CN104568312A - Vehicle barycentre height detection method - Google Patents
Vehicle barycentre height detection method Download PDFInfo
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Abstract
The invention discloses a vehicle barycentre height detection method. The vehicle barycentre height detection method comprises the following steps: step I, determining a position of a first vertical plane located by the barycentre relative to the vehicle wheel grounding face when a vehicle is in a first angle position; step II, determining the position of a second vertical plane located by the barycentre relative to the vehicle wheel grounding face when the vehicle is in the second angle position; step III, with the position of the vehicle wheel grounding face as a benchmark, determining the position of an intersecting line between the second vertical plane and the first vertical plane, wherein the height of the intersecting line is the height of the vehicle barycentre; the angle position is the angle position when the vehicle is inclined front and back; and the vertical plane is the vertical plane vertical to the anteroposterior direction of the vehicle. The detection method is easy to implement, low in cost and high in accuracy and is safer.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method for detecting the height of the gravity center of a vehicle.
Background
The three coordinates of the center of gravity of the conventional vehicle are confirmed as follows. The coordinates of the center of gravity in the X direction (advancing direction) can be calculated from the difference in the front and rear axial loads. The coordinates of the center of gravity in the Y direction (left-right direction) can be calculated from the difference in the loads of the left and right wheels. However, the coordinate in the Z direction (height direction) is difficult to detect.
Generally, the gravity center height of a vehicle needs to be detected by using a special roll detection platform, when the pressure of a wheel pair platform surface of the vehicle which is parked on the roll detection platform and rolled to the rising side is 0 (the vehicle is at a roll critical point), the roll angle of the vehicle and the R line of the gravity center at the moment are recorded, and the R line and the Z line are obtained0The intersection of the lines determines the coordinates of the center of gravity in the Z direction (up-down direction), which is the height of the center of gravity of the vehicle. This method is relatively complex and has some drawbacks.
Fig. 1 is a schematic view of a conventional roll-type vehicle testing stand in the prior art when detecting the left-right position and the front-rear position of the center of gravity of a vehicle. A vehicle 2 is shown in fig. 1 on a roll-to-roll vehicle inspection station 5. The vehicle 2 has front wheels 1 and rear wheels 4, the center of gravity of which is located at the center of gravity position 3 and is located at Z0The vertical plane is indicated by a line, and it is understood that the vertical plane is perpendicular to the front-rear direction of the vehicle. The wheel contact surface of the vehicle 2 is a support surface of the drum-type vehicle inspection table 5. In the position shown in fig. 1, the wheel contact surface of the vehicle 2 is horizontal, i.e. neither inclined right or left nor inclined front to back.
The drum-type vehicle detection table 5 detects a left wheel weight GL (sum of left front wheel and left rear wheel weights) and a right wheel weight GR (sum of right front wheel and right rear wheel weights), respectively. The vehicle weight G = GL + GR can thus be calculated. The left and right wheel tracks Q are detected, and the coordinates of the gravity center in the left and right directions can be determined according to the moment balance principle. For convenience of explanation, it is assumed that the left and right wheels are equal in weight, and thus the center of gravity of the vehicle is located at the center of the vehicle in the left-right direction (width direction).
The drum-type vehicle detecting table 5 detects a front axle weight (sum of front wheel weights) G1 and a rear axle weight (sum of rear wheel weights) G2, and the entire vehicle weight G = G1+ G2. Obtaining a wheel base L between a front wheel and a rear wheel based on specification parameters0Or detecting the wheelbase L0. The distance D between the center of gravity and the vertical plane of the front wheel axis can be obtained according to the moment balance principle by taking the grounding point of the front wheel as a datum point0=G20*L0/（G10+G20) Thereby determining Z at which the center of gravity position 3 is located0Line (vertical line). If the front wheel grounding point M is the origin, the ray MN is the X-axis forward direction, and the ray vertically extending upwards from M is taken as the Z-axis forward direction, Z0The line may be denoted as x = D0。
Fig. 2 is a schematic view of a conventional vehicle roll detecting station in the prior art when detecting the height of the center of gravity of a vehicle. Fig. 2 shows the vehicle 2, the vehicle roll test stand 6, the protective device stop 9 and the reference point 7. The adhesion coefficient of the table surface of the detection table is 0.7.
The vehicle 2 is first placed on a support stand of the vehicle roll detecting stand 6. The vehicle is slowly tilted to one side (tilted to the right with the right side of the right rear wheel 4 as a base point 7 in the example), and when it is detected that the weight of the lift-side wheel (the left wheel in the example) is 0, the tilting is stopped. The inclination angle of the support base of the vehicle roll detection table 6 at this time is measured, and the inclination angle C of the critical line R is obtained, wherein the sum of the inclination angle of the support base and the inclination angle C of the critical line R is 90 degrees. The position of the critical line R with respect to the support base of the vehicle roll detection table 6 can be determined by two conditions that the inclination angle C and the critical line R pass through the base point 7. Solving for critical lines R and Z0The intersection of the lines is the height of the center of gravity of the vehicle. To prevent the vehicle from rolling, the vehicle roll detection stand 6 is also provided with a guard stop 9.
In the above-described method of the prior art, the height of the center of gravity of the vehicle is detected using a dedicated roll detection station, and since the roll detection station is a dedicated device (dedicated to measuring roll) and is small in number, the detection cost is high. And the vehicle needs to roll to a critical point in the detection process, so that the vehicle is dangerous and is easy to roll accidents. In addition, because the ground contact surface of the tire is inclined, when the tire is positioned on a horizontal supporting surface, the tire and the wheel hub are abnormally stressed and are easily damaged; the provision of the follow-up inclined surface increases the complexity of the structure and the cost.
Accordingly, it would be desirable to have a vehicle center of gravity height detection method that overcomes or at least mitigates the above-mentioned deficiencies of the prior art.
Disclosure of Invention
It is an object of the present invention to provide a vehicle centre of gravity height detection method that overcomes or at least alleviates the above-mentioned disadvantages of the prior art.
In order to achieve the above object, the present invention provides a vehicle center of gravity height detection method, including the steps of:
step 1: determining a position of a first vertical plane in which a center of gravity of the vehicle is located with respect to the wheel contact patch when the vehicle is in the first angular position;
step 2: determining a position of a second vertical plane in which a center of gravity of the vehicle at the second angular position is located relative to the wheel contact patch;
and step 3: determining the position of an intersection line between the second vertical plane and the first vertical plane with reference to the position of the wheel contact surface, wherein the height of the intersection line is the height of the gravity center of the vehicle,
wherein the angular position is an angular position at which the vehicle is inclined forward and backward, and the vertical plane is a vertical plane perpendicular to the forward and backward direction of the vehicle.
Preferably, the vehicle center of gravity height detection method further includes the steps of: so that the rear wheel and the front wheel of the vehicle are relatively lifted and lowered to adjust the angle position of the vehicle. Preferably, the step of determining a vertical plane on which the centre of gravity of the vehicle at the set angular position lies comprises:
determining a first gravitational component G1 of a vehicle acting on one of the front or rear wheels of the vehicle;
determining a second gravitational component G2 of the vehicle acting on the other of the front or rear wheels of the vehicle;
the position of the vertical plane is defined with two parameters: an angle B of the vertical plane relative to a wheel contact patch when the vehicle is in a set angular position; and a distance D of the vertical plane from a wheel grounding point of the one of the front wheel or the rear wheel,
wherein,
b =90 degrees-a, a being the inclination angle at the set angular position (the front-rear inclination angle of the vehicle with respect to the horizontal plane);
D=G2*L0*cosA/（G1+G2），L0is the distance between the axis of the front wheel and the axis of the rear wheel.
Preferably, the first gravity component G1 when the set angle is 0 degree is measured with a roller type vehicle inspection table0And a second gravitational component G20。
Preferably, the first gravity component G1, G2= (G1) at any set angle is measured with a roll-to-roll vehicle inspection station0+G20）-G1。
Preferably, the step of raising and lowering the rear wheels of the vehicle relative to the front wheels of the vehicle comprises: lifting the rear wheels of the vehicle by a distance greater than the lift range; and placing a base plate with the height equal to the lifting lift H below the rear wheel, wherein the lifting lift H conforms to the following formula: h = L0*sinA。
Preferably, the step of raising and lowering the rear wheels of the vehicle relative to the front wheels of the vehicle comprises: by lifting machinesSimultaneously lifting the wheels on the side of the vehicle a distance equal to a lift, wherein the lift H conforms to the following equation: h = L0*sinA。
Preferably, the lift range is in the range of 100 mm to 900 mm.
Preferably, the front-rear inclination angle A at the first angular position0Is 0 degrees.
Preferably, the vehicle center of gravity height detection method further includes a correction step; the correcting step comprises: determining a position of a third vertical plane in which a center of gravity of the vehicle at the third angular position is located relative to the wheel contact patch; and determining the position of an intersection line between the third vertical plane and the first vertical plane and/or the second vertical plane by taking the position of the wheel grounding surface as a reference, and calibrating by using the height of the obtained intersection line.
Preferably, the wheels on one side are sequentially lifted at set intervals to obtain a plurality of vertical planes, and the height of the vertical planes relative to the intersection line of the first vertical plane is determined, so that the height is used for calibration.
Preferably, the set pitch is 100 mm.
Preferably, the calibration is performed in a sum-average method.
Preferably, height values three times greater than the standard deviation are rejected prior to summing the averages.
The detection method is easy to realize, low in cost, high in accuracy and safer.
Drawings
Fig. 1 is a schematic view of a conventional roll-type vehicle testing stand in the prior art when detecting the left-right position and the front-rear position of the center of gravity of a vehicle.
Fig. 2 is a schematic view of a conventional vehicle roll detecting station in the prior art when detecting the height position of the center of gravity of a vehicle.
Fig. 3 is a schematic diagram of a vehicle center of gravity height detection method according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating the position of the vertical plane on which the center of gravity of the vehicle at the front-rear tilt angle a is located.
FIG. 5 is a schematic diagram of a method for mathematically determining the height of the center of gravity of a vehicle.
Reference numerals:
| 1 front wheel | 8 | Lifting machine |
| 2 vehicle | 9 | Protective device stop |
| 3 position of center of gravity | 10 | Backing plate |
[0043]
| 4 | Rear wheel | ||
| 5 | Drum-type vehicle detecting platform | ||
| 6 | Vehicle side-tipping detection platform | ||
| 7 | Base point |
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the scope of the present invention.
A vehicle center of gravity height detection method according to a broad embodiment of the present invention comprises the steps of:
step 1: determining a position of a first vertical plane in which a center of gravity of the vehicle is located with respect to the wheel contact patch when the vehicle is in the first angular position;
step 2: determining a position of a second vertical plane in which a center of gravity of the vehicle at the second angular position is located relative to the wheel contact patch;
and step 3: determining the position of an intersection line between the second vertical plane and the first vertical plane with reference to the position of the wheel contact surface, wherein the height of the intersection line is the height of the gravity center of the vehicle,
wherein the angular position is an angular position at which the vehicle is inclined forward and backward, and the vertical plane is a vertical plane perpendicular to the forward and backward direction of the vehicle.
The detection method does not need to set the vehicle to a specific critical angle, so that the detection method is easy to realize, low in cost and high in accuracy, and the anti-overturning capability of the vehicle in the time of inclining in the front-back direction is superior to that in the left-right direction, so that the detection method is safer during testing. The wheel contact surface is a plane shared by contact points of wheels of the vehicle. When the angular position of the vehicle is zero, the wheel contact surface is a horizontal surface.
Fig. 3 is a schematic diagram of a vehicle center of gravity height detection method according to an embodiment of the present invention. The figure shows a front wheel 1, a vehicle 2, a centre of gravity position 3, a rear wheel 4, a roller bed vehicle inspection station 5, a skid plate 10 and a lift 8.
At the beginning of the method for detecting the height of the center of gravity of a vehicle by the method shown in fig. 3, the basic parameters of the vehicle are acquired: the total weight G of the vehicle and the distance L0 between the front and rear wheel axes of the vehicle.
The distance L0 between the front and rear wheel axes of the vehicle can be obtained from the basic specification parameters of the vehicle or can be measured in the field. The distance vehicle mode is easily implemented in the prior art and is not an innovative point of the present invention, and therefore is not described in detail in this patent.
The total weight G of the vehicle can be obtained from the existing basic specification parameters of the vehicle, and can also be obtained by measurement on site. The on-site measurement method is, for example, to measure the left wheel weight GL (sum of left front wheel and left rear wheel weight) and the right wheel weight GR (sum of right front wheel and right rear wheel weight) with the drum-type vehicle inspection table 5. The vehicle weight G = GL + GR can thus be calculated. It is also possible to measure the front wheel weight GF (sum of the weights of the left and right front wheels) and the right wheel weight GB (sum of the weights of the left and right rear wheels) with the drum-type vehicle testing stand 5. From this, the vehicle weight G = GF + GB can be calculated.
Then, it is determined the distance D0 from the front wheel axis of the vehicle when the front-rear tilt angle of the vehicle is 0, the first vertical plane on which the center of gravity of the vehicle lies, with respect to the front wheel ground contact point. Referring to fig. 1, the distance D between the center of gravity O of the vehicle and the vertical plane on which the front wheel axis is located can be obtained according to the moment balance principle using the front wheel grounding point M as a reference point0=G2*L0/(G1 + G2), thereby determining Z at which the barycentric location 3 is located0Line (vertical line). If the front wheel grounding point M is the origin, the ray MN is the X-axis forward direction, and the ray vertically extending upwards from M is taken as the Z-axis forward direction, Z0The line may be denoted as x = D0(see FIG. 5). It should be noted that at vehicle inclination anglesAt 0, the distance between the center of gravity O of the vehicle and the vertical plane on which the front wheel axis lies, i.e., the distance between the center of gravity O of the vehicle and the ground point of the front wheel.
Next, two lifters 8 with synchronizers are used to lift both rear wheels 4 at the same time, and the lifting height should be greater than the lifting lift H (actually, the rear part of the frame can be lifted). A pad plate 10 having a height H is fitted under the left rear wheel and the right lower rear wheel. The vehicle is lowered and held at an inclination angle (i.e., set angle a) corresponding to the lift H.
It will be appreciated that the synchronous lifting is to improve the stability of the vehicle under test, and the invention is not limited thereto. The lift H corresponds to the front-rear tilt angle a of the vehicle. More specifically, the lift H and the fore-aft tilt angle a of the vehicle conform to the following equation: h = L0sinA (formula 4), wherein L0And a is the front-rear wheelbase, and a is the front-rear inclination angle of the vehicle (in fig. 4, the included angle between the straight line MN and the horizontal line MS).
The position of the vertical plane on which the center of gravity of the vehicle at the front-rear tilt angle a lies is defined by two parameters: an angle B of the vertical plane (corresponding to a straight line OK in fig. 4) with respect to a wheel contact surface when the vehicle is inclined at the front-rear angle a (an angle between the straight line OK and a straight line MN in fig. 4); and the distance D (see fig. 4) of said vertical plane (indicated by the vertical line Z in fig. 3) from the wheel grounding point M (or N) of the front wheel (or rear wheel).
B =90 degrees-a (formula 1),
wherein A is the front and back inclination angle of the vehicle relative to the horizontal plane;
D=G2*L0cosA/(G1 + G2) (formula 2),
wherein L is0Is the distance between the axis of the front wheel and the axis of the rear wheel.
Z line and Z0Energy of intersection of linesCan be derived from a mapping method and can also be calculated by a mathematical formula.
Referring to fig. 4 and 5, if the front wheel ground point M is the origin, a ray MN extending from the front wheel ground point M to the rear wheel ground point N is the X-axis, and a ray vertically extending upward from the front wheel ground point M is the Z-axis, a two-dimensional coordinate system is established in which,
Z0the line (vertical line in fig. 5) may be represented as x = D0(formula 5) in the formula (I),
the Z-line (diagonal line in fig. 5) may be represented as Z = tanB x-D/cosB (formula 6).
Wherein D is0When the front-rear inclination angle of the vehicle is zero, Z0The distance between the vertical plane of the line (perpendicular to the fore-aft direction of the vehicle) and the front wheel axis or front wheel ground point. According to the moment balance principle, the distance D between the gravity center and the vertical plane of the front wheel axis is easily obtained0=G2*L0/(G1 + G2). The distance D corresponding to the specific angle B can be calculated based on equation 2.
Thus, let x = D0Instead of formula 6, Z line and Z can be easily calculated0The height of the intersection of the lines.
The following is a brief derivation of equation 6.
Referring to fig. 5, the Z-line may be expressed as: z = tanB x-LMP
LMP=LMK*tanB
LMK=LMS/sinB
LMS=D，
Thus, z = tanB x-LMP
=tanB*x-LMK*tanB
=tanB*x-LMS/sinB*tanB
=tanB*x-D/cosB。
Wherein L isMPM, P is the distance between two points; l isMKM, K is the distance between two points; l isMSM, S is the distance between the two points.
The height that a truck can lift is larger. The passenger car is greatly influenced by the front and rear overhang length, the lifting maximum height is between 600 and 900, data of the gravity center height H of a plurality of groups of vehicles can be obtained at a certain distance (such as 100), comparison is carried out, and the accuracy of the data is improved.
For example, for a passenger vehicle, the lift may be set in the range of 100 mm to 900 mm, with a difference of 100 mm between the lift lifts. Thus, in the case of lifting only one side wheel, there are 9 angular positions (corresponding to lift lifts of 100 mm, 200 mm, 300 mm, 400 mm, 500 mm, 600 mm, 700 mm, 800 mm, and 900 mm, respectively) in addition to the angular position at which the inclination angle is 0, thereby obtaining 9 pieces of center height data. And summing and averaging the 9 height data to output final height data. In order to further improve the accuracy of the final height data, on the one hand, the number of the obtained height data can be increased; another aspect is the further processing of the data. The number of height data obtained is increased by: raising the wheel on the other side so that the amount of data can be doubled; reducing the difference between lift lifts, for example, from 100 mm to 50 mm, may also increase the amount of data accordingly. Further processing of the data may then be to cull anomalous data, for example to cull barycentric height data three times out of standard deviation.
In the method of the previous embodiment for lifting the rear wheel 4, in an alternative embodiment, it is also possible to sequentially lift the front wheel 1 at a certain interval (e.g., 100), detect the rear axle weight (sum of the weights of the two rear wheels 4) G4, in a similar manner, obtain a plurality of sets of data of the center of gravity height H, and then determine the final center of gravity height based on the plurality of data of the center of gravity height.
For simplicity, in the previous embodiment, one of the two tilt angle positions is 0 degrees. The invention is not so limited. In another embodiment, the height of the center of gravity of the vehicle is determined by the intersection of the vertical planes of the center of gravity at any two non-zero front-to-rear tilt angles A1 and A2.
Establishing a coordinate system in a similar manner as described above, the vertical planes in which the center of gravity lies at the forward and backward tilt angles a1 and a2 can be expressed as:
z = tanB1 × D1/cosB1 (formula 7).
z = tanB2 × D2/cosB2 (formula 8).
Solving the two equations of the first order mentioned above, the value of z, i.e., the height at which the center of gravity of the vehicle is located, can be easily calculated.
Furthermore, to simplify the correction step, the detection method may introduce only one third inclination angle position to correct the vehicle height value. And on the basis of the first inclination angle position and the second inclination angle position and further determining the height of the gravity center of the vehicle, determining the position of a third vertical plane in which the gravity center of the vehicle is positioned at a third angle position relative to the wheel grounding surface. Then, the position of an intersection line between the third vertical plane and the first vertical plane and/or the second vertical plane is determined by taking the position of the wheel contact surface as a reference, and the height of the obtained intersection line is used for calibration. As previously mentioned, the mathematical algorithm of calibration may be sum-averaging.
It will be appreciated that although in the foregoing embodiments the change in the tilt angle is effected by raising the rear wheels by a set height (lift height), it is also possible in particular embodiments to effect the change in the relative elevation and tilt angle by lowering the rear wheels or raising the front wheels. In addition, in order to prevent the vehicle from moving under the action of gravity after the vehicle tilts back and forth, the vehicle can be kept in a braking state, and a stop block and other devices can be further arranged.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (14)
1. A vehicle gravity center height detection method is characterized by comprising the following steps:
step 1: determining a position of a first vertical plane in which a center of gravity of the vehicle is located with respect to the wheel contact patch when the vehicle is in the first angular position;
step 2: determining a position of a second vertical plane in which a center of gravity of the vehicle at the second angular position is located relative to the wheel contact patch; and
and step 3: determining the position of an intersection line between the second vertical plane and the first vertical plane with reference to the position of the wheel contact surface, wherein the height of the intersection line is the height of the gravity center of the vehicle,
wherein the angular position is an angular position at which the vehicle is inclined forward and backward, and the vertical plane is a vertical plane perpendicular to the forward and backward direction of the vehicle.
2. The vehicle center of gravity height detection method according to claim 1, characterized by further comprising the steps of: so that the rear wheel and the front wheel of the vehicle are relatively lifted and lowered to adjust the angle position of the vehicle.
3. The vehicle center of gravity height detection method according to claim 2, wherein the step of determining a vertical plane on which the center of gravity of the vehicle at the set angular position lies includes:
determining a first gravitational component G1 of the vehicle acting on one of the front and rear wheels;
determining a second gravitational component G2 of the vehicle acting on the other of said front and rear wheels;
the position of the vertical plane is defined with two parameters: the angle B of the vertical plane relative to the ground plane of the wheel at the set angular position; and a distance D of the vertical plane from a wheel grounding point of the one of the front wheel or the rear wheel,
wherein,
b = 90-degree-A (formula 1)
A is the front and back inclination angle at the set angle position;
D=G2*L0cosA/(G1 + G2) (formula 2)
Wherein L is0Is the distance between the axis of the front wheel and the axis of the rear wheel.
4. The vehicle center of gravity height detection method according to claim 3, wherein the first gravitational component G1 at a set angle of 0 degrees is measured with a roll-to-roll vehicle inspection stand0And a secondGravity component G20。
5. The vehicle gravity center height detection method according to claim 4, wherein the first gravitational component G1 at any set angle is measured with a roll-to-roll vehicle inspection station and is calculated as G2,
G2=（G10+G20）-G1(formula 3).
6. The vehicle center of gravity height detection method according to claim 3, wherein the step of raising and lowering the rear wheels of the vehicle relative to the front wheels of the vehicle includes:
lifting the rear wheels of the vehicle by a distance greater than the lift range; and
a base plate with the height equal to the lifting lift H is placed below the rear wheel,
wherein the lift H corresponds to the following equation: h = L0sinA (formula 4).
7. The vehicle center of gravity height detection method according to claim 3, wherein the step of raising and lowering the rear wheels of the vehicle relative to the front wheels of the vehicle includes: lifting the wheels of the one side of the vehicle simultaneously by a distance equal to the lift height with a lift,
wherein the lift H corresponds to the following equation: h = L0sinA (formula 4).
8. The vehicle center of gravity height detection method according to claim 6 or 7, characterized in that the lift range is in a range of 100 mm to 900 mm.
9. The vehicle center of gravity height detection method according to any one of claims 1 to 4, characterized in that the front-rear tilt angle A at the first angle position0Is 0 degrees.
10. The vehicle center of gravity height detection method according to claim 9, further comprising a correction step; the correcting step comprises:
determining a position of a third vertical plane in which a center of gravity of the vehicle at the third angular position is located relative to the wheel contact patch;
and determining the position of an intersection line between the third vertical plane and the first vertical plane and/or the second vertical plane by taking the position of the wheel grounding surface as a reference, and calibrating by using the obtained height value of the intersection line.
11. The vehicle center of gravity height detection method according to claim 9, wherein the front wheels and/or the rear wheels are sequentially lifted at a set pitch to obtain a plurality of vertical planes, the height of the vertical planes with respect to the intersection of the first vertical planes is determined to obtain a plurality of height values, and the calibration is performed with the height values.
12. The vehicle center of gravity height detection method according to claim 11, wherein the set pitch is 100 mm.
13. The vehicle center of gravity height detection method according to claim 12, characterized in that the calibration is performed by a sum-and-average method.
14. The vehicle center of gravity height detection method according to claim 13, characterized in that height values other than three times the standard deviation are eliminated before the sum-averaging.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105823598A (en) * | 2016-03-22 | 2016-08-03 | 山东理工大学 | Passenger car mass center position measurement device and measurement and calculation method |
| CN105928657A (en) * | 2016-05-27 | 2016-09-07 | 大连楼兰科技股份有限公司 | Vehicle centroid position measuring device and method |
| CN106679782A (en) * | 2017-03-02 | 2017-05-17 | 南京理工大学 | Vehicle weight measuring method and apparatus based on reduction of suspension |
| CN106768636A (en) * | 2016-12-22 | 2017-05-31 | 北奔重型汽车集团有限公司 | One kind can tumble driver's cabin center of gravity measuring method |
| CN106840519A (en) * | 2017-01-19 | 2017-06-13 | 河南理工大学 | A kind of static measurement method of two-axle car height of center of mass |
| CN107782500A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Automobile center mass measuring device and measuring method |
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| CN108414143A (en) * | 2018-04-28 | 2018-08-17 | 江铃控股有限公司 | Vehicle's center of gravity measurement method |
| CN108507794A (en) * | 2017-02-28 | 2018-09-07 | 郑州宇通客车股份有限公司 | A kind of slope highway simulator and method for car experiment |
| CN111220328A (en) * | 2020-02-28 | 2020-06-02 | 中车哈尔滨车辆有限公司 | Vehicle chassis gravity center detection adjusting device and detection method |
| CN111307372A (en) * | 2020-04-16 | 2020-06-19 | 一汽红塔云南汽车制造有限公司 | Method for measuring and calculating height of mass center of two-axis automobile |
| CN111323168A (en) * | 2020-04-16 | 2020-06-23 | 一汽红塔云南汽车制造有限公司 | Method for measuring and calculating height of mass center of automobile |
| CN112326119A (en) * | 2020-10-30 | 2021-02-05 | 安徽江淮汽车集团股份有限公司 | Vehicle mass center height measuring device and method |
| CN113280976A (en) * | 2021-05-31 | 2021-08-20 | 徐州徐工矿业机械有限公司 | Gravity center testing device and method for crawler excavator |
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| CN111323168A (en) * | 2020-04-16 | 2020-06-23 | 一汽红塔云南汽车制造有限公司 | Method for measuring and calculating height of mass center of automobile |
| CN111323168B (en) * | 2020-04-16 | 2021-10-01 | 一汽红塔云南汽车制造有限公司 | Method for measuring and calculating height of mass center of automobile |
| CN112326119A (en) * | 2020-10-30 | 2021-02-05 | 安徽江淮汽车集团股份有限公司 | Vehicle mass center height measuring device and method |
| CN113280976A (en) * | 2021-05-31 | 2021-08-20 | 徐州徐工矿业机械有限公司 | Gravity center testing device and method for crawler excavator |
| CN113701946A (en) * | 2021-08-05 | 2021-11-26 | 中冶建筑研究总院有限公司 | Gravity center measuring method for pottery figurines |
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