CN106767847A - A kind of vehicle attitude safe early warning method and system - Google Patents
A kind of vehicle attitude safe early warning method and system Download PDFInfo
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Abstract
The present invention relates to a kind of vehicle attitude safe early warning method and system, method for early warning therein includes：Using the angular rate information of MEMS gyroscope measuring vehicle, using the first acceleration information of accelerometer measures vehicle, the second acceleration information is calculated using GPS output informations；Attitude error angle, gyroscope constant value skew and accelerometer constant value zero are chosen partially as state vector, state vector is estimated using Kalman filtering fundamental equation, obtain the state vector estimated；Attitude matrix is corrected using the attitude error angle in the state vector estimated, revised attitude matrix is obtained, the angle of pitch, roll angle and course angle are calculated according to revised attitude matrix；Vehicle attitude is judged according to the angle of pitch, roll angle, course angle, angular speed value and acceleration magnitude, and exports the angle of pitch, roll angle, course angle, angular speed value, acceleration magnitude and vehicle attitude.Its attitude algorithm processing procedure for passing through stabilization, can truely and accurately reflect vehicle attitude.
Description
Technical Field
The invention relates to a vehicle attitude measurement system, in particular to a vehicle attitude safety early warning method and a vehicle attitude safety early warning system.
Background
The original vehicle attitude measuring device in the market is a gravity suspension mechanical device, and a suspension ball in an instrument panel rotates after being delayed along with the inertia of a vehicle body. Such devices suffer from a number of drawbacks, such as: the display is delayed seriously, is not beneficial to observation, can lead to distraction of drivers, causes potential safety hidden dangers, and has low market acceptance.
Disclosure of Invention
In order to overcome the technical problems in the prior art, the invention provides a vehicle attitude safety early warning method which can truly and accurately reflect the vehicle attitude through a stable attitude calculation processing process.
The technical scheme for solving the technical problems is as follows: a vehicle posture safety early warning method comprises the following steps:
s1: measuring angular rate information of the vehicle by using an MEMS gyroscope, measuring first acceleration information of the vehicle by using an accelerometer, and calculating to obtain second acceleration information by using GPS output information;
s2: selecting an attitude error angle, a gyro constant offset and an accelerometer constant zero offset as state vectors, and estimating the state vectors by using a Kalman filtering basic equation to obtain estimated state vectors;
s3: correcting an attitude matrix by using the attitude error angle in the estimated state vector to obtain a corrected attitude matrix, and solving a pitch angle, a roll angle and a course angle according to the corrected attitude matrix; deducting the gyro constant offset in the estimated state vector from the angular velocity information to obtain an angular velocity value; obtaining an acceleration value according to the first acceleration information, the second acceleration information and the accelerometer constant zero offset in the estimated state vector;
s4: and judging the vehicle attitude according to the pitch angle, the roll angle, the course angle, the angular speed value and the acceleration value, and outputting the pitch angle, the roll angle, the course angle, the angular speed value, the acceleration value and the vehicle attitude.
The invention has the beneficial effects that: correcting the attitude matrix by using a stable attitude calculation processing method to achieve the purpose of improving the attitude calculation precision; the gyro constant drift obtained by deducting filtering estimation from the angular rate obtained by gyro sampling can reduce the error of angular rate data used in the attitude calculation process and improve the attitude calculation precision; the accelerometer constant zero offset obtained by deducting filtering estimation in the accelerometer output can reduce the error of the accelerometer output data, thereby improving the precision of the measurement vector used in the filtering process. The selected state equation and the selected measurement equation are adopted to carry out corresponding parameter configuration, and the corresponding variables are corrected after the filtering estimation is carried out, so that the attitude calculation precision in the navigation process can be effectively improved, the vehicle attitude can be truly and accurately reflected, and the accurate vehicle attitude safety early warning can be carried out.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, before the step S2, the method further includes the following steps:
t1: calibrating the angular rate information and the first acceleration information to obtain calibrated angular rate information and first acceleration information;
t2: comparing the calibrated first acceleration information with the second acceleration information calculated according to the GPS output information, calculating the difference value of the two to obtain acceleration matching information, and performing orthogonal calibration on the calibrated angular rate information;
t3: judging whether the GPS is available, if not, turning to the step S2; if the GPS is available, it is determined whether the vehicle is turning, and if the vehicle is turning, the process proceeds to step S2, and if the vehicle is not turning, the acceleration information measured by the accelerometer at that time is compared with the acceleration information calculated from the GPS output information, the difference between the two is calculated, the acceleration compensation information is obtained, and the process proceeds to step S2.
Further, the following steps are also included between the step T3 and the step S2:
in the step T3, if it is determined that the vehicle is turning, the angular rate output from the X-axis gyro during turning is eliminated, and the angular rate output from the Y-axis gyro during turning is eliminated;
after eliminating the angular rate output by the X-axis gyroscope during turning, judging whether the vehicle is in a turning state, if so, integrating the angular rate information output by the X-axis gyroscope to obtain a pitch angle and outputting the pitch angle; if the vehicle is not in the turning state, go to step S2;
after eliminating the angular rate output by the Y-axis gyroscope during turning, integrating the angular rate output by the Y-axis gyroscope to obtain a first pitch angle, estimating a second pitch angle according to the output of the accelerometer, and then calculating the difference value between the first pitch angle and the second pitch angle; judging whether the GPS is available, if the GPS is unavailable and the difference value between the first pitch angle and the second pitch angle is greater than a preset value, integrating angular rate information output by the Y-axis gyroscope, estimating the current pitch angle and outputting the current pitch angle; if the GPS is available, go to step S2.
Further, the step S2 specifically includes:
s2-1: selected filter state vector x (t): attitude error angle phi [ [ phi ] ]EφNφU]TGyro constant driftb＝[x y z]TAccelerometer constant zero offsetNamely, it is
S2-2: establishing a system state transition equation:
wherein, X&(t) is the derivative of the state vector X (t) (. phi.)&、&bAndsequentially attitude error angle phi and gyro constant driftbAccelerometer constant zero offsetA derivative of (a);
a state transition matrix of a 9 × 9 dimensional continuous system;
0 represents a zero matrix of 3 × 3 dimensions W (t) is an excitation white noise process of the system, is a 3-dimensional vector, and G (t) is a 9 × -dimensional noise transfer matrix;
s2-3, discretizing the system state transition equation to obtain a discretized 9 × 9-dimensional state one-step transition matrix phik,k-1，Φk,k-1I + tf (T), where T is a filtering period, I is an identity matrix with 9 × 9-dimensional diagonal elements all being 1 and the remaining elements all being 0;
s2-4: matching the attitude matrix with the acceleration or determining a measurement vector according to the attitude matrix and the acceleration compensation information, and determining a measurement equation according to the measurement vector and the state vector;
s2-5: and solving the estimated state vector by using the filtering basic equation according to the state vector, the state transition equation and the measurement equation to obtain the estimated state vector.
Further, the step S2-4 specifically includes:
matching the acceleration or compensating the acceleration f of the body coordinate system bb＝[fxfyfz]TProjecting to a platform coordinate system n system to obtainE is east, N is north, U is sky, i.e.
Wherein,is a direction cosine matrix of 3 × 3D from the body coordinate system b system to the platform coordinate system n system, i.e.Selected measurement vector ZkIs fnThe first two dimensions, i.e.Describing the measurement vector ZkAnd the state vector XkThe measurement equation of the relationship is as follows:
wherein,is a measurement matrix, g is the magnitude of the gravitational acceleration, T00,T01,T02,T10,T11,T12As a matrix of gesturesElements of the first two middle rows, VkThe noise sequence is measured in 2 × 1 dimensions, and has a mean value of 0.
Further, in the step S2-5, the filtering basic equation is as follows:
the one-step prediction equation of state isWherein,estimate of state for one step, phik,k-1In order to have a one-step transition matrix of states,is the estimated value of the state vector at the previous moment;
one-step prediction mean square error arrayWherein, Pk/k-1Predicting the mean square error matrix for one step, Pk-1Mean square error matrix, Q, estimated for the state of the previous time instantk-1Is a system noise variance matrix, and is a system noise variance matrix,for one step transition matrix phi of statek,k-1Transposing;
computing a filter gain arrayWherein, KkFor the filter gain array, HkIn order to measure the matrix, the measurement matrix is,is HkTransposing; rkIn order to measure the variance matrix of the noise sequence,wherein,zk0and zk1Is a measurement vectorW is a weight coefficient;
state estimationWherein,is an estimate of the state vector at the current time, ZkIs a measurement vector;
calculating an estimated mean square errorWherein, PkThe mean square error matrix of the estimated state vector at the current moment is shown, and I is an identity matrix;
calculating to obtain the estimated state vector at the k moment according to the basic filter equations a) -e)I.e. the state vector X (t) at tkAn estimate of the time of day.
Further, the step S4 includes a step of displaying the pitch angle, roll angle, heading angle, angular rate value, and acceleration value.
Further, the method further includes a step of performing voice broadcast on the vehicle posture determined in step S4.
The invention also provides a vehicle posture safety early warning system, which comprises:
the MEMS gyroscope is used for measuring angular rate information of the vehicle;
the accelerometer is used for measuring first acceleration information of the vehicle in real time;
a GPS for obtaining second acceleration information of the vehicle;
and the attitude calculation unit is used for performing attitude calculation according to the angular rate information, the first acceleration information and the second acceleration information to obtain the attitude of the vehicle.
The display unit is used for displaying the pitch angle, the roll angle, the course angle, the angular speed value, the acceleration value and the vehicle posture; the voice broadcasting unit is used for controlling and broadcasting the vehicle posture.
Drawings
Fig. 1 is a flowchart of a vehicle attitude safety warning method according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Example one
As shown in fig. 1, the embodiment provides a vehicle posture safety warning method, which includes the following steps:
s1: measuring angular rate information of the vehicle by using an MEMS gyroscope, measuring first acceleration information of the vehicle by using an accelerometer, and calculating to obtain second acceleration information by using GPS output information;
s2: selecting an attitude error angle, a gyro constant offset and an accelerometer constant zero offset as state vectors, and estimating the state vectors by using a Kalman filtering basic equation to obtain estimated state vectors;
s3: correcting an attitude matrix by using the attitude error angle in the estimated state vector to obtain a corrected attitude matrix, and solving a pitch angle, a roll angle and a course angle according to the corrected attitude matrix; deducting the gyro constant offset in the estimated state vector from the angular velocity information to obtain an angular velocity value; obtaining an acceleration value according to the first acceleration information, the second acceleration information and the accelerometer constant zero offset deducted from the estimated state vector;
s4: and judging the vehicle attitude according to the pitch angle, the roll angle, the course angle, the angular speed value and the acceleration value, and outputting the pitch angle, the roll angle, the course angle, the angular speed value, the acceleration value and the vehicle attitude.
According to the vehicle attitude safety early warning method provided by the embodiment, the attitude matrix is corrected by utilizing a stable attitude calculation processing method, so that the aim of improving the attitude calculation precision is fulfilled; the gyro constant drift obtained by deducting filtering estimation from the angular rate obtained by gyro sampling can reduce the error of angular rate data used in the attitude calculation process and improve the attitude calculation precision; the accelerometer constant zero offset obtained by deducting filtering estimation in the accelerometer output can reduce the error of the accelerometer output data, thereby improving the precision of the measurement vector used in the filtering process. The selected state equation and the selected measurement equation are adopted to carry out corresponding parameter configuration, and the corresponding variables are corrected after the filtering estimation is carried out, so that the attitude calculation precision in the navigation process can be effectively improved, the vehicle attitude can be truly and accurately reflected, and the accurate vehicle attitude safety early warning can be carried out.
Example two
The vehicle attitude safety warning method provided by the embodiment specifically relates to the following process in addition to the steps described in the first embodiment.
The method further comprises the following steps before the step S2:
the method comprises the steps that angular rate information obtained by a gyroscope on three axes X, Y, Z and acceleration information obtained by an accelerometer on three axes are calibrated, and calibrated angular rate information and first acceleration information are obtained;
delaying for about 0.6 second to match the calibrated first acceleration information with the acceleration information obtained by the GPS, namely comparing the calibrated first acceleration information with the second acceleration information obtained by calculation according to the GPS output information, calculating the difference value of the calibrated first acceleration information and the second acceleration information to obtain acceleration matching information, and then carrying out orthogonal calibration on the calibrated angular rate information to eliminate errors;
judging whether the GPS is available, if the GPS is unavailable, turning to the step S2; if the GPS is available, it is determined whether the vehicle is turning, and if the vehicle is turning, the process proceeds to step S2, and if the vehicle is not turning, the acceleration information measured by the accelerometer at that time is compared with the second acceleration information calculated from the GPS output information, the difference between the two is calculated, and acceleration compensation information is obtained, and the process proceeds to step S2.
Ideally, only the Z-axis gyroscope has angular rate output during turning of the vehicle, but because the X-axis gyroscope and the Y-axis gyroscope have angular rate output due to the existence of centripetal acceleration during turning, uneven road surface and deformation of tires during turning, the X-axis gyroscope and the Y-axis gyroscope need to be eliminated during turning. Therefore, the following steps are also included between step T3 and step S2:
in the step T3, if it is determined that the vehicle is turning, the angular rate output from the X-axis gyro during turning is eliminated, and the angular rate output from the Y-axis gyro during turning is eliminated;
after eliminating the angular rate output by the X-axis gyroscope during turning, judging whether the vehicle is in a turning state, if so, integrating the angular rate information output by the X-axis gyroscope to obtain a pitch angle and outputting the pitch angle; if the vehicle is not in the turning state, go to step S2;
after eliminating the angular rate output by the Y-axis gyroscope during turning, integrating the angular rate output by the Y-axis gyroscope to obtain a first pitch angle, estimating a second pitch angle according to the output of the accelerometer, and then calculating the difference value between the first pitch angle and the second pitch angle; judging whether the GPS is available, if the GPS is unavailable and the difference value between the first pitch angle and the second pitch angle is larger than a preset threshold value, integrating angular rate information output by the Y-axis gyroscope, estimating the current pitch angle and outputting the current pitch angle; if the GPS is available, go to step S2.
Steps S2 and S3 are attitude calculation processes, and coarse alignment is performed first before attitude calculation, the influence of shaking interference is ignored, the output of the gyro is approximately regarded as a measurement value of the angular velocity of the earth rotation, and the output of the accelerometer is approximately regarded as a measurement value of the gravitational acceleration. And directly calculating an attitude angle or an attitude matrix according to the output of the gyroscope and the accelerometer.
The measurement value of the gyroscope is not used in the course of coarse alignment considering that the MEMS gyroscope has low precision and cannot sense the rotation angular rate of the earth. And calculating to obtain the initial pitch angle and the roll angle of the carrier according to the output of the addition, and simultaneously setting the initial value of the heading angle to be 0 degree. Let the accelerometer output be fb＝[fxfyfz]TAnd g is the gravity acceleration, the pitch angle theta and the roll angle gamma obtained by coarse alignment are as follows:
the carrier is required to be in a horizontal static state during the alignment process. Setting the coarse alignment time to 10s in the master function; reading the output of the accelerometer in an interrupt processing function, accumulating and summing the output of the accelerometer in the alignment time, when the count reaches 10s, calculating the average value of the output of the accelerometer, and calculating the initial pitch angle and the roll angle by using the average value; the initial heading angle is set to 0.
The process of the attitude solution is described in detail below, wherein step S2 specifically includes:
selected filter state vector x (t):
attitude error angle phi [ [ phi ] ]EφNφU]TGyro constant driftb＝[x y z]TAccelerometer constant zero offsetNamely, it is
Establishing a system state transition equation:
wherein, X&(t) is the derivative of the state vector X (t) (. phi.)&、&bAndsequentially attitude error angle phi and gyro constant driftbAccelerometer constant zero offsetA derivative of (a); ,is a state transition matrix of a 9-9 × 9-dimensional continuous system, 0 represents a zero matrix of 3-3 × 3-dimensional W (t) is an excitation white noise process of the system, is a 3-dimensional vector, and G (t) is a 9 × -dimensional noise transfer matrix;
the method comprises the steps that before a Kalman filtering basic equation is used for estimating a state vector of a system, discretization processing must be carried out on a system state transition equation, a filtering period is set to be T, when the filtering period is short, F (T) can be approximately regarded as a constant matrix, and a discretized 9 × 9-dimensional state one-step transition matrix phi is obtainedk,k-1Is phik,k-1I + tf (t), where I is an identity matrix with 9 × 9-dimensional diagonal elements all being 1 and the remaining elements all being 0;
matching the acceleration of the body coordinate system b system with the information or compensating the acceleration fb＝[fxfyfz]TProjecting to a platform coordinate system n system to obtainE is east, N is north, U is sky, i.e.Wherein,is a direction cosine matrix of 3 × 3D from the body coordinate system b system to the platform coordinate system n system, i.e.Selected measurement vector ZkIs fnThe first two dimensions, i.e.Describing the measurement vector ZkAnd the state vector XkThe measurement equation of the relationship is as follows:
wherein,is a measurement matrix, g is the magnitude of the gravitational acceleration, T00,T01,T02,T10,T11,T12As a matrix of gesturesElements of the first two middle rows, VkThe measurement noise sequence is 2 × 1 dimension, the mean value is 0, and the variance matrix of the measurement noise sequence is RkR in the filtering processkIt should be set according to the statistical characteristics of the noise. Measuring noise sequence variance matrix R in actual filtering resolving processkSet as diagonal matrix, the value of diagonal element according to given variance valuezk0And zk1Is a measurement vectorAre adjusted in size according to a weight coefficient w, i.e.
By adopting the above formula, the measurement sequence can be determined according to the precision of the measurement valueDifference matrix RkAnd adjusting to automatically determine the utilization degree of the measurement information in the filtering process and improve the estimation effect of the state vector. While R is used in the filter design process in the prior artkThe constant matrix is set, when the statistical characteristics of the noise change, the adjustment cannot be performed according to the actual situation of the measured noise, the effective utilization of the measurement information is difficult to achieve, and the estimation effect of the state vector is not good.
Through the selected filtering state vector, the established system state transition equation and the measurement equation, the estimated state vector can be solved according to a filtering basic equation, wherein the filtering basic equation is as follows:
the one-step prediction equation of state isWherein,predicting an estimated value for one step of the state, wherein the estimated value is a 9-dimensional vector in the actual resolving process; phik,k-1The state one-step transition matrix is a 9 × 9 dimensional matrix in the actual resolving process;the estimated value of the state vector at the previous moment is a 9-dimensional vector in the actual resolving process.
One-step prediction mean square error arrayWherein, Pk/k-1The mean square error matrix is predicted in one step and is a 9 × 9 dimensional matrix in the actual resolving process, Pk-1The mean square error matrix estimated for the state of the previous moment is a 9 × 9 dimensional matrix in the actual resolving process, Qk-1The system noise variance matrix is a 9 × 9 dimensional matrix in the actual resolving process;for one step transition matrix phi of statek,k-1The transposing of (1).
Computing a filter gain arrayWherein, KkIs a 9 × 2 dimensional matrix in practical calculation process, and is a filter gain matrix HkFor the measurement matrix, the actual solution process is a 2 × 9D matrix,is HkTransposing; rkFor measuring the variance matrix of the noise sequence, a 2 × 2 dimensional matrix is used in the actual solving process.
State estimationWherein,the estimated value of the state vector at the current moment is a 9-dimensional vector in the actual resolving process; zkFor measuring the vector, the actual calculation process is a 2-dimensional vector.
Calculating an estimated mean square errorWherein, PkThe matrix is a 9 × 9 dimensional matrix in the actual resolving process, and I is an identity matrix, wherein all diagonal elements of 9 × 9 dimensions in the actual resolving process are 1, and all other elements are 0.
According to the basic filter equation, the estimated state vector at the k moment can be calculatedI.e. the state vector X (t) at tkEstimated value of time of day, useError angle of middle postureError correction attitude matrixThereby achieving the purpose of improving the attitude resolving precision; gyro constant drift obtained by deducting filtering estimation from angular rate obtained by gyro samplingThe error of angular rate data used in the attitude calculation process can be reduced, and the attitude calculation precision is improved; accelerometer constant zero offset by deducting filtering estimation in accelerometer outputThe error of the accelerometer output data can be reduced, and the precision of the measurement vector used in the filtering process is improved. In conclusion, the selected state equation and the selected measurement equation are adopted to carry out corresponding parameter configuration, and the corresponding variables are corrected after the filtering estimation is carried out, so that the accuracy of attitude calculation in the navigation process can be effectively improved.
Calculating according to the corrected attitude matrixAnd solving a pitch angle, a roll angle and a course angle, wherein the specific calculation formula is as follows:
attitude quaternion Q ═ Q0q1q2q3]TI.e. by
The attitude and heading angles, namely the pitch angle theta, the roll angle gamma and the heading angle are calculated by the formulaNamely, it is
Through the attitude calculation processing process, parameters representing the attitude of the vehicle such as the pitch angle, the roll angle, the course angle, the angular speed value and the acceleration value of the vehicle are obtained, the attitude parameters can be displayed on a screen, a vehicle driver can conveniently know the condition of the vehicle, voice broadcasting can be carried out according to the attitude parameters, the change of road conditions and the current vehicle state are prompted, the driver is prevented from being distracted, the tension and fatigue are effectively reduced, visual illusion is avoided, and the driving safety is guaranteed.
The voice broadcast rule is as follows:
if GPS is not available, when acceleration value x<-3m/s2Sum angular rate value Z<When the speed is 10 degrees/second, voice broadcasting is given, wherein the vehicle is braked urgently and needs to be driven carefully; if the GPS is available, when the sum of the acceleration value output by the acceleration and the acceleration value calculated by the GPS is less than-2 m/s2And the value of angular velocity Z<And when the speed is 10 degrees/second, the voice broadcasting that the vehicle brakes suddenly and please drive carefully is given, and the reset is carried out after the broadcasting is finished.
If the GPS is unavailable, when the acceleration value x output by the accelerometer>3m/s2Sum angular rate value Z<When the speed is 10 degrees/second, voice broadcasting is given, wherein the vehicle is accelerated urgently and needs to be driven carefully; if the GPS is available, when the sum of the acceleration value output by the acceleration and the acceleration value calculated by the GPS is more than 2m/s2And the value of angular velocity Z<At 10 deg/s, give out the carWhen the vehicle is accelerated urgently, the vehicle requires voice broadcasting of careful driving, and resetting is carried out after the voice broadcasting is finished.
If the angular rate value is between 8 degrees/second and 18 degrees/second and-8 degrees/second and-18 degrees/second for 4 times continuously and is matched with the speed output by the GPS, the faster the speed is, the smaller the angular rate value is, the continuous merging is given, the voice broadcasting of the driving habit is noticed, and the reset is carried out after the broadcasting is finished.
If the acceleration value x<-1.2m/s2And x>-1.5m/s2If the number of times is more than 4, the brake operation is frequently given, the voice broadcast for keeping the distance is noticed, and the reset is carried out after the voice broadcast is finished.
And if the absolute value of the angular speed value is more than 18 degrees/second for 3 times continuously, giving a multi-turn road section, controlling the voice broadcast of the vehicle speed, and resetting after the voice broadcast is finished.
If the acceleration value is greater than 12.8m/s2The number of times be less than 8 or be less than 7.4 and be greater than 70, and if when GPS was effective, when the speed that GPS measured was greater than 10m/s, then it is better to give the road conditions, please keep the voice broadcast of attention, and the reset condition is: the time is 10 minutes from the last broadcast or the reset is carried out when the broadcast road bumps or the effective speed of the GPS is zero.
When the vehicle turns left, if the pitch angle is larger than 5 degrees and the angular rate Z < -20 degrees/second, the vehicle gives an uphill left turn, pays attention to the voice broadcast of the vehicle speed, and resets after the voice broadcast is finished.
When the vehicle turns right, the pitch angle is larger than 5 degrees, and the angular rate Z < -20 degrees/second, the vehicle turns right on an uphill slope, the voice broadcast of the vehicle speed is controlled, and the vehicle is reset after the voice broadcast is finished.
When the vehicle turns left, if the pitch angle is smaller than-5 degrees and the angular rate Z < -20 degrees/second degree, the vehicle gives a downhill left turn, pays attention to the voice broadcast for controlling the vehicle speed, and resets after the voice broadcast is finished.
When the vehicle turns right, if the pitch angle is smaller than-5 degrees and the angular rate Z < -20 degrees/second, the vehicle turns right on a downhill, the vehicle speed is controlled by voice broadcasting, and the vehicle is reset after the broadcasting is finished.
When any judgment logic is met, corresponding broadcasting can be carried out, and the broadcast can be reset after the previous broadcast is finished. Remind the change of driver's automobile body gesture through above-mentioned report rule, remind the driver to make correct operation in advance, avoid the occurence of failure, effectively ensure the safety of going of vehicle on complicated road surface.
EXAMPLE III
Based on the vehicle posture safety early warning method, the embodiment provides a vehicle posture safety early warning system, which includes:
the MEMS gyroscope is used for measuring angular rate information of the vehicle;
the accelerometer is used for measuring first acceleration information of the vehicle in real time;
a GPS for obtaining second acceleration information of the vehicle;
and the attitude calculation unit is used for performing attitude calculation according to the angular rate information, the first acceleration information and the second acceleration information to obtain the attitude of the vehicle.
After the attitude calculation processing process, the attitude parameters of the vehicle are obtained, the attitude of the vehicle is judged according to the attitude parameters, the attitude parameters and the vehicle attitude are displayed on an interface through a display unit, and corresponding voice broadcast can be given to remind a driver. For example, in rainy and snowy weather, the road condition cannot be judged due to poor vision, and the road surface is wet and slippery, so that the vehicle posture information can be monitored by the vehicle posture early warning system, the road condition in front can be predicted, and the vehicle speed can be reminded too fast. In the foggy weather, the road condition cannot be judged due to poor vision, and the vehicle posture early warning system can be used for continuously predicting the road condition and prompting deceleration. When the vehicle continuously ascends a slope, if the slope is not accurately estimated, flameout is easily caused, and the slope can be continuously predicted through the vehicle attitude early warning system. When the vehicle continuously descends, the vehicle is easy to stall due to the fact that the speed is too high, the vehicle attitude early warning system can continuously predict the gradient and prompt deceleration. When the vehicle is in an emergency turn, the vehicle is too fast, so that the vehicle is easy to turn over on one side and slide down the lane, and the vehicle posture early warning system can predict the curve and prompt the deceleration and the road condition change. When the vehicle continuously turns, the vehicle is easy to turn over due to the increase of centrifugal force and the over-high speed, the vehicle slides down a lane, in addition, the road cannot be judged due to the obstruction of turning sight, and the curvature of the curve can be continuously predicted by the vehicle posture early warning system to prompt the speed reduction of the turning. When the downhill turning is continued, the curvature of the curve can be predicted, and the downhill deceleration is prompted.
The vehicle attitude safety system can visually detect vehicle driving attitude information in real time, provides the vehicle driving attitude information for a driver in a video display and audio alarm mode, reminds the driver of the change of the vehicle body attitude by monitoring the vehicle attitude information, corrects the vehicle body attitude in time, predicts the front road condition and effectively ensures the driving safety of the vehicle on a complex road surface; the driver is prevented from being distracted, the tension and fatigue are effectively reduced, visual illusion is avoided, and the driving safety is guaranteed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A vehicle posture safety early warning method is characterized by comprising the following steps:
s1: measuring angular rate information of the vehicle by using an MEMS gyroscope, measuring first acceleration information of the vehicle by using an accelerometer, and calculating to obtain second acceleration information by using GPS output information;
s2: selecting an attitude error angle, a gyro constant offset and an accelerometer constant zero offset as state vectors, and estimating the state vectors by using a Kalman filtering basic equation to obtain estimated state vectors;
s3: correcting the attitude matrix by using the attitude error angle in the estimated state vector to obtain a corrected attitude matrix, and solving a pitch angle, a roll angle and a course angle according to the corrected attitude matrix; deducting the gyro constant offset in the estimated state vector from the angular rate information to obtain an angular rate value; obtaining an acceleration value according to the first acceleration information, the second acceleration information and the accelerometer constant zero offset in the estimated state vector;
s4: and judging the vehicle attitude according to the pitch angle, the roll angle, the course angle, the angular speed value and the acceleration value, and outputting the pitch angle, the roll angle, the course angle, the angular speed value, the acceleration value and the vehicle attitude.
2. The vehicle attitude safety precaution method according to claim 1, further comprising, before the step S2, the steps of:
t1: calibrating the angular rate information and the first acceleration information to obtain calibrated angular rate information and first acceleration information;
t2: comparing the calibrated first acceleration information with the second acceleration information calculated according to the GPS output information, calculating the difference value of the two to obtain acceleration matching information, and performing orthogonal calibration on the calibrated angular rate information;
t3: judging whether the GPS is available, if not, turning to the step S2; if the GPS is available, it is determined whether the vehicle is turning, and if the vehicle is turning, the process proceeds to step S2, and if the vehicle is not turning, the acceleration information measured by the accelerometer at that time is compared with the acceleration information calculated from the GPS output information, the difference between the two is calculated, the acceleration compensation information is obtained, and the process proceeds to step S2.
3. The vehicle attitude safety precaution method according to claim 2, further comprising, between the step T3 and the step S2, the steps of:
in the step T3, if it is determined that the vehicle is turning, the angular rate output from the X-axis gyro during turning is eliminated, and the angular rate output from the Y-axis gyro during turning is eliminated;
after eliminating the angular rate output by the X-axis gyroscope during turning, judging whether the vehicle is in a turning state, if so, integrating the angular rate information output by the X-axis gyroscope to obtain a pitch angle and outputting the pitch angle; if the vehicle is not in the turning state, go to step S2;
after eliminating the angular rate output by the Y-axis gyroscope during turning, integrating the angular rate output by the Y-axis gyroscope to obtain a first pitch angle, estimating a second pitch angle according to the output of the accelerometer, and then calculating the difference value between the first pitch angle and the second pitch angle; judging whether the GPS is available, if the GPS is unavailable and the difference value between the first pitch angle and the second pitch angle is larger than a preset threshold value, integrating angular rate information output by the Y-axis gyroscope, estimating the current pitch angle and outputting the current pitch angle; if the GPS is available, go to step S2.
4. The vehicle attitude safety warning method according to claim 2, wherein the step S2 specifically includes:
s2-1: selected filter state vector x (t): attitude error angle phi [ [ phi ] ]EφNφU]TGyro constant driftb＝[x y z]TAccelerometer constant zero offsetNamely, it is
S2-2: establishing a system state transition equation:
wherein, X&(t) is the derivative of the state vector X (t) (. phi.)&、&bAnd ▽&bSequentially attitude error angle phi and gyro constant driftbAccelerometer constant zero offset ▽bA derivative of (a);
a state transition matrix of a 9 × 9 dimensional continuous system;
0 represents a zero matrix of 3 × 3 dimensions W (t) is an excitation white noise process of the system, is a 3-dimensional vector, and G (t) is a 9 × -dimensional noise transfer matrix;
s2-3, discretizing the system state transition equation to obtain a discretized 9 × 9-dimensional state one-step transition matrix phik,k-1，Φk,k-1I + tf (T), where T is a filtering period, I is an identity matrix with 9 × 9-dimensional diagonal elements all being 1 and the remaining elements all being 0;
s2-4: determining a measurement vector according to the attitude matrix and the acceleration matching information or the attitude matrix and the acceleration compensation information, and determining a measurement equation according to the measurement vector and the state vector;
s2-5: and solving the estimated state vector by using the filtering basic equation according to the state vector, the state transition equation and the measurement equation to obtain the estimated state vector.
5. The vehicle attitude safety warning method according to claim 4, wherein the step S2-4 specifically includes:
coordinate system b of the bodyThe acceleration matching information or the acceleration compensation information f of the systemb＝[fxfyfz]TProjecting to a platform coordinate system n system to obtainE is east, N is north, U is sky, i.e.
Wherein,is a direction cosine matrix of 3 × 3D from the body coordinate system b system to the platform coordinate system n system, i.e.Selected measurement vector ZkIs fnThe first two dimensions, i.e.Describing the measurement vector ZkAnd the state vector XkThe measurement equation of the relationship is as follows:
wherein,is a measurement matrix, g is the magnitude of the gravitational acceleration, T00,T01,T02,T10,T11,T12As a matrix of gesturesElements of the first two middle rows, VkThe noise sequence is measured in 2 × 1 dimensions, and has a mean value of 0.
6. The vehicle attitude safety precaution method according to claim 4, wherein in the step S2-5, the filtering basic equation is as follows:
a) the one-step prediction equation of state isWherein,estimate of state for one step, phik,k-1In order to have a one-step transition matrix of states,is the estimated value of the state vector at the previous moment;
b) one-step prediction mean square error arrayWherein, Pk/k-1Predicting the mean square error matrix for one step, Pk-1Mean square error matrix, Q, estimated for the state of the previous time instantk-1Is a system noise variance matrix, and is a system noise variance matrix,for one step transition matrix phi of statek,k-1Transposing;
c) computing a filter gain arrayWherein, KkFor the filter gain array, HkIn order to measure the matrix, the measurement matrix is,is HkTransposing; rkIn order to measure the variance matrix of the noise sequence,wherein,zk0and zk1Is a measurement vectorW is a weight coefficient;
d) state estimationWherein,is an estimate of the state vector at the current time, ZkIs a measurement vector;
e) calculating an estimated mean square errorWherein, PkThe mean square error matrix of the estimated state vector at the current moment is shown, and I is an identity matrix;
calculating to obtain the estimated state vector at the k moment according to the basic filter equations a) -e)I.e. the state vector X (t) at tkAn estimate of the time of day.
7. The vehicle attitude safety precaution method according to any one of claims 1 to 6, characterized by further comprising a step of displaying the pitch angle, roll angle, heading angle, angular velocity value and acceleration value in the step S4.
8. The vehicle attitude safety precaution method according to any one of claims 1 to 6, characterized by further comprising a step of voice-broadcasting the vehicle attitude determined in the step S4.
9. A vehicle attitude safety precaution system, comprising:
the MEMS gyroscope is used for measuring angular rate information of the vehicle;
the accelerometer is used for measuring first acceleration information of the vehicle in real time;
a GPS for obtaining second acceleration information of the vehicle;
and the attitude calculation unit is used for performing attitude calculation according to the angular rate information, the first acceleration information and the second acceleration information to obtain the attitude of the vehicle.
10. The vehicle attitude safety pre-warning system according to claim 9, further comprising a display unit and a voice broadcast unit, wherein the display unit is used for displaying the pitch angle, the roll angle, the course angle, the angular speed value, the acceleration value and the vehicle attitude; the voice broadcasting unit is used for controlling and broadcasting the vehicle posture.
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