CN108944328A - A kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance - Google Patents
A kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance Download PDFInfo
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- CN108944328A CN108944328A CN201810300366.9A CN201810300366A CN108944328A CN 108944328 A CN108944328 A CN 108944328A CN 201810300366 A CN201810300366 A CN 201810300366A CN 108944328 A CN108944328 A CN 108944328A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of Vehicle Active Suspension control methods that single line laser radar Longitudinal is taken aim in advance.By two single line laser radars for being installed on Chinese herbaceous peony two sides wheel axis position, Longitudinal rotary scanning, the point cloud data of return is merged with GPS, baroceptor, inertial navigation system measurement data under conversion to WGS-84 coordinate system, outlier filtering and point cloud data serialization are carried out again, the continuous road surface elevation information before forming vehicle driving trace.GPS merges to obtain the two-dimentional geodetic coordinates value of wheel touchdown point with inertial navigation system measurement data simultaneously, and matching Chinese herbaceous peony track road surface elevation information obtains Vehicle Active Suspension control amount.The present invention passes through longitudinal rotary scanning mode of single line laser radar, avoids the magnanimity redundancy terrain data other than processing vehicle driving trace, improves the real-time of suspension control；It is merged according further to GPS with high data, it is accurate to obtain wheel touchdown point geodetic coordinates value, improve vehicle hanging control accuracy of measurement.
Description
Technical field
The invention belongs to vehicle hanging control technology fields, and in particular to a kind of vehicle that single line laser radar Longitudinal is taken aim in advance
Active Suspensions control method.
Background technique
Existing active suspension, only when road agitation acts on vehicle, suspension parameter is just adjusted accordingly, and is deposited
In time lag；Taking aim at formula Active Suspensions in advance anticipated that road surface ahead motivates, and carries out suspension parameter adjusting in advance, improves vehicle row
Sail ride comfort, control stability.
It takes aim at Chinese herbaceous peony landform in advance using laser radar, carries out Active Suspensions control, the scanning mode of laser radar is to available point
The forming amount of cloud data has a significant impact.Entitled " a kind of to take aim at formula Active suspension and its control method in advance " (application of Chinese patent
Number 201610834890.5) not make an explanation to the specific scanning work mode of laser radar.
Pre- currently based on laser radar takes aim at formula Active Suspensions control method, generallys use multi-line laser radar and is installed on vehicle
Body axis position carries out transverse type topographical scan, and this scanning mode can not be kept away in addition to obtaining vehicle driving trace terrain data
It collects with exempting from and controls unrelated magnanimity redundancy terrain data with vehicle hanging, process how invalid point cloud data, control suspension
Real-time processed is deteriorated；The accurate longitude and latitude for calculating wheel touchdown point, can obtain the road surface elevation information of corresponding position, Jin Erti
The control precision of high Active Suspensions actuator.
GPS system has had reached very high precision for the positioning of longitude and latitude, for height above sea level position error compared with
Greatly, with the variation of access number of satellite and the difference of GPS system present position, the most conference of height above sea level error is close to tens meters.
Summary of the invention
In order to overcome the problems of the above-mentioned prior art, it is vertical that the purpose of the present invention is to provide a kind of single line laser radars
The Vehicle Active Suspension control method taken aim in advance to formula solves existing to be taken aim at landform in advance based on laser radar transverse type and needed to handle nothing
Magnanimity redundancy topographic(al) point cloud data are closed, the real time problems of suspension control are influenced, and quick and precisely acquisition wheel touchdown point is big
Ground coordinate value improves the control precision problem of Active Suspensions actuator.
In order to achieve the above object, the present invention adopts the following technical scheme:
The realization of a kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance, this method depends on one
The Vehicle Active Suspension control system that kind single line laser radar Longitudinal is taken aim in advance the system comprises industrial personal computer, electronic control unit, is hanged
Hang actuator, actuator controller, angular transducer, stepper motor, saddle, two single line laser radars, inertial navigation system,
GPS system and baroceptor；
The industrial personal computer and electronic control unit are set in vehicle body, and the two is connected；Suspension actuator one end is connect with vehicle bridge,
The other end is connect with car body；Actuator controller is arranged in actuator control loop and connect with electronic control unit；Angle sensor
Device is arranged in vehicle steering mechanism and connect with electronic control unit；Stepper motor is connected with saddle and is controlled by electronic control unit；Institute
It states angular transducer, electronic control unit, stepper motor and saddle and constitutes front-wheel steer compliant platform；Two single line laser radars are led to
It crosses front-wheel steer compliant platform and is installed on Chinese herbaceous peony two sides wheel axis position, longitudinal rotary scanning Chinese herbaceous peony driving trace can be carried out
Graphic data, and acquisition data are transmitted to interior industrial personal computer；Inertial navigation system is set near vehicle body centroid position；GPS system
System is set to the roof right above automobile front-axle center；Baroceptor is set to by GPS system；The front-wheel steer with
In moving platform, angular transducer acquires front-wheel steer angle information, the value of electronic control unit reading angular sensor, and then controls step
The servo-actuated of front-wheel steer is carried out into motor and saddle；
The method content the following steps are included:
S100. with two single line laser radars acquire before vehicle driving traces relative to laser radar local Coordinate System from
Road surface point cloud data is dissipated, and is read out by industrial personal computer, and the coordinate value by point cloud data relative to laser radar is reduced to two
Dimensional plane coordinate；
S200. by point cloud data fusion GPS system data, baroceptor data and high data, lead to
Coordinate transform is crossed to convert to WGS-84 earth coordinates；
S300. under WGS-84 earth coordinates, the outlier in point cloud data is filtered；
S400. according to fractal theory, the discrete point cloud data after coordinate transform is done by serialization using fractal regressive method
Processing, the continuous road surface elevation information before forming vehicle driving trace；
S500. by the continuous road surface elevation information [x in certain stroke rangeW84,yW84,zW84] deposited as database
Storage, and timing more new database；
S600. simultaneously, GPS system data and high data are only merged, the longitude and latitude of wheel touchdown point is formed,
Two-dimensional coordinate value [the x being further converted under WGS-84 earth coordinatesW84,yW84]；
S700. the two-dimensional coordinate value with wheel touchdown point under WGS-84 earth coordinates matches the preceding road of vehicle driving trace
Data in the elevation information database of face obtain the road surface elevation z of wheel touchdown point present positionW84, and then obtain vehicle actively
Hang the preview control amount of actuator；
S800. preview control amount is formed control signal and is transmitted to actuator controller；
S900. control Active Suspensions actuator movement.
Due to the adoption of the above technical scheme, a kind of vehicle that single line laser radar Longitudinal is taken aim in advance active provided by the invention
Hang control method, have compared with prior art it is such the utility model has the advantages that
By single line laser radar longitudinal direction rotary scanning mode, the unrelated magnanimity other than processing vehicle driving trace is avoided
Redundancy terrain data improves the real-time of vehicle hanging control；Compared with multi-line laser radar, single line laser radar has more
More accurate Chinese herbaceous peony track road surface elevation information can be obtained in high angular resolution；Altitude info ination uses baroceptor
It is calculated, improves the computational accuracy of road surface elevation information；Meanwhile only GPS system is merged with high data, it is quasi-
Wheel touchdown point geodetic coordinates value is really obtained, Vehicle Active Suspension actuator control accuracy of measurement is improved.
Detailed description of the invention
Fig. 1 is single line laser radar Longitudinal preview control method flow diagram of the invention；
Fig. 2 is single line laser radar Longitudinal preview control system structure diagram of the invention；
Figure label: 1- industrial personal computer, 2- electronic control unit, 3- hang actuator, 4- actuator controller, 5- angle sensor
Device, 6- stepper motor, 7- saddle, 8- single line laser radar, 9- inertial navigation system, 10-GPS system, 11- baroceptor.
Fig. 3 is single line laser radar of the invention, GPS system, baroceptor, the installation signal of inertial navigation system car body
Figure；
Fig. 4 is single line laser radar of the invention, GPS system, inertial navigation system reference frame schematic diagram；
Fig. 5 is that wheel touchdown point longitude and latitude of the invention resolves schematic diagram.
Fig. 6 is the fractal interpolation theory matlab emulation schematic diagram that the present invention selects.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
A kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance of the invention, the realization of this method
Dependent on a kind of Vehicle Active Suspension control system that single line laser radar Longitudinal is taken aim in advance, as Figure 2-3, the system packet
Include industrial personal computer 1, electronic control unit 2, suspension actuator 3, actuator controller 4, angular transducer 5, stepper motor 6, saddle 7, two
Portion's single line laser radar 8, inertial navigation system 9, GPS system 10 and baroceptor 11；The industrial personal computer 1 and electronic control unit 2
It is set in vehicle body, and the two is connected；As shown in figure 3, suspension 3 one end of actuator is connect with vehicle bridge, the other end is connect with car body；
Actuator controller 4 is arranged in actuator control loop and connect with electronic control unit 2；The setting of angular transducer 5 turns in vehicle
It is connect into mechanism and with electronic control unit 2；Stepper motor 6 and saddle 7 are connected and are controlled by electronic control unit 2；The angle sensor
Device 5, electronic control unit 2, stepper motor 6 and saddle 7 constitute front-wheel steer compliant platform；As shown in figure 4, two single line laser radars
8, Chinese herbaceous peony two sides wheel axis position is installed on by front-wheel steer compliant platform, longitudinal rotary scanning Chinese herbaceous peony traveling rail can be carried out
Slash graphic data, and acquisition data are transmitted to interior industrial personal computer 1；Inertial navigation system 9 is set near vehicle body centroid position；
GPS system 10 is set to the roof right above automobile front-axle center；Baroceptor 11 is set to by GPS system 10；Institute
It states in front-wheel steer compliant platform, angular transducer 5 acquires front-wheel steer angle information, 2 reading angular sensor 5 of electronic control unit
Value, and then control stepper motor 6 and saddle 7 and carry out the servo-actuated of front-wheel steer.
As shown in Figure 1, the method content the following steps are included:
S100, it is acquired with two single line laser radars 8 before vehicle driving traces relative to laser radar local Coordinate System
Discrete road surface point cloud data, and be read out by industrial personal computer 1, and by point cloud data relative to 8 local Coordinate System of laser radar
D coordinates value is reduced to two-dimensional plane coordinate；
Specifically, as shown in Figure 3-4, two single line laser radars 8 are installed on Chinese herbaceous peony two sides wheel axis position in the present invention
It sets, point cloud data is obtained using longitudinal rotary scanning, and the three-dimensional by point cloud data relative to 8 local Coordinate System of laser radar is sat
Scale value is reduced to two-dimensional plane coordinate, specific transform mode are as follows:
xL=Rsin β
yL=0
zL=Rcos β
Wherein: xL、yLAnd zLRespectively point cloud data is in the coordinate value of two-dimensional surface, and β is pitch angle, and R is that scanning is effective
Distance.
S200,10 data of point cloud data fusion GPS system, 11 data of baroceptor and inertial navigation system 9 are counted
According to being converted by coordinate transform to WGS-84 earth coordinates；The coordinate transformation method is in document [1] field auspicious sign etc. (2014
Year) " vehicle-mounted LiDAR scanning system installation error angle calibration " in be made that explanation, content are combined in a manner of reference
In this；
According to method described in document [1], the coordinate conversion relation of point cloud data to WGS-84 earth coordinates can be with
It is written as:
TMFor laser radar reference frame to the spin matrix of inertial navigation system reference frame, matrix element value by
The error of fixed angles of the two is calculated；
TNIt is inertial navigation system to the spin matrix of local horizontal coordinates, matrix element value is by inertial navigation system
Measured value is calculated；
TWIt is local horizontal coordinates to the spin matrix of WGS-84 earth coordinates, matrix element value is by GPS system
Measured value is calculated；
[xGPS, yGPS,zGPS]TIt is specific to indicate for coordinate value of the GPS system signal center under WGS-84 earth coordinates
Are as follows:
Wherein (B, L) is latitude, the longitude that GPS system measurement obtains, and a is earth ellipsoid major semiaxis, and e is first eccentric
Rate,
A=6378137.0m
e2=0.00669437999013
[ΔxLI, Δ yLI,ΔzLI]TIt is sat for coordinate origin and the inertial navigation system reference of laser radar reference frame
The offset between the coordinate origin of system is marked,
[ΔxIG, Δ yIG,ΔzIG]TCoordinate origin and GPS system signal center for inertial navigation system reference frame
Offset between the coordinate origin of reference frame,
Different from the acquisition modes of document [1] intermediate altitude, intermediate altitude H of the present invention is calculated using baroceptor
Height above sea level is embodied as:
P0=101325Pa
Mounting height error of the Δ H between baroceptor and GPS signal center.
S300, under WGS-84 earth coordinates, the outlier in point cloud data is filtered；
Specifically, the present invention is realized using the StatisticalOutlierRemoval filter in PCL point cloud library.Cause
Sparse outlier can be generated there are error during lidar measurement, to each point, calculated it and arrived in certain contiguous range
The average distance of point cloud, point of the average distance except critical field can be defined as outlier and converge middle removal from point.
S400, foundation fractal theory, do serialization for the discrete point cloud data after coordinate transform using fractal regressive method
Processing, the continuous road surface elevation information before forming vehicle driving trace, the matlab that Fig. 6 show two-dimensional fractal interpolation theory are imitative
True schematic diagram；
S500, by the continuous road surface elevation information [x in certain stroke rangeW84,yW84,zW84] deposited as database
Storage, and timing more new database；
S600, simultaneously only merges GPS system data and high data, forms the longitude and latitude of wheel touchdown point,
Two-dimensional coordinate value [the x being further converted under WGS-84 earth coordinatesW84,yW84], conversion process is as follows:
Specifically, as shown in figure 5, by taking two-axle car as an example, M indicates that wheelbase, N indicate that wheelspan, A, B, C, D indicate four vehicles
Touchdown point is taken turns, P1 indicates GPS system, and angle [alpha] indicates that vehicle course angle, value are obtained by inertial navigation system measurement；
The longitude and latitude that the measurement of GPS system signal center obtains is expressed as P1 (L1,B1), to the east of-Northern Hemisphere for, then A,
B, the longitude and latitude of tetra- wheel touchdown points of C, D can indicate are as follows:
The wherein specific manifestation form of two L (x), B (x) functions are as follows:
S is equatorial perimeter, and l is meridional parts；
After obtaining four wheel touchdown point longitudes and latitudes, the two-dimensional coordinate value that is converted under WGS-84 earth coordinates:
S700, the preceding road of vehicle driving trace is matched with two-dimensional coordinate value of the wheel touchdown point under WGS-84 earth coordinates
Data in the elevation information database of face obtain the road surface elevation z of wheel touchdown point present positionW84, and then obtain vehicle actively
Hang the preview control amount of actuator；
S800, preview control amount form control signal and are transmitted to actuator controller；
S900, control Active Suspensions actuator movement.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (3)
1. a kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance, which is characterized in that the reality of this method
Now depend on a kind of Vehicle Active Suspension control system that single line laser radar Longitudinal is taken aim in advance, the system comprises industrial personal computer,
Electronic control unit, actuator controller, angular transducer, stepper motor, saddle, two single line laser radars, is used at suspension actuator
Property navigation system, GPS system and baroceptor；
The industrial personal computer and electronic control unit are set in vehicle body, and the two is connected；Suspension actuator one end is connect with vehicle bridge, another
End is connect with car body；Actuator controller is arranged in actuator control loop and connect with electronic control unit；Angular transducer is set
It sets in vehicle steering mechanism and is connect with electronic control unit；Stepper motor is connected with saddle and is controlled by electronic control unit；The angle
It spends sensor, electronic control unit, stepper motor and saddle and constitutes front-wheel steer compliant platform；Two single line laser radars, by preceding
It rotates to compliant platform and is installed on Chinese herbaceous peony two sides wheel axis position, longitudinal rotary scanning Chinese herbaceous peony driving trace can be carried out figurate number
According to, and acquisition data are transmitted to interior industrial personal computer；Inertial navigation system is set near vehicle body centroid position；GPS system is set
The roof being placed in right above automobile front-axle center；Baroceptor is set to by GPS system；The front-wheel steer is servo-actuated flat
In platform, angular transducer acquires front-wheel steer angle information, the value of electronic control unit reading angular sensor, and then controls stepping electricity
Machine and saddle carry out the servo-actuated of front-wheel steer；
The method content the following steps are included:
S100. with the discrete road before two single line laser radars acquisition vehicle driving traces relative to laser radar local Coordinate System
Face point cloud data, and be read out by industrial personal computer, and point cloud data is reduced to two dimension relative to the coordinate value of laser radar and is put down
Areal coordinate；
S200. by point cloud data fusion GPS system data, baroceptor data and high data, pass through seat
Under mark transformation conversion to WGS-84 earth coordinates；
S300. under WGS-84 earth coordinates, the outlier in point cloud data is filtered；
S400. according to fractal theory, the discrete point cloud data after coordinate transform is done by continuous treatment using fractal regressive method,
Continuous road surface elevation information before forming vehicle driving trace；
S500. by the continuous road surface elevation information [x in certain stroke rangeW84,yW84,zW84] stored as database, and
Timing more new database；
S600. simultaneously, GPS system data and high data are only merged, the longitude and latitude of wheel touchdown point is formed, into one
Walk the two-dimensional coordinate value [x being converted under WGS-84 earth coordinatesW84,yW84]；
S700. the preceding road surface of two-dimensional coordinate value matching vehicle driving trace with wheel touchdown point under WGS-84 earth coordinates is high
Data in journey information database obtain the road surface elevation z of wheel touchdown point present positionW84, and then obtain Vehicle Active Suspension
The preview control amount of actuator；
S800. preview control amount is formed control signal and is transmitted to actuator controller；
S900. control Active Suspensions actuator movement.
2. a kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance according to claim 1,
Be characterized in that: in the step s 100, the D coordinates value by point cloud data relative to 8 local Coordinate System of laser radar simplifies
For two-dimensional plane coordinate, specific transform mode are as follows:
xL=Rsin β
yL=0
zL=Rcos β
Wherein: xL、yLAnd zLRespectively for point cloud data in the coordinate value of two-dimensional surface, β is pitch angle, R be scanning effectively away from
From.
3. a kind of Vehicle Active Suspension control method that single line laser radar Longitudinal is taken aim in advance according to claim 1,
Be characterized in that: in step S600, the fusion GPS system data and high data form wheel touchdown point
Longitude and latitude, the two-dimensional coordinate value being further converted under WGS-84 earth coordinates；Its process that converts is as follows:
By taking two-axle car as an example, M indicates that wheelbase, N indicate that wheelspan, A, B, C, D indicate four wheel touchdown points, and P1 indicates GPS system
System, angle [alpha] indicate that vehicle course angle, value are obtained by inertial navigation system measurement；
The longitude and latitude that the measurement of GPS system signal center obtains is expressed as P1 (L1,B1), to the east of-Northern Hemisphere for, then A, B, C, D
The longitude and latitude of four wheel touchdown points can indicate are as follows:
The wherein specific manifestation form of two L (x), B (x) functions are as follows:
S is equatorial perimeter, and l is meridional parts；
After obtaining four wheel touchdown point longitudes and latitudes, the two-dimensional coordinate value that is converted under WGS-84 earth coordinates:
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111873744A (en) * | 2020-07-15 | 2020-11-03 | 吉林大学 | Active suspension pre-aiming control method based on camera sensor road surface information identification |
| CN112444799A (en) * | 2020-12-07 | 2021-03-05 | 福建（泉州）哈工大工程技术研究院 | Off-line acceptance workshop of multi-line laser radar automatic driving equipment |
| CN113888463A (en) * | 2021-08-31 | 2022-01-04 | 广州文远知行科技有限公司 | Wheel rotation angle detection method and device, electronic device and storage medium |
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| CN106183691A (en) * | 2016-09-21 | 2016-12-07 | 吉林大学 | One takes aim at formula Active suspension and control method thereof in advance |
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| CN111873744A (en) * | 2020-07-15 | 2020-11-03 | 吉林大学 | Active suspension pre-aiming control method based on camera sensor road surface information identification |
| CN112444799A (en) * | 2020-12-07 | 2021-03-05 | 福建（泉州）哈工大工程技术研究院 | Off-line acceptance workshop of multi-line laser radar automatic driving equipment |
| CN112444799B (en) * | 2020-12-07 | 2024-05-10 | 福建（泉州）哈工大工程技术研究院 | Offline acceptance workshop of multi-line laser radar automatic driving equipment |
| CN113888463A (en) * | 2021-08-31 | 2022-01-04 | 广州文远知行科技有限公司 | Wheel rotation angle detection method and device, electronic device and storage medium |
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