be corresponding to those of the original camera device on the real vehicle, and the installation positions of the installation support and the central line of the coordinate graph are adjusted, so that the relative position of the center of the camera surface of the camera device and the central line of the coordinate graph is required to be corresponding to the relative position of the center of the camera device on the real vehicle and the center of the real vehicle, so as to establish a test environment completely corresponding to the dynamic auxiliary line on the real vehicle, and further perform the simulation test on the dynamic auxiliary line in the laboratory.
The control center calculates the rotating position of the theoretical auxiliary line corresponding to the rotating angle of the steering wheel on the coordinate graph according to the dimensions of the wheel base, the vehicle body width and the like of the real vehicle, and calculates the position of the theoretical auxiliary line corresponding to the rotating angle of the steering wheel according to the specific condition of the real vehicle, so that the simulation test of the dynamic auxiliary line is facilitated.
The detailed calculation method is described below, as shown in figure 2,
parameter description:
alpha is steering wheel angle, beta: outer wheel rotation angle, M: front wheel tread, L is the wheel center distance, L1: rear overhang length, L2: front suspension length, h, vehicle width, h1, rear auxiliary line distance from vehicle edge, h2: front auxiliary line distance from vehicle edge, R3: outer rear wheel turning radius, R4: inner rear wheel turning radius, R5: outer rear auxiliary line turning radius, R6: rear center turning radius, R7: inner rear auxiliary line turning radius, R1: front outer wheel turning radius, R2: front inner wheel turning radius, R8: outer front auxiliary line turning radius, R10: front center turning radius, R9: inner front auxiliary line turning radius, M1: rear track.
Calculating driving parameters of the left driving of the reversing steering wheel:
calculation of R3, R4
R3＝L×tan(90-β)
R4＝R3-M
In actual vehicle conditions, the front wheel track M and the rear wheel track M1 are not equal, but the difference is within 10mm, and an approximate front wheel track M and the rear wheel track M1 are equal.
The value r3″ of the actual R3=r3+ (M1-M)/2
The value r4″ of actual R4=r3' -M1
The P point is taken as the origin of coordinates, and the vertical ground coordinates of the rear guard center are at the moment
X O ＝L1
Y O ＝R3-M/2
R5, R6, R7 are calculated as follows
The vehicle rotates by taking the point P as the center of a circle, and the rotation radian gamma is calculated as follows
(L Arc AB ，L Arc OC ，L Arc ED The outer auxiliary line, the rear protection center and the inner auxiliary line are respectively arranged on the left and right sides of the main body
The coordinates of the point B with P as the origin are as follows
The coordinates of the point C with P as the origin are as follows
The coordinates of the point D with P as the origin are as follows
And moving the coordinate origin, taking the post-protection center as the coordinate origin, and subtracting the coordinate value of the O point from the existing coordinate value to obtain a new coordinate value taking the post-protection center as the origin.
The coordinates of the point B with the center of the post-protection as the origin are as follows
The coordinates of the C point with the post-protection center as the origin are as follows
The coordinates of the D point with the post-protection center as the origin are as follows
Calculating the driving parameters of the right driving of the reversing steering wheel:
compared with the left-hand driving of the steering wheel, the positions of the inner wheel and the outer wheel are exchanged, the inner auxiliary line and the outer auxiliary line are exchanged, and all coordinate points only need to be mirrored along the X axis.
Calculating the left driving parameters of the forward steering wheel:
the P point is taken as the origin of coordinates, and the vertical ground coordinates of the front protection center are at the moment
X O ＝-(L+L2)
Y O ＝R3-M/2
R8, R10, R9 are calculated as follows
The vehicle rotates by taking the point P as the center of a circle, and the rotation radian delta is calculated as follows
(L Arc JK ，L Arc OT ，L Arc RQ The outer front auxiliary line, the front protection center and the movement track of the inner front auxiliary line are respectively
The coordinates of the K point with P as the origin are as follows
The coordinates of the T point with P as the origin are as follows
The coordinates of the Q point, with P as the origin, are as follows
And moving the coordinate origin, taking the front protection center as the coordinate origin, and subtracting the coordinate value of the O point from the existing coordinate value to obtain a new coordinate value taking the front protection center as the origin.
The coordinates of the K point with the previous center as the origin are as follows
The coordinates of the T point with the front center as the origin are as follows
The coordinates of the Q point with the previous center as the origin are as follows
Calculating the right driving parameters of the forward steering wheel:
compared with the left-hand driving of the steering wheel, the positions of the inner wheel and the outer wheel are exchanged, the inner auxiliary line and the outer auxiliary line are exchanged, and all coordinate points only need to be mirrored along the X axis.
Conversion of coordinate points to test grids
Conversion formula from forward time coordinates to test grid
X Row of lines ＝X Line start +X`/S
Y Column of ＝Y Start of the column +Y`/S
S is the side length of the test square, and X' is the X-coordinate of the trajectory (including) Y' is the Y coordinate of the trajectory (including +.>)。X Line start For the row coordinates of the initial test cell, Y Start of the column Is the column coordinates of the initial test grid. X is X Row of lines For converted row coordinates, Y Column of Is the transformed column coordinates.
Conversion formula from coordinates to test grid during reversing
X Row of lines ＝X Line start -X`/S
Y Column of ＝Y Start of the column -Y`/S
X' is the X coordinate of the trajectory (including) Y' is the Y coordinate of the trajectory (including)。
The camera is connected with the control center through the video acquisition card, so that images shot by the camera are displayed on the upper computer or a display device connected with the control center.
And comparing the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph, wherein the comparison is performed automatically or manually by a control center, and accuracy information of the dynamic auxiliary line can be obtained by comparison.
In order to solve the technical problems set forth above, the embodiment of the present application also provides a dynamic auxiliary line precision test system, as shown in fig. 3 and 4,
comprises an image pickup device 2, a coordinate figure 3 and a control center 4;
the image pickup device 2 is used for acquiring the image information of the coordinate graph 3;
the control center 4 calculates coordinate points covered on the coordinate graph 3 by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel;
the camera device 2 is connected with the control center 4 through a P-CAN5 so that the control center 4 CAN acquire steering wheel angle information;
after an upper computer simulates the steering wheel angle information output to the image pickup device 2, the control center 4 controls the actual auxiliary line to rotate on the coordinate graph 3 by an angle corresponding to the rotation angle of the steering wheel, so as to obtain a coordinate point covered by the actual auxiliary line on the coordinate graph, and compares the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph 3, so as to obtain accuracy information of the dynamic auxiliary line.
The dynamic auxiliary line precision testing system provided by the application can test the dynamic auxiliary line in a laboratory, calculate the position of the theoretical auxiliary line corresponding to the rotation angle of the steering wheel, which needs to pass through, on the coordinate graph 3, simulate the steering wheel angle information to obtain the position of the actual auxiliary line on the coordinate graph 3, compare the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph 3, obtain the accuracy information of the dynamic auxiliary line, and test the accuracy of the dynamic auxiliary line under any angle of the steering wheel.
The dynamic auxiliary line precision testing system further comprises a mounting bracket 1, wherein the camera device 2 is arranged on the mounting bracket 1 at a mounting position corresponding to the camera device 2 on the real vehicle so as to establish a testing environment completely corresponding to the dynamic auxiliary line on the real vehicle, and thus, simulation testing of the dynamic auxiliary line is carried out in a laboratory.
The dynamic auxiliary line precision testing system further comprises an upper computer, wherein the upper computer is used for sending control information to the control center 4, and various instructions are conveniently input during testing.
The camera 2 is a camera, the camera is connected with the control center 4 through the video acquisition card 6, so that an image shot by the camera is displayed on an upper computer or a display device connected with the control center 4, and in combination with fig. 4, information of a coordinate graph 3 shot by the camera is displayed on the upper computer or the display device, so that the theoretical auxiliary line and the actual auxiliary line are conveniently compared.
The specific working process comprises the following steps:
when the accuracy of the dynamic auxiliary line is required to be tested, the camera device is mounted on the mounting bracket, and the camera device is mounted on the mounting bracket according to the mounting position of the camera device on the real vehicle;
before moving the mounting bracket to the coordinate graph, adjusting the mounting positions of the mounting bracket and the center line of the coordinate graph according to the relative positions of the center of the imaging surface of the imaging device and the center line of the real vehicle;
the control center calculates coordinate points covered on the coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel according to the dimensions of the wheelbase, the wheel tread, the vehicle body width and the like of the real vehicle;
connecting the camera device with a control center through a P-CAN (controller-controller area network) so that the control center obtains steering wheel angle information, and connecting the camera with the control center through a video acquisition card so as to display images shot by the camera on an upper computer or a display device connected with the control center;
each component is in a working state, steering wheel angle information is simulated and input to the camera device on the upper computer, and the control center controls the actual auxiliary line to rotate on the coordinate graph by an angle corresponding to the rotation angle of the steering wheel;
and comparing the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph through the display of the upper computer or the display device, and obtaining the accuracy information of the dynamic auxiliary line.
It is apparent that the above-described embodiments are only some embodiments of the present application, but not all embodiments, and the preferred embodiments of the present application are shown in the drawings, which do not limit the scope of the patent claims. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the scope of the application.
Claims (8)
1. The dynamic auxiliary line precision testing method is characterized by comprising the following steps of:
adjusting the relative position of the image pickup device and the center line of the coordinate graph so that the image pickup device obtains the image information of the coordinate graph;
the control center calculates coordinate points covered on the coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel;
connecting the camera device with the control center through a P-CAN (controller-area network) so that the control center obtains steering wheel angle information, and inputting the steering wheel angle information to the camera device in a simulation way on an upper computer, wherein the control center controls an actual auxiliary line to rotate on the coordinate graph by an angle corresponding to the rotation angle of the steering wheel, so as to obtain a coordinate point covered by the actual auxiliary line on the coordinate graph;
comparing the coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph to obtain accuracy information of the dynamic auxiliary line;
when the steering wheel is reversed to the left, the control center calculates coordinate points covered on the coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel, wherein the coordinate points comprise:
acquiring vehicle body parameters, wherein the vehicle body parameters comprise a wheel center distance L, a front wheel distance M, a rear wheel distance M1, an outer wheel turning angle beta, a rear suspension length L1 and a vehicle width h, and the outer wheel turning angle corresponds to a turning angle of the steering wheel;
providing a point P, a rear protection center O and starting points A and E of two rear auxiliary lines, wherein the two rear auxiliary lines are an inner rear auxiliary line and an outer rear auxiliary line respectively, the distance between the rear auxiliary line and the vehicle edge is h1, M=M1 is taken, and the point P is taken as a coordinate origin, so that the outer rear wheel turning radius R3, the inner rear wheel turning radius R4 and the vertical ground coordinates of the rear protection center are determined according to the following equation) An outer rear auxiliary line turning radius R5, a rear center-keeping turning radius R6, an inner rear auxiliary line turning radius R7:
R3=L×tan(90-β)；
R4=R3-M；
；
；
；
；
；
the point P is used as a circle center to rotate, the rotating radian gamma is obtained, and the coordinates of the point B, the point C and the point D at the positions of the point A, the point O and the point E after rotating are obtained according to the following equation、/>、/>：
；
；
；
；
；
；
Moving the coordinate origin, taking the post-protection center O point as the coordinate origin, subtracting the coordinate values of the post-protection center O point from the current coordinate values of the B point, the C point and the D point to obtain a new coordinate value, namely the coordinate value of the coordinate point covered by the theoretical auxiliary line on the coordinate graph;
when the steering wheel is reversed, the process of calculating the coordinate point covered by the theoretical auxiliary line corresponding to the rotation angle of the steering wheel on the coordinate graph by the control center is the same as that when the steering wheel is reversed, and the coordinates of the coordinate point and the coordinate point are in mirror symmetry relative to the X axis.
2. The method for testing accuracy of dynamic auxiliary line according to claim 1, wherein,
the step of adjusting the relative position of the image capturing device and the center line of the coordinate graph so that the image capturing device obtains the image information of the coordinate graph specifically comprises the following steps:
the camera device is arranged on a mounting bracket, wherein the camera device is arranged on the mounting bracket according to the mounting position of the camera device on a real vehicle;
before the mounting bracket is moved to the coordinate graph, the mounting positions of the mounting bracket and the center line of the coordinate graph are adjusted according to the relative positions of the center of the imaging surface of the imaging device and the center line of the real vehicle.
3. The method for testing accuracy of dynamic auxiliary line according to claim 1, wherein,
and the control center calculates the rotating position of a theoretical auxiliary line corresponding to the rotating angle of the steering wheel on the coordinate graph according to the wheelbase, the wheel base and the width of the automobile body of the real automobile.
4. The method for testing accuracy of dynamic auxiliary line according to claim 1, wherein,
and comparing coordinate points covered by the current theoretical auxiliary line and the actual auxiliary line on the coordinate graph, wherein the comparison is performed automatically or manually through a control center.
5. A dynamic auxiliary line precision test system for implementing the dynamic auxiliary line precision test method according to any one of claims 1 to 4, characterized in that,
the system comprises an image pick-up device, a coordinate graph and a control center;
the image pickup device is used for acquiring image information of the coordinate graph;
the control center calculates coordinate points covered on the coordinate graph by a theoretical auxiliary line corresponding to the rotation angle of the steering wheel;
the camera device is connected with the control center through a P-CAN so that the control center CAN acquire steering wheel angle information;
after the upper computer simulates the steering wheel angle information to the image pickup device, the control center controls the actual auxiliary line to rotate on the coordinate graph by an angle corresponding to the rotation angle of the steering wheel, so as to obtain a coordinate point covered by the actual auxiliary line on the coordinate graph, and the current theoretical auxiliary line is compared with the coordinate point covered by the actual auxiliary line on the coordinate graph, so that accuracy information of the dynamic auxiliary line is obtained.
6. The dynamic auxiliary line precision test system according to claim 5, wherein,
the dynamic auxiliary line precision testing system further comprises a mounting bracket, and the camera device is mounted on the mounting bracket at a mounting position corresponding to the camera device on the real vehicle.
7. The dynamic auxiliary line precision test system according to claim 6, wherein,
the dynamic auxiliary line precision testing system further comprises an upper computer, wherein the upper computer is used for sending control information to the control center.
8. The dynamic auxiliary line precision test system according to claim 7, wherein,
the camera is connected with the control center through the video acquisition card, so that images shot by the camera are displayed on the upper computer or a display device connected with the control center.
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