Method for determining the tumbling motion of a vehicle wheel

1. A method for determining at least one of tumbling motion of a vehicle wheel and tumbling motion of a measurement object attached to the vehicle wheel in the context of an axle measurement, the tumbling motion being executed relative to a precise wheel axis of rotation of the vehicle wheel, at least one orientation value being determined by an evaluation device between the precise wheel axis of rotation and a reference axis, the method comprising:

acquiring during travel of the vehicle, by at least one image recording unit, at least two wheel features that are present on the vehicle wheel or are attached for the measurement;

determining, by the evaluation device, a wheel coordinate system and a feature coordinate system using the recorded wheel features, the evaluation device situated downstream from the image recording unit; and

setting, by the evaluation device, the wheel coordinate system and the feature coordinate system into relation to one another to determine the orientation value;

wherein the orientation value is determined by at least one angle that defines the position of the reference axis and the precise wheel axis of rotation to one another; and

wherein the angle is defined by at least one of an opening angle δ of a cone that is defined by the reference axis, and a phase direction α that describes the position of the reference axis on the cone.

2. The method as recited in claim 1 , wherein the wheel coordinate system has an axis XR, YR, and ZR and an origin OR, and is defined through a wheel center of rotation in the origin OR, and wherein the precise wheel axis of rotation parallel to the axis YR.

3. The method as recited in claim 1 , wherein the feature coordinate system has an axis XM, YM, and ZM and has an origin OM, and is defined through a position of at least two wheel features.

4. The method as recited in claim 1 , wherein the wheel coordinate system and the feature coordinate system are set into relation to one another with regard to their position via at least an angle and an eccentricity.

5. The method as recited in claim 1 , wherein the opening angle δ is calculated using the formula δ=arccos(cos(rx)cos(rz)), where rx and rz are angles.

6. The method as recited in claim 1 , wherein the phase direction α is calculated using the formula α=arctan((−cos(rx)sin(rz))/sin(rx))), where rx and rz are angles.

7. The method as recited in claim 6 , wherein a temporal change in the phase direction is determined via a wheel rotation.

8. The method as recited in claim 1 , wherein at least one of the angle δ and the angle α are used for corrective measures in the context of the axle measurement of the vehicle wheel.

9. The method as recited in claim 8 , wherein at least one of an angle and an eccentricity are used for corrective measures in the context of the axle measurement of the vehicle wheel.

10. The method according to claim 1 , wherein the at least one image recording unit includes at least one measurement camera.

11. The method according to claim 1 , wherein the evaluation device includes a display or is connected to a computer to display results of the evaluation.

12. The method according to claim 1 , wherein the vehicle is a motor vehicle.