CN109520469A - Vehicle attitude measuring device and attitude measurement method - Google Patents
Vehicle attitude measuring device and attitude measurement method Download PDFInfo
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- CN109520469A CN109520469A CN201710841902.1A CN201710841902A CN109520469A CN 109520469 A CN109520469 A CN 109520469A CN 201710841902 A CN201710841902 A CN 201710841902A CN 109520469 A CN109520469 A CN 109520469A
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- vehicle
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- measurement method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
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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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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Manufacturing & Machinery (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of vehicle attitude measuring device, which includes sensor, which is mounted on bottom of frame, for the distance between measurement sensor and ground.Based on vehicle attitude measuring device, the invention proposes vehicle attitude measurement methods.Invention overcomes inertia measurement device IMU in the prior art and measures the inaccurate defect of body gesture.
Description
Technical field
The present invention relates to vehicle attitude control technology field, in particular to a kind of two wheeler attitude measuring and
Its computation method for attitude.
Background technique
The attitude determination method of existing two wheels automobile is by Inertial Measurement Unit (Inertial Measurement
Unit, hereinafter referred to as IMU) three axis accelerometer measurement linear acceleration, three-axis gyroscope measure angular speed, using strap down inertial navigation
Appearance algorithm is determined in measurement, resolves and completes to determine the roll angle of two wheels automobile, pitch angle, yaw angular measurement.
The measured value that gyroscope provides for determining posture and orientation of the vehicle relative to ground reference coordinate system, posture and
For acceleration measurement to be decomposed in reference frame, the acceleration value after decomposition is integrated twice can both obtain azimuth information
Obtain speed and position of the vehicle in reference frame.Gyroscope measures vehicle relative to the attitudes vibration of reference frame or turns
Dynamic rate.But accelerometer can not accelerate the total acceleration of vehicle with as caused by gravitational field (relative to reference frame)
Degree separates.In fact, these sensors are capable of measuring the difference of space true acceleration and gravitational acceleration.
In order to determine that acceleration of the vehicle relative to reference frame, the measured value that accelerometer provides must combine gravitation
The influence of field, utilizes these information, so that it may derive acceleration of the vehicle relative to referential, and then estimate relative to ginseng
Examine the posture, speed and position of coordinate system.
Using inertia measurement device IMU, gravity direction and vehicle body rotation are measured, and then calculates body gesture, therefore deposit
In following several disadvantages: one, since inertia device is only capable of induction vehicle body acceleration information, vehicle body is on slope or cuts the appearance in wrong path face
There are deviations for state；Two, there is drift in inertia device, and error is accumulated at any time and increased.
Summary of the invention
The present invention provides a kind of vehicle attitude measuring device, measures vehicle to solve inertia measurement device IMU in the prior art
The inaccurate problem of figure state.
To achieve the above object, the present invention provides a kind of vehicle attitude measuring device, including sensor, the sensor peace
Mounted in bottom of frame, for the distance between measurement sensor and ground.
Further, in the vehicle attitude measuring device sensor be it is two or more, indulge plane relative to vehicle center
It is symmetrically installed.
Further, sensor is one in vehicle attitude measuring device, and single-sided arrangement is in bottom of frame.
Further, sensor is one in vehicle attitude measuring device, and sensor arrangement is indulged in plane in vehicle body.
The present invention provides a kind of vehicle attitude measurement method, and the vehicle includes that the vehicle attitude of two sensors measures dress
It sets, sensor is indulged plane relative to vehicle center and is symmetrically installed, attitude measurement method are as follows:
Wherein:For vehicle roll angle,For left side laser distance measuring,Right side laser distance measuringFor two sides biography
Distance between sensor.
In addition, the vehicle is the vehicle comprising two sensors the present invention also provides another vehicle attitude measurement method
The vehicle of attitude measuring, indulges plane relative to vehicle center and is symmetrically installed, when the sensor has established angle,
Attitude measurement method are as follows:
Wherein:For left side laser setting angle,For right side laser setting angle.
Specifically, the established angle,Calculation method are as follows:
Sensor instrument distance data using perpendicular and horizontal ruler by leveling vehicle to plummet zero attitude, after being installed
Measurement obtains sensor and vehicle frame installation point and ground plummet distance
It is calculated by triangle relation and obtains established angle、。
The present invention provides the third vehicle attitude measurement method, and the vehicle includes the vehicle attitude measurement an of sensor
Device, the sensor single-sided arrangement is in bottom of frame, attitude measurement method are as follows:
Wherein: L is unilateral laser distance measuring, and H is zero attitude moment laser measurement values.
The present invention provides the 4th kind of vehicle attitude measurement method, and the vehicle includes the vehicle attitude measurement an of sensor
Device, the sensor arrangement are indulged in plane in vehicle body, attitude measurement method are as follows:
Wherein: whereinFor laser range sensor measured value,To indulge laser range sensor mounting height in plane,For
Sensor installs angle.
The present invention provides a kind of two wheeler, the two wheeler includes above-mentioned any one attitude measuring, the two-wheeled
Vehicle has gyroscopic equilibrium system.
Apply the technical scheme of the present invention, realize using sensor calculate roll angle purpose, herein under the premise of, with biography
Sensor attitude measuring can be used directly to calculate vehicle roll angle, can also be used as inertia measurement device IMU and calculate vehicle
Whether one calibrating installation of posture, the result for judging inertia measurement device measurement vehicle attitude are accurate.
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 one schematic diagram of vehicle attitude measuring device embodiment in the present invention；
Fig. 2 shows two schematic diagrames of vehicle attitude measuring device embodiment in the present invention；
Fig. 3 shows three schematic diagram of vehicle attitude measuring device embodiment in the present invention；
Fig. 4 shows vehicle attitude measuring device example IV schematic diagram in the present invention.
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.
The present invention proposes that a kind of vehicle attitude measuring device, the measuring device include sensor, which is mounted on vehicle
Frame bottom, for the distance between measurement sensor and ground.
The posture of vehicle includes roll angle, pitch angle, yaw angle, theoretically installs sensor in bottom of frame and cooperates several
What knowledge can calculate roll angle, pitch angle, yaw angle, and three's Computing Principle is identical, and the present invention is only to calculate roll angle
Example explanation utilizes the hardware configuration feature and its various calculation methods of its occurrence of sensor measurement.
Sensor is mounted on bottom of frame, the sensor of installation can have one, two or more, the present invention provides 4
A embodiment, it is two or more that wherein embodiment one, which is sensor, and assumes that it is fitted without angle, at this point, sensor phase
Plane is indulged for two wheeler center to be symmetrically installed, sensor is mounted on vehicle frame two sides, sensor light direction vertically downward, when two
When taking turns posture run-off the straight in vehicle driving process, the laser distance measuring of vehicle frame two sides changes, and measures distance by calculating
Variable quantity and installation site relationship, can accurately obtain roll angle of the current time vehicle relative to road surface.Sensor can be with
Laser sensor, be also possible to it is other be able to detect sensor body to ground distance any one sensor
Calculation formula under this kind of mode are as follows:
(1)
Wherein:For vehicle roll angle,For left side laser distance measuring,Right side laser distance measuring, D are two side sensers
Between distance.
As shown in Figure 1, two sensor relative vehicle center longitudinal axis faces are symmetrically installed, in general, two sensors
Spacing is big as far as possible, it can is arranged close to vehicle boudary portion, setting in this way can make measurement result more acurrate.It is mounted on vehicle frame
The sensor measurement in left side goes out it, be mounted on the sensor measurement on the right side of vehicle frame go out its with ground away from
From for；The distance between two sensors can calculate the tangent value about roll angle using triangle edges angular dependence for D,
To obtain roll angle.
It is a kind of hypothesis the case where being fitted without angle in embodiment one, is in ground when vehicle stops in sensor ray
A kind of method of roll angle is calculated when an angle of 90 degrees.It is desirable that sensor is installed as ideal situation, i.e., when vehicle stops, sensing
Device ray is difficult to realize, such as the experience limitation of installation personnel, vehicle perpendicular to ground in this certain scenes of installation
Bottom device interference etc., is based on this, embodiment two propose it is a kind of there are the attitude measurement methods of two wheeler when established angle, such as scheme
Shown in 2.
Its specific formula for calculation is as follows:
(2)
Wherein:For left side laser setting angle,For right side laser setting angle.A kind of calculating established angle is provided below、Method:
S1: the sensor instrument distance data of perpendicular and horizontal ruler by leveling vehicle to plummet zero attitude, after being installed are utilized；
S2: measurement obtains sensor and vehicle frame installation point and ground plummet distance；
S3: it is calculated by triangle relation and obtains established angle、。
Laser ranging number first with perpendicular and horizontal ruler by leveling vehicle to plummet zero attitude, after being installed
According to,, then measurement obtains body mounts and ground plummet distance、, can be calculated finally by triangle relation
Obtain established angle、.Established angle be zero expression two wheeler without roll angle when sensor emission light it is perpendicular to the ground, two wheeler
There are established angles to install nonideality, i.e., sensor emission light and the non-perpendicular state in ground when two wheeler is without roll angle,
At this time in order to guarantee the accuracy calculated, need to close in view of influence of the established angle to roll angle using geometric knowledge and corner
System obtains formula (2).
The sensor that the present invention is used to measure roll angle can also be one, as shown in figure 3, embodiment three gives only
The measuring device of one sensor, the sensor single-sided arrangement should also be arranged close to vehicle in bottom of frame, the sensor as far as possible
Boudary portion, such counting accuracy can be more guaranteed.
Vehicle attitude measuring device in embodiment three measures its Attitude Calculation formula are as follows:
(3)
Wherein: L is unilateral laser distance measuring, and H is zero attitude moment laser measurement values.L2 in L corresponding diagram 3, H corresponding diagram 3
In H2, the measuring principle and embodiment one of embodiment three are essentially identical, difference be embodiment one use two sensors, implement
Example three uses a sensor.
The relevant calculation principle of three sensor position of embodiment and roll angle is as shown in Figure 3.Formula (3) assumes that sensor does not have
The calculation formula of established angle, if this kind of mode lower sensor, there are established angle, calculation formula can make the appropriate adjustments, principle is the same as real
Example one is applied, is not described in detail herein.
The present invention also provides example IVs, as shown in figure 4, in example IV vehicle attitude measuring device also only one pass
Sensor, the difference with embodiment three are that the sensor arrangement is indulged in plane in vehicle body.Sensor distance or so vehicle boundary away from
From equal, when vehicle zero attitude, transmitting light and plumb line deposit certain angle, i.e. established angle, the preferred 30-60 degree of the angle,
Its attitude measurement calculation formula
(4)
Wherein: whereinFor laser range sensor measured value,To indulge laser range sensor mounting height in plane,For
Sensor installs angle.L2 in corresponding diagram 3,H in corresponding diagram 3.
In conclusion four embodiments provided herein be using sensor arrangement bottom of frame come realize vehicle roll
The calculating at dynamic angle, four embodiments have the difference of number of probes or the difference of sensor mounting location, and there are also established angles to have
The calculation method difference of nothing, user can need according to the needs of available accuracy and whether there is or not the case where established angle to carry out attitude measurement dress
The selection set.
It can be used directly to calculate vehicle roll angle with sensor attitude measuring device, can also be used as inertia measurement device
IMU calculates a calibrating installation of vehicle attitude, and whether the result for judging inertia measurement device measurement vehicle attitude is accurate.
Technical solution provided by the invention can be applied to attitude measurement in need vehicle, be particularly suitable for two-wheeled vapour
Vehicle, for example there is the two wheels automobile of balance gyro system, this kind of two wheels automobile has the function of automatically adjusting vehicle balance, is not necessarily to
The special experience of driver has the gyro two wheels automobile of attitude measuring belonging to the present invention, can more can guarantee driving
Safety and stability.
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 vehicle attitude measuring device, which is characterized in that including sensor, the sensor is mounted on bottom of frame, uses
In the distance between measurement sensor and ground.
2. vehicle attitude measuring device according to claim 1, which is characterized in that the sensor be it is two or more,
Plane is indulged relative to vehicle center to be symmetrically installed.
3. vehicle attitude measuring device according to claim 1, which is characterized in that the sensor is one, unilateral cloth
It sets in bottom of frame.
4. vehicle attitude measuring device according to claim 1, which is characterized in that the sensor is one, sensor
Vehicle body is arranged in indulge in plane.
5. a kind of vehicle attitude measurement method, which is characterized in that the vehicle is to include any one of claim 1-3 vehicle
The vehicle of attitude measuring, attitude measurement method are as follows:
Wherein:For vehicle roll angle,For left side laser distance measuring,Right side laser distance measuring,For two side sensers
Between distance.
6. vehicle attitude measurement method according to claim 5, which is characterized in that when the sensor has established angle
When, attitude measurement method are as follows:
Wherein:For left side laser setting angle, be right side laser setting angle.
7. vehicle attitude measurement method according to claim 6, which is characterized in that the established angle、Calculation method
Are as follows:
Sensor device ranging data using perpendicular and horizontal ruler by leveling vehicle to plummet zero attitude, after being installed
Measurement obtains sensor and vehicle frame installation point and ground plummet distance
It is calculated by triangle relation and obtains established angle、。
8. a kind of vehicle attitude measurement method, which is characterized in that the vehicle includes vehicle attitude measurement dress in claim 3
It sets, attitude measurement method are as follows:
Wherein: L is unilateral laser distance measuring, and H is zero attitude moment laser measurement values.
9. a kind of vehicle attitude measurement method, which is characterized in that the vehicle includes vehicle attitude measurement dress in claim 4
It sets, attitude measurement method are as follows:
Wherein: whereinFor laser range sensor measured value,To indulge laser range sensor mounting height in plane,For
Sensor installs angle.
10. a kind of two wheeler, which is characterized in that the two wheeler includes any one of claim 1-3 attitude measuring,
The two wheeler has gyroscopic equilibrium system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710841902.1A CN109520469A (en) | 2017-09-18 | 2017-09-18 | Vehicle attitude measuring device and attitude measurement method |
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| CN201710841902.1A CN109520469A (en) | 2017-09-18 | 2017-09-18 | Vehicle attitude measuring device and attitude measurement method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115218895A (en) * | 2022-04-14 | 2022-10-21 | 广州汽车集团股份有限公司 | Vehicle attitude measuring equipment and measuring method |
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| CN104386065A (en) * | 2014-12-12 | 2015-03-04 | 山东交通学院 | Vehicle roll center position measuring device and calculating method of vehicle roll center position |
| CN106813683A (en) * | 2017-01-09 | 2017-06-09 | 西安交通大学青岛研究院 | A kind of two-way airborne angle means for correcting and bearing calibration |
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2017
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87215010U (en) * | 1987-11-03 | 1988-10-26 | 王传友 | Wheel type digital level distance and altitude difference measuring and recording instrument |
| JP4386985B2 (en) * | 1999-03-31 | 2009-12-16 | コマツエンジニアリング株式会社 | In-vehicle measuring device for road surface extension |
| CN101619968A (en) * | 2009-07-13 | 2010-01-06 | 北京市路兴公路新技术有限公司 | Method and device for detecting road surface planeness |
| CN101619970A (en) * | 2009-08-21 | 2010-01-06 | 潘玉利 | Method for measuring vertical section of road surface |
| CN102252659A (en) * | 2011-06-10 | 2011-11-23 | 中国汽车工程研究院股份有限公司 | Car-mounted road surface gradient measuring method based on laser sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115218895A (en) * | 2022-04-14 | 2022-10-21 | 广州汽车集团股份有限公司 | Vehicle attitude measuring equipment and measuring method |
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