CN109297486B - Inertia and multi-odometer information-assisted vehicle motion state determination method and system - Google Patents
Inertia and multi-odometer information-assisted vehicle motion state determination method and system Download PDFInfo
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- CN109297486B CN109297486B CN201811153036.8A CN201811153036A CN109297486B CN 109297486 B CN109297486 B CN 109297486B CN 201811153036 A CN201811153036 A CN 201811153036A CN 109297486 B CN109297486 B CN 109297486B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
Abstract
The invention discloses a method and a system for judging a vehicle motion state assisted by inertia and multi-odometer information. Judging whether the difference value between the driving wheel odometer increment and the driven wheel odometer increment is smaller than a braking sliding set threshold value or not; judging whether the difference value between the driving wheel odometer increment and the driven wheel odometer increment is greater than an idle slip set threshold value or not; judging whether the absolute value of the difference value between the driving wheel odometer increment and the driven wheel odometer increment is smaller than a small-quantity set threshold value or not, and whether the difference value between the driving wheel odometer increment and the inertial navigation odometer increment is larger than a four-wheel slip set threshold value or whether the difference value between the driven wheel odometer increment and the inertial navigation odometer increment is larger than a four-wheel slip set threshold value or not; and judging whether the driving wheel odometer increment and the driven wheel odometer increment are zero or not, and judging the motion state of the vehicle body by four judging modes that the inertial navigation odometer increment is larger than zero, so that the perfect matching use of the inertial navigation and the odometer is realized.
Description
Technical Field
The invention relates to the field of judgment of vehicle motion states, in particular to a method and a system for judging vehicle motion states assisted by inertia and multi-odometer information.
Background
In land vehicle navigation, a combination of inertia/GPS/odometer is generally selected. The inertial navigation has the advantage of complete autonomy, is not interfered by any interference, but navigation errors are accumulated along with the increase of time; the GPS can provide position and speed information in real time, but is easily interfered by the environment, and can not provide attitude information or high-frequency information; the odometer also has autonomy, but the odometer cannot directly provide the speed and the position of a carrier, and due to a complex practical use environment, phenomena such as vehicle body sideslip, idling or sliding and the like can occur, so that the situation that the accumulated error of the data failure of the odometer is rapidly increased is caused.
When the inertia/GPS/milemeter combination is used, the data of the inertia and the GPS can be jointly used for judging whether the output of the milemeter is normal or not; when the navigation is required to be fully self-guided, the inertia/odometer is used in a combined mode, the judgment of the output of the odometer or the motion state of the vehicle body is particularly important, and once the judgment is wrong, the odometer data with large errors can immediately pollute the inertial navigation data, so that the accuracy of the combined system is dispersed and the combined system cannot be used.
In the prior art, the military science reports 'strapdown inertial navigation system/odometer high-precision compact integrated navigation algorithm' considers that the distance increment measured by the odometer is far larger than the distance increment in the actual running process when the vehicle slips, but the direction of the distance increment is opposite when the vehicle slips. Therefore, the motion condition of the vehicle body can be judged according to the difference between the displacement increment of the odometer and the displacement increment calculated by the inertial navigation. When the precision of the inertial measurement unit is accurate, the accurate judgment of the movement of the vehicle body can be realized; however, when the inertial measurement unit drifts greatly, it cannot be judged whether the output of the odometer is abnormal or the inertial navigation error is caused, and at the moment, the motion state of the vehicle body is judged to be out of control, and the good use of the inertia/odometer combination cannot be connected subsequently.
Disclosure of Invention
The invention aims to provide a method and a system for judging the motion state of a vehicle body assisted by inertia and multi-odometer information, which can realize the good use of the combination of inertia and odometers.
In order to achieve the purpose, the invention provides the following scheme:
an inertial and multi-odometer information assisted vehicle body motion state determination method, the method comprising:
acquiring the odometer increment of a driving wheel in unit time, the odometer increment of a driven wheel in unit time and the odometer increment of an inertial navigation in unit time;
judging whether the difference value between the odometer increment of the driving wheel in unit time and the odometer increment of the driven wheel in unit time is smaller than a braking sliding set threshold value or not;
if so, judging that the vehicle body motion state is a braking and sliding state;
if not, judging whether the difference value between the mileage increment of the driving wheel in unit time and the mileage increment of the driven wheel in unit time is larger than the idle slip set threshold value or not;
if so, judging that the vehicle body motion state is an idle sliding state;
if not, judging whether the absolute value of the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of the driven wheel is smaller than a small set threshold value or not, and whether the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of the inertial navigation is larger than a four-wheel slip set threshold value or whether the difference value between the mileage increment in the unit time of the driven wheel and the mileage increment in the unit time of the inertial navigation is larger than a four-wheel slip set threshold value or not;
if so, judging that the vehicle body motion state is a four-wheel slip state;
if not, judging whether the odometer increment in the unit time of the driving wheel and the driven wheel is zero or not and whether the odometer increment in the unit time of the inertial navigation is greater than zero or not;
if so, judging that the vehicle body motion state is a transported state;
if not, the vehicle body motion state is judged to be a normal driving state.
Alternatively, the braking skid setting threshold, the idle skid setting threshold, and the small setting threshold are set based on the vehicle body running speed and the noise measured by the odometer.
Optionally, the four-wheel slip setting threshold is set according to a vehicle body running speed, noise measured by the odometer, and an inertial navigation speed error.
In order to achieve the purpose, the invention provides the following scheme:
an inertial and multi-odometer information assisted vehicle body motion state determination system, the system comprising:
the acquisition module is used for acquiring the odometer increment of the driving wheel in unit time, the odometer increment of the driven wheel in unit time and the odometer increment of the inertial navigation in unit time;
the first judgment module is used for judging whether the difference value between the odometer increment of the driving wheel in unit time and the odometer increment of the driven wheel in unit time is smaller than a braking sliding set threshold value or not;
the braking sliding state determining module is used for judging that the vehicle body motion state is a braking sliding state;
the second judgment module is used for judging whether the difference value between the mileage increment of the driving wheel in unit time and the mileage increment of the driven wheel in unit time is larger than the idle slip set threshold value or not;
the idle sliding state determining module is used for judging that the motion state of the vehicle body is an idle sliding state;
a third judging module, configured to judge whether an absolute value of a difference between the odometer increment in the driving wheel unit time and the odometer increment in the driven wheel unit time is smaller than a small-amount set threshold, and whether a difference between the odometer increment in the driving wheel unit time and the odometer increment in the inertial navigation unit time is greater than a four-wheel slip set threshold or whether a difference between the odometer increment in the driven wheel unit time and the odometer increment in the inertial navigation unit time is greater than a four-wheel slip set threshold;
the four-wheel slip state determining module is used for judging that the vehicle body motion state is a four-wheel slip state;
the fourth judging module is used for judging whether the odometer increment in the unit time of the driving wheel and the odometer increment in the unit time of the driven wheel are zero or not and whether the odometer increment in the unit time of the inertial navigation is larger than zero or not;
the transported state determining module is used for judging that the motion state of the vehicle body is a transported state;
and the normal running state determining module is used for judging that the vehicle body motion state is a normal running state.
Alternatively, the braking skid setting threshold, the idle skid setting threshold, and the small setting threshold are set based on the vehicle body running speed and the noise measured by the odometer.
Optionally, the four-wheel slip setting threshold is set according to a vehicle body running speed, noise measured by the odometer, and an inertial navigation speed error.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a method for judging the motion state of a vehicle body assisted by inertia and multi-odometer information, which comprises the following steps: acquiring the odometer increment of a driving wheel in unit time, the odometer increment of a driven wheel in unit time and the odometer increment of an inertial navigation in unit time; judging whether the difference value between the odometer increment of the driving wheel in unit time and the odometer increment of the driven wheel in unit time is smaller than a braking sliding set threshold value or not; if so, judging that the vehicle body motion state is a braking and sliding state; if not, judging whether the difference value between the mileage increment of the driving wheel in unit time and the mileage increment of the driven wheel in unit time is larger than the idle slip set threshold value or not; if so, judging that the vehicle body motion state is an idle sliding state; if not, judging whether the absolute value of the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of the driven wheel is smaller than a small set threshold value or not, and whether the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of the inertial navigation is larger than a four-wheel slip set threshold value or whether the difference value between the mileage increment in the unit time of the driven wheel and the mileage increment in the unit time of the inertial navigation is larger than a four-wheel slip set threshold value or not; if so, judging that the vehicle body motion state is a four-wheel slip state; if not, judging whether the odometer increment in the unit time of the driving wheel and the driven wheel is zero or not and whether the odometer increment in the unit time of the inertial navigation is greater than zero or not; if so, judging that the vehicle body motion state is a transported state; if not, the vehicle body motion state is judged to be a normal driving state. The motion state of the vehicle body is judged by the mismatching degree between the inertia and the multi-odometer information, so that the perfect matching use of the inertia navigation and the odometer is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a method for determining a state of motion of a vehicle body assisted by inertial and multi-odometer information in accordance with an embodiment of the present invention;
fig. 2 is a structural diagram of a vehicle motion state determination system assisted by inertia and multi-odometer information according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a method for determining a motion state of a vehicle body assisted by inertial and multi-odometer information according to an embodiment of the present invention. As shown in fig. 1, a method for determining a motion state of a vehicle body assisted by inertia and multi-odometer information, the method comprising:
step 101: acquiring the odometer increment of a driving wheel in unit time, the odometer increment of a driven wheel in unit time and the odometer increment of an inertial navigation in unit time;
step 102: judging whether the difference value between the odometer increment of the driving wheel in unit time and the odometer increment of the driven wheel in unit time is smaller than a braking sliding set threshold value or not;
step 103: if so, judging that the vehicle body motion state is a braking and sliding state;
step 104: if not, judging whether the difference value between the mileage increment of the driving wheel in unit time and the mileage increment of the driven wheel in unit time is larger than the idle slip set threshold value or not;
step 105: if so, judging that the vehicle body motion state is an idle sliding state;
step 106: if not, judging whether the absolute value of the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of the driven wheel is smaller than a small set threshold value or not, and whether the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of the inertial navigation is larger than a four-wheel slip set threshold value or whether the difference value between the mileage increment in the unit time of the driven wheel and the mileage increment in the unit time of the inertial navigation is larger than a four-wheel slip set threshold value or not;
step 107: if so, judging that the vehicle body motion state is a four-wheel slip state;
step 108: if not, judging whether the odometer increment in the unit time of the driving wheel and the driven wheel is zero or not and whether the odometer increment in the unit time of the inertial navigation is greater than zero or not;
step 109: if so, judging that the vehicle body motion state is a transported state;
step 110: if not, the vehicle body motion state is judged to be a normal driving state.
The braking skid setting threshold, the idling skid setting threshold, and the small setting threshold are set based on the vehicle body running speed and the noise measured by the odometer.
The four-wheel slip setting threshold is set according to the running speed of the vehicle body, noise measured by the odometer and inertial navigation speed error.
The motion state of the vehicle body is judged by the mismatching degree between the inertia and the multi-odometer information, so that the perfect matching use of the inertia navigation and the odometer is realized.
Fig. 2 is a structural diagram of a vehicle motion state determination system assisted by inertia and multi-odometer information according to an embodiment of the present invention. As shown in fig. 2, an inertia and multi-odometer information-assisted vehicle body motion state determination system includes:
the acquiring module 201 is used for acquiring the odometer increment of the driving wheel in unit time, the odometer increment of the driven wheel in unit time and the odometer increment of the inertial navigation in unit time;
a first judging module 202, configured to judge whether a difference between an increment of the odometer in a unit time of the driving wheel and an increment of the odometer in a unit time of the driven wheel is smaller than a braking and coasting setting threshold;
a braking and sliding state determining module 203, configured to determine that the vehicle motion state is a braking and sliding state;
a second judging module 204, configured to judge whether a difference between an odometer increment of the driving wheel in unit time and an odometer increment of the driven wheel in unit time is greater than an idle slip set threshold;
the idle sliding state determination module 205 is used for determining that the vehicle body motion state is an idle sliding state;
a third determining module 206, configured to determine whether an absolute value of a difference between the odometer increment in the driving wheel unit time and the odometer increment in the driven wheel unit time is smaller than a small-amount set threshold, and whether a difference between the odometer increment in the driving wheel unit time and the odometer increment in the inertial navigation unit time is greater than a four-wheel slip set threshold or whether a difference between the odometer increment in the driven wheel unit time and the odometer increment in the inertial navigation unit time is greater than a four-wheel slip set threshold;
a four-wheel slip state determination module 207 for determining that the vehicle body motion state is a four-wheel slip state;
a fourth determining module 208, configured to determine whether the odometer increment in the unit time of the driving wheel and the odometer increment in the unit time of the driven wheel are zero, and whether the odometer increment in the unit time of the inertial navigation is greater than zero;
a transported state determining module 209 for determining that the vehicle body motion state is a transported state;
and a normal driving state determination module 210 for determining that the vehicle body motion state is a normal driving state.
The braking skid setting threshold, the idling skid setting threshold, and the small setting threshold are set based on the vehicle body running speed and the noise measured by the odometer.
The four-wheel slip setting threshold is set according to the running speed of the vehicle body, noise measured by the odometer and inertial navigation speed error.
Specific example 1:
taking a certain non-four-wheel drive truck as an example, mileometers with the same type are respectively arranged on a driving wheel (rear wheel) and a driven wheel (front wheel), and the mileages of the driving wheel and the driven wheel can be detected and output in real time. The inertial navigation system is arranged near the chassis and works normally, and can realize the recursion calculation of vehicle body turning and inertial displacement. The increment of the odometer per unit time (for example, 1s) on the driving wheel and the driven wheel is set toSQAndSC(ii) a The mileage calculation increment in unit time of inertial navigation isSINS；
(1) Braking and sliding judgment logic: considering that the distance increment of the driving wheel is generally far smaller than that of the driven wheel during emergency braking, judging whether the vehicle body slides in a braking mode according to the distance difference between the driving wheel and the driven wheel:
SQ-SC＜ΛH
if the above is true, it indicates that the vehicle body is coasting under braking. In the formulaHFor a set brake coast decision threshold, ΛHThe selection of (1) is related to the running speed of the vehicle and the measurement noise of the odometer.
(2) And (3) idle slip judgment logic: considering that the distance increment of the driving wheel is generally far larger than that of the driven wheel when the vehicle slips, judging whether the vehicle body slips or not according to the mileage difference between the driving wheel and the driven wheel:
SQ-SC＞ΛK
if the above is true, it indicates that the vehicle body is slipping at idle. In the formulaKFor setting idle judgment threshold value, ΛKThe selection of (1) is related to the running speed of the vehicle and the measurement noise of the odometer.
(3) Judging logic of four-wheel slip: in an extreme case, the driving wheel and the driven wheel are close in mileage when four wheels slip, but the odometer is far greater than the inertia mileage to judge that the vehicle body slips for the four wheels:
|SQ-SCand S | <Q-SINS＞ΛSOr SC-SINS＞ΛS
If the above is true, it indicates that the vehicle body is slipping at four wheels. In which is a set small threshold value, ΛSThe set four-wheel slip judgment threshold value is selected according to the running speed of the vehicle and the measurement noise of the odometer. LambdaSThe selection of (a) is related to the vehicle running speed, the measurement noise of the odometer and the error magnitude of the inertial navigation speed.
(4) The logic for judging whether the vehicle body is transported is as follows: in a special case, considering the condition that the vehicle body is transported, the driving wheel mileage and the driven wheel mileage are 0 at the moment, but the inertia mileage is far more than 0, and the vehicle body is judged to be in a transported state:
SQ≈0，Sc0 and SINS＞0。
And (3) judging logic of normal driving: and (4) circulating the judgment of the steps (1) to (4), judging that the vehicle body normally runs after the working conditions of the steps (1) to (4) can be eliminated, and normally combining the information of the inertia and the odometer.
The invention is not limited to the specific judgment method of the scheme, and other similar methods can also achieve the aim of the scheme based on the mismatching degree between the inertia and the multi-odometer information.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. An inertial and multi-odometer information-assisted vehicle body motion state determination method, comprising:
acquiring the odometer increment of the driving wheel in unit time, the odometer increment of the driven wheel in unit time and the odometer increment of the driven wheel in unit time;
judging whether the difference value between the odometer increment of the driving wheel in unit time and the odometer increment of the driven wheel in unit time is smaller than a braking sliding set threshold value or not;
if so, judging that the vehicle body motion state is a braking and sliding state;
if not, judging whether the difference value between the mileage increment of the driving wheel in unit time and the mileage increment of the driven wheel in unit time is larger than the idle slip set threshold value or not;
if so, judging that the vehicle body motion state is an idle sliding state;
if not, judging whether the absolute value of the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of the driven wheel is smaller than a small set threshold value or not, and whether the difference value between the mileage increment in the unit time of the driving wheel and the mileage increment in the unit time of inertia is larger than a four-wheel slip set threshold value or whether the difference value between the mileage increment in the unit time of the driven wheel and the mileage increment in the unit time of inertia is larger than a four-wheel slip set threshold value or not;
if so, judging that the vehicle body motion state is a four-wheel slip state;
if not, judging whether the odometer increment in the unit time of the driving wheel and the driven wheel is zero or not and whether the odometer increment in the unit time of the inertia is larger than zero or not;
if so, judging that the vehicle body motion state is a transported state;
if not, the vehicle body motion state is judged to be a normal driving state.
2. The inertia and multi-odometer information assisted vehicle body motion state determination method according to claim 1, wherein the brake coast set threshold, the idle slip set threshold, and the small amount set threshold are set according to a vehicle body running speed and noise measured by an odometer.
3. The inertia and multi-odometer information assisted vehicle body motion state determination method according to claim 1, wherein the four-wheel slip setting threshold is set based on a vehicle body running speed, noise measured by an odometer, and an inertia speed error.
4. An inertial and multi-odometer information-assisted vehicle body motion state determination system, the system comprising:
the acquisition module is used for acquiring the odometer increment of the driving wheel in unit time, the odometer increment of the driven wheel in unit time and the odometer increment of the driven wheel in unit time;
the first judgment module is used for judging whether the difference value between the odometer increment of the driving wheel in unit time and the odometer increment of the driven wheel in unit time is smaller than a braking sliding set threshold value or not;
the braking and sliding state determining module is used for judging that the motion state of the vehicle body is a braking and sliding state;
the second judgment module is used for judging whether the difference value between the mileage increment of the driving wheel in unit time and the mileage increment of the driven wheel in unit time is larger than the idle slip set threshold value or not;
the idle sliding state determining module is used for judging that the motion state of the vehicle body is an idle sliding state;
a third judging module, configured to judge whether an absolute value of a difference between the odometer increment in the driving wheel unit time and the odometer increment in the driven wheel unit time is smaller than a small setting threshold, and whether a difference between the odometer increment in the driving wheel unit time and the odometer increment in the inertia unit time is greater than a four-wheel slip setting threshold or whether a difference between the odometer increment in the driven wheel unit time and the odometer increment in the inertia unit time is greater than a four-wheel slip setting threshold;
the four-wheel slip state determining module is used for judging that the vehicle body motion state is a four-wheel slip state;
the fourth judging module is used for judging whether the odometer increment in the unit time of the driving wheel and the odometer increment in the unit time of the driven wheel are zero or not and whether the odometer increment in the unit time of inertia is larger than zero or not;
the transported state determining module is used for judging that the motion state of the vehicle body is a transported state;
and the normal running state determining module is used for judging that the vehicle body motion state is a normal running state.
5. The inertia and multi-odometer information assisted vehicle body motion state determination system according to claim 4, wherein the brake coast set threshold, the idle slip set threshold, and the small amount set threshold are set according to a vehicle body running speed and noise measured by an odometer.
6. The inertia and multi-odometer information assisted vehicle body motion state determination system according to claim 4, wherein the four-wheel slip setting threshold is set based on a vehicle body running speed, noise measured by an odometer, and an inertial speed error.
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| CN114216460A (en) * | 2021-11-23 | 2022-03-22 | 优兔创新有限公司 | Odometer positioning method, global positioning method and positioning system |
| CN116061962B (en) * | 2022-12-30 | 2024-03-08 | 瑞修得信息科技(无锡)有限公司 | Method and device for reminding fuel consumption reduction of vehicle tire slip |
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