CN111829793A - Driving process comfort evaluation method, device and system based on combined positioning - Google Patents
Driving process comfort evaluation method, device and system based on combined positioning Download PDFInfo
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- CN111829793A CN111829793A CN202010765622.9A CN202010765622A CN111829793A CN 111829793 A CN111829793 A CN 111829793A CN 202010765622 A CN202010765622 A CN 202010765622A CN 111829793 A CN111829793 A CN 111829793A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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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
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The application provides a relate to computer technology field, specifically, relate to a driving process travelling comfort evaluation method based on combination positioning, system, wherein, driving process travelling comfort evaluation method based on combination positioning includes: acquiring combined positioning running state data of a target vehicle, wherein the combined positioning running state data at least comprises three-dimensional angular speed and acceleration under vehicle-mounted coordinates; projecting the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system to obtain the three-dimensional angular velocity and the acceleration under the navigation coordinate system; calculating to obtain an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity and the acceleration under the navigation coordinate system; and calculating to obtain a comfort evaluation result of the target vehicle at least according to the acceleration average value, the angular velocity average value and the vehicle comfort evaluation index. The method and the device can evaluate the driving comfort of the automatic driving vehicle.
Description
Technical Field
The application relates to the technical field of computers, in particular to a driving process comfort evaluation method, device and system based on combined positioning.
Background
The conventional passenger vehicle comfort evaluation includes vehicle ride comfort, air conditioning performance, vehicle environment and driving operation performance evaluation. With the rapid development of the automatic driving technology, the vehicle-mounted sensors are more and more abundant, and the configuration of high-precision centimeter-level positioning is realized based on the integration of a high-precision map, a vision and inertia measurement unit and a satellite positioning board card, so that the vehicle-mounted sensors are common configuration of automatic driving automobiles. Therefore, we have found that the comfort evaluation of the conventional passenger car cannot satisfy the comfort evaluation of the autonomous vehicle.
Disclosure of Invention
An object of the embodiments of the present application is to provide a driving process comfort evaluation method and system based on combined positioning, which are used for performing comfort evaluation on an autonomous vehicle according to original driving state data of the autonomous vehicle.
To this end, the present application discloses in a first aspect a driving comfort evaluation method based on combined positioning, the method being applied in a computing unit, the method comprising the steps of:
acquiring combined positioning running state data of a target vehicle, wherein the combined positioning running state data at least comprises three-dimensional angular speed and acceleration under vehicle-mounted coordinates;
projecting the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system to obtain the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
calculating to obtain an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
and calculating to obtain a comfort evaluation result of the target vehicle at least according to the acceleration average value, the angular velocity average value and the vehicle comfort evaluation index.
In the first aspect of the application, the three-dimensional angular velocity and the acceleration of the target vehicle under the vehicle-mounted coordinate system can be obtained through surreptitious projection by obtaining the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, the acceleration mean value and the angular velocity mean value required by comfort evaluation can be calculated according to the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, and the comfort evaluation result of the target vehicle can be calculated at least according to the acceleration mean value, the angular velocity mean value and the vehicle comfort evaluation index.
In the first aspect of the present application, as an optional implementation manner, before the obtaining of the combined positioning driving state data of the target vehicle, the method further includes:
acquiring inertial navigation data of the target vehicle and satellite positioning data of the target vehicle;
and compensating the error of the inertial navigation data at least according to the satellite positioning data to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate.
In this optional embodiment, by acquiring the inertial navigation data of the target vehicle and the satellite positioning data of the target vehicle, an error of the inertial navigation data can be compensated at least according to the satellite positioning data, so as to obtain a three-dimensional angular velocity in the vehicle-mounted coordinate and an acceleration in the vehicle-mounted coordinate.
In the first aspect of the present application, as an optional implementation manner, the combined positioning driving state data further includes body posture information, a three-dimensional velocity component heading, and high-frequency position coordinates of the target vehicle.
In the first aspect of the present application, as an optional implementation manner, the compensating, according to at least the satellite positioning data, an error of the inertial navigation data to obtain a three-dimensional angular velocity in the vehicle-mounted coordinate and an acceleration in the vehicle-mounted coordinate includes:
and compensating the error of the inertial navigation data according to the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component course and the high-frequency position coordinate to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate.
In this optional embodiment, the error of the inertial navigation data can be compensated according to the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component course and the high-frequency position coordinate, and a more accurate three-dimensional angular velocity under the vehicle-mounted coordinate and an acceleration under the vehicle-mounted coordinate can be obtained.
In the first aspect of the present application, as an optional implementation manner, the error of the inertial navigation data includes a zero offset of the accelerometer, a scale factor error, a quadrature error, and a zero offset of the angular velocity meter, a scale factor error, and a quadrature error.
In this optional embodiment, the zero offset, the scale factor error, and the orthogonal error of the accelerometer and the zero offset, the scale factor error, and the orthogonal error of the angular velocity meter may be compensated by the satellite positioning data, so as to obtain the accurate three-dimensional angular velocity in the vehicle-mounted coordinate and the acceleration in the vehicle-mounted coordinate.
In the first aspect of the present application, as an optional implementation manner, the vehicle comfort evaluation index at least includes a sharp turning index, a sharp acceleration and deceleration index, a road bumpiness index, a continuous acceleration time index, a vehicle roll index, and an excessive pitch angle index.
In this alternative embodiment, the driving evaluation information of the target vehicle is calculated from the sharp turn index, the sharp acceleration and deceleration index, and the road surface bump index.
In the first aspect of the present application, as an optional implementation manner, calculating a comfort evaluation result of the target vehicle according to at least the acceleration mean value, the angular velocity mean value, and a vehicle comfort evaluation index includes:
comparing the acceleration mean value with the rapid acceleration and deceleration index to obtain a rapid acceleration grade of the target vehicle;
comparing the angular speed mean value with the sharp turning index to obtain the sharp turning grade of the target vehicle;
determining driving evaluation information from the rapid acceleration level of the target vehicle and the rapid turning level of the target vehicle.
In this alternative embodiment, the sharp acceleration level of the target vehicle can be obtained by comparing the acceleration mean value with the sharp acceleration/deceleration index, the sharp turning level of the target vehicle can be obtained by comparing the angular velocity mean value with the sharp turning index, and the driving evaluation information can be determined from the sharp acceleration level of the target vehicle and the sharp turning level of the target vehicle.
In the first aspect of the present application, as an optional implementation manner, the number of the several grade sections of the sharp turn index is five.
In this alternative embodiment, the comfort level can be reflected more accurately and reasonably by five level intervals.
The second aspect of the application discloses a driving process comfort evaluation device based on combined positioning, the device is applied to a computing unit, and the device comprises:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring combined positioning running state data of a target vehicle, and the combined positioning running state data at least comprises three-dimensional angular speed and acceleration under vehicle-mounted coordinates;
the projection module is used for projecting the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system so as to obtain the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
the first calculation module is used for calculating an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity in the navigation coordinate system and the acceleration in the navigation coordinate system;
and the second calculation module is used for calculating to obtain a comfort evaluation result of the target vehicle at least according to the acceleration average value, the angular velocity average value and the vehicle comfort evaluation index.
According to the device of the second aspect of the application, by executing the driving process comfort evaluation method based on combined positioning, the three-dimensional angular velocity and the acceleration of the target vehicle under the vehicle-mounted coordinate can be obtained through surreptitious projection by obtaining the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, the acceleration mean value and the angular velocity mean value required by comfort evaluation can be calculated according to the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, and the comfort evaluation result of the target vehicle can be calculated at least according to the acceleration mean value, the angular velocity mean value and the vehicle comfort evaluation index.
The third aspect of the application discloses a driving process comfort evaluation system based on combined positioning, which is applied to the driving process comfort evaluation method based on combined positioning disclosed by the first aspect of the application, and comprises an inertia detection module, a satellite positioning module and a calculation unit, wherein the inertia detection module and the satellite positioning module are both electrically connected with the calculation unit;
the inertial detection module and the satellite positioning module are respectively used for analyzing to obtain inertial navigation information and satellite positioning information of a target vehicle;
the computing unit is used for receiving inertial navigation information output by an inertial detection module and satellite positioning information output by the satellite positioning module;
the calculation unit is further configured to project the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system, so as to obtain the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
the calculation unit is further used for calculating an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity in the navigation coordinate system and the acceleration in the navigation coordinate system;
the calculation unit is further configured to calculate a comfort evaluation result of the target vehicle according to at least the acceleration average value, the angular velocity average value, and a vehicle comfort evaluation index.
The system can obtain the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system through the stealing projection of the three-dimensional angular velocity and the acceleration of the target vehicle under the vehicle-mounted coordinate system, and then can calculate the acceleration mean value and the angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, and further can calculate the comfort evaluation result of the target vehicle according to the acceleration mean value, the angular velocity mean value and the vehicle comfort evaluation index at least.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic flow chart of a driving comfort evaluation method based on combined positioning, disclosed by an embodiment of the application;
FIG. 2 is a schematic flow chart of sub-steps of step 105 of FIG. 1;
FIG. 3 is a schematic structural diagram of a driving comfort evaluation device based on combined positioning according to an embodiment of the application;
fig. 4 is a schematic structural diagram of a driving comfort evaluation system based on combined positioning according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a driving comfort evaluation method based on combined positioning, which is applied to a computing unit according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
102. acquiring combined positioning running state data of a target vehicle, wherein the combined positioning running state data at least comprises three-dimensional angular speed and acceleration under vehicle-mounted coordinates;
103. projecting the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system to obtain the three-dimensional angular velocity and the acceleration under the navigation coordinate system;
104. calculating to obtain an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
105. and calculating to obtain a comfort evaluation result of the target vehicle at least according to the acceleration average value, the angular velocity average value and the vehicle comfort evaluation index.
In the embodiment of the application, the three-dimensional angular velocity and the acceleration of the target vehicle under the vehicle-mounted coordinate can be obtained through surreptitious projection by obtaining the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, the acceleration mean value and the angular velocity mean value required by comfort evaluation can be calculated according to the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, and the comfort evaluation result of the target vehicle can be calculated at least according to the acceleration mean value, the angular velocity mean value and the vehicle comfort evaluation index.
In the embodiment of the present application, as an optional implementation manner, in step 102: before acquiring the combined positioning driving state data of the target vehicle, the method of the embodiment of the application further comprises the following steps:
100. acquiring inertial navigation data of a target vehicle and satellite positioning data of the target vehicle;
101. and compensating the error of the navigation data at least according to the satellite positioning data to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate.
In this optional embodiment, by acquiring the inertial navigation data of the target vehicle and the satellite positioning data of the target vehicle, an error of the navigation data can be compensated at least according to the satellite positioning data, so as to obtain a three-dimensional angular velocity in the vehicle-mounted coordinate and an acceleration in the vehicle-mounted coordinate.
In the first aspect of the present application, as an optional implementation manner, the combined positioning driving state data further includes body posture information, a three-dimensional velocity component heading, and high-frequency position coordinates of the target vehicle.
In the first aspect of the present application, as an optional implementation manner, step 101: the method at least compensates the error of the navigation data according to the satellite positioning data to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate in a specific mode that:
and compensating the error of the inertial navigation data according to the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component course and the high-frequency position coordinate to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate.
In the optional embodiment, the error of the inertial navigation data is compensated according to the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component course and the high-frequency position coordinate, so that the more accurate three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate can be obtained.
In this optional embodiment, a kalman filter may be used to process the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component heading, and the high-frequency position coordinates to compensate for the error of the inertial navigation data. Specifically, the Kalman filter can fully utilize the characteristics of high short-time recursive positioning precision and stable satellite absolute positioning precision of inertial navigation, estimate an inertial navigation zero-bias error term in real time, further compensate inertial navigation errors, and finally obtain more accurate three-dimensional angular velocity under a vehicle-mounted coordinate and acceleration under the vehicle-mounted coordinate.
It should be noted that the vehicle body attitude information, the three-dimensional velocity component course, and the high-frequency position coordinates can be obtained by fusing inertial navigation data and satellite positioning data.
In the embodiment of the present application, as an optional implementation manner, the error of the inertial navigation data includes a zero offset of the accelerometer, a scale factor error, a quadrature error, and a zero offset of the angular velocity meter, a scale factor error, and a quadrature error.
In this optional embodiment, the zero offset and scale factor error of the accelerometer, the quadrature error, and the zero offset and scale factor error of the angular velocity meter, and the quadrature error may be compensated by the satellite positioning data, so as to obtain the accurate three-dimensional angular velocity in the vehicle-mounted coordinate and the acceleration in the vehicle-mounted coordinate.
In the embodiment of the application, as an optional implementation manner, the vehicle comfort evaluation indexes include a sharp turning index, a sharp acceleration and deceleration index, a road surface bump index, a continuous acceleration time index, a vehicle roll index and an excessively large pitch angle index.
In this alternative embodiment, the driving evaluation information of the target vehicle is calculated from the sharp turn index, the sharp acceleration and deceleration index, and the road surface bump index.
In the embodiment of the present application, as an optional implementation manner, as shown in fig. 2, step 105 of calculating a comfort evaluation result of a target vehicle according to at least an acceleration mean value, an angular velocity mean value, and a vehicle comfort evaluation index includes the sub-steps of:
1051. comparing the acceleration mean value with the rapid acceleration and deceleration index to obtain the rapid acceleration grade of the target vehicle;
1052. comparing the angular speed mean value with the sharp turning index to obtain the sharp turning grade of the target vehicle;
1053. the sharp acceleration level of the target vehicle and the sharp turning level of the target vehicle are determined as driving evaluation information.
In the present alternative embodiment, the sharp acceleration level of the target vehicle can be obtained by comparing the acceleration mean value with the sharp acceleration/deceleration index, the sharp turning level of the target vehicle can be obtained by comparing the angular velocity mean value with the sharp turning index, and the driving evaluation information can be determined from the sharp acceleration level of the target vehicle and the sharp turning level of the target vehicle.
In the embodiment of the present application, as an optional implementation manner, the number of the several grade sections of the sharp turn index is five.
In this alternative embodiment, the comfort level can be reflected more accurately and reasonably by five level intervals.
Illustratively, as shown in table 1, the target vehicle has a sharp acceleration level (degree) of five levels in total, and on the other hand, the sharp turning level (degree) also has five levels.
TABLE 1
Illustratively, as shown in table 2, if the rapid acceleration level is greater than the first level, i.e., the average of the accelerations of the target vehicle is greater than 2.0m/s ^2, the driving evaluation information is very uncomfortable/extremely uncomfortable.
TABLE 2
In the embodiment of the present application, it should be noted that the driving comfort evaluation method based on combined positioning in the embodiment of the present application can be applied to service evaluation and service evaluation verification of a networked car reservation, for example, when a driver complains about a passenger frequently makes a sharp turn, whether the complaint of the passenger is valid can be judged according to the driving evaluation information.
Example two
Referring to fig. 3, fig. 3 is a schematic structural diagram of a driving comfort evaluation device based on combined positioning, which is applied to a computing unit according to an embodiment of the present application. As shown in fig. 3, the apparatus includes:
the first acquisition module 301 is configured to acquire combined positioning running state data of a target vehicle, where the combined positioning running state data at least includes a three-dimensional angular velocity and an acceleration under a vehicle-mounted coordinate;
the projection module 302 is configured to project the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system, so as to obtain the three-dimensional angular velocity and the acceleration under the navigation coordinate system;
the first calculation module 303 is configured to calculate an acceleration mean value and an angular velocity mean value required for comfort evaluation according to the three-dimensional angular velocity in the navigation coordinate system and the acceleration in the navigation coordinate system;
and the second calculating module 304 is configured to calculate a comfort evaluation result of the target vehicle according to at least the acceleration average value, the angular velocity average value, and the vehicle comfort evaluation index.
The device of the embodiment of the application can obtain the three-dimensional angular velocity and the acceleration of the target vehicle in the navigation coordinate system by acquiring the three-dimensional angular velocity and the acceleration of the target vehicle in the vehicle-mounted coordinate system through executing the driving process comfort evaluation method based on the combined positioning, further can calculate the acceleration mean value and the angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity and the acceleration of the target vehicle in the navigation coordinate system, and further can calculate the comfort evaluation result of the target vehicle according to at least the acceleration mean value, the angular velocity mean value and the vehicle comfort evaluation index.
In the embodiment of the present application, as an optional implementation manner, the apparatus of the embodiment of the present application further includes a second obtaining module 305 and a compensating module 306, where:
a second obtaining module 305, configured to obtain inertial navigation data of the target vehicle and satellite positioning data of the target vehicle;
and the compensation module 306 is configured to compensate the error of the navigation data at least according to the satellite positioning data, so as to obtain a three-dimensional angular velocity under the vehicle-mounted coordinate and an acceleration under the vehicle-mounted coordinate.
In this optional embodiment, by acquiring the inertial navigation data of the target vehicle and the satellite positioning data of the target vehicle, an error of the navigation data can be compensated at least according to the satellite positioning data, so as to obtain a three-dimensional angular velocity in the vehicle-mounted coordinate and an acceleration in the vehicle-mounted coordinate.
In the embodiment of the application, as an optional implementation manner, the combined positioning driving state data further comprises body posture information, three-dimensional speed component heading and high-frequency position coordinates of the target vehicle.
In this embodiment of the present application, as an optional implementation manner, the compensation module 306 performs compensation on an error of the navigation data according to at least the satellite positioning data, so as to obtain a three-dimensional angular velocity in the vehicle-mounted coordinate and an acceleration in the vehicle-mounted coordinate in a specific manner:
and compensating the error of the inertial navigation data according to the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component course and the high-frequency position coordinate to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate.
In the optional embodiment, the error of the inertial navigation data is compensated according to the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component course and the high-frequency position coordinate, so that the more accurate three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate can be obtained.
In this optional embodiment, a kalman filter may be used to process the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component heading, and the high-frequency position coordinates to compensate for the error of the inertial navigation data. Specifically, the Kalman filter can fully utilize the characteristics of high short-time recursive positioning precision and stable satellite absolute positioning precision of inertial navigation, estimate an inertial navigation zero-bias error term in real time, further compensate inertial navigation errors, and finally obtain more accurate three-dimensional angular velocity under a vehicle-mounted coordinate and acceleration under the vehicle-mounted coordinate. In the embodiment of the present application, as an optional implementation manner, the error of the inertial navigation data includes a zero offset of the accelerometer, a scale factor error, a quadrature error, and a zero offset of the angular velocity meter, a scale factor error, and a quadrature error.
In this optional embodiment, the zero offset and scale factor error of the accelerometer, the quadrature error, and the zero offset and scale factor error of the angular velocity meter, and the quadrature error may be compensated by the satellite positioning data, so as to obtain the accurate three-dimensional angular velocity in the vehicle-mounted coordinate and the acceleration in the vehicle-mounted coordinate.
In the embodiment of the application, as an optional implementation manner, the vehicle comfort evaluation indexes include a sharp turning index, a sharp acceleration and deceleration index, and a road surface bump index.
In the optional embodiment, the driving evaluation information, the continuous acceleration time index, the vehicle roll index and the pitch angle overlarge index of the target vehicle are calculated through the sharp turning index, the sharp acceleration and deceleration index and the road surface bump index.
In this embodiment of the present application, as an optional implementation manner, the second calculating module 304 performs a specific manner of calculating the comfort evaluation result of the target vehicle according to at least the acceleration mean value, the angular velocity mean value, and the vehicle comfort evaluation index, and includes:
comparing the acceleration mean value with the rapid acceleration and deceleration index to obtain the rapid acceleration grade of the target vehicle;
comparing the angular speed mean value with the sharp turning index to obtain the sharp turning grade of the target vehicle;
the sharp acceleration level of the target vehicle and the sharp turning level of the target vehicle are determined as driving evaluation information.
In the present alternative embodiment, the sharp acceleration level of the target vehicle can be obtained by comparing the acceleration mean value with the sharp acceleration/deceleration index, the sharp turning level of the target vehicle can be obtained by comparing the angular velocity mean value with the sharp turning index, and the driving evaluation information can be determined from the sharp acceleration level of the target vehicle and the sharp turning level of the target vehicle.
In the embodiment of the present application, as an optional implementation manner, the number of the several grade sections of the sharp turn index is five.
In this alternative embodiment, the comfort level can be reflected more accurately and reasonably by five level intervals.
Illustratively, as shown in table 1, the target vehicle has a sharp acceleration level (degree) of five levels in total, and on the other hand, the sharp turning level (degree) also has five levels.
TABLE 1
Illustratively, as shown in table 2, if the rapid acceleration level is greater than the first level, i.e., the average of the accelerations of the target vehicle is greater than 2.0m/s ^2, the driving evaluation information is very uncomfortable/extremely uncomfortable.
TABLE 2
EXAMPLE III
Referring to fig. 4, fig. 4 is a schematic structural diagram of a driving comfort evaluation system based on combined positioning according to an embodiment of the present application. As shown in fig. 4, the system includes an inertia detection module, a satellite positioning module, and a computing unit, wherein the inertia detection module and the satellite positioning module are electrically connected to the computing unit;
the inertial detection module and the satellite positioning module are respectively used for analyzing and obtaining inertial navigation information and satellite positioning information of the target vehicle;
the computing unit is used for receiving inertial navigation information output by the inertial detection module and satellite positioning information output by the satellite positioning module;
the calculation unit is also used for projecting the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to the navigation coordinate system so as to obtain the three-dimensional angular velocity and the acceleration under the navigation coordinate system;
the calculation unit is further used for calculating an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity in the navigation coordinate system and the acceleration in the navigation coordinate system;
the calculation unit is further configured to calculate a comfort evaluation result of the target vehicle according to at least the acceleration average value, the angular velocity average value, and a vehicle comfort evaluation index.
The system of the embodiment of the application can obtain the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system through acquiring the three-dimensional angular velocity and the acceleration of the target vehicle under the vehicle-mounted coordinate system in a surreptitious projection mode, further can calculate the acceleration mean value and the angular velocity mean value which are required by comfort evaluation according to the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, and further can calculate the comfort evaluation result of the target vehicle at least according to the acceleration mean value, the angular velocity mean value and the vehicle comfort evaluation index.
In the embodiment of the present application, the computing unit is preferably a DSP (Digital signal processing) unit.
In this embodiment of the application, optionally, the driving comfort evaluation system based on combined positioning further includes a CAN bus interface, and the gear information CAN be acquired through the CAN bus interface.
In this embodiment of the application, optionally, the driving comfort evaluation system based on combined positioning further includes an antenna, where the antenna is connected to the satellite positioning module, and the antenna is used to receive a satellite signal.
In the embodiment of the present application, optionally, the driving comfort evaluation system based on combined positioning further includes a memory (e.g., an SD card), and the memory can be used for storing driving evaluation information, combined positioning information, and original driving state data of the target vehicle.
Example four
The embodiment of the application discloses a computer storage medium, wherein a computer instruction is stored in the computer storage medium, and when the computer instruction is called, the computer instruction is used for executing the driving process comfort evaluation method based on combined positioning.
The computer storage medium of the embodiment of the application can acquire the three-dimensional angular velocity and the acceleration of the target vehicle under the vehicle-mounted coordinate through executing the driving process comfort evaluation method based on the combined positioning, can obtain the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system through surreptitious projection, can further calculate the acceleration mean value and the angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity and the acceleration of the target vehicle under the navigation coordinate system, and can further calculate the comfort evaluation result of the target vehicle according to at least the acceleration mean value, the angular velocity mean value and the vehicle comfort evaluation index. .
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A driving comfort evaluation method based on combined positioning is characterized in that the method is applied to a computing unit and comprises the following steps:
acquiring combined positioning running state data of a target vehicle, wherein the combined positioning running state data at least comprises three-dimensional angular speed and acceleration under vehicle-mounted coordinates;
projecting the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system to obtain the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
calculating to obtain an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
and calculating to obtain a comfort evaluation result of the target vehicle at least according to the acceleration average value, the angular velocity average value and the vehicle comfort evaluation index.
2. The method of claim 1, wherein prior to said obtaining combined localized driving state data for the target vehicle, the method further comprises:
acquiring inertial navigation data of the target vehicle and satellite positioning data of the target vehicle;
and compensating the error of the inertial navigation data at least according to the satellite positioning data to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate.
3. The method of claim 2, wherein the combined localized cruise status data further comprises body attitude information, three-dimensional velocity component heading, high frequency position coordinates of the target vehicle.
4. The method of claim 3, wherein the compensating for the error in the inertial navigation data based at least on the satellite positioning data to obtain the three-dimensional angular velocity in the onboard coordinate and the acceleration in the onboard coordinate comprises:
and compensating the error of the inertial navigation data according to the satellite positioning data, the vehicle body attitude information, the three-dimensional velocity component course and the high-frequency position coordinate to obtain the three-dimensional angular velocity under the vehicle-mounted coordinate and the acceleration under the vehicle-mounted coordinate.
5. The method of claim 4, wherein the errors in the inertial navigation data include accelerometer zero offset, scale factor error, quadrature error, and angular velocity meter zero offset, scale factor error, quadrature error.
6. The method of claim 1, wherein the vehicle comfort evaluation indicators comprise a sharp turn indicator, a sharp acceleration and deceleration indicator, a road bump indicator, a continuous acceleration time indicator, a vehicle roll indicator, and an excessive pitch indicator.
7. The method of claim 6, wherein calculating a comfort evaluation result of the target vehicle based on at least the acceleration mean, the angular velocity mean, and a vehicle comfort evaluation indicator comprises:
comparing the acceleration mean value with the rapid acceleration and deceleration index to obtain a rapid acceleration grade of the target vehicle;
comparing the angular speed mean value with the sharp turning index to obtain the sharp turning grade of the target vehicle;
determining driving evaluation information from the rapid acceleration level of the target vehicle and the rapid turning level of the target vehicle.
8. The method of claim 7, wherein the number of level intervals of the sharp turn indicator is five.
9. A driving comfort evaluation device based on combined positioning is characterized in that the device is applied to a computing unit and comprises:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring combined positioning running state data of a target vehicle, and the combined positioning running state data at least comprises three-dimensional angular speed and acceleration under vehicle-mounted coordinates;
the projection module is used for projecting the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system so as to obtain the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
the first calculation module is used for calculating an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity in the navigation coordinate system and the acceleration in the navigation coordinate system;
and the second calculation module is used for calculating to obtain a comfort evaluation result of the target vehicle at least according to the acceleration average value, the angular velocity average value and the vehicle comfort evaluation index.
10. A driving comfort evaluation system based on combined positioning, which is applied to the driving comfort evaluation method based on combined positioning according to any one of claims 1 to 8, and comprises an inertia detection module, a satellite positioning module and a calculation unit, wherein the inertia detection module and the satellite positioning module are electrically connected with the calculation unit;
the inertial detection module and the satellite positioning module are respectively used for analyzing to obtain inertial navigation information and satellite positioning information of a target vehicle;
the computing unit is used for receiving inertial navigation information output by an inertial detection module and satellite positioning information output by the satellite positioning module;
the calculation unit is further configured to project the three-dimensional angular velocity and the acceleration under the vehicle-mounted coordinate to a navigation coordinate system, so as to obtain the three-dimensional angular velocity under the navigation coordinate system and the acceleration under the navigation coordinate system;
the calculation unit is further used for calculating an acceleration mean value and an angular velocity mean value required by comfort evaluation according to the three-dimensional angular velocity in the navigation coordinate system and the acceleration in the navigation coordinate system;
the calculation unit is further configured to calculate a comfort evaluation result of the target vehicle according to at least the acceleration average value, the angular velocity average value, and a vehicle comfort evaluation index.
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Application publication date: 20201027 |