CN115218895A

CN115218895A - Vehicle attitude measuring equipment and measuring method

Info

Publication number: CN115218895A
Application number: CN202210389130.3A
Authority: CN
Inventors: 吴钋冰
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2022-04-14
Filing date: 2022-04-14
Publication date: 2022-10-21

Abstract

The invention relates to the technical field of vehicle attitude control, in particular to a vehicle attitude measuring device and a measuring method thereof. The vehicle attitude measuring device comprises a plurality of displacement sensors and an information processing device, wherein the plurality of displacement sensors are fixed at the bottom of the vehicle and used for acquiring the ground clearance of each displacement sensor at a first moment and a second moment; the information processing device is connected with the plurality of displacement sensors and used for calculating the ground clearance difference value of the plurality of displacement sensors at the first moment and the second moment and calculating the attitude parameter of the vehicle according to the ground clearance difference value of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors. The vehicle attitude measuring equipment and the measuring method thereof provided by the invention can accurately measure the real-time attitude parameters of the vehicle.

Description

Vehicle attitude measuring equipment and measuring method

Technical Field

The invention relates to the technical field of vehicle attitude control, in particular to a vehicle attitude measuring device and a vehicle attitude measuring method.

Background

In order to adjust the vehicle posture under the dangerous working condition and avoid accidents, the posture measurement of the vehicle becomes a key factor for controlling the vehicle.

An Inertial Measurement Unit (IMU) is embedded in an unmanned system for resolving the attitude of unmanned equipment, and is widely used for unmanned equipment such as robots, unmanned planes, unmanned vehicles, unmanned ships, and the like. The inertial measurement unit is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure angular velocity and acceleration of the object in three-dimensional space, and then solve the attitude of the object.

In the existing scheme for measuring the vehicle attitude, because the IMU is unstable in zero offset, an accumulated drift error which grows along with the time can be generated when the vehicle attitude is calculated, and further the positioning precision can be influenced. Therefore, when the posture of the vehicle body is measured by depending on the IMU in the existing dynamic posture measuring technology, the defects of poor alignment precision and long alignment time exist.

The foregoing description is provided for general background information and does not necessarily constitute prior art.

Disclosure of Invention

The invention aims to provide a vehicle attitude measurement device and a measurement method, which can accurately measure real-time attitude parameters of a vehicle.

The invention provides a vehicle attitude measuring device, which comprises a plurality of displacement sensors and an information processing device, wherein the displacement sensors are fixed at the bottom of a vehicle and used for acquiring the ground clearance of each displacement sensor at a first moment and a second moment; the information processing device is connected with the plurality of displacement sensors and is used for calculating the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and calculating the attitude parameters of the vehicle according to the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and the distances among the plurality of displacement sensors.

Further, the displacement sensor at least comprises a first displacement sensor and a second displacement sensor, the first displacement sensor and the second displacement sensor are arranged at the bottom of the vehicle in a longitudinal alignment manner along the vehicle and used for acquiring the ground clearance of the first displacement sensor at the first moment and the second moment and the ground clearance of the second displacement sensor at the first moment and the second moment; the information processing device is respectively connected with the first displacement sensor and the second displacement sensor and is used for calculating a ground clearance difference value of the first displacement sensor at a first moment and a second moment and a ground clearance difference value of the second displacement sensor at the first moment and the second moment, and calculating a first pitch angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the second displacement sensor at the first moment and the second moment and the distance between the first displacement sensor and the second displacement sensor.

Further, the displacement sensor at least comprises a first displacement sensor and a third displacement sensor, the third displacement sensor and the first displacement sensor are arranged at the bottom of the vehicle in a transverse alignment manner along the vehicle and used for acquiring the ground clearance of the first displacement sensor at the first moment and the second moment and the ground clearance of the third displacement sensor at the first moment and the second moment; the information processing device is respectively connected with the first displacement sensor and the third displacement sensor and is used for calculating a ground clearance difference value of the first displacement sensor at a first moment and a second moment and a ground clearance difference value of the third displacement sensor at the first moment and the second moment, and calculating a first roll angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the third displacement sensor at the first moment and the second moment and a distance between the first displacement sensor and the third displacement sensor.

Further, the displacement sensor includes the first displacement sensor, the second displacement sensor, the third displacement sensor and a fourth displacement sensor, the first displacement sensor and the second displacement sensor are aligned along the longitudinal direction of the vehicle and mounted on the bottom of the vehicle, the third displacement sensor and the fourth displacement sensor are aligned along the longitudinal direction of the vehicle and mounted on the bottom of the vehicle, the third displacement sensor and the first displacement sensor are aligned along the transverse direction of the vehicle, and the fourth displacement sensor and the second displacement sensor are aligned along the transverse direction of the vehicle, and are used for acquiring the ground clearance of the first displacement sensor at the first time and the second time, the ground clearance of the second displacement sensor at the first time and the second time, the ground clearance of the third displacement sensor at the first time and the second time, and the ground clearance of the fourth displacement sensor at the first time and the second time; the information processing device is respectively connected with the first displacement sensor, the second displacement sensor, the third displacement sensor and the fourth displacement sensor, and is used for calculating a ground clearance difference value of the first displacement sensor at a first moment and a second moment, a ground clearance difference value of the second displacement sensor at the first moment and the second moment, a ground clearance difference value of the third displacement sensor at the first moment and the second moment, and a ground clearance difference value of the fourth displacement sensor at the first moment and the second moment, and calculating a second pitch angle parameter or a second roll angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the third displacement sensor at the first moment and the second moment, the ground clearance difference value of the fourth displacement sensor at the first moment and the second moment, and distances among the plurality of displacement sensors.

Further, the displacement sensor further comprises a fifth displacement sensor and a sixth displacement sensor, the fifth displacement sensor and the sixth displacement sensor are installed at the bottom of the vehicle in a transverse alignment manner along the vehicle, the fifth displacement sensor is located between the first displacement sensor and the second displacement sensor and aligned with the first displacement sensor, the sixth displacement sensor is located between the third displacement sensor and the fourth displacement sensor and aligned with the third displacement sensor, and the fifth displacement sensor and the sixth displacement sensor are used for acquiring the ground clearance of the fifth displacement sensor at the first moment and the second moment and the ground clearance of the sixth displacement sensor at the first moment and the second moment; the information processing device is respectively connected with the fifth displacement sensor and the sixth displacement sensor and is used for calculating a ground clearance difference value of the fifth displacement sensor at a first moment and a second moment, a ground clearance difference value of the sixth displacement sensor at the first moment and the second moment, and calculating a third roll angle parameter in the attitude parameters or verifying data acquired by the plurality of displacement sensors according to the ground clearance difference value of the fifth displacement sensor at the first moment and the second moment, the ground clearance difference value of the sixth displacement sensor at the first moment and the second moment, and a distance between the fifth displacement sensor and the sixth displacement sensor.

The invention also provides a vehicle attitude measurement method, which is applied to the vehicle attitude measurement equipment and comprises the following steps: acquiring ground clearance of the plurality of displacement sensors at a first moment and a second moment;

calculating the ground clearance difference value of the plurality of displacement sensors at a first moment and a second moment;

and calculating attitude parameters of the vehicle according to the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and the distances among the plurality of displacement sensors.

Further, the obtaining the ground clearance of the plurality of displacement sensors at the first time and the second time comprises: acquiring the ground clearance of the first displacement sensor at a first moment and a second moment and the ground clearance of the second displacement sensor at the first moment and the second moment;

the calculating the ground clearance difference of the plurality of displacement sensors at the first time and the second time comprises: calculating a ground clearance difference value of the first displacement sensor at a first moment and a second moment and a ground clearance difference value of the second displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors comprises the following steps: and calculating a first pitch angle parameter in the attitude parameters according to the ground clearance difference of the first displacement sensor at the first moment and the second moment, the ground clearance difference of the second displacement sensor at the first moment and the second moment, and the distance between the first displacement sensor and the second displacement sensor.

Further, the acquiring ground clearance of the plurality of displacement sensors at a first time and a second time further includes: acquiring the ground clearance of the third displacement sensor at a first moment and a second moment and the ground clearance of the fourth displacement sensor at the first moment and the second moment;

the calculating the difference of the ground clearance of the plurality of displacement sensors at the first moment and the second moment further comprises: calculating the ground clearance difference value of the third displacement sensor at the first moment and the second moment and the ground clearance difference value of the fourth displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: calculating the ground clearance difference value of the first displacement sensor at the first moment and the second moment, and obtaining a first ground clearance difference value by the average value of the ground clearance difference value of the third displacement sensor at the first moment and the second moment; calculating the difference value of the ground clearance of the second displacement sensor at the first moment and the second moment, and the average value of the difference values of the ground clearance of the fourth displacement sensor at the first moment and the second moment to obtain a second ground clearance difference value; and calculating a second pitch angle parameter in the attitude parameters according to the first ground clearance difference value, the second ground clearance difference value and the distance between the first displacement sensor and the second displacement sensor.

Further, before the step of calculating the attitude parameters of the vehicle, the method further comprises the step of verifying data acquired by the plurality of displacement sensors;

the step of verifying the data acquired by the plurality of displacement sensors comprises: acquiring the ground clearance of the fifth displacement sensor at the first moment and the second moment and the ground clearance of the sixth displacement sensor at the first moment and the second moment;

calculating the ground clearance difference value of the fifth displacement sensor at the first moment and the second moment and the ground clearance difference value of the sixth displacement sensor at the first moment and the second moment;

calculating the ground clearance difference value of the fifth displacement sensor at the first moment and the second moment, and obtaining a third ground clearance difference value by the average value of the ground clearance difference values of the sixth displacement sensor at the first moment and the second moment;

and if the ratio of the difference between the first ground clearance difference and the second ground clearance difference to the third ground clearance difference is less than 5%, the data acquired by the plurality of displacement sensors passes verification, otherwise, the ground clearance differences of the plurality of displacement sensors at the first moment and the second moment are acquired again.

Further, the obtaining the ground clearance difference of the plurality of displacement sensors at the first time and the second time further includes: acquiring the ground clearance of the first displacement sensor at a first moment and a second moment and the ground clearance of the third displacement sensor at the first moment and the second moment;

the calculating the difference of the ground clearance of the plurality of displacement sensors at the first moment and the second moment further comprises: calculating the ground clearance difference value of the first displacement sensor at the first moment and the second moment and the ground clearance difference value of the third displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: and calculating a first roll angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the third displacement sensor at the first moment and the second moment, and the distance between the first displacement sensor and the third displacement sensor.

Further, the obtaining the ground clearance difference of the plurality of displacement sensors at the first time and the second time further includes: acquiring the ground clearance of the second displacement sensor at a first moment and a second moment and the ground clearance of the fourth displacement sensor at the first moment and the second moment;

the calculating the ground clearance difference of the plurality of displacement sensors at the first time and the second time further comprises: calculating the difference value of the ground clearance of the second displacement sensor at the first moment and the second moment and the difference value of the ground clearance of the fourth displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference value of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: and calculating a second roll angle parameter in the attitude parameters according to the difference value of the ground clearance of the second displacement sensor at the first moment and the second moment, the difference value of the ground clearance of the fourth displacement sensor at the first moment and the second moment, and the distance between the second displacement sensor and the fourth displacement sensor.

Further, the acquiring ground clearance of the plurality of displacement sensors at a first time and a second time further includes: acquiring the ground clearance of the fifth displacement sensor at the first moment and the second moment and the ground clearance of the sixth displacement sensor at the first moment and the second moment;

the calculating the ground clearance difference of the plurality of displacement sensors at the first time and the second time further comprises: calculating the ground clearance difference value of the fifth displacement sensor at the first moment and the second moment and the ground clearance difference value of the sixth displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference value of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: and calculating the third roll angle parameter according to the ground clearance difference value of the fifth displacement sensor at the first moment and the second moment, the ground clearance difference value of the sixth displacement sensor at the first moment and the second moment, and the distance between the fifth displacement sensor and the sixth displacement sensor.

The vehicle attitude measuring equipment calculates the attitude parameters of the vehicle according to the difference value of the ground clearance of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors, and can eliminate larger errors caused by different distances between the bonding positions of the sensors and the ground due to the fact that the adopted data are real-time data within the dynamic time difference range and the difference value data of the ground clearance at the first moment and the second moment are used for calculation, and the calculated data source is accurate, so that the real-time attitude parameters of the vehicle can be accurately obtained.

Drawings

Fig. 1 is a schematic configuration diagram of a vehicle attitude measuring apparatus;

FIG. 2 is a side view of the sensor mounting;

FIG. 3 is a top view of the sensor mounting;

FIG. 4 is a top view of the displacement sensor numbers and the vehicle front and rear axles;

FIG. 5 is a schematic view of the head in a tilted up position;

FIG. 6 is a schematic view of a nose-down attitude;

fig. 7 is a schematic view of a vehicle rollover posture.

In the figure, 1, a displacement sensor; 11. a first displacement sensor; 12. a second displacement sensor; 13. a third displacement sensor; 14. a fourth displacement sensor; 15. a fifth displacement sensor; 16. a sixth displacement sensor; 2. an information processing device; 3. a data acquisition box; 4. a computer; 5. fixing a bracket; 6. the sensor is connected with a wire harness; 7. a data acquisition data line; 8. a front axle; 9. a rear axle.

Detailed Description

The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

First embodiment

Referring to fig. 1 to 4, the present invention provides a vehicle attitude measuring apparatus, including a plurality of displacement sensors 1 and an information processing device 2, the plurality of displacement sensors 1 are fixed at the bottom of a vehicle, and are used for acquiring a ground clearance of each displacement sensor 1 at a first time and a second time; the information processing device 2 is connected to the plurality of displacement sensors 1, and is configured to calculate a difference between the ground clearance of the plurality of displacement sensors 1 at the first time and the second time, and calculate an attitude parameter of the vehicle based on the difference between the ground clearance of the plurality of displacement sensors 1 at the first time and the second time and the distances between the plurality of displacement sensors 1.

The vehicle attitude measurement apparatus of the present invention further includes a calculation program stored on the information processing device 2, and the displacement sensor 1 is wire-connected to the information processing device 2. More specifically, information processing apparatus 2 includes data acquisition box 3 and computer 4, and through 6 line connection of sensor connecting wire harness between data acquisition box 3 and the displacement sensor 1, through 7 line connection of data acquisition data line between data acquisition box 3 and the computer 4, data acquisition box 3 keeps real-time ground clearance data and the acquisition moment of real-time ground clearance data to computer 4.

The vehicle attitude measuring device further comprises a fixing support 5, and the displacement sensor 1 is fixed at the bottom of the vehicle frame through the fixing support 5. The number of the fixing brackets 5 is the same as the number of the displacement sensors 1.

The vehicle attitude measuring equipment calculates the attitude parameters of the vehicle according to the difference value of the ground clearance of the plurality of displacement sensors 1 at the first moment and the second moment and the distance between the plurality of displacement sensors 1, and can eliminate large errors caused by different distances between the bonding positions of the sensors and the ground due to the fact that the adopted data are real-time data within the dynamic time difference range and the difference value data of the ground clearance at the first moment and the second moment are used for calculation, and the calculated data source is accurate, so that the real-time attitude parameters of the vehicle can be accurately obtained.

Second embodiment

The displacement sensor 1 comprises a first displacement sensor 11 and a second displacement sensor 12, wherein the first displacement sensor 11 and the second displacement sensor 12 are arranged at the bottom of the vehicle in a longitudinal alignment manner and are used for acquiring the ground clearance of the first displacement sensor 11 at a first moment and a second moment and the ground clearance of the second displacement sensor 11 at the first moment and the second moment; the information processing device 2 is connected to the first displacement sensor 11 and the second displacement sensor 12, respectively, and is configured to calculate a ground clearance difference between the first displacement sensor 11 at the first time and the second time, and a ground clearance difference between the second displacement sensor 12 at the first time and the second time, and calculate a first pitch angle parameter among the attitude parameters based on the ground clearance difference between the first displacement sensor 11 at the first time and the second time, the ground clearance difference between the second displacement sensor 12 at the first time and the second time, and a distance between the first displacement sensor 11 and the second displacement sensor 12.

The first displacement sensor 11 is positioned in front of the bottom of the vehicle, corresponds to a vehicle front detection reference point, and is used for detecting the ground clearance difference of the front of the vehicle at a first moment and a second moment; the second displacement sensor 12 is located at the rear of the bottom of the vehicle, corresponds to a vehicle rear detection reference point, and is used for detecting a ground clearance difference value of the rear of the vehicle at a first time and a second time; the first displacement sensor 11 and the second displacement sensor 12 are located on the same straight line, and the straight line connecting the first displacement sensor 11 and the second displacement sensor 12 may be located on the left side of the vehicle bottom, the middle of the vehicle bottom, and the right side of the vehicle bottom, and is preferably located in the middle of the vehicle bottom. The difference between the ground clearance of the first displacement sensor 11 at the first time and the second time is taken as one bottom side of the trapezoid, the difference between the ground clearance of the second displacement sensor 12 at the first time and the second time is taken as the other bottom side of the trapezoid, and the distance between the first displacement sensor 11 and the second displacement sensor 12 is taken as one waist of the trapezoid, so that the first pitch angle parameter can be calculated according to the geometrical relationship between the bottom side and the waist of the trapezoid. During driving, the vehicle will form two typical pitch postures, namely a state that the vehicle head is tilted up (side view) as shown in fig. 5 or a state that the vehicle head is tilted down (side view) as shown in fig. 6. And judging the pitching attitude of the automobile by using the positive and negative of the first pitch angle parameter, wherein the positive first pitch angle parameter is the upward pitching attitude, and the negative first pitch angle parameter is the downward diving attitude. By the method, the first pitch angle parameter can be quickly and accurately obtained, and the vehicle pitch attitude can be correspondingly judged.

Third embodiment

The displacement sensor 1 comprises a first displacement sensor 11 and a third displacement sensor 13, wherein the third displacement sensor 13 and the first displacement sensor 11 are arranged at the bottom of the vehicle in a transverse alignment manner along the vehicle and are used for acquiring the ground clearance of the first displacement sensor 11 at a first moment and a second moment and the ground clearance of the third displacement sensor 13 at the first moment and the second moment; the information processing device 2 is connected to the first displacement sensor 11 and the third displacement sensor 13 respectively, and is configured to calculate a ground clearance difference between the first displacement sensor 11 at the first time and the second time, and a ground clearance difference between the third displacement sensor 13 at the first time and the second time, and calculate a first roll angle parameter in the attitude parameters according to the ground clearance difference between the first displacement sensor 11 at the first time and the second time, the ground clearance difference between the third displacement sensor 13 at the first time and the second time, and a distance between the first displacement sensor 11 and the third displacement sensor 13.

The first displacement sensor 11 is positioned on the left side of the bottom of the vehicle, corresponds to a vehicle left side detection reference point, and is used for detecting a ground clearance difference value of the left side of the vehicle at a first moment and a second moment; the third displacement sensor 13 is positioned on the right side of the bottom of the vehicle, corresponds to a vehicle right side detection reference point, and is used for detecting a ground clearance difference value of the right side of the vehicle at a first time and a second time; the first displacement sensor 11 and the third displacement sensor 13 are located on the same straight line, and the straight line formed by connecting the first displacement sensor 11 and the third displacement sensor 13 can be located on the front side of the bottom of the vehicle, the middle of the bottom of the vehicle and the rear side of the bottom of the vehicle and is respectively used for measuring roll angle parameters of front wheels of the vehicle, roll angle parameters of the middle part of the vehicle and roll angle parameters of rear wheels of the vehicle. The difference value of the ground clearance of the first displacement sensor 11 at the first moment and the second moment is used as one bottom side of the trapezoid, the difference value of the ground clearance of the third displacement sensor 13 at the first moment and the second moment is used as the other bottom side of the trapezoid, and the distance between the first displacement sensor 11 and the third displacement sensor 13 is used as one waist of the trapezoid, so that the first roll angle parameter can be calculated according to the geometrical relationship between the bottom side and the waist of the trapezoid. Referring to fig. 7, which is a schematic view (rear view) of the rolling attitude of the vehicle, the roll angle mainly exists in two typical rolling attitudes, i.e., high left and low right or low left and high right. And judging the rolling attitude of the automobile by using the positive and negative of the first rolling angle parameter, wherein the positive of the first rolling angle parameter represents that the automobile is high on the left and low on the right, and the negative of the first rolling angle parameter represents that the automobile is low on the left and high on the right. By the method, the first rolling angle parameter can be quickly and accurately obtained, and the rolling posture of the vehicle can be correspondingly judged.

Fourth embodiment

The displacement sensor 1 comprises a first displacement sensor 11, a second displacement sensor 12, a third displacement sensor 13 and a fourth displacement sensor 14, wherein the first displacement sensor 11 and the second displacement sensor 12 are aligned and installed at the bottom of the vehicle along the longitudinal direction of the vehicle, the third displacement sensor 13 and the fourth displacement sensor 14 are aligned and installed at the bottom of the vehicle along the longitudinal direction of the vehicle, the third displacement sensor 13 and the first displacement sensor 11 are aligned along the transverse direction of the vehicle, and the fourth displacement sensor 14 and the second displacement sensor 12 are aligned along the transverse direction of the vehicle, and are used for acquiring the ground clearance of the first displacement sensor 11 at the first moment and the second moment, the ground clearance of the second displacement sensor 12 at the first moment and the second moment, the ground clearance of the third displacement sensor 13 at the first moment and the second moment, and the ground clearance of the fourth displacement sensor 14 at the first moment and the second moment; the information processing device 2 is connected to the first displacement sensor 11, the second displacement sensor 12, the third displacement sensor 13, and the fourth displacement sensor 14, respectively, and is configured to calculate a difference between the ground clearance of the first displacement sensor 11 at the first time and the second time, a difference between the ground clearance of the second displacement sensor 12 at the first time and the second time, a difference between the ground clearance of the third displacement sensor 13 at the first time and the second time, and a difference between the ground clearance of the fourth displacement sensor 14 at the first time and the second time, and calculate a second pitch angle parameter or a second roll angle parameter in the attitude parameters according to the difference between the ground clearance of the first displacement sensor 11 at the first time and the second time, the difference between the ground clearance of the third displacement sensor 13 at the first time and the second time, the difference between the ground clearance of the fourth displacement sensor 14 at the first time and the second time, and the distances between the plurality of displacement sensors 1.

The first displacement sensor 11 is positioned on the left front side of the bottom of the vehicle, corresponds to a detection reference point on the left front side of the vehicle, and is used for detecting a ground clearance difference value of the left front side of the vehicle at a first moment and a second moment; the second displacement sensor 12 is located at the left rear side of the bottom of the vehicle, corresponds to a vehicle left rear side detection reference point, and is used for detecting a ground clearance difference value of the vehicle left rear side at a first moment and a second moment; the third displacement sensor 13 is positioned on the right front side of the bottom of the vehicle, corresponds to a vehicle right front side detection reference point, and is used for detecting the ground clearance difference value of the vehicle right front side at the first time and the second time; the fourth displacement sensor 14 is located at the right rear side of the bottom of the vehicle, corresponds to the vehicle right rear side detection reference point, and is used for detecting the ground clearance difference value of the vehicle right rear side at the first time and the second time. The first displacement sensor 11 and the second displacement sensor 12 are located on the same straight line in the vehicle longitudinal direction, the first displacement sensor 11 and the third displacement sensor 13 are located on the same straight line in the vehicle lateral direction, the third displacement sensor 13 and the fourth displacement sensor 14 are located on the same straight line in the vehicle longitudinal direction, and the second displacement sensor 12 and the fourth displacement sensor 14 are located on the same straight line in the vehicle lateral direction. Preferably, the first displacement sensor 11 and the third displacement sensor 13 are located on the front axle of the vehicle, and the second displacement sensor 12 and the fourth displacement sensor 14 are located on the rear axle of the vehicle.

On the basis of the calculation of the first roll angle parameter by the ground clearance data collected by the first displacement sensor 11 and the third displacement sensor 13, the second roll angle parameter may be calculated using the ground clearance data collected by the second displacement sensor 12 and the fourth displacement sensor 14. The calculation method is the same as the first roll angle parameter, and is not described herein again. The second roll angle parameter can be matched with the first roll angle parameter by calculating the second roll angle parameter, so that different roll angle parameters of the front wheel and the rear wheel of the vehicle can be reflected, and the roll attitude information of the vehicle can be provided more comprehensively.

A second pitch angle parameter may also be calculated by the first displacement sensor 11, the second displacement sensor 12, the third displacement sensor 13 and the fourth displacement sensor 14. Obtaining a first ground clearance difference value according to the ground clearance difference value of the first displacement sensor 11 at the first moment and the second moment and the average value of the ground clearance difference value of the third displacement sensor 13 at the first moment and the second moment; the second ground clearance difference is obtained from the average of the ground clearance difference of the second displacement sensor 12 at the first time and the second time and the ground clearance difference of the fourth displacement sensor 14 at the first time and the second time.

The first ground clearance difference value is one bottom side of the trapezoid, the second ground clearance difference value is the other bottom side of the trapezoid, and the distance between the first displacement sensor 11 and the second displacement sensor 12 is used as one waist of the trapezoid, so that the second pitch angle parameter can be calculated according to the geometrical relationship between the bottom sides and the waist of the trapezoid. During the running process of the vehicle, two typical pitching postures are formed, namely a state that the vehicle head is tilted upwards (side view) shown in fig. 5 or a state that the vehicle head is tilted downwards (side view) shown in fig. 6. And judging the pitching attitude of the automobile by using the positive and negative of the second pitch angle parameter, wherein the positive second pitch angle parameter is the pitching attitude, and the negative second pitch angle parameter is the diving attitude. Due to the calculation of the second pitch angle parameter, the average value of the distance data acquired by the first displacement sensor 11 and the third displacement sensor 13 and the average value of the distance data acquired by the second displacement sensor 12 and the fourth displacement sensor 14 are used, the pitch angle postures of the left side and the right side of the vehicle are comprehensively reflected, and the acquired second pitch angle parameter is more accurate.

Fifth embodiment

The displacement sensors include a first displacement sensor 11, a second displacement sensor 12, a third displacement sensor 13, a fourth displacement sensor 14, a fifth displacement sensor 15, and a sixth displacement sensor 16. A fifth displacement sensor 15 and a sixth displacement sensor 16 are arranged at the bottom of the vehicle in a transverse alignment manner along the vehicle, the fifth displacement sensor 15 is positioned between the first displacement sensor 11 and the second displacement sensor 12 and aligned with the first displacement sensor 11, the sixth displacement sensor 16 is positioned between the third displacement sensor 13 and the fourth displacement sensor 14 and aligned with the third displacement sensor 13, and the fifth displacement sensor 15 and the sixth displacement sensor 16 are used for acquiring the ground clearance of the fifth displacement sensor 15 at the first moment and the second moment and the ground clearance of the sixth displacement sensor 16 at the first moment and the second moment; the information processing device 2 is connected to the fifth displacement sensor 15 and the sixth displacement sensor 16, respectively, and is configured to calculate a ground clearance difference between the fifth displacement sensor 15 at the first time and the second time, calculate a ground clearance difference between the sixth displacement sensor 16 at the first time and the second time, and calculate a third roll angle parameter in the attitude parameters according to the ground clearance difference between the fifth displacement sensor 15 at the first time and the second time, the ground clearance difference between the sixth displacement sensor 16 at the first time and the second time, and a distance between the fifth displacement sensor 15 and the sixth displacement sensor 16, or check data obtained by the plurality of displacement sensors.

The first displacement sensor 11 is positioned on the left front side of the bottom of the vehicle, corresponds to a detection reference point on the left front side of the vehicle, and is used for detecting a ground clearance difference value of the left front side of the vehicle at a first moment and a second moment; the second displacement sensor 12 is located on the left rear side of the bottom of the vehicle, corresponds to a vehicle left rear side detection reference point, and is used for detecting a ground clearance difference value of the vehicle left rear side at a first moment and a second moment; the third displacement sensor 13 is positioned on the right front side of the bottom of the vehicle, corresponds to a detection reference point on the right front side of the vehicle, and is used for detecting the ground clearance difference value of the right front side of the vehicle at the first time and the second time; the fourth displacement sensor 14 is positioned at the right rear side of the bottom of the vehicle, corresponds to a vehicle right rear side detection reference point, and is used for detecting a ground clearance difference value of the right rear side of the vehicle at a first time and a second time; the fifth displacement sensor 15 is positioned on the left middle side of the bottom of the vehicle, corresponds to a detection reference point on the left middle side of the vehicle, and is used for detecting the ground clearance difference value of the left middle side of the vehicle at the first moment and the second moment; the sixth displacement sensor 16 is located on the right middle side of the vehicle bottom portion, and corresponds to the vehicle right middle side detection reference point, and is configured to detect a ground clearance difference between the first time and the second time on the vehicle right middle side.

The first displacement sensor 11, the second displacement sensor 12 and the fifth displacement sensor 15 are located on the same straight line in the longitudinal direction of the vehicle, the first displacement sensor 11 and the third displacement sensor 13 are located on the same straight line in the transverse direction of the vehicle, the third displacement sensor 13, the fourth displacement sensor 14 and the sixth displacement sensor 16 are located on the same straight line in the longitudinal direction of the vehicle, the second displacement sensor 12 and the fourth displacement sensor 14 are located on the same straight line in the transverse direction of the vehicle, and the fifth displacement sensor 15 and the sixth displacement sensor 16 are located on the same straight line in the transverse direction of the vehicle. Preferably, the first displacement sensor 11 and the third displacement sensor 13 are symmetrically arranged relative to the central longitudinal axis of the vehicle and are arranged at the position right below the front axle 8 at the bottom of the vehicle frame; the second displacement sensor 12 and the fourth displacement sensor 14 are symmetrically arranged relative to the central longitudinal axis of the vehicle and are arranged right below the rear shaft 9 at the bottom of the vehicle frame; and the fifth displacement sensor 15 and the sixth displacement sensor 16 are symmetrically arranged relative to the central longitudinal axis of the vehicle, are arranged at the middle positions of the front and rear shafts at the bottom of the vehicle frame and are used for measuring the real-time ground clearance of the 6 detection reference points. Generally, the first displacement sensor 11 and the third displacement sensor 13 are in one set, the second displacement sensor 12 and the fourth displacement sensor 14 are in one set, and the fifth displacement sensor 15 and the sixth displacement sensor 16 are in one set. The distance between each group of displacement sensors 1 in the width direction of the vehicle is as large as possible, namely the displacement sensors can be arranged at the position close to the boundary of the vehicle, and the arrangement can enable the measuring result to be more accurate. More specifically, the displacement sensor 1 is a laser displacement sensor. In this embodiment, the displacement sensor 1 has no installation angle, and the light emitting direction thereof is vertically downward. It is understood that the displacement sensor 1 may be a laser sensor, or any other sensor capable of detecting the distance from the sensor body to the ground.

The actual ground clearance difference value of the middle part of the vehicle is calculated through the ground clearance data collected by the fifth displacement sensor 15 and the sixth displacement sensor 16, the actual ground clearance difference value is compared with the theoretical geographical clearance difference value of the middle part of the vehicle obtained in the mode that the difference is made between the first ground clearance difference value and the second ground clearance difference value, if the ratio of the theoretical geographical clearance difference value to the actual ground clearance difference value is less than 5%, data verification is passed, and therefore the accuracy of the attitude parameters can be further improved. Meanwhile, a third roll angle parameter is calculated through ground clearance data collected by the fifth displacement sensor 15 and the sixth displacement sensor 16, and the third roll angle parameter can be matched with the first roll angle parameter and the second roll angle parameter to reflect different roll angle parameters of the front wheel, the rear wheel and the middle part of the vehicle, so that roll attitude information of the vehicle is provided more comprehensively.

Sixth embodiment

The invention also provides a vehicle attitude measurement method, which is applied to the vehicle attitude measurement equipment and comprises the following steps:

acquiring ground clearance of a plurality of displacement sensors 1 at a first moment and a second moment;

calculating the difference value of the ground clearance of the plurality of displacement sensors 1 at the first moment and the second moment;

the attitude parameters of the vehicle are calculated based on the difference in the ground clearance between the plurality of displacement sensors 1 at the first time and the second time, and the distances between the plurality of displacement sensors 1.

According to the vehicle attitude measurement method, the attitude parameters of the vehicle are calculated according to the ground clearance difference values of the displacement sensors 1 at the first moment and the second moment and the distances between the displacement sensors 1, the adopted data are real-time data within a dynamic time difference range, and the difference data of the ground clearance at the first moment and the second moment are used for calculation, so that large errors caused by different distances between the bonding positions of the sensors and the ground can be eliminated, and the calculated data source is accurate, so that the real-time attitude parameters of the vehicle can be accurately obtained.

Seventh embodiment

The step of calculating the first pitch angle parameter includes obtaining a ground clearance of the first displacement sensor 11 at a first time and a second time, and a ground clearance of the second displacement sensor 12 at the first time and the second time;

calculating the difference value of the ground clearance of the first displacement sensor 11 at the first moment and the second moment and the difference value of the ground clearance of the second displacement sensor 12 at the first moment and the second moment;

the first pitch angle parameter is calculated based on the difference in ground clearance of the first displacement sensor 11 at the first time and the second time, the difference in ground clearance of the second displacement sensor 12 at the first time and the second time, and the distance between the first displacement sensor 11 and the second displacement sensor 12.

Acquiring a difference value of the ground clearance of the first displacement sensor 11 at the first time and the second time, and a difference value of the ground clearance of the second displacement sensor 12 at the first time and the second time, includes: and acquiring the ground clearance difference value of the first displacement sensor 11 and the second displacement sensor 12 at the first moment and the second moment, and storing the real-time ground clearance data and the acquisition moment of the real-time ground clearance data to the computer 4 by using the data acquisition box 3. As shown in fig. 4, 2 displacement sensors 1 are numbered, the first displacement sensor 11 is LF, and the second displacement sensor 12 is LR. LF is mounted directly below the vehicle front axle 8, and LR is mounted directly below the vehicle rear axle 9.

Calculating a first pitch angle parameter based on the difference in ground clearance of the first displacement sensor 11 at the first time and the second time, the difference in ground clearance of the second displacement sensor 12 at the first time and the second time, and the distance between the first displacement sensor 11 and the second displacement sensor 12, comprising:

the difference value of the ground clearance of the first displacement sensor 11 at the first moment and the second moment is used as one bottom side of the trapezoid, the difference value of the ground clearance of the second displacement sensor 11 at the first moment and the second moment is used as the other bottom side of the trapezoid, and the distance between the first displacement sensor 11 and the second displacement sensor 12 is used as one waist of the trapezoid, so that the first pitch angle parameter can be calculated according to the geometrical relationship between the bottom side and the waist of the trapezoid. During driving, the vehicle will form two typical pitch postures, namely a state that the vehicle head is tilted up (side view) as shown in fig. 5 or a state that the vehicle head is tilted down (side view) as shown in fig. 6. And judging the pitching attitude of the automobile by using the positive and negative of the first pitch angle parameter, wherein the first pitch angle parameter is the upward pitching attitude, and the first pitch angle parameter is the negative pitching attitude. By the method, the first pitch angle parameter can be quickly and accurately obtained, and the vehicle pitch attitude can be correspondingly judged.

Specifically, readings of the first displacement sensor 11 and the second displacement sensor 12 at a specific time n are obtained, the readings being LFn and LRn, respectively; after a certain time period Δ t, reading LF (n + Δ t) and LR (n + Δ t) of the first displacement sensor 11 and the second displacement sensor 12 are obtained again, and ground clearance LF (n + Δ t) and LR (n + Δ t) of left positions of the front shaft and the rear shaft after the certain time period Δ t are calculated; substituting LFn and LF (n + Δ t) into the equation: Δ LF = LF (n + Δ t) -LFn, and the ground clearance difference Δ LF is calculated over the period Δ t of the first displacement sensor 11. Substituting LRn and LR (n + Δ t) into the equation: Δ LR = LR (n + Δ t) -LRn, and the ground clearance difference Δ LR over the period Δ t of the second displacement sensor 12 is calculated. The values Δ LF and Δ LR are substituted into An1= arctan ((Δ LF- Δ LR)/L101), and the first pitch angle parameter An1 is calculated. Where L101 is the distance between the first displacement sensor 11 and the second displacement sensor 12.

Eighth embodiment

The step of calculating the first roll angle parameter comprises acquiring the ground clearance of the first displacement sensor 11 at the first moment and the second moment, and the ground clearance of the third displacement sensor 13 at the first moment and the second moment;

calculating the difference value of the ground clearance of the first displacement sensor 11 at the first moment and the second moment and the difference value of the ground clearance of the third displacement sensor 13 at the first moment and the second moment;

the first roll angle parameter is calculated based on the difference in ground clearance of the first displacement sensor 11 at the first time and the second time, the difference in ground clearance of the third displacement sensor 13 at the first time and the second time, and the distance between the first displacement sensor 11 and the third displacement sensor 13.

Acquiring a difference value of the ground clearance of the first displacement sensor 11 at the first moment and the second moment, and a difference value of the ground clearance of the third displacement sensor 13 at the first moment and the second moment, including: and acquiring the ground clearance difference value of the first displacement sensor 11 and the third displacement sensor 13 at the first moment and the second moment, and storing the real-time ground clearance data and the acquisition moment of the real-time ground clearance data to the computer 4 by using the data acquisition box 3. As shown in fig. 4, 2 displacement sensors 1 are numbered, the first displacement sensor 11 is LF, and the third displacement sensor 13 is RF. LF is attached directly below the left side of the vehicle front axle 8, and RF is attached directly below the right side of the vehicle front axle 8.

Calculating a first roll angle parameter based on the difference in ground clearance of the first displacement sensor 11 at the first time and the second time, the difference in ground clearance of the third displacement sensor 13 at the first time and the second time, and the distance between the first displacement sensor 11 and the third displacement sensor 13, including:

the difference value of the ground clearance of the first displacement sensor 11 at the first moment and the second moment is used as one bottom side of the trapezoid, the difference value of the ground clearance of the third displacement sensor 13 at the first moment and the second moment is used as the other bottom side of the trapezoid, and the distance between the first displacement sensor 11 and the third displacement sensor 13 is used as one waist of the trapezoid, so that the first roll angle parameter can be calculated according to the geometrical relationship between the bottom side and the waist of the trapezoid. Referring to fig. 7, which is a schematic view (rear view) of the rolling attitude of the vehicle, the roll angle mainly exists in two typical rolling attitudes, i.e., high left and low right or low left and high right. And judging the rolling attitude of the automobile by positive and negative first rolling angle parameters, wherein the first rolling angle parameters represent high left and low right as positive, and represent low left and high right as negative. By the method, the first rolling angle parameter can be quickly and accurately obtained, and the rolling posture of the vehicle can be correspondingly judged.

Specifically, the readings of the first displacement sensor 11 and the third displacement sensor 13 at a specific time n are obtained, and the readings are LFn and RFn respectively; after a certain time period delta t, reading numbers LF (n + delta t) and RF (n + delta t) of the first displacement sensor 11 and the third displacement sensor 13 are obtained again, and ground clearance LF (n + delta t) and RF (n + delta t) of the left side position and the right side position of the front shaft after the certain time period delta t are calculated; substituting LFn and LF (n + Δ t) into the formula: Δ RoLFn = LF (n + Δ t) -LFn, and calculates the difference Δ RoLFn in the distance from the ground over the period Δ t of the first displacement sensor 11. Substituting RFn and RF (n + Δ t) into the equation: Δ RoRFn = RF (n + Δ t) -RFn, and the ground-to-ground distance difference Δ RoRFn is calculated for a period Δ t of the third displacement sensor 13. The values Δ roffn and Δ RoRFn are substituted into RoFn = arctan ((Δ roffn — Δ RoRFn)/L102), and the first pitch angle parameter RoFn is calculated. Where L102 is the distance between the first displacement sensor 11 and the third displacement sensor 13.

Ninth embodiment

The step of calculating the second pitch angle parameter includes acquiring the ground clearance of the third displacement sensor 13 at the first moment and the second moment, and the ground clearance of the fourth displacement sensor 14 at the first moment and the second moment;

calculating the difference value of the ground clearance of the third displacement sensor 13 at the first moment and the second moment and the difference value of the ground clearance of the fourth displacement sensor 14 at the first moment and the second moment;

calculating the difference between the ground clearance of the first displacement sensor 11 at the first moment and the second moment and the average value of the difference between the ground clearance of the third displacement sensor at the first moment and the second moment to obtain a first ground clearance difference; calculating the difference value of the ground clearance of the second displacement sensor 12 at the first moment and the second moment, and the average value of the difference values of the ground clearance of the fourth displacement sensor at the first moment and the second moment to obtain a second ground clearance difference value; a second pitch angle parameter is calculated based on the first ground clearance difference, the second ground clearance difference, and the distance between the first displacement sensor 11 and the second displacement sensor 12.

As shown in fig. 4, 4 displacement sensors 1 are numbered, the first displacement sensor 11 is LF, the second displacement sensor 12 is LR, the third displacement sensor 13 is RF, and the fourth displacement sensor 14 is RR. LF is mounted directly below the left side of the vehicle front axle 8, LR is mounted directly below the left side of the vehicle rear axle 9, RF is mounted directly below the right side of the vehicle front axle 8, and RR is mounted directly below the right side of the vehicle rear axle 9.

The first ground clearance difference value is one bottom side of the trapezoid, the second ground clearance difference value is the other bottom side of the trapezoid, and the distance between the first displacement sensor 11 and the second displacement sensor 12 is used as one waist of the trapezoid, so that the second pitch angle parameter can be calculated according to the geometrical relationship between the bottom sides and the waist of the trapezoid. During the running process of the vehicle, two typical pitching postures are formed, namely a state that the vehicle head is tilted upwards (side view) shown in fig. 5 or a state that the vehicle head is tilted downwards (side view) shown in fig. 6. And judging the pitching attitude of the automobile by using the positive and negative of the second pitch angle parameter, wherein the positive second pitch angle parameter is the pitching attitude, and the negative second pitch angle parameter is the diving attitude. Due to the calculation of the second pitch angle parameter, the average value of the ground clearance data acquired by the first displacement sensor 11 and the third displacement sensor 13 and the average value of the ground clearance data acquired by the second displacement sensor 12 and the fourth displacement sensor 14 are used, the pitch angle postures of the left side and the right side of the vehicle are comprehensively reflected, and the acquired second pitch angle parameter is more accurate.

Specifically, readings of the first displacement sensor 11 and the second displacement sensor 12 at a specific time n are obtained, and the readings are LFn, LRn, RFn, and RRn, respectively; after a certain time period Δ t, readings LF (n + Δ t) and LR (n + Δ t) of the first displacement sensor 11 and the second displacement sensor 12 are obtained again, and ground clearance LF (n + Δ t), LR (n + Δ t), RF (n + Δ t), and RR (n + Δ t) after the certain time period Δ t are calculated. Taking LFn and RFn readings, and taking Fn = (LFn + RFn)/2; a reference value representing a middle position of the vehicle. And then, taking the vehicle middle position reference value F (n + delta t) = (LF (n + delta t) + RF (n + delta t))/2 after a certain time period delta t, and calculating the reference value difference value delta F = F (n + delta t) -Fn in the time period. Taking LRn and RRn readings, and taking Rn = (LRn + RRn)/2; a reference value representing a middle position of the vehicle. And then, taking the vehicle middle position reference value R (n + delta t) = (LR (n + delta t) + RR (n + delta t))/2 after a certain time period delta t, and then calculating the reference value difference value delta R = R (n + delta t) -Rn in the time period. Finally, Δ F and Δ R are substituted into An2= arctan ((Δ F- Δ R)/L101), thereby calculating a second pitch angle parameter An2. Where L101 is the distance between the first displacement sensor 11 and the second displacement sensor 12.

Tenth embodiment

Before the step of calculating the attitude parameters of the vehicle, the method also comprises the step of verifying the data acquired by the plurality of displacement sensors;

the step of verifying the data acquired by the plurality of displacement sensors comprises: acquiring the ground clearance of the fifth displacement sensor 15 at the first moment and the second moment and the ground clearance of the sixth displacement sensor 16 at the first moment and the second moment;

calculating the difference value of the ground clearance of the fifth displacement sensor 15 at the first moment and the second moment and the difference value of the ground clearance of the sixth displacement sensor 16 at the first moment and the second moment;

calculating the difference value of the ground clearance of the fifth displacement sensor 15 at the first moment and the second moment and the average value of the difference values of the ground clearance of the sixth displacement sensor 16 at the first moment and the second moment to obtain a third difference value of the ground clearance; if the ratio of the difference between the first ground clearance difference and the second ground clearance difference to the third ground clearance difference is less than 5%, the data acquired by the plurality of displacement sensors 1 pass the verification, otherwise, the ground clearance differences of the plurality of displacement sensors at the first moment and the second moment are acquired again.

As shown in fig. 4, 6 displacement sensors 1 are numbered, the first displacement sensor 11 is LF, the second displacement sensor 12 is LR, the third displacement sensor 13 is RF, the fourth displacement sensor 14 is RR, the fifth displacement sensor 15 is LM, and the sixth displacement sensor 16 is RM. Wherein, LF is installed under the left side of vehicle front axle 8, LR is installed under the left side of vehicle rear axle 9, RF is installed under the right side of vehicle front axle 8, RR is installed under the right side of vehicle rear axle 9, LM is installed under the left side in the middle of the vehicle, RM is installed under the right side in the middle of the vehicle.

Reading numbers of the fifth displacement sensor 15 and the sixth displacement sensor 16 at a specific moment n are obtained, wherein the reading numbers are LMn and RMn respectively; after a certain time period Δ t, readings LM (n + Δ t) and RM (n + Δ t) of the fifth displacement sensor 15 and the sixth displacement sensor 16 are obtained again, and ground clearance LM (n + Δ t) and RM (n + Δ t) after the certain time period Δ t are calculated. Reading LMn and RMn, and taking Mn = (LMn + RMn)/2; and then, taking a vehicle middle position reference value M (n + delta t) = (LM (n + delta t) + RM (n + delta t))/2 after a certain time period delta t, and calculating a reference value difference value delta M = M (n + delta t) -Mn in the time period.

Calculating the difference between the delta F and the delta R to be delta FR; and comparing the Δ FR with the Δ M to check whether the data is distorted due to large counting error. If | Δ FR- Δ M |/| Δ M | <5%, the verification is passed and the next calculation can be performed.

And calculating an actual ground clearance difference value of the middle part of the vehicle according to the ground clearance data acquired by the fifth displacement sensor 15 and the sixth displacement sensor 16, comparing the actual ground clearance difference value with a theoretical ground clearance difference value of the middle part of the vehicle obtained by the difference of the first ground clearance difference value and the second ground clearance difference value, and if the ratio of the theoretical ground clearance difference value to the actual ground clearance difference value is less than 5%, indicating that the data check is passed, so that the accuracy of the attitude parameters can be further improved. Meanwhile, a third roll angle parameter is calculated through ground clearance data collected by the fifth displacement sensor 15 and the sixth displacement sensor 16, and the third roll angle parameter can be matched with the first roll angle parameter and the second roll angle parameter to reflect different roll angle parameters of the front wheel, the rear wheel and the middle part of the vehicle, so that roll attitude information of the vehicle is provided more comprehensively.

Eleventh embodiment

The step of calculating the second roll angle parameter comprises obtaining the ground clearance of the second displacement sensor 12 at the first and second moments in time, and the ground clearance of the fourth displacement sensor 14 at the first and second moments in time;

calculating the difference between the ground clearance of the second displacement sensor 12 at the first moment and the second moment, and the difference between the ground clearance of the fourth displacement sensor 14 at the first moment and the second moment;

the second roll angle parameter is calculated based on the difference in ground clearance of the second displacement sensor 12 at the first and second times, the difference in ground clearance of the fourth displacement sensor 14 at the first and second times, and the distance between the second displacement sensor 12 and the fourth displacement sensor 14.

Calculating a second roll angle parameter based on the difference in ground clearance of the second displacement sensor 12 at the first time and the second time, the difference in ground clearance of the fourth displacement sensor 14 at the first time and the second time, and the distance between the second displacement sensor 12 and the fourth displacement sensor 14, including:

the difference value of the ground clearance of the second displacement sensor 12 at the first moment and the second moment is used as one bottom side of the trapezoid, the difference value of the ground clearance of the fourth displacement sensor 14 at the first moment and the second moment is used as the other bottom side of the trapezoid, and the distance between the second displacement sensor 12 and the fourth displacement sensor 14 is used as one waist of the trapezoid, so that the second roll angle parameter can be calculated according to the geometrical relationship between the bottom side and the waist of the trapezoid. Referring to fig. 7, which is a schematic view (rear view) of the rolling attitude of the vehicle, the roll angle mainly exists in two typical rolling attitudes, i.e., high left and low right or low left and high right. And judging the rolling posture of the automobile by positive and negative second rolling angle parameters, wherein the second rolling angle parameters represent high left and low right as positive, and represent low left and high right as negative. The second roll angle parameter can be matched with the first roll angle parameter by calculating the second roll angle parameter, so that different roll angle parameters of the front wheel and the rear wheel of the vehicle can be reflected, and the roll attitude information of the vehicle can be provided more comprehensively.

Specifically, readings of the second displacement sensor 12 and the fourth displacement sensor 14 at a particular time n are taken, the readings being LRn and RRn, respectively; after a certain time period Δ t, reading numbers LR (n + Δ t) and RR (n + Δ t) of the second displacement sensor 12 and the fourth displacement sensor 14 are obtained again, and ground clearance LR (n + Δ t) and RR (n + Δ t) of left and right side positions of the rear axle after the certain time period Δ t are calculated; substituting LRn and LR (n + Δ t) into the formula: Δ rorrn = LR (n + Δ t) -LRn, and the ground clearance difference Δ rorrn in the period Δ t of the second displacement sensor 12 is calculated. Substituting RRn and RR (n + Δ t) into the equation: Δ RoRRn = RR (n + Δ t) -RRn, and the ground clearance difference Δ RoRRn is calculated for the period Δ t of the fourth displacement sensor 14. And substituting the values of the Δ RoRRn and the Δ RoRRn into RoRn = arctan ((Δ RoRRn- Δ RoRRn)/L102), thereby calculating a second pitch angle parameter RoRn. Where L102 is the distance between the first displacement sensor 11 and the third displacement sensor 13, i.e., the distance between the second displacement sensor 12 and the fourth displacement sensor 14.

Twelfth embodiment

The step of calculating the third roll angle parameter includes obtaining the ground clearance of the fifth displacement sensor 15 at the first moment and the second moment, and the ground clearance of the sixth displacement sensor 16 at the first moment and the second moment;

a third roll angle parameter is calculated based on the difference in ground clearance of the fifth displacement sensor 15 at the first and second moments in time, the difference in ground clearance of the sixth displacement sensor 16 at the first and second moments in time, and the distance between the fifth displacement sensor 15 and the sixth displacement sensor 16.

Calculating a third roll angle parameter based on the difference in ground clearance of the fifth displacement sensor 15 at the first and second moments in time, the difference in ground clearance of the sixth displacement sensor 16 at the first and second moments in time, and the distance between the fifth displacement sensor 15 and the sixth displacement sensor 16, comprising:

the difference value of the ground clearance of the fifth displacement sensor 15 at the first moment and the second moment is used as one bottom side of the trapezoid, the difference value of the ground clearance of the sixth displacement sensor 16 at the first moment and the second moment is used as the other bottom side of the trapezoid, and the distance between the fifth displacement sensor 15 and the sixth displacement sensor 16 is used as one waist of the trapezoid, so that the third roll angle parameter can be calculated according to the geometrical relationship between the bottom side and the waist of the trapezoid. Referring to fig. 7, which is a schematic view (rear view) of the rolling attitude of the vehicle, the roll angle mainly exists in two typical rolling attitudes, i.e., high left and low right or low left and high right. And judging the rolling posture of the automobile by using the positive and negative of the third rolling angle parameter, wherein the third rolling angle parameter is positive to represent that the automobile is high on the left and low on the right, and the third rolling angle parameter is negative to represent that the automobile is low on the left and high on the right. By the method, the third roll angle parameter can be quickly and accurately obtained, and the roll attitude of the vehicle can be correspondingly judged.

Specifically, readings of the fifth displacement sensor 15 and the sixth displacement sensor 16 at a specific time n are obtained, where the readings are LMn and RMn, respectively; after a certain time period delta t, reading numbers LM (n + delta t) and RM (n + delta t) of the fifth displacement sensor 15 and the sixth displacement sensor 16 are obtained again, and ground clearance LM (n + delta t) and RM (n + delta t) of the left side position and the right side position of the middle part of the vehicle after the certain time period delta t are calculated; substituting LMn and LM (n + Δ t) into the formula: Δ RoLMn = LM (n + Δ t) -LMn, and the ground clearance difference Δ RoLMn is calculated for the period Δ t of the fifth displacement sensor 15. Substituting RMn and RM (n + Δ t) into the equation: Δ RoRMn = RM (n + Δ t) -RMn, and the difference Δ RoRMn in the distance from the ground over the period Δ t of the fifth displacement sensor 15 is calculated. And substituting the values of Δ RoLMn and Δ RoRMn into RoMn = arctan ((Δ RoLMn- Δ RoRMn)/L102), thereby calculating a third pitch angle parameter RoMn. Where L102 is the distance between the first displacement sensor 11 and the third displacement sensor 13, i.e. the distance between the fifth displacement sensor 15 and the sixth displacement sensor 16.

Meanwhile, a third roll angle parameter is calculated through ground clearance data collected by the fifth displacement sensor 15 and the sixth displacement sensor 16, and can be matched with the first roll angle parameter and the second roll angle parameter to reflect different roll angle parameters of a front wheel, a rear wheel and the middle part of the vehicle, so that roll attitude information of the vehicle is provided more comprehensively.

In summary, the vehicle attitude measurement device and the measurement method of the present invention calculate the attitude parameters of the vehicle according to the difference between the ground distances of the plurality of displacement sensors 1 at the first time and the second time and the distances between the plurality of displacement sensors 1, and since the adopted data is real-time data within the dynamic time difference range and the calculation is performed by using the difference between the ground distances at the first time and the second time, a large error caused by the difference between the sensor bonding position and the ground distance can be eliminated, and the calculated data source is accurate, so that the real-time attitude parameters of the vehicle can be accurately obtained.

In this document, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms can be understood in a specific case to those of ordinary skill in the art.

In this document, it is to be understood that the terms of orientation or positional relationship such as "front, back, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom" are generally intended to be based on the orientation or positional relationship shown in the drawings for convenience in describing the invention and to simplify the description, and that these terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation without departing from the scope of the invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A vehicle attitude measuring apparatus characterized by comprising a plurality of displacement sensors fixed to a bottom of the vehicle for acquiring a ground clearance of each of the displacement sensors at a first time and a second time, and an information processing device; the information processing device is connected with the plurality of displacement sensors and is used for calculating the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and calculating the attitude parameters of the vehicle according to the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and the distances among the plurality of displacement sensors.

2. The vehicle attitude measurement apparatus according to claim 1, wherein the displacement sensor includes at least a first displacement sensor, a second displacement sensor, the first displacement sensor and the second displacement sensor being mounted on a bottom portion of the vehicle in alignment in a longitudinal direction of the vehicle, for acquiring a ground clearance of the first displacement sensor at a first time and a second time, and a ground clearance of the second displacement sensor at the first time and the second time;

the information processing device is respectively connected with the first displacement sensor and the second displacement sensor and is used for calculating a ground clearance difference value of the first displacement sensor at a first moment and a second moment and a ground clearance difference value of the second displacement sensor at the first moment and the second moment, and calculating a first pitch angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the second displacement sensor at the first moment and the second moment and the distance between the first displacement sensor and the second displacement sensor.

3. The vehicle attitude measurement apparatus according to claim 1, wherein the displacement sensor includes at least a first displacement sensor, a third displacement sensor, the third displacement sensor and the first displacement sensor being mounted on a bottom portion of the vehicle in lateral alignment along the vehicle, for acquiring a ground clearance of the first displacement sensor at first and second times, a ground clearance of the third displacement sensor at first and second times;

the information processing device is respectively connected with the first displacement sensor and the third displacement sensor and is used for calculating a ground clearance difference value of the first displacement sensor at a first moment and a second moment and a ground clearance difference value of the third displacement sensor at the first moment and the second moment, and calculating a first roll angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the third displacement sensor at the first moment and the second moment and a distance between the first displacement sensor and the third displacement sensor.

4. The vehicle attitude measurement apparatus according to any one of claims 2 to 3, wherein the displacement sensors include the first displacement sensor, the second displacement sensor, the third displacement sensor, and a fourth displacement sensor, the first displacement sensor and the second displacement sensor are mounted on the bottom of the vehicle in alignment in the vehicle longitudinal direction, the third displacement sensor and the fourth displacement sensor are mounted on the bottom of the vehicle in alignment in the vehicle longitudinal direction, the third displacement sensor and the first displacement sensor are aligned in the vehicle lateral direction, the fourth displacement sensor and the second displacement sensor are aligned in the vehicle lateral direction, and are configured to acquire a ground clearance of the first displacement sensor at first and second times, a ground clearance of the second displacement sensor at first and second times, a ground clearance of the third displacement sensor at first and second times, a ground clearance of the fourth displacement sensor at first and second times, and a ground clearance of the fourth displacement sensor at first and second times;

the information processing device is respectively connected with the first displacement sensor, the second displacement sensor, the third displacement sensor and the fourth displacement sensor, and is used for calculating a ground clearance difference value of the first displacement sensor at a first moment and a second moment, a ground clearance difference value of the second displacement sensor at the first moment and the second moment, a ground clearance difference value of the third displacement sensor at the first moment and the second moment, and a ground clearance difference value of the fourth displacement sensor at the first moment and the second moment, and calculating a second pitch angle parameter or a second roll angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the third displacement sensor at the first moment and the second moment, the ground clearance difference value of the fourth displacement sensor at the first moment and the second moment, and distances among the plurality of displacement sensors.

5. The vehicle attitude measurement device according to claim 4, wherein the displacement sensors further include a fifth displacement sensor and a sixth displacement sensor mounted on the bottom of the vehicle in lateral alignment with the vehicle, the fifth displacement sensor being located between the first displacement sensor and the second displacement sensor and aligned with the first displacement sensor, the sixth displacement sensor being located between the third displacement sensor and the fourth displacement sensor and aligned with the third displacement sensor for acquiring a ground clearance of the fifth displacement sensor at the first time and the second time, and a ground clearance of the sixth displacement sensor at the first time and the second time;

the information processing device is respectively connected with the fifth displacement sensor and the sixth displacement sensor and is used for calculating a ground clearance difference value of the fifth displacement sensor at a first moment and a second moment, a ground clearance difference value of the sixth displacement sensor at the first moment and the second moment, and calculating a third roll angle parameter in the attitude parameters or verifying data acquired by the plurality of displacement sensors according to the ground clearance difference value of the fifth displacement sensor at the first moment and the second moment, the ground clearance difference value of the sixth displacement sensor at the first moment and the second moment, and a distance between the fifth displacement sensor and the sixth displacement sensor.

6. A vehicle attitude measurement method applied to the vehicle attitude measurement apparatus according to any one of claims 1 to 5, characterized by comprising the steps of:

acquiring ground clearance of the plurality of displacement sensors at a first moment and a second moment;

7. The vehicle attitude measurement method according to claim 6, wherein said acquiring the ground-to-ground distances of the plurality of displacement sensors at a first time and a second time comprises: acquiring the ground clearance of the first displacement sensor at a first moment and a second moment and the ground clearance of the second displacement sensor at the first moment and the second moment;

8. The vehicle attitude measurement method according to claim 7, wherein the acquiring of the ground-to-ground distances of the plurality of displacement sensors at a first time and a second time, further comprises: acquiring the ground clearance of the third displacement sensor at a first moment and a second moment and the ground clearance of the fourth displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference value of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: calculating the ground clearance difference value of the first displacement sensor at the first moment and the second moment, and obtaining a first ground clearance difference value by the average value of the ground clearance difference value of the third displacement sensor at the first moment and the second moment; calculating the difference value of the ground clearance of the second displacement sensor at the first moment and the second moment, and the average value of the difference values of the ground clearance of the fourth displacement sensor at the first moment and the second moment to obtain a second ground clearance difference value;

and calculating a second pitch angle parameter in the attitude parameters according to the first ground clearance difference, the second ground clearance difference and the distance between the first displacement sensor and the second displacement sensor.

9. The vehicle attitude measurement method according to claim 8, characterized by further comprising, before the step of calculating the attitude parameter of the vehicle, a step of verifying data acquired by the plurality of displacement sensors;

and if the ratio of the difference between the first ground clearance difference and the second ground clearance difference to the third ground clearance difference is less than 5%, the data acquired by the plurality of displacement sensors pass verification, otherwise, the ground clearance differences of the plurality of displacement sensors at the first moment and the second moment are acquired again.

10. The vehicle attitude measurement method according to claim 6, wherein said acquiring ground-clearance distances of the plurality of displacement sensors at a first time and a second time, further comprises: acquiring the ground clearance of the first displacement sensor at a first moment and a second moment and the ground clearance of the third displacement sensor at the first moment and the second moment;

the calculating the ground clearance difference of the plurality of displacement sensors at the first time and the second time further comprises: calculating the difference value of the ground clearance of the first displacement sensor at the first moment and the second moment and the difference value of the ground clearance of the third displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference value of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: and calculating a first roll angle parameter in the attitude parameters according to the ground clearance difference value of the first displacement sensor at the first moment and the second moment, the ground clearance difference value of the third displacement sensor at the first moment and the second moment, and the distance between the first displacement sensor and the third displacement sensor.

11. The vehicle attitude measurement method according to claim 6, wherein said acquiring ground-clearance distances of the plurality of displacement sensors at a first time and a second time, further comprises: acquiring the ground clearance of the second displacement sensor at a first moment and a second moment and the ground clearance of the fourth displacement sensor at the first moment and the second moment;

the calculating the difference of the ground clearance of the plurality of displacement sensors at the first moment and the second moment further comprises: calculating the difference value of the ground clearance of the second displacement sensor at the first moment and the second moment and the difference value of the ground clearance of the fourth displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference values of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: and calculating a second roll angle parameter in the attitude parameters according to the difference value of the ground clearance of the second displacement sensor at the first moment and the second moment, the difference value of the ground clearance of the fourth displacement sensor at the first moment and the second moment, and the distance between the second displacement sensor and the fourth displacement sensor.

12. The vehicle attitude measurement method according to claim 6, wherein said acquiring ground-clearance distances of the plurality of displacement sensors at a first time and a second time, further comprises: acquiring the ground clearance of the fifth displacement sensor at the first moment and the second moment and the ground clearance of the sixth displacement sensor at the first moment and the second moment;

the calculating the attitude parameter of the vehicle according to the ground clearance difference value of the plurality of displacement sensors at the first moment and the second moment and the distance between the plurality of displacement sensors further comprises: and calculating the third roll angle parameter according to the difference value of the ground clearance of the fifth displacement sensor at the first moment and the second moment, the difference value of the ground clearance of the sixth displacement sensor at the first moment and the second moment, and the distance between the fifth displacement sensor and the sixth displacement sensor.