CN109211265A - Two wheeler and two wheeler car body inclination angle measure calibration method - Google Patents
Two wheeler and two wheeler car body inclination angle measure calibration method Download PDFInfo
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- CN109211265A CN109211265A CN201710554436.9A CN201710554436A CN109211265A CN 109211265 A CN109211265 A CN 109211265A CN 201710554436 A CN201710554436 A CN 201710554436A CN 109211265 A CN109211265 A CN 109211265A
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- 238000005259 measurement Methods 0.000 claims abstract description 72
- 238000010586 diagram Methods 0.000 description 7
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- 238000004364 calculation method Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
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- 230000007613 environmental effect Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The present invention provides a kind of two wheelers and two wheeler car body inclination angle to measure calibration method, wherein two wheeler includes: car body；Dip measuring device is arranged on the car body, for measuring the measurement data at car body inclination angle；Tilt angle calibration device is arranged on the car body, for measuring the calibration data at car body inclination angle；Controller is electrically connected with dip measuring device and tilt angle calibration device respectively, and controller is calibrated according to measurement data of the calibration data to dip measuring device.According to the technical solution of the present invention, it is able to solve the problem of the car body inclination angle measurement inaccuracy of two wheeler in the prior art.
Description
Technical field
The present invention relates to car body inclination angle field of measuring technique, incline in particular to a kind of two wheeler and two wheeler car body
Angular measurement calibration method.
Background technique
In recent years, for the policy for responding national energy conservation and emission reduction, the vehicle being driven by electricity is obtained as a kind of new energy vehicle
It is widely applied and develops.Wherein, two-wheel electric automobile have width of the carbody it is small, excessively curved when without roll force, jolt few, noise
, there is more comfortable driving experience in the advantages that small, may lead the traffic trend and trend of lightness and miniaturization in the future.
Two wheeler keeps the stabilization of car body by high-speed rotating mechanical gyro, and mechanical gyro is according to car body inclination angle
It is controlled, therefore the inclination angle for how accurately detecting car body seems most important.Two wheeler generally relies on vehicle-mounted acceleration and passes
The electronic sensors such as sensor and angular-rate sensor are measured in real time the acceleration of gravity and rotational angular velocity of car body, and lead to
It crosses corresponding algorithm and current car body inclination angle is calculated.Then it is moved simultaneously by the car body pitch angle control mechanical gyro detected
Torque is generated, to keep the balance of car body.
However, acceleration transducer and angular-rate sensor influence vulnerable to external factor and generate measurement error, especially
Easily it is influenced by temperature.Under high temperature or cryogenic conditions, the measurement output of sensor is easy to happen temperature drift, to influence vehicle
The counting accuracy at body inclination angle.This error will have a direct impact on the car body stability of two wheeler, can also when serious as corrected not in time
Car body is caused to cannot keep balance.
Summary of the invention
The present invention provides a kind of two wheeler and two wheeler car body inclination angle measurement calibration method, to solve in the prior art two
Take turns the problem of the car body inclination angle measurement inaccuracy of vehicle.
According to an aspect of the invention, there is provided a kind of two wheeler, two wheeler includes: car body；Dip measuring device, if
It sets on the car body, for measuring the measurement data at car body inclination angle；Tilt angle calibration device is arranged on the car body, for measuring car body
The calibration data at inclination angle；Controller is electrically connected with dip measuring device and tilt angle calibration device respectively, and controller is according to calibration
Data calibrate the measurement data of dip measuring device.
Further, tilt angle calibration device includes: range sensor, is arranged on the car body, and the measurement of range sensor
The vertical center line of direction and car body has angle, and range sensor is used to measure the distance of range sensor to ground.
Further, tilt angle calibration device includes: two range sensors, is respectively provided on the car body, two Distance-sensings
There is angle, a range sensor is arranged towards the side of car body, another range sensor is towards vehicle between the measurement direction of device
The other side of body is arranged, and two range sensors are used to measure itself to the distance on ground.
Further, the plane where two range sensors is vertical with the direction of advance of car body.
Further, two range sensors are located on the same position of car body, and two range sensors are with car body
Vertical center line is symmetrical arranged for line of symmetry.
Further, the angle of two range sensors is 60 degree.
According to another aspect of the present invention, a kind of two wheeler car body inclination angle measurement calibration method is provided, wherein two wheeler
For the above-mentioned two wheeler provided, calibration method includes: the measurement data that car body inclination angle is obtained by dip measuring device；By inclining
The calibration data at angle calibrating installation acquisition car body inclination angle；Calibration data and measurement data are compared, to car body inclination angle
Measurement data is calibrated.
Further, it is specifically included by the calibration data that tilt angle calibration device obtains car body inclination angle: passing through Distance-sensing
Device obtains the distance of range sensor to ground；Obtain the first angle value of the vertical center line of range sensor and car body；According to
The calibration data at car body inclination angle is calculated in distance and the first angle value.
Further, it is specifically included by the calibration data that tilt angle calibration device obtains car body inclination angle: by two distances
Sensor obtains the distance of two range sensors to ground respectively；Obtain the second angle value between two range sensors；
The calibration data at car body inclination angle is calculated according to the distance of two range sensors to ground and the second angle value.
Further, the calibration data for calculating car body inclination angle specifically includes: the distance value that will acquire and corresponding angle value
It brings into the cosine law and the calibration data at car body inclination angle is calculated.
It applies the technical scheme of the present invention, the measurement data at car body inclination angle is obtained by dip measuring device and passes through inclination angle
Calibrating installation obtains the calibration data at car body inclination angle, and then two groups of data are compared to calibrate car body inclination angle by controller
Measurement data.In this way, accurate measurement data can be obtained always even if external factor changes.Therefore, by this hair
Bright technical solution is able to solve the problem of the car body inclination angle measurement inaccuracy of two wheeler in the prior art.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the two wheeler provided according to embodiments of the present invention；
A structural schematic diagram when range sensor is used Fig. 2 shows two wheeler provided in an embodiment of the present invention；
Fig. 3 shows structural schematic diagram of the two wheeler provided in an embodiment of the present invention using two range sensors when；
Fig. 4 shows the angle calculation schematic diagram when the angle of two range sensors is 60 degree.
Wherein, the above drawings include the following reference numerals:
10, car body；20, tilt angle calibration device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
As shown in Figure 1, the embodiment of the present invention provides a kind of two wheeler, which includes: car body 10, inclination angle measurement dress
It sets, tilt angle calibration device 20 and controller.Wherein, dip measuring device is arranged on car body 10, for measuring 10 inclination angle of car body
Measurement data.Tilt angle calibration device 20 is arranged on car body 10, for measuring the calibration data at 10 inclination angle of car body.Controller point
It is not electrically connected with dip measuring device and tilt angle calibration device 20, survey of the controller according to calibration data to dip measuring device
Amount data are calibrated.
Using technical solution provided in this embodiment, tilt angle calibration device 20 and controller are set on two wheeler, it can be with
The calibration data at 10 inclination angle of car body is measured by tilt angle calibration device 20, and inclination angle is measured according to calibration data by controller
The measurement data of device is calibrated.The accuracy that can guarantee the measurement data of dip measuring device in this way, to make two-wheeled
The car body of vehicle keeps balance.Especially when external environmental change is larger, such as when high temperature or low temperature, dip measuring device is easy to produce
Raw biggish measurement error.The measurement data that calibration data that tilt angle calibration device 20 measures and dip measuring device are measured into
Row comparison illustrates that dip measuring device produces biggish measurement error when both discoveries difference is larger.Pass through control again at this time
Device processed is modified measurement data, so as to eliminate measurement error, guarantees the accuracy of measurement result.Through this embodiment
Technical solution, it can be modified when the measurement data inaccuracy of dip measuring device, therefore be able to solve car body
The problem of 10 inclination angle measurement inaccuracy, to improve the ability that two wheeler keeps balance in operation.Inclining in the two wheeler
Angle calibrating installation 20 can use during two wheeler is run, and can also use when two wheeler dispatches from the factory or overhauls.
Specifically, tilt angle calibration device 20 includes range sensor.Range sensor is arranged on car body 10, and apart from biography
The measurement direction of sensor and the vertical center line of car body 10 have angle, and range sensor is for measuring range sensor edge to ground
Distance.The bottom of car body 10 is provided with wheel, two wheeler wheel and ground face contact at runtime.Range sensor and car body 10
The angle of vertical center line can be set to fixed value, and the fixation position of car body 10 is arranged in range sensor.In this way, away from
Angle from sensor and the vertical center line of car body 10 is it is known that at a distance from range sensor to the position of wheel and ground face contact
Know, range sensor also can measure along the distance of measurement direction to ground and obtain.It can be calculated by above three groups of data
The angle for the angle that the line and ground of range sensor and wheel are formed, so as to which the inclination angle of car body 10 is calculated.It should
Calculated inclination angle is calibration data.It is compared by this calibration data and measurement data, to dip measuring device
Measurement result is calibrated, to eliminate measurement error.Tilt angle calibration device 20 can in simple structure with principle realize pair
The measurement at the inclination angle of car body 10.
As shown in Fig. 2, structural schematic diagram when for using a range sensor, wherein A point is range sensor in vehicle
Installation site on body 10, B point are the contact position of wheel and ground, and C point is range sensor to intersect along with ground
Point, E point are the crosspoint in range sensor direction perpendicular to the ground.It can be seen from the above, range sensor and car body 10 is vertical
The angle ∠ CAB of middle line it is known that range sensor to wheel and ground face contact position distance AB it is known that range sensor edge
The distance AC on measurement direction to ground, which also can measure, to be obtained.The length of CB, formula can be then calculated by the cosine law are as follows:
CB2=AC2+AB2-2AC*ABcos∠CAB。
The value of ∠ ABC, formula can be from which further followed that by the length of CB again are as follows:
Cos ∠ ABC=(AB2+BC2-AC2)/(2AB*BC)。
Again since AE is perpendicular to CE, the value of ∠ AEC is 90 degree.When ∠ ABC is obtuse angle, with the angle value of ∠ ABC
Subtract 90 degree of angle values that ∠ BAE can be obtained, the i.e. value at the inclination angle of car body 10；When ∠ ABC is acute angle, ∠ is subtracted with 90 degree
The angle value of ∠ BAE, the i.e. value at the inclination angle of car body 10 can be obtained in the angle value of ABC.
Wherein, the high acceleration transducer of measurement accuracy, angular-rate sensor or other biographies can be used in dip measuring device
Sensor.Moreover, acceleration transducer and angular-rate sensor can be used in conjunction with to improve the accuracy of measurement.Due to inclination angle school
Standard apparatus is independent of temperature variations, and dip measuring device has higher measurement accuracy, therefore this implementation in normal circumstances
Dip measuring device can be made to remain higher measurement essence in different external environment by the common cooperation of the two in example
Degree.It can also include balance system in two wheeler, balance system makes the car body 10 of two wheeler keep flat according to inclination angle measurement data
Weighing apparatus.Mechanical gyro can be used in balance system, and generating torque by the movement of mechanical gyro returns car body 10 just, to make car body 10
Keep balance.
Further, tilt angle calibration device 20 includes two range sensors, and two range sensors are arranged at car body
On 10.There is angle, wherein the side of range sensor towards a car body 10 is set between the measurement direction of two range sensors
It sets, another range sensor is arranged towards the other side of car body 10, and two range sensors are used to measure itself edge to ground
Distance.Two range sensors can be used and calculate separately and measure the inclination angle of car body 10, and two be calculated group data
Average value, the value at the inclination angle so as to measure tilt angle calibration device 20 is more accurate.
As shown in figure 3, structural schematic diagram when for using two range sensors, wherein A point is range sensor in vehicle
Installation site on body 10, B point are the contact position of wheel and ground, and C point is range sensor to intersect along with ground
Point, D point are another range sensor along the crosspoint with ground, and E point is the intersection in range sensor direction perpendicular to the ground
Point.In this way, angle ∠ CAD between two range sensors is connecing for known angle, a range sensor and wheel and ground
The angle ∠ CAB for touching position is known, the angle ∠ DAB of another range sensor and wheel and the contact position on ground is known,
Range sensor to wheel at a distance from the contact position on ground, i.e., known to the length of AB.One range sensor edge and ground
Crosspoint distance, i.e. the length of AC can measure.Another range sensor edge is at a distance from the crosspoint on ground, i.e. AD
Length can also measure.Since AE is the line segment perpendicular to ground, ∠ BAE is the inclination angle of car body 10.By known
The angle value of ∠ CBA and the angle value of ∠ DBA can be calculated in data and the distance measured with two range sensors, from
And the ∠ BAE i.e. value at the inclination angle of car body 10 can be calculated.
Plane where two range sensors and the direction of advance of car body 10 can it is vertical can also be with out of plumb.When two
When the direction of advance out of plumb of plane and car body 10 where range sensor, the inclination angle for calculating car body 10 need to use space geometry
Knowledge, therefore variable is more, it is complicated to calculate.Therefore, in the present embodiment, set the plane where two range sensors to
It is vertical with the direction of advance of car body 10.It is less that variable is arranged such, vehicle can be calculated using simple plane geometry knowledge
The inclination angle of body 10, therefore the calculating process at the inclination angle of car body 10 can be simplified.
Moreover, two range sensors are located on the same position of car body 10, in this way convenient for the measurement of distance and angle
It calculates.Specifically, in the present embodiment, the installation site of two range sensors is located at the surface of wheel.
In order to simplify measurement and calculating, two range sensors are symmetrical arranged by line of symmetry of the vertical center line of car body 10.
Wherein, the vertical center line of car body 10 is the line of the A point and B point in Fig. 3.
Further, the angle of two range sensors is 60 degree.∠ CAD i.e. in Fig. 3 and Fig. 4 is 60 degree.Fig. 4 is only
Retain the Dip countion schematic diagram of mark point.Wherein CD indicates ground, and triangle CAF is equilateral triangle.When car body 10 occurs
Inclination angle is ∠ BAE when inclination.60 degree are set by the angle of two range sensors, by vertical and similarity relation it can be concluded that ∠
BAE is equal to ∠ DCF.The length of the angle of known ∠ CAD and line segment AC, AD in triangle ACD, so as to fixed according to cosine
Reason calculates the length of CD, and then calculates the angle value of ∠ ACD.
Wherein, the calculation formula of the length of CD are as follows:
CD2=AC2+AD2-AC*AD。
The calculation formula of the angle value of ∠ ACD are as follows:
Cos ∠ ACD=(AC2+CD2-AD2)/(2AC*CD)。
Then, the angle value of ∠ DCF can be obtained by the angle value that the angle value of ∠ ACF (60 degree) subtracts ∠ ACD, this
As the angle value of angle ∠ BAE to get the inclination angle for having arrived car body 10 value.Such set-up mode is convenient for the calculating at inclination angle.Certainly,
The angle of two range sensors may be arranged as other angles, and the inclination angle of car body 10 can equally be calculated.
Specifically, range sensor includes laser sensor, by laser transmitter projects laser, just according to reflection case
The distance between launch point and reflection point can be measured, the length of Fig. 3 and Fig. 4 middle conductor AC or line segment AD can be obtained.Using sharp
Optical sensor measurement result is accurate, and the cost of device is low.
Another embodiment of the present invention provides a kind of two wheeler car body inclination angle measurement calibration method, wherein two wheeler is upper
The two wheeler of embodiment offer is provided.The calibration method includes: the measurement data that car body inclination angle is obtained by dip measuring device；It is logical
Cross the calibration data that tilt angle calibration device obtains car body inclination angle；Calibration data and measurement data are compared, when both discoveries
When differing larger, illustrate that dip measuring device produces biggish measurement error, the measurement data at car body inclination angle is carried out at this time
Calibration.Measurement data can be calibrated by this calibration method, to guarantee the accuracy of measurement data, in order to basis
Accurate measurement data adjusts balance system, so that two wheeler be made to keep balance.Especially when external environmental change is larger, such as
When high temperature or low temperature, dip measuring device is easy to produce measurement error, and the calibration data measured according to tilt angle calibration device is to survey
Amount data are modified, and can eliminate measurement error.Tilt angle calibration device and dip measuring device cooperate simultaneously can make inclination angle
Measuring device remains higher measurement accuracy in different external environment.
Measurement when it is possible to further use a range sensor obtains car body by tilt angle calibration device at this time and inclines
The calibration data at angle specifically includes: the distance of range sensor to ground is obtained by range sensor；Obtain range sensor
With the first angle value of the vertical center line of car body；The calibration data at car body inclination angle is obtained according to distance and angle calcu-lation.Wherein
The position of one angle is as shown in ∠ CAB in Fig. 2.
Moreover, it is also possible to measure when using two range sensors, car body inclination angle is obtained by tilt angle calibration device at this time
Calibration data specifically include: obtain the distance of two range sensors to ground respectively by two range sensors；It obtains
The second angle value between two range sensors；According to the distance of two range sensors to ground and the second angle value meter
Calculation obtains the calibration data at car body inclination angle.Wherein the position of the second angle is as shown in ∠ CAD in Fig. 4.
Further, the calibration data for calculating car body inclination angle specifically includes: the distance value that will acquire and corresponding angle value
It brings into the cosine law and the calibration data at car body inclination angle is calculated.Specifically, when being measured when using a range sensor,
Distance by range sensor to the ground of the acquisition of a range sensor is corresponding with the first angle value；When two distances of use
When measuring when sensor, the distance on two range sensors to the ground that are obtained respectively by two range sensors is pressed from both sides with second
Angle value is corresponding.The inclination angle that car body can be calculated in simple and selectable method is arranged such, thus for measurement number
According to the foundation of offer calibration.
It applies the technical scheme of the present invention, the measurement data at car body inclination angle can be obtained by dip measuring device and passes through
Tilt angle calibration device obtains the calibration data at car body inclination angle, and then two groups of data are compared to calibrate the measurement at car body inclination angle
Data.In this way, even if accurate measurement data can be obtained always when external factor changes, to make two wheeler
Car body keeps balance.Furthermore, it is possible to which range sensor is respectively set in the two sides in car body, to improve the standard of the calibration data obtained
True property.60 degree are set by the angle of two range sensors, the calculating at the inclination angle of car body can be made easier.It will be apart from biography
Sensor is set as laser sensor, and the accuracy of range measurement can be improved and reduce the manufacturing cost of device.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of two wheeler, which is characterized in that the two wheeler includes:
Car body (10)；
Dip measuring device is arranged on the car body (10), for measuring the measurement data at car body (10) inclination angle；
Tilt angle calibration device (20) is arranged on the car body (10), for measuring the calibration data at car body (10) inclination angle；
Controller is electrically connected with the dip measuring device and the tilt angle calibration device (20) respectively, the controller root
It is calibrated according to measurement data of the calibration data to the dip measuring device.
2. two wheeler according to claim 1, which is characterized in that the tilt angle calibration device (20) includes:
Range sensor is arranged on the car body (10), and the measurement direction of the range sensor and the car body (10)
Vertical center line there is angle, the range sensor is used to measure the distance of the range sensor to ground.
3. two wheeler according to claim 1, which is characterized in that the tilt angle calibration device (20) includes:
Two range sensors are arranged on the car body (10), have between the measurement direction of two range sensors
There is an angle, a range sensor is arranged towards the side of the car body (10), another described range sensor is towards described
The other side of car body (10) is arranged, and two range sensors are used to measure itself to the distance on ground.
4. two wheeler according to claim 3, which is characterized in that plane where two range sensors with it is described
The direction of advance of car body (10) is vertical.
5. two wheeler according to claim 4, which is characterized in that two range sensors are located at the car body (10)
Same position on, and using the vertical center line of the car body (10) as line of symmetry be symmetrical arranged.
6. two wheeler according to claim 4, which is characterized in that the angle of two range sensors is 60 degree.
7. a kind of two wheeler car body inclination angle measures calibration method, which is characterized in that the two wheeler is to appoint in claim 1 to 6
Two wheeler described in one, the calibration method include:
The measurement data at car body inclination angle is obtained by dip measuring device；
The calibration data at the car body inclination angle is obtained by tilt angle calibration device；
The calibration data and the measurement data are compared, calibrated with the measurement data to the car body inclination angle.
8. calibration method according to claim 7, which is characterized in that the two wheeler is two-wheeled as claimed in claim 2
Vehicle is obtained the calibration data at the car body inclination angle by tilt angle calibration device, specifically included:
The distance of the range sensor to ground is obtained by range sensor；
Obtain the first angle value of the vertical center line of the range sensor and car body；
The calibration data at the car body inclination angle is calculated according to the distance and the first angle value.
9. calibration method according to claim 7, which is characterized in that the two wheeler is two-wheeled as claimed in claim 3
Vehicle is specifically included by the calibration data that tilt angle calibration device obtains the car body inclination angle:
Obtain the distance of two range sensors to ground respectively by two range sensors；
Obtain the second angle value between two range sensors；
The car body inclination angle is calculated according to the distance of two range sensors to ground and the second angle value
Calibration data.
10. calibration method according to claim 8 or claim 9, which is characterized in that calculate the calibration data tool at the car body inclination angle
Body includes:
The distance value and corresponding angle value that will acquire bring in the cosine law calibration data that the car body inclination angle is calculated into.
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