CN109677508A - A kind of vehicle motion data acquisition methods, device, equipment and storage medium - Google Patents
A kind of vehicle motion data acquisition methods, device, equipment and storage medium Download PDFInfo
- Publication number
- CN109677508A CN109677508A CN201910086357.9A CN201910086357A CN109677508A CN 109677508 A CN109677508 A CN 109677508A CN 201910086357 A CN201910086357 A CN 201910086357A CN 109677508 A CN109677508 A CN 109677508A
- Authority
- CN
- China
- Prior art keywords
- wheel
- corner
- vehicle
- car body
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a kind of vehicle motion data acquisition methods, device, equipment and storage mediums, this method comprises: obtaining the rotational angular velocity value of car body and wheel respectively using gyroscope, the relative rotation magnitude of angular velocity of the relatively described car body of the wheel is obtained, and then obtains the first corner of wheel of the vehicle；Wheel second corner of the angle of rotation angle value as the vehicle of the relatively described car body of the wheel is obtained using the measuring part for being different from the gyroscope；When meeting correction conditions, first corner is modified using second corner, and using correction result as the wheel steering angle of the vehicle.The technical solution of the embodiment of the present invention, the magnitude of angular velocity of wheel is got by gyroscope, and the corner obtained by gyroscope is modified by the corner got by other measuring parts under setting condition, it is excessive to avoid the rotational angle error that gyroscope is got with the increase of the time of integration, improves the acquisition precision of wheel movement data.
Description
Technical field
The embodiment of the present invention relates to automobile and field of intelligent control more particularly to a kind of vehicle motion data acquisition methods, dress
It sets, equipment and storage medium.
Background technique
With the continuous progress of science and technology, the intelligentized control method of automobile has progressed into the people visual field, and as automobile intelligent
Change an important component, accurately acquire wheel movement data become it is vehicle intellectualized research it is essential prerequisite
Condition.
When obtaining vehicle wheel rotation angle, usually obtained using various contact type angle sensors.By contact angle
Chaining part and rotation axis connection, the rotation of rotation axis on sensor are indicated in the form of encoder to count, every to rotate certain angle
Degree, encoder just counts once, and rotation axis rotate forward and rotate backward the increase for respectively corresponding encoder to count or
It reduces.
However, contact type angle sensor is not easy to install, needs by certain external structure support or fix, by ring
Factor influence in border is very big, for example, its monitoring accuracy is a greater impact under wet environment, meanwhile, contact type angle sensor function
Energy property is single, without the function of obtaining angular speed, it is also necessary to which other devices are with the use of just available magnitude of angular velocity.
Summary of the invention
The embodiment of the invention provides a kind of vehicle motion data acquisition methods, device, equipment and storage mediums, to improve
The acquisition precision of wheel movement data.
In a first aspect, the embodiment of the invention provides a kind of vehicle motion data acquisition methods, comprising:
After detecting vehicle setting in motion, the rotational angular velocity value of car body and wheel is obtained respectively using gyroscope, and
According to the rotational angular velocity value of the rotational angular velocity value of the car body and the wheel, the relatively described car body of the wheel is obtained
Relatively rotate magnitude of angular velocity；
According to the relative rotation magnitude of angular velocity, obtain described in the angle of rotation angle value conduct of the relatively described car body of the wheel
The first corner of wheel of vehicle；
Made using the angle of rotation angle value that the measuring part for being different from the gyroscope obtains the relatively described car body of the wheel
For the second corner of wheel of the vehicle；
When determination meets the first correction conditions of wheel steering angle, first corner is repaired using second corner
Just, and using correction result as the wheel steering angle of the vehicle.
Second aspect, the embodiment of the invention provides a kind of vehicle motion data acquisition device, comprising:
Gyroscope, for after detecting vehicle setting in motion, obtaining the rotational angular velocity value of car body and wheel respectively, and
According to the rotational angular velocity value of the rotational angular velocity value of the car body and the wheel, the relatively described car body of the wheel is obtained
Relatively rotate magnitude of angular velocity；
First corner obtains module, for obtaining the relatively described vehicle of the wheel according to the relative rotation magnitude of angular velocity
Wheel first corner of the angle of rotation angle value of body as the vehicle；
Measuring part, the measuring part are different from the gyroscope, for obtaining the relatively described car body of the wheel
Angle of rotation angle value and as the second corner of the wheel of the vehicle；
First correction module, for using second corner pair when determination meets the first correction conditions of wheel steering angle
First corner is modified, and using correction result as the wheel steering angle of the vehicle.
The third aspect, the embodiment of the invention also provides a kind of equipment, the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes vehicle motion data acquisition methods described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes vehicle motion data acquisition methods described in any embodiment of that present invention when the program is executed by processor.
The technical solution of the embodiment of the present invention, the magnitude of angular velocity of wheel is got by gyroscope, and then obtains wheel
First corner, and under setting condition by the second corner for being got by other measuring parts to first obtained by gyroscope
Corner is modified, and finally obtains accurate rotational angle, the characteristic that gyroscope directly acquires magnitude of angular velocity has not only been utilized, but also same
When the rotational angle error that avoids the increase with the time of integration and cause it is excessive, improve obtaining for wheel movement data
Precision is taken, intelligentized control method is carried out for vehicle and provides data basis.
Detailed description of the invention
Fig. 1 is the flow chart for the vehicle motion data acquisition methods that the embodiment of the present invention one provides；
Fig. 2 is the structural block diagram of vehicle motion data acquisition device provided by Embodiment 2 of the present invention；
Fig. 3 is the structural block diagram that the vehicle motion data that the embodiment of the present invention three provides obtains equipment.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for vehicle motion data acquisition methods that the embodiment of the present invention one provides, and the present embodiment can
The case where suitable for obtaining vehicle motion data jointly by gyroscope and other measuring parts, this method can be by of the invention real
The vehicle motion data acquisition device in example is applied to execute, which can realize by way of software and/or hardware, union
At on vehicle, the method for the embodiment of the present invention specifically comprises the following steps:
S110, after detecting vehicle setting in motion, obtain the rotational angular velocity of car body and wheel respectively using gyroscope
Value, and according to the rotational angular velocity value of the rotational angular velocity value of the car body and the wheel, it is relatively described to obtain the wheel
The relative rotation magnitude of angular velocity of car body.
In embodiments of the present invention, whether setting in motion can be accomplished in several ways detection vehicle, for example, passing through inspection
Survey whether car engine starts, whether transmission shaft working condition and car body are subjected to displacement, and may determine that whether vehicle is in
Motion state, the embodiment of the present invention is to this and is not limited.
Gyroscope is a kind of moment of momentum sensitivity shell relative inertness space using high-speed rotator around being orthogonal to the axis of rotation
An axis or multiaxis angular movement detection device.When not influenced by external force, rotary shaft will not change gyroscope, and by
It when external force, can quickly rotate, as a kind of inertial sensor, the rotation amount of itself is converted into electrically believing by gyroscope
Magnitude of angular velocity is calculated after number.For measurement direction, single axis gyroscope, two axis gyroscope instrument and three axis accelerometer can be divided into
Instrument；Single axis gyroscope can measure the angular speed of both direction, and two axis gyroscope instrument can measure the angular speed of four direction；Three axis
Gyroscope can measure the angular speed of six direction.In embodiments of the present invention, the type of gyroscope is not especially limited.
In embodiments of the present invention, optionally, turning for the car body is obtained using the first gyroscope being configured on car body
Dynamic magnitude of angular velocity, the rotational angular velocity value of the wheel, target carriage are obtained using the second gyroscope being configured on target wheel
Wheel is vehicle front-wheel, and car body drives rear wheel movement by front-wheel.
During the motion due to vehicle, car body itself can also have certain magnitude of angular velocity, and therefore, gyroscope collects
Angular speed of wheel value be not wheel actual angular speed, by the rotational angular velocity value of the rotational angular velocity value of wheel and car body
Between difference, i.e., wheel with respect to car body relative rotation magnitude of angular velocity, as the actual magnitude of angular velocity of wheel.
S120, according to the relative rotation magnitude of angular velocity, the angle of rotation angle value for obtaining the relatively described car body of the wheel is made
For the first corner of wheel of the vehicle.
The relative rotation magnitude of angular velocity got by gyroscope is subjected to integral operation, obtains the relatively described vehicle of the wheel
The angle of rotation angle value of body.
S130, the rotational angle that the relatively described car body of the wheel is obtained using the measuring part for being different from the gyroscope
It is worth the second corner of wheel as the vehicle.
There are system deviations and random error when gyroscope measurement angular speed, although the influence for magnitude of angular velocity itself is neglected
Slightly disregard, but when by magnitude of angular velocity integral calculation angle of rotation angle value, the error amount of calculating can be in the increase of the time of integration
Index increases, and therefore, in order to get accurate vehicle wheel rotation angle, needs using the other measuring parts for being different from gyroscope
It carries out wheel steering angle and obtains operation.
In embodiments of the present invention, optionally, described in being obtained using the GNSS receiver being configured on the car body
Wheel second corner of the angle of rotation angle value of the relatively described car body of wheel as the vehicle；GNSS(Global Navigation
Satellite System, Global Navigation Satellite System), i.e., the multiple functions such as positioning, navigation and monitoring are realized using satellite, it is existing
All satellite navigation systems having, for example, the satellite navigation systems such as GPS and Beidou, belong to GNSS scope；And GNSS receiver
GNSS technology is exactly utilized, carries out long-term online monitoring for the displacement to earth's surface, when micro-displacement occurs for earth's surface, monitoring
Data also will do it variation, thus to monitor the displacement of earth's surface and speed conditions.According to the running velocity got, with
And rotational angle of the wheel with respect to car body is calculated in vehicle structure data (for example, car body size).In embodiments of the present invention,
The satellite navigation system and concrete type use to GNSS machine is not especially limited.Particularly, the angle that GNSS receiver obtains
Value, precision is although poor, but since the systematic error of itself is more stable, and the angle value error obtained is also relatively steady
It is fixed, will not exponentially it increase to gyroscope is the same as the time increases angular error.
S140, determine meet the first correction conditions of wheel steering angle when, using second corner to first corner
It is modified, and using correction result as the wheel steering angle of the vehicle.
There are system deviation and random error when measuring angular speed due to gyroscope, for angle of rotation angle value acquisition with
The increase of the time of integration and exponentially increase, therefore in order to obtain accurate angle value, when under the first correction conditions, pass through
The second corner got by other measuring parts is modified the first corner obtained by gyroscope.
In embodiments of the present invention, optionally, if detecting the persistent movement time of the vehicle in setting time threshold
In value, it is determined that meet the first correction conditions of wheel steering angle；For example, time threshold is set greater than 1 minute and less than 10 points
Clock increases by the error of gyroscope the first corner of acquisition at this time, and within this time range, the time is longer, and error is bigger, but
Error all within an acceptable range, distortion completely, it is therefore desirable to the first corner that gyroscope is obtained by the second corner into
Row amendment.
And/or if detect difference value between second corner and first corner in set angle threshold value
It is interior, it is determined that meet the first correction conditions of wheel steering angle.Such as: the difference of the first corner and the second corner is greater than the first setting threshold
Value, and when less than the second given threshold, it is believed that increase the error of the first corner obtained at this time by gyroscope, in the threshold value
In range, the more big then error of difference of the first corner and the second corner is bigger, but error is all within an acceptable range, does not lose completely
Very, it is therefore desirable to the first corner that gyroscope obtains is modified by the second corner.
In embodiments of the present invention, optionally, it is modified according to the following formula:
K=A × α+B × β
Wherein, K is correction result, and A is the first corner, and B is the second corner, and α is the first corner weight coefficient, and β is second
Corner weight coefficient, α ∈ (0,1), β ∈ (0,1), and alpha+beta=1；
The persistent movement time correlation of α and β and vehicle, and/or, the difference value between α and β is related；The vehicle exists
The persistent movement time in setting time threshold value is longer, and the ratio of beta/alpha is bigger；Difference value between α and β is in set angle threshold value
Inside bigger, the ratio of beta/alpha is bigger.
In embodiments of the present invention, optionally, if detect the vehicle the persistent movement time be more than setting when
Between threshold value, it is determined that meet the second correction conditions of wheel steering angle, for example, the persistent movement time of vehicle is more than 10 minutes；And/or
If detect that the difference value between second corner and first corner is greater than set angle threshold value, it is determined that meet
The second correction conditions of wheel steering angle, for example, the difference value between second corner and first corner is greater than above-mentioned second
Given threshold.When determination meets the second correction conditions of wheel steering angle, use second corner as the wheel of the vehicle
Corner thinks that the first corner obtained as gyroscope is missed by a mile as caused by integral at this time, has been more than tolerance interval,
It is distorted completely.
In embodiments of the present invention, optionally, however, it is determined that be unsatisfactory for the first correction conditions of wheel steering angle, and determination is unsatisfactory for
When the second correction conditions of wheel steering angle, use first corner as the wheel steering angle of the vehicle.If detected described
The persistent movement time of vehicle is less than the time threshold of setting, for example, the persistent movement time of vehicle is less than 1 minute；With/
Or if when detecting that difference value between second corner and first corner is less than set angle threshold value, for example, institute
When stating the difference value between the second corner and first corner less than above-mentioned first given threshold；The product of gyroscope is thought at this time
Divide error minimum, can be ignored, the first corner that gyroscope obtains is accurate wheel steering angle.
The technical solution of the embodiment of the present invention, the magnitude of angular velocity of wheel is got by gyroscope, and then obtains wheel
First corner, and under setting condition by the second corner for being got by other measuring parts to first obtained by gyroscope
Corner is modified, and finally obtains accurate rotational angle, the characteristic that gyroscope directly acquires magnitude of angular velocity has not only been utilized, but also same
When the rotational angle error that avoids the increase with the time of integration and cause it is excessive, improve obtaining for wheel movement data
Precision is taken, intelligentized control method is carried out for vehicle and provides data basis.
Embodiment two
Fig. 2 is vehicle motion data acquisition device provided by the embodiment of the present invention two, and institute of the embodiment of the present invention can be performed
The vehicle motion data acquisition methods of offer have the corresponding functional module of execution method and beneficial effect.The device can be by
Software and or hardware realization specifically includes: gyroscope 210, the first corner obtain module 220, measuring part 230 and first is repaired
Positive module 240.
Gyroscope 210, for obtaining the rotational angular velocity of car body and wheel respectively after detecting vehicle setting in motion
Value, and according to the rotational angular velocity value of the rotational angular velocity value of the car body and the wheel, it is relatively described to obtain the wheel
The relative rotation magnitude of angular velocity of car body；
First corner obtains module 220, for it is relatively described to obtain the wheel according to the relative rotation magnitude of angular velocity
Wheel first corner of the angle of rotation angle value of car body as the vehicle；
Measuring part 230, the measuring part are different from the gyroscope, for obtaining the relatively described car body of the wheel
Angle of rotation angle value and as the second corner of the wheel of the vehicle；
First correction module 240, for using second corner when determination meets the first correction conditions of wheel steering angle
First corner is modified, and using correction result as the wheel steering angle of the vehicle.
The technical solution of the embodiment of the present invention, the magnitude of angular velocity of wheel is got by gyroscope, and then obtains wheel
First corner, and under setting condition by the second corner for being got by other measuring parts to first obtained by gyroscope
Corner is modified, and finally obtains accurate rotational angle, the characteristic that gyroscope directly acquires magnitude of angular velocity has not only been utilized, but also same
When the rotational angle error that avoids the increase with the time of integration and cause it is excessive, improve obtaining for wheel movement data
Precision is taken, intelligentized control method is carried out for vehicle and provides data basis.
On the basis of the various embodiments described above, gyroscope 210 be can specifically include:
First gyroscope, is configured on car body, for obtaining the rotational angular velocity value of the car body；
Second gyroscope is configured on target wheel, for obtaining the rotational angular velocity value of the wheel.
On the basis of the various embodiments described above, measuring part 230 be can specifically include:
GNSS receiver is configured on car body, for obtaining the angle of rotation angle value conduct of the relatively described car body of the wheel
The second corner of wheel of the vehicle.
On the basis of the various embodiments described above, the first correction module 240 specifically can be used for:
If detecting the persistent movement time of the vehicle in setting time threshold value, it is determined that meet wheel steering angle
One correction conditions, and/or
If detect the difference value between second corner and first corner in set angle threshold value, really
Surely meet the first correction conditions of wheel steering angle.
On the basis of the various embodiments described above, the first correction module 240 specifically can be used for:
It is modified according to the following formula:
K=A × α+B × β
Wherein, K is correction result, and A is the first corner, and B is the second corner, and α is the first corner weight coefficient, and β is second
Corner weight coefficient, α ∈ (0,1), β ∈ (0,1), and alpha+beta=1；
The persistent movement time correlation of α and β and vehicle, and/or, the difference value between α and β is related；The vehicle exists
The persistent movement time in setting time threshold value is longer, and the ratio of beta/alpha is bigger；Difference value between α and β is in set angle threshold value
Inside bigger, the ratio of beta/alpha is bigger.
On the basis of the various embodiments described above, vehicle motion data acquisition device may include:
Second correction module, for using second corner to make when determination meets the second correction conditions of wheel steering angle
For the wheel steering angle of the vehicle.
On the basis of the various embodiments described above, vehicle motion data acquisition device can also include:
Correction conditions judgment module, for if it is determined that be unsatisfactory for the first correction conditions of wheel steering angle, and determination is unsatisfactory for vehicle
When taking turns the second correction conditions of corner, use first corner as the wheel steering angle of the vehicle.
Method provided by any embodiment of the invention can be performed in above-mentioned apparatus, has the corresponding functional module of execution method
And beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the method that any embodiment of that present invention provides.
Embodiment three
Fig. 3 is the structural schematic diagram that the vehicle motion data that the embodiment of the present invention three provides obtains equipment, as shown in figure 3,
The equipment includes processor 30, memory 31, input unit 32 and output device 33；The quantity of processor 30 can be in equipment
One or more, in Fig. 3 by taking a processor 30 as an example；Device handler 30, memory 31, input unit 32 and output device
33 can be connected by bus or other modes, in Fig. 3 for being connected by bus.
Memory 31 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, as (gyroscope 210, the first corner obtain mould to the vehicle motion data acquisition device in the embodiment of the present invention two
Block 220, measuring part 230 and the first correction module 240).The software journey that processor 30 is stored in memory 31 by operation
Sequence, instruction and module realize above-mentioned vehicle movement number thereby executing the various function application and data processing of equipment
According to acquisition methods.
Memory 31 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 31 may include high-speed random access memory, can also include nonvolatile memory, for example, at least a magnetic
Disk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 31 can be further
Including the memory remotely located relative to processor 30, these remote memories can pass through network connection to equipment.It is above-mentioned
The example of network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 32 can be used for receiving the number or character information of input, and generate with the user setting of equipment and
The related key signals input of function control.Output device 33 may include that display screen etc. shows equipment.
Example IV
The embodiment of the present invention four also provides a kind of storage medium comprising computer executable instructions, and the computer can be held
Row instruction is used to execute vehicle motion data acquisition methods when being executed by computer processor, this method comprises:
After detecting vehicle setting in motion, the rotational angular velocity value of car body and wheel is obtained respectively using gyroscope, and
According to the rotational angular velocity value of the rotational angular velocity value of the car body and the wheel, the relatively described car body of the wheel is obtained
Relatively rotate magnitude of angular velocity；
According to the relative rotation magnitude of angular velocity, obtain described in the angle of rotation angle value conduct of the relatively described car body of the wheel
The first corner of wheel of vehicle；
Made using the angle of rotation angle value that the measuring part for being different from the gyroscope obtains the relatively described car body of the wheel
For the second corner of wheel of the vehicle；
When determination meets the first correction conditions of wheel steering angle, first corner is repaired using second corner
Just, and using correction result as the wheel steering angle of the vehicle.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed vehicle movement provided by any embodiment of the invention
Relevant operation in data capture method.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
It is worth noting that, included each unit and module are only according to function in the embodiment of above-mentioned searcher
Energy logic is divided, but is not limited to the above division, as long as corresponding functions can be realized；In addition, each function
The specific name of energy unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of vehicle motion data acquisition methods characterized by comprising
After detecting vehicle setting in motion, the rotational angular velocity value of car body and wheel is obtained respectively using gyroscope, and according to
The rotational angular velocity value of the car body and the rotational angular velocity value of the wheel obtain the opposite of the relatively described car body of the wheel
Rotational angular velocity value；
According to the relative rotation magnitude of angular velocity, the angle of rotation angle value of the relatively described car body of the wheel is obtained as the vehicle
The first corner of wheel；
The angle of rotation angle value of the relatively described car body of the wheel is obtained as institute using the measuring part for being different from the gyroscope
State the second corner of wheel of vehicle；
When determination meets the first correction conditions of wheel steering angle, first corner is modified using second corner,
And using correction result as the wheel steering angle of the vehicle.
2. the method according to claim 1, wherein obtaining the angle of rotation of car body and wheel respectively using gyroscope
Velocity amplitude, comprising:
The rotational angular velocity value of the car body is obtained using the first gyroscope being configured on car body；
The rotational angular velocity value of the wheel is obtained using the second gyroscope being configured on target wheel.
3. method according to claim 1 or 2, which is characterized in that obtained using the measuring part for being different from the gyroscope
Take the angle of rotation angle value of the relatively described car body of the wheel as the second corner of wheel of the vehicle, comprising:
The angle of rotation angle value conduct of the relatively described car body of the wheel is obtained using the GNSS receiver being configured on the car body
The second corner of wheel of the vehicle.
4. the method according to claim 1, wherein determination meets the first correction conditions of wheel steering angle, comprising:
If detecting the persistent movement time of the vehicle in setting time threshold value, it is determined that meet wheel steering angle first and repair
Positive condition, and/or
If detecting the difference value between second corner and first corner in set angle threshold value, it is determined that full
Sufficient the first correction conditions of wheel steering angle.
5. according to the method described in claim 4, it is characterized in that, being repaired using second corner to first corner
Just, and using correction result as the wheel steering angle of the vehicle, comprising:
It is modified according to the following formula:
K=A × α+B × β
Wherein, K is correction result, and A is the first corner, and B is the second corner, and α is the first corner weight coefficient, and β is the second corner
Weight coefficient, α ∈ (0,1), β ∈ (0,1), and alpha+beta=1；
The persistent movement time correlation of α and β and vehicle, and/or, the difference value between α and β is related；The vehicle is being set
The persistent movement time in time threshold is longer, and the ratio of beta/alpha is bigger；Difference value between α and β is got in set angle threshold value
Greatly, the ratio of beta/alpha is bigger.
6. the method according to claim 1, wherein the vehicle motion data acquisition methods, further includes:
When determination meets the second correction conditions of wheel steering angle, use second corner as the wheel steering angle of the vehicle.
7. according to the method described in claim 6, it is characterized in that, the vehicle motion data acquisition methods, further includes:
If it is determined that be unsatisfactory for the first correction conditions of wheel steering angle, and determine when being unsatisfactory for the second correction conditions of wheel steering angle, uses
Wheel steering angle of first corner as the vehicle.
8. a kind of vehicle motion data acquisition device is applied in express delivery cabinet characterized by comprising
Gyroscope obtains the rotational angular velocity value of car body and wheel for after detecting vehicle setting in motion respectively, and according to
The rotational angular velocity value of the car body and the rotational angular velocity value of the wheel obtain the opposite of the relatively described car body of the wheel
Rotational angular velocity value；
First corner obtains module, for obtaining the relatively described car body of the wheel according to the relative rotation magnitude of angular velocity
Wheel first corner of the angle of rotation angle value as the vehicle；
Measuring part, the measuring part are different from the gyroscope, for obtaining the wheel relative to the rotation of the car body
Angle value and as the second corner of the wheel of the vehicle；
First correction module, for determine meet the first correction conditions of wheel steering angle when, using second corner to described
First corner is modified, and using correction result as the wheel steering angle of the vehicle.
9. a kind of equipment, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now vehicle motion data acquisition methods as described in any in claim 1-7.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The vehicle motion data acquisition methods as described in any in claim 1-7 are realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086357.9A CN109677508B (en) | 2019-01-29 | 2019-01-29 | Vehicle motion data acquisition method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086357.9A CN109677508B (en) | 2019-01-29 | 2019-01-29 | Vehicle motion data acquisition method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109677508A true CN109677508A (en) | 2019-04-26 |
| CN109677508B CN109677508B (en) | 2020-10-27 |
Family
ID=66194136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910086357.9A Active CN109677508B (en) | 2019-01-29 | 2019-01-29 | Vehicle motion data acquisition method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109677508B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588315A (en) * | 2020-06-19 | 2020-08-28 | 苏州亿倍智能清洁股份有限公司 | Angle correction method for gyroscope of sweeper and sweeper |
| CN112379678A (en) * | 2020-12-18 | 2021-02-19 | 深圳市瑞芬科技有限公司 | Automatic driving agricultural machine based on double-gyroscope control |
| CN112455541A (en) * | 2020-12-09 | 2021-03-09 | 杭州海康汽车软件有限公司 | Wheel corner determining method, device and equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006123645A (en) * | 2004-10-27 | 2006-05-18 | Toyota Motor Corp | Electric power steering device |
| CN103245284A (en) * | 2013-05-14 | 2013-08-14 | 福州大学 | Gyroscope-chip-based steering wheel angle measurement method and device thereof |
| CN104713555A (en) * | 2015-03-03 | 2015-06-17 | 南昌大学 | Autonomous vehicle navigation method for assisting orientation by applying omnimax neutral point |
| JP2015158390A (en) * | 2014-02-24 | 2015-09-03 | 富士アイティ株式会社 | control object model and attitude control method |
| CN106740829A (en) * | 2017-03-23 | 2017-05-31 | 吉林大学 | Based on the double semi-dragging truck riding stability automatic identifications of cluster analysis and early warning system |
-
2019
- 2019-01-29 CN CN201910086357.9A patent/CN109677508B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006123645A (en) * | 2004-10-27 | 2006-05-18 | Toyota Motor Corp | Electric power steering device |
| CN103245284A (en) * | 2013-05-14 | 2013-08-14 | 福州大学 | Gyroscope-chip-based steering wheel angle measurement method and device thereof |
| JP2015158390A (en) * | 2014-02-24 | 2015-09-03 | 富士アイティ株式会社 | control object model and attitude control method |
| CN104713555A (en) * | 2015-03-03 | 2015-06-17 | 南昌大学 | Autonomous vehicle navigation method for assisting orientation by applying omnimax neutral point |
| CN106740829A (en) * | 2017-03-23 | 2017-05-31 | 吉林大学 | Based on the double semi-dragging truck riding stability automatic identifications of cluster analysis and early warning system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588315A (en) * | 2020-06-19 | 2020-08-28 | 苏州亿倍智能清洁股份有限公司 | Angle correction method for gyroscope of sweeper and sweeper |
| CN111588315B (en) * | 2020-06-19 | 2021-05-28 | 苏州亿倍智能清洁股份有限公司 | Angle correction method for gyroscope of sweeper and sweeper |
| CN112455541A (en) * | 2020-12-09 | 2021-03-09 | 杭州海康汽车软件有限公司 | Wheel corner determining method, device and equipment |
| CN112455541B (en) * | 2020-12-09 | 2022-06-03 | 杭州海康汽车软件有限公司 | Wheel corner determining method, device and equipment |
| CN112379678A (en) * | 2020-12-18 | 2021-02-19 | 深圳市瑞芬科技有限公司 | Automatic driving agricultural machine based on double-gyroscope control |
| CN112379678B (en) * | 2020-12-18 | 2021-06-11 | 深圳市瑞芬科技有限公司 | Automatic driving agricultural machine based on double-gyroscope control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109677508B (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6257865B2 (en) | Positioning device and positioning method | |
| US8200452B2 (en) | Attitude-angle detecting apparatus and attitude-angle detecting method | |
| CN101246024B (en) | Method for external field fast calibrating miniature multi-sensor combined navigation system | |
| CN109677508A (en) | A kind of vehicle motion data acquisition methods, device, equipment and storage medium | |
| CN108267135A (en) | For the accurate positioning method and system of track automatic measurement vehicle | |
| CN102257358B (en) | Method for determining a heading in the direction of true north using an inertial measurement unit | |
| CN106767787A (en) | A kind of close coupling GNSS/INS combined navigation devices | |
| CN110567457B (en) | Inertial navigation self-detection system based on redundancy | |
| CN114061619B (en) | Inertial navigation system attitude compensation method based on online calibration | |
| CN112964240A (en) | Continuous north-seeking device and method, electronic equipment and storage medium | |
| CN103344872A (en) | Test method of installation polarity of star sensor | |
| CN105043416A (en) | On-track fault diagnosis method of hemispherical resonance gyroscope combination | |
| US10082522B2 (en) | Telematics system and associated method | |
| CN117782154A (en) | Rolling angle measurement precision evaluation method under ground rotation state | |
| CN104034333A (en) | System and method for detecting three-dimensional real-time posture of well logging exploration tube | |
| CN109827572B (en) | Method and device for detecting vehicle position prediction | |
| Zhu et al. | Accuracy improvement of a redundant inertial measurement unit brought about by the dual-axis rotational motion | |
| CN103884868B (en) | A kind of six-dimension acceleration acquisition method | |
| CN105758422A (en) | Integral type closed-loop fiber-optic gyroscope testing method | |
| CN106199660B (en) | The modification method and device of location data | |
| CN114279395A (en) | Deformation detection method and system for pipeline | |
| CN103743379B (en) | A kind of pipe detector attitude detecting method and its detection means | |
| CN107764272B (en) | Method for determining rotary load and high-precision attitude of star sensor | |
| Trojnacki et al. | Determination of motion parameters with inertial measurement units–Part 1: mathematical formulation of the algorithm | |
| CN110766105A (en) | Vehicle key positioning method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |