CN113993116A - Vehicle deformation detection method and device, vehicle and storage medium - Google Patents
Vehicle deformation detection method and device, vehicle and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses a vehicle deformation detection method, a device, a vehicle and a storage medium, wherein the method is applied to a vehicle-mounted terminal of the vehicle, and the vehicle further comprises the following steps: at least two wireless communication positioning modules arranged at different positions of the vehicle; the method comprises the following steps: when the vehicle is detected to be collided, each wireless communication positioning module included in the vehicle is controlled to transmit a wireless signal, so that the measuring distance between different wireless communication positioning modules is calculated based on the transmission time length of the wireless signal between different wireless communication positioning modules; and calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle. Implement this application embodiment, can detect the deformation degree of vehicle automatically and high-efficiently, need not artifical manual measurement, improve detection efficiency.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle deformation detection method and device, a vehicle and a storage medium.
Background
As the number of vehicles increases, vehicles are more susceptible to collision accidents. Vehicle collision often leads to damaged deformation of the vehicle, and the deformation of the vehicle not only affects the appearance of the vehicle, but also reduces the structural strength of the vehicle and weakens the safety of the vehicle.
However, the existing vehicle deformation detection method generally only can drag the vehicle back to a factory or a maintenance factory, and the shape of the vehicle is manually measured by a maintenance worker, so that the detection efficiency is low.
Disclosure of Invention
The embodiment of the application discloses a vehicle deformation detection method and device, a vehicle and a storage medium, which can automatically and efficiently detect the deformation degree of the vehicle, do not need manual measurement, and improve the detection efficiency.
The embodiment of the application discloses a vehicle deformation detection method, which is applied to a vehicle-mounted terminal of a vehicle, and the vehicle further comprises: at least two wireless communication positioning modules arranged at different positions of the vehicle; the method comprises the following steps: when the vehicle is detected to be collided, each wireless communication positioning module included in the vehicle is controlled to transmit a wireless signal, so that the measuring distance between different wireless communication positioning modules is calculated based on the transmission time length of the wireless signal between different wireless communication positioning modules; and calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle.
In one embodiment, the calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules comprises: comparing the measured distance between a first wireless communication positioning module and a second wireless communication positioning module with the original distance between the first wireless communication positioning module and the second wireless communication positioning module before the vehicle collides to obtain a first comparison result; the first wireless communication positioning module and the second wireless communication positioning module are any two wireless communication positioning modules included in the vehicle; and calculating the deformation degree of the vehicle according to the first comparison result.
In one embodiment, the calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle comprises: receiving distance data fed back by one or more wireless communication positioning modules; wherein, the distance data of first wireless communication location module feedback includes: the distance measurement method comprises the following steps that the distance measurement is carried out between a first wireless communication positioning module and one or more second wireless communication positioning modules, the first wireless communication positioning module is any one wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module; calculating a target shape of the vehicle after the collision according to the received distance data; and comparing the target shape with the original shape of the vehicle before the collision to obtain a second comparison result, and calculating the deformation degree of the vehicle according to the second comparison result.
In one embodiment, the distance data is sent by an undamaged wireless communication positioning module; and calculating a target shape of the vehicle after the collision according to the received distance data, including: identifying a damaged wireless communication positioning module and an undamaged wireless communication positioning module in each wireless communication positioning module according to the received distance data; and when the number of the undamaged wireless communication positioning modules is larger than or equal to a number threshold value, calculating the target shape of the vehicle after collision according to the distance data fed back by each undamaged wireless communication positioning module.
In one embodiment, the calculating the target shape of the vehicle after the collision according to the distance data fed back by each undamaged wireless communication positioning module comprises: calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module; acquiring the original position of the damaged wireless communication positioning module on the vehicle; and calculating the target shape of the vehicle after collision according to the target position corresponding to each undamaged wireless communication positioning module and the original position of the damaged wireless communication positioning module.
In one embodiment, the calculating the target shape of the vehicle after the collision according to the distance data fed back by each undamaged wireless communication positioning module comprises: calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module; and inquiring the vehicle deformation shape matched with each target position from a database to be used as the target shape of the vehicle after collision.
In one embodiment, each of the wireless communication modules is connected to at least two power sources; and after identifying the damaged wireless communication positioning module and the undamaged wireless communication positioning module in each wireless communication positioning module, the method further comprises the following steps: controlling a standby power supply connected with the damaged wireless communication positioning module to supply power to the damaged wireless communication positioning module; the standby power supply is a power supply which does not supply power to the damaged wireless communication positioning module before the vehicle collides in the at least two power supplies.
In one embodiment, the method further comprises: generating alarm information including a degree of deformation of the vehicle; and sending the alarm information to service equipment so that the service equipment sends the alarm information to a mobile terminal bound with the vehicle.
In one embodiment, the sending the alert information to a service device includes: when detecting the communication connection disconnection of vehicle and service equipment, through wireless communication location module sends alarm information to other vehicles, so that other vehicles will alarm information send to service equipment.
In one embodiment, the wireless communication positioning module comprises: an ultra-wideband communication module; at least two settings are in the wireless communication location module of vehicle different positions includes: the wireless communication positioning module is arranged in the vehicle and positioned on the roof, the two wireless communication positioning modules are respectively arranged at two ends of the front side bumper of the vehicle, and the two wireless communication positioning modules are respectively arranged at two ends of the rear side bumper of the vehicle.
The embodiment of the application discloses vehicle deformation detection device is applied to the vehicle-mounted terminal of vehicle, the vehicle still includes: at least two wireless communication positioning modules arranged at different positions of the vehicle; the device comprises: the control module is used for controlling each wireless communication positioning module to transmit a wireless signal when the vehicle is detected to be collided so as to calculate the measurement distance between the wireless communication positioning modules based on the transmission time length of the wireless signal between the wireless communication positioning modules; and the calculation module is used for calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules.
The embodiment of the application discloses a vehicle, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is enabled to realize any vehicle deformation detection method disclosed by the embodiment of the application.
The embodiment of the application discloses a computer storage medium, wherein a computer program is stored on the computer storage medium, and when the computer program is executed by a processor, the computer program realizes any one of the vehicle deformation detection methods disclosed by the embodiment of the application.
Compared with the related art, the embodiment of the application has the following beneficial effects:
after the vehicle collides, wireless signals can be transmitted through a plurality of wireless communication positioning modules arranged at different positions of the vehicle, so that the measuring distances among different wireless communication positioning modules can be calculated based on the transmission duration of the wireless signals, and the deformation degree of the vehicle can be calculated. The calculation of the whole vehicle deformation degree can be automatically executed, manual measurement is not needed, and the detection efficiency can be improved. And, only need can accomplish the calculation with the help of the wireless communication location module that sets up on the vehicle, need not to rely on other outside instruments or equipment to can in time calculate the deformation degree of vehicle in the very first time that the vehicle collided, provide timely, effectual vehicle deformation data support for subsequent handling such as warning, rescue, loss assessment.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic illustration of a vehicle according to an exemplary embodiment;
FIG. 2 is a schematic method flow diagram of a vehicle deformation detection method according to an exemplary embodiment;
fig. 3 is an exemplary diagram of one embodiment of a disclosed ToF based ranging;
FIG. 4 is a schematic diagram of a vehicle deformation detection system according to an exemplary embodiment;
FIG. 5 is a schematic method flow diagram of another vehicle deformation detection method according to one embodiment;
FIG. 6 is a schematic structural diagram of a vehicle deformation detecting apparatus according to an embodiment;
FIG. 7 is a schematic structural diagram of a vehicle according to an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the examples and figures of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses a vehicle deformation detection method, a vehicle deformation detection device, a vehicle and a storage medium, and can automatically and efficiently detect the deformation degree of the vehicle, manual measurement is not needed, and the detection efficiency is improved. The following are detailed below.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle according to an embodiment of the disclosure. As shown in FIG. 1, vehicle 100 may include an in-vehicle terminal 110 and a wireless communication positioning module 120.
The vehicle-mounted terminal 110 may be any computing device with computing capability in a vehicle, such as a Micro Control Unit (MCU), a vehicle networking communication module (Telematics BOX, TBOX), and the like, but is not limited thereto.
The wireless communication positioning module 120 may be any communication module with short-range wireless communication capability, such as a bluetooth communication module, an Ultra Wide Band (UWB) communication module, a Zigbee communication module, and the like, but is not limited thereto.
Alternatively, as shown in fig. 1, the vehicle 100 may include 5 wireless communication modules respectively disposed inside the vehicle and at the roof, at both ends of a front side bumper of the vehicle, and at both ends of a rear side bumper of the vehicle. Wherein, the front side bumper can refer to the bumper of locomotive one side, and the rear side bumper can refer to the bumper of rear of a vehicle one side.
The vehicle 100 may also include other sensors, such as cameras, Inertial Measurement Units (IMUs), and the like.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for detecting vehicle deformation according to an embodiment of the disclosure. The method shown in fig. 2 may be applied to the aforementioned in-vehicle terminal, and as shown in fig. 2, the method may include the following steps:
210. when the vehicle is detected to be collided, each wireless communication positioning module included in the vehicle is controlled to transmit a wireless signal, so that the measured distance between different wireless communication positioning modules is calculated based on the transmission time length of the wireless signal between different wireless communication positioning modules.
The vehicle-mounted terminal can acquire data acquired by sensors such as a camera or an IMU (inertial measurement unit), and judge whether the vehicle is collided according to the acquired data.
For example, the IMU may be used to detect motion information such as acceleration and angular velocity of the vehicle. When the acceleration or the angular speed of the vehicle collected by the IMU has sudden change in a certain direction, the vehicle-mounted terminal can judge that the vehicle is collided. Optionally, the vehicle-mounted terminal may further optimize a detection condition of sudden change, so as to eliminate interference caused by small-amplitude vibration of the vehicle due to factors such as strong wind, heavy vehicle passing, and the like on collision detection.
For example, a camera may be used to capture objects around the vehicle. The vehicle can recognize the image shot by the camera, and if the vehicle is recognized to be in contact with other vehicles, roadblocks and other obstacles, the vehicle can be judged to be collided.
The vehicle-mounted terminal can send a shape measurement instruction to each wireless communication positioning module when detecting that the vehicle is collided. If the wireless communication positioning module receives the shape measurement instruction, the wireless communication positioning module can respond to the shape measurement instruction and transmit a wireless signal; meanwhile, the signal receiving function of the wireless communication positioning module is started, and the wireless communication positioning module can receive wireless signals.
Based on the transmission duration of the wireless signals between different wireless communication positioning modules, the measurement distance between different wireless communication positioning modules can be calculated. The different wireless communication positioning modules can refer to wireless communication positioning modules which are arranged at different positions on the vehicle and belong to the same type.
For example, the ranging may be performed based on a Time of Flight (ToF) of the wireless signal, or based on a Time D of Arrival (TDoA) of the wireless signal, and the like, which is not limited in particular.
Referring to fig. 3, fig. 3 is a diagram illustrating an embodiment of a ToF-based ranging method. As shown in fig. 3, the wireless signal transceiver of the wireless communication positioning module a may transmit the first wireless signal to the wireless communication positioning module B at time T0, and the wireless communication positioning module B may receive the first wireless signal at time T1. The wireless communication positioning module B may transmit the second wireless signal to the wireless signal transceiver of the wireless communication positioning module A at the time T2, and the wireless signal transceiver of the wireless communication positioning module A may receive the second wireless signal at the time T3.
The transmission time ToF of the first wireless signal and the second wireless signal may be calculated by the following formula:
the distance L between the wireless communication positioning module A and the wireless communication positioning module B is Tof c; where c may be the transmission speed of the wireless signal.
It should be noted that, in the embodiment of the present application, each wireless communication positioning module may actively send a wireless signal to other communication modules included in the vehicle after receiving the shape measurement instruction sent by the vehicle-mounted terminal; each wireless communication positioning module can also send a feedback signal to the communication module sending the wireless signal after receiving the wireless signal sent by other communication modules, so as to measure the distance based on the transmission of the wireless signal between different communication modules.
220. And calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle.
In some embodiments, the wireless communication positioning module may send the transceiving time of the wireless signal to the vehicle-mounted terminal, and the vehicle-mounted terminal calculates the transmission time of the wireless signal and calculates the measurement distance between different wireless signal communication modules based on the transmission time.
In other embodiments, a certain wireless communication positioning module may also calculate the transmission time length of the wireless signal, calculate the measured distance with other wireless communication positioning modules based on the transmission time length, and send the calculated measured distance to the vehicle-mounted terminal.
For example, the vehicle-mounted terminal may receive distance data fed back by one or more wireless communication positioning modules. Wherein, the distance data of first wireless communication location module feedback includes: and measuring the distance between the first wireless communication positioning module and one or more second wireless communication positioning modules. The first wireless communication positioning module can be any one wireless communication positioning module included in the vehicle, the second wireless communication positioning module is different from the first wireless communication positioning module, and the second wireless communication positioning module is also a wireless communication positioning module arranged on the vehicle.
Assume that the original distance between the set positions of the first wireless communication positioning module and the second wireless communication positioning module before the vehicle is collided is L1. If the area between the first wireless communication positioning module and the second wireless communication positioning module is deformed after the vehicle is collided, the measured distance L2 between the first wireless communication positioning module and the second wireless communication positioning module, which is acquired by the vehicle, may be different from the original distance L1, and there is a large difference. Therefore, the vehicle-mounted terminal can calculate the deformation degree of the vehicle after being collided by utilizing the measuring distances among different wireless communication positioning modules. Wherein, the deformation degree can be expressed by percentage, grade and the like. For example, the degree of deformation can include slight deformation and severe deformation; alternatively, the degree of deformation may include: 80% of vehicle damage, 50% of vehicle damage, 20% of vehicle damage, and the like, wherein the higher the percentage of vehicle damage, the lower the degree of damage to the vehicle.
In one embodiment, the vehicle-mounted terminal can compare the measured distance between the first wireless communication positioning module and the second wireless communication positioning module with the original distance between the first wireless communication positioning module and the second wireless communication positioning module before the vehicle collides to obtain a first comparison result, and calculate the deformation degree of the vehicle according to the first comparison result.
For example, the in-vehicle terminal may store the original distance L1 between the first wireless communication positioning module and the second wireless communication positioning module in advance. After the collision, the vehicle may compare the calculated or acquired measured distance L2 between the first and second wireless communication positioning modules to the original distance L1.
If the first comparison result includes that L2 is far smaller or far larger than L1, the vehicle-mounted terminal can determine that the vehicle is deformed, and the vehicle-mounted terminal can calculate the deformation degree of the vehicle by using the difference value between L2 and L1 and a vehicle deformation model constructed in advance. Wherein, the larger the absolute value of the difference between L2 and L1 is, the higher the deformation degree of the vehicle is. If the first comparison result includes L2 being approximately equal to L1, the in-vehicle terminal may determine the degree of deformation of the vehicle as not deformed.
In one embodiment, the vehicle-mounted terminal can calculate the target shape of the vehicle after the collision according to the distance data fed back by each wireless communication positioning module, compare the target shape after the collision with the original shape of the vehicle before the collision, and calculate the deformation degree of the vehicle based on the first comparison result obtained by the comparison.
For example, the vehicle coordinate system may be pre-constructed, and the vehicle coordinate system may use a central point of two front wheels of the vehicle as an origin, and use a forward direction of the vehicle head as an x-axis direction, a right side of the forward direction of the vehicle as a y-axis direction, and a direction in which the vehicle points to the sky as a z-axis direction. Before collision occurs, the vehicle-mounted terminal can record initial position coordinates of each wireless communication positioning module in a vehicle coordinate system in advance. After the collision occurs, the vehicle can calculate the target position coordinates of each wireless communication positioning module after the vehicle is collided according to the distance data fed back by each wireless communication positioning module and the initial position coordinates of each wireless communication positioning module, so that the target shape of the vehicle can be calculated according to the target position coordinates of each wireless communication positioning module.
For example, the initial position coordinates of the first wireless communication positioning module may be (xa, ya), the initial coordinates of the second wireless communication positioning module may be (xb, yb), and the original distance between the first wireless communication positioning module and the second wireless communication positioning module may be L. After the collision occurs, the first wireless communication positioning module and the second wireless communication positioning module both feed back distance data. In the distance data fed back by the first wireless communication positioning module, the measurement distance between the first wireless communication positioning module and the second wireless communication positioning module can be Lab; in the distance data fed back by the second wireless communication positioning module, the measured distance between the first wireless communication positioning module and the second wireless communication positioning module may be Lba.
The vehicle-mounted terminal can select any one of Lab or Lba measured distance as a target distance L' between the first wireless communication positioning module and the second wireless communication positioning module; alternatively, the in-vehicle terminal may calculate an average value between Lab and Lba as the target distance L' between the first wireless communication positioning module and the second wireless communication positioning module, but is not limited thereto. The target distance L' may be used to calculate target position coordinates with the initial position coordinates of each wireless communication positioning module.
Optionally, the vehicle-mounted terminal may select, as the target distance L', a measured distance having a large difference from the original distance L in Lab or Lba, so that the calculated vehicle deformation degree is consistent with or more serious than the actual vehicle damage, but the non-calculated vehicle deformation degree is lighter than the actual vehicle damage, and therefore, the subsequent processing operation performed on the vehicle deformation degree can ensure the safety of people or property in the vehicle as much as possible.
After the vehicle-mounted terminal calculates the target distance L 'according to the distance data fed back by each of the first wireless communication positioning module and the second wireless communication positioning module, the vehicle-mounted terminal may calculate the target position coordinate (xb', yb ') of the second wireless communication positioning module by using the initial position coordinate (xa, ya) of the first wireless communication positioning module as an anchor point and combining the target distance L', and the target position coordinate of the first wireless communication positioning module is consistent with the initial position coordinate. Or, the vehicle-mounted terminal may also use the initial position coordinate of the second wireless communication positioning module as an anchor point, and calculate the target position coordinate of the first wireless communication positioning module by combining the target distance L', which is not limited specifically.
Optionally, the vehicle-mounted terminal may pre-record or determine, through learning of a large amount of collision data, a wireless communication positioning module with the smallest probability of being hit when a collision occurs among the wireless communication positioning modules included in the vehicle. For example, the wireless communication positioning module disposed at the position of the roof reading lamp may be the wireless communication positioning module with the smallest probability of being hit. When the target shape of the vehicle is calculated, if the vehicle-mounted terminal can receive the distance data fed back by the wireless communication positioning module with the minimum probability of being collided, or the received distance data fed back by other wireless communication positioning modules comprises the measured distance between the vehicle-mounted terminal and the wireless communication positioning module with the minimum probability of being collided, the vehicle-mounted terminal can use the initial position coordinates of the wireless communication positioning module with the minimum probability of being collided as an anchor point to calculate the target position coordinates of other wireless communication positioning modules.
The vehicle-mounted terminal can also average the target distance L ', and the vehicle-mounted terminal can simultaneously adjust the initial position coordinates of the first wireless communication positioning module and the second wireless communication positioning module until the distance between the target position coordinates of the first wireless communication positioning module and the second wireless communication positioning module is adjusted to be consistent with the target distance L'.
The above two embodiments are examples of the vehicle-mounted terminal calculating the vehicle target shape by using the distance data fed back by each wireless communication positioning module, and are not limited to this.
The in-vehicle terminal may compare the target shape of the vehicle with an original shape of the vehicle before the collision after calculating the target shape of the vehicle. For example, the in-vehicle terminal may calculate a second comparison result between the target shape and the original shape of the vehicle based on algorithms such as Dynamic Time Warping (DTW), Frechet Distance (fresh Distance), Hausdorff Distance (Hausdorff Distance), and the like, and then calculate the degree of deformation of the vehicle according to the second comparison result. Wherein, if the second comparison result includes the similarity between the target shape and the original shape, the higher the similarity is, the lower the degree of deformation of the vehicle is.
It can be seen that, in the foregoing embodiment, after the vehicle collides, the wireless signals may be transmitted by the plurality of wireless communication positioning modules disposed at different positions of the vehicle, so as to calculate the measured distances between the different wireless communication positioning modules based on the transmission duration of the wireless signals, thereby calculating the deformation degree of the vehicle. The calculation of the whole vehicle deformation degree can be automatically executed without manual measurement. And, only need can accomplish the calculation with the help of the wireless communication location module that sets up on the vehicle, need not to rely on other outside instruments or equipment to can in time calculate the deformation degree of vehicle in the very first time that the vehicle collided, provide timely, effectual vehicle deformation data support for subsequent handling such as warning, rescue, loss assessment.
In an embodiment, after the vehicle-mounted terminal performs the step 220 and calculates the deformation degree of the vehicle, the vehicle-mounted terminal may further generate alarm information including the deformation degree of the vehicle, and send the alarm information to a service device in communication connection with the vehicle, so that the service device sends the alarm information to a mobile terminal bound to the vehicle. The vehicle can establish a communication connection with the service device through the vehicle-mounted terminal, and the communication connection can be a network connection based on mobile cellular network access.
For example, please refer to fig. 4, fig. 4 is a schematic structural diagram of a vehicle deformation detection system according to an embodiment. As shown in fig. 4, the system may include: the vehicle 40, the cloud service device 50 and the mobile terminal 60.
The vehicle 40 may include a vehicle networking communication module (TBOX)410, a UWB communication module 411, a UWB communication module 412, a UWB communication module 413, a UWB communication module 414, a UWB communication module 415, and an Inertial Measurement Unit (IMU) 420.
The Inertial Measurement Unit (IMU)420 may acquire motion information such as angular velocity and/or acceleration of the vehicle in real time, and transmit the acquired motion information to the vehicle networking communication module (TBOX) 410.
The vehicle networking communication module (TBOX)410 may determine that the vehicle 40 is collided upon recognizing a sudden change in the motion information transmitted from the Inertial Measurement Unit (IMU)420, and transmit a shape measurement instruction to the UWB communication modules 411 to 415.
Taking the UWB communication module 411 as an example, the UWB communication module 411 transmits a UWB signal after receiving the shape measurement instruction, so that the remaining four UWB communication modules reflect a feedback signal after receiving the UWB signal transmitted by the UWB communication module 411. After receiving the feedback signal, the UWB communication module 411 calculates the measured distance between the UWB communication module 411 and the remaining four UWB communication modules, and feeds back the calculated distance data to the vehicle networking communication module (TBOX) 410.
After receiving the distance data fed back by the five UWB communication modules respectively, the vehicle networking communication module (TBOX)410 may calculate the deformation degree of the vehicle according to the measured distance between at least two UWB communication modules, and generate corresponding alarm information.
Vehicle networking communication module (TBOX)410 may send alarm information to cloud service 50.
After the vehicle is collided, part of the wireless communication positioning modules can be damaged, so that the number of the wireless communication positioning modules capable of feeding back the distance data to the vehicle-mounted terminal can be less than or equal to the total number of the wireless communication positioning modules included in the vehicle; some of the distance data fed back by each wireless communication positioning module may be missing. The embodiment of the application discloses another vehicle deformation detection method, which can accurately calculate the deformation degree of a vehicle under the condition that part of wireless communication positioning modules are damaged.
Referring to fig. 5, fig. 5 is a flowchart illustrating another method for detecting vehicle deformation according to an embodiment, where the method is applicable to the vehicle-mounted terminal. As shown in fig. 5, the method may include the steps of:
510. when the vehicle is detected to be collided, each wireless communication positioning module included in the vehicle is controlled to transmit a wireless signal, so that the measured distance between different wireless communication positioning modules is calculated based on the transmission time length of the wireless signal between different wireless communication positioning modules.
520. And receiving the distance data fed back by one or more wireless communication positioning modules.
530. And identifying the damaged wireless communication positioning module and the undamaged wireless communication positioning module in each wireless communication positioning module according to the received distance data.
The distance data fed back by the first wireless communication positioning module may include: and measuring the distance between the first wireless communication positioning module and one or more second wireless communication positioning modules. The first wireless communication positioning module can be any one wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module.
The vehicle-mounted terminal can identify the wireless communication positioning module missing in the received distance data as a damaged wireless communication positioning module.
Illustratively, the first wireless communication positioning module may be the UWB communication module 411 shown in fig. 4. The distance data fed back by the UWB communication module 411 may include: the UWB communication module 411 and the UWB communication modules 412, 414, 415 are respectively at a measurement distance, but the measurement distance between the UWB communication module 411 and the UWB communication module 413 is absent.
After the in-vehicle terminal recognizes that the measured distance between the UWB communication module 411 and the UWB communication module 413 is short from the distance data fed back by the UWB communication module 411, it may first determine whether the measured data fed back by the UWB communication module 413 is received.
If the vehicle-mounted terminal does not receive the measurement data fed back by the UWB communication module 413, the vehicle-mounted terminal may identify the UWB communication module 413 as a damaged UWB communication module; alternatively, if the in-vehicle terminal does not receive the measurement data fed back by the UWB communication module 413 and the measurement data fed back by the other UWB communication modules does not include the measurement distance to the UWB communication module 413, the in-vehicle terminal may identify the UWB communication module 413 as a damaged UWB communication module.
If the in-vehicle terminal has received the measurement data fed back by the UWB communication module 413, the in-vehicle terminal may first identify the UWB communication module 413 as an undamaged UWB communication module; if the in-vehicle terminal does not receive the measurement data fed back by the UWB communication module 413 but the measurement data fed back by the other UWB communication modules includes the measurement distance from the UWB communication module 413, the in-vehicle terminal may recognize the UWB communication module 413 as an undamaged UWB communication module.
540. Judging whether the number of the undamaged wireless communication positioning modules is greater than or equal to a number threshold value; if yes, go to step 550; if not, the flow is ended.
After the damaged and undamaged wireless communication positioning modules are identified according to the distance data fed back by each wireless communication module, the vehicle-mounted terminal can further judge whether the number of the undamaged wireless communication positioning modules is greater than or equal to the number threshold. The number threshold may be set according to actual service requirements, and may be set to be slightly smaller than the total number of wireless communication modules included in the vehicle. For example, if the vehicle includes 5 wireless communication modules, the number threshold may be set to 3 or 4, and is not limited specifically.
The number of undamaged wireless communication positioning modules is large, the more effective distance data can be received by the vehicle-mounted terminal, and the more accurate the vehicle target shape calculated based on the effective distance data is. Therefore, when determining that the number of undamaged wireless communication positioning modules is greater than or equal to the number threshold, the in-vehicle terminal may continue to perform step 550 to calculate the target shape of the vehicle based on the received distance data; otherwise, the process is ended to avoid too large difference between the calculated vehicle target shape and the actual shape.
In some embodiments, the vehicle-mounted terminal may also determine the deformation degree of the vehicle as a severe deformation when the number of undamaged wireless communication positioning modules is less than the number threshold.
In some embodiments, the vehicle includes at least two wireless communication positioning modules each connectable to at least two power sources. After the vehicle-mounted terminal identifies the damaged wireless communication positioning module, the vehicle-mounted terminal can also control a standby power supply connected with the damaged wireless communication positioning module to supply power to the damaged wireless communication positioning module so as to try to recover the wireless signal transceiving capacity of the damaged wireless communication positioning module, so that distance data fed back by all the wireless communication positioning modules included in the vehicle can be conveniently acquired. The backup power supply may refer to a power supply that does not supply power to the damaged wireless communication positioning module before the collision, and the backup power supplies connected to different wireless communication positioning modules may be the same or different, and are not particularly limited.
The vehicle-mounted terminal can send the shape measurement instruction to the damaged wireless communication positioning module again after controlling the standby power supply to supply power, and waits for a period of time, such as 1 second. If the waiting is finished, the distance data fed back by the damaged wireless communication positioning module can be received, and the vehicle-mounted terminal can calculate the target shape of the vehicle by using any one of the methods disclosed in the foregoing embodiments; if the distance data fed back by the damaged wireless communication positioning module is not received after the waiting is finished, the vehicle-mounted terminal may continue to identify the wireless communication positioning module as the damaged wireless communication positioning module, and perform the following step 550.
550. And calculating the target shape of the vehicle after the collision according to the distance data fed back by each undamaged wireless communication positioning module.
Because there is some wireless communication location module to be damaged under the striking, vehicle-mounted terminal can calculate comparatively accurate vehicle object shape through any one of the following implementation modes.
The first method is as follows: the vehicle-mounted terminal calculates the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module; the vehicle-mounted terminal can acquire the original positions of the damaged wireless communication positioning modules on the vehicle, and calculate the target shape of the vehicle after collision according to the target positions corresponding to the undamaged wireless communication positioning modules and the original positions of the damaged wireless communication positioning modules.
That is, the in-vehicle terminal may calculate the target position of the undamaged wireless communication positioning module according to the distance data fed back by each undamaged wireless communication positioning module according to any one of the methods disclosed in the foregoing embodiments. And aiming at the damaged wireless communication positioning module, the original position of the damaged wireless communication positioning module is directly used for being connected with the target position of the undamaged wireless communication positioning module, so that the target shape of the vehicle can be obtained. The calculation method can calculate a more accurate target shape when the vehicle is slightly collided or the setting position of the wireless communication module is right when the collision position happens.
The second method comprises the following steps: and the vehicle-mounted terminal calculates the target position of each undamaged wireless communication positioning module after the vehicle is collided according to the distance data fed back by each undamaged wireless communication positioning module, and inquires the vehicle deformation shape matched with each target position from the database to be used as the target shape of the vehicle after the collision.
The database can store the matching relations between the target positions of a plurality of wireless communication positioning modules and the deformation shapes of the vehicles, and the matching relations can be uploaded to the database after each collision accident of different vehicles. And the target positions of the wireless communication positioning module in the matching relations are complete and have no deficiency.
The vehicle-mounted terminal can inquire the matched vehicle deformation shape in the database according to the target position of each wireless communication positioning module which is not damaged currently. For example, if the UWB module 411 shown in fig. 4 is damaged, the vehicle-mounted terminal may match the target positions of the remaining four UWB modules after collision from the database, where the target position of the wireless communication positioning module is similar to the target positions of the remaining four UWB modules, and the shape of the target after collision of the vehicle should also be similar to the shape of the vehicle deformation in the matching relationship. Therefore, the vehicle-mounted terminal can take the vehicle deformation shape in the matching relationship as the target shape after the vehicle collision.
Because the matching relation in the database is relatively accurate, the target shape inquired based on the database is also similar to the actual shape of the vehicle.
560. Alarm information including the degree of deformation of the vehicle is generated.
In some embodiments, the alarm information generated by the vehicle-mounted terminal can also comprise information of a damaged wireless communication positioning module. For example, the alarm information may include "the vehicle is in collision, the degree of deformation is medium, and the UWB anchor point a is damaged". The UWB anchor point is a wireless communication positioning module.
570. When detecting the communication connection disconnection of vehicle and service equipment, send alarm information to other vehicles through wireless communication location module to make other vehicles send alarm information to service equipment, send alarm information to the mobile terminal who binds with the vehicle by service equipment.
The antenna, the radio frequency circuit and other signal transmission related components of the vehicle can be damaged due to collision, so that the communication connection between the vehicle and the service equipment is disconnected. At this moment, other vehicles that near can support wireless communication can be searched for to vehicle mounted terminal to through wireless communication location module, UWB communication for example sends the alarm information that has generated to other vehicles, sends alarm information to the mobile terminal who binds with the vehicle via service equipment by other vehicles, thereby can be when the vehicle is damaged by the striking with service equipment's communication connection, in time sends out alarm information through other vehicles.
Therefore, in the foregoing embodiment, when a part of the wireless communication positioning module of the vehicle is damaged due to a collision, the vehicle-mounted terminal may calculate a more accurate vehicle target shape by using the target position of the undamaged wireless communication positioning module. And moreover, remedial measures such as alarm information sending and data uploading can be completed by starting the standby power supply and utilizing nearby vehicles, so that the influence caused by damage of the wireless communication module can be reduced.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a vehicle deformation detection apparatus according to an embodiment, where the apparatus is applicable to any one of the vehicle-mounted terminals. As shown in fig. 6, the vehicle deformation detecting apparatus 600 may include: a control module 610 and a calculation module 620.
The control module 610 is used for controlling each wireless communication positioning module to transmit a wireless signal when the vehicle is detected to be collided, so that the measurement distance between each wireless communication positioning module is calculated based on the transmission time length of the wireless signal between each wireless communication positioning module;
and the calculating module 620 is used for calculating the deformation degree of the vehicle according to the measured distance between the at least two wireless communication positioning modules.
In an embodiment, the calculating module 620 is further configured to compare the measured distance between the first wireless communication positioning module and the second wireless communication positioning module with an original distance between the first wireless communication positioning module and the second wireless communication positioning module before the vehicle collides, so as to obtain a first comparison result, and calculate the deformation degree of the vehicle according to the first comparison result. The first wireless communication positioning module and the second wireless communication positioning module are any two wireless communication positioning modules included in the vehicle.
In one embodiment, the calculating module 620 is further configured to receive distance data fed back by one or more wireless communication positioning modules; wherein, the distance data of first wireless communication location module feedback includes: the distance measurement method comprises the following steps that the distance measurement is carried out between a first wireless communication positioning module and one or more second wireless communication positioning modules, the first wireless communication positioning module is any one wireless communication positioning module included in a vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module; and calculating a target shape of the vehicle after the collision according to the received distance data; and comparing the target shape with the original shape of the vehicle before the collision to obtain a second comparison result, and calculating the deformation degree of the vehicle according to the second comparison result.
In one embodiment, the distance data is sent by an undamaged wireless communication positioning module. The calculation module 620 may include: the device comprises a receiving unit, an identification unit and a calculation unit.
The receiving unit can be used for receiving the distance data fed back by the undamaged wireless communication positioning module;
the identification unit can be used for identifying the damaged wireless communication positioning module and the undamaged wireless communication positioning module in each wireless communication positioning module according to the received distance data;
and the calculating unit can be used for calculating the target shape of the vehicle after collision according to the distance data fed back by each undamaged wireless communication positioning module when the number of the undamaged wireless communication positioning modules is greater than or equal to the number threshold.
In one embodiment, the calculating unit is further configured to calculate a target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module; acquiring the original position of the damaged wireless communication positioning module on the vehicle; and calculating the target shape of the vehicle after the collision according to the target position corresponding to each undamaged wireless communication positioning module and the original position of the damaged wireless communication positioning module.
In one embodiment, the calculating unit is further configured to calculate a target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module; and inquiring the vehicle deformation shape matched with each target position from the database as the target shape of the vehicle after the collision.
In one embodiment, each wireless communication module is connected to at least two power sources. The control module 610 may further be configured to control the standby power supply connected to the damaged wireless communication positioning module to supply power to the damaged wireless communication positioning module after the identification unit identifies the damaged wireless communication positioning module and the undamaged wireless communication positioning module in each wireless communication positioning module; the standby power supply is the power supply which does not supply power to the damaged wireless communication positioning module before the vehicle collides.
In one embodiment, the vehicle deformation detecting apparatus 600 may further include: the device comprises a generating module and a sending module.
The generating module can be used for generating alarm information comprising the deformation degree of the vehicle;
and the sending module can be used for sending the alarm information to the service equipment so that the service equipment sends the alarm information to the mobile terminal bound with the vehicle.
In one embodiment, the sending module is further configured to send the alarm information to other vehicles through the wireless communication positioning module when detecting that the communication connection between the vehicle and the service device is disconnected, so that the other vehicles send the alarm information to the service device.
Therefore, the vehicle deformation detection device can transmit wireless signals through the plurality of wireless communication positioning modules arranged at different positions of the vehicle after the vehicle collides, so that the measurement distance between different wireless communication positioning modules can be calculated based on the transmission duration of the wireless signals, and the deformation degree of the vehicle can be calculated. The calculation of the whole vehicle deformation degree can be automatically executed without manual measurement. And, only need can accomplish the calculation with the help of the wireless communication location module that sets up on the vehicle, need not to rely on other outside instruments or equipment to can in time calculate the deformation degree of vehicle in the very first time that the vehicle collided, provide timely, effectual vehicle deformation data support for subsequent handling such as warning, rescue, loss assessment.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the disclosure. As shown in fig. 7, the vehicle 700 may include:
a memory 710 storing executable program code;
a processor 720 coupled to the memory 710;
the processor 720 calls the executable program code stored in the memory 710 to execute any one of the vehicle deformation detection methods disclosed in the embodiments of the present application.
The embodiment of the application discloses a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program realizes any one of the vehicle deformation detection methods disclosed by the embodiment of the application.
An embodiment of the present application discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to implement any one of the vehicle deformation detection methods disclosed in the embodiment of the present application.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The 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.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present application, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, may be embodied in the form of a software product, stored in a memory, including several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of the embodiments of the present application.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The vehicle deformation detection method, the vehicle deformation detection device, the vehicle and the storage medium disclosed in the embodiments of the present application are described above in detail, specific examples are applied herein to illustrate the principles and embodiments of the present application, and the description of the above embodiments is only used to help understand the method and the core idea of the present application. Meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (13)
1. A vehicle deformation detection method is applied to a vehicle-mounted terminal of a vehicle, and the vehicle further comprises the following steps: at least two wireless communication positioning modules arranged at different positions of the vehicle; the method comprises the following steps:
when the vehicle is detected to be collided, each wireless communication positioning module included in the vehicle is controlled to transmit a wireless signal, so that the measuring distance between different wireless communication positioning modules is calculated based on the transmission time length of the wireless signal between different wireless communication positioning modules;
and calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle.
2. The method of claim 1, wherein calculating the degree of deformation of the vehicle based on the measured distance between at least two of the wireless communication positioning modules comprises:
comparing the measured distance between a first wireless communication positioning module and a second wireless communication positioning module with the original distance between the first wireless communication positioning module and the second wireless communication positioning module before the vehicle collides to obtain a first comparison result; the first wireless communication positioning module and the second wireless communication positioning module are any two wireless communication positioning modules included in the vehicle;
and calculating the deformation degree of the vehicle according to the first comparison result.
3. The method of claim 1, wherein calculating the degree of deformation of the vehicle based on the measured distance between at least two wireless communication positioning modules in the vehicle comprises:
receiving distance data fed back by one or more wireless communication positioning modules; wherein, the distance data of first wireless communication location module feedback includes: the distance measurement method comprises the following steps that the distance measurement is carried out between a first wireless communication positioning module and one or more second wireless communication positioning modules, the first wireless communication positioning module is any one wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module;
calculating a target shape of the vehicle after the collision according to the received distance data;
and comparing the target shape with the original shape of the vehicle before the collision to obtain a second comparison result, and calculating the deformation degree of the vehicle according to the second comparison result.
4. The method of claim 3, wherein the distance data is sent by an undamaged wireless communication positioning module; and calculating a target shape of the vehicle after the collision according to the received distance data, including:
identifying a damaged wireless communication positioning module and an undamaged wireless communication positioning module in each wireless communication positioning module according to the received distance data;
and when the number of the undamaged wireless communication positioning modules is larger than or equal to a number threshold value, calculating the target shape of the vehicle after collision according to the distance data fed back by each undamaged wireless communication positioning module.
5. The method of claim 4, wherein the calculating the target shape of the vehicle after the collision according to the distance data fed back by each undamaged wireless communication positioning module comprises:
calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module;
acquiring the original position of the damaged wireless communication positioning module on the vehicle;
and calculating the target shape of the vehicle after collision according to the target position corresponding to each undamaged wireless communication positioning module and the original position of the damaged wireless communication positioning module.
6. The method of claim 4, wherein the calculating the target shape of the vehicle after the collision according to the distance data fed back by each undamaged wireless communication positioning module comprises:
calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module;
and inquiring the vehicle deformation shape matched with each target position from a database to be used as the target shape of the vehicle after collision.
7. The method of any of claims 4-6, wherein each of the wireless communication modules is connected to at least two power sources; and after identifying the damaged wireless communication positioning module and the undamaged wireless communication positioning module in each wireless communication positioning module, the method further comprises the following steps:
controlling a standby power supply connected with the damaged wireless communication positioning module to supply power to the damaged wireless communication positioning module; the standby power supply is a power supply which does not supply power to the damaged wireless communication positioning module before the vehicle collides in the at least two power supplies.
8. The method of claim 1, further comprising:
generating alarm information including a degree of deformation of the vehicle;
and sending the alarm information to service equipment so that the service equipment sends the alarm information to a mobile terminal bound with the vehicle.
9. The method of claim 8, wherein sending the alert information to a service device comprises:
when detecting the communication connection disconnection of vehicle and service equipment, through wireless communication location module sends alarm information to other vehicles, so that other vehicles will alarm information send to service equipment.
10. The method of claim 1, wherein the wireless communication positioning module comprises: an ultra-wideband communication module; at least two settings are in the wireless communication location module of vehicle different positions includes: the wireless communication positioning module is arranged in the vehicle and positioned on the roof, the two wireless communication positioning modules are respectively arranged at two ends of the front side bumper of the vehicle, and the two wireless communication positioning modules are respectively arranged at two ends of the rear side bumper of the vehicle.
11. The vehicle deformation detection device is applied to a vehicle-mounted terminal of a vehicle, and the vehicle further comprises: at least two wireless communication positioning modules arranged at different positions of the vehicle; the device comprises:
the control module is used for controlling each wireless communication positioning module to transmit a wireless signal when the vehicle is detected to be collided so as to calculate the measurement distance between the wireless communication positioning modules based on the transmission time length of the wireless signal between the wireless communication positioning modules;
and the calculation module is used for calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules.
12. A vehicle comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, causes the processor to carry out the method of any one of claims 1 to 10.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-10.
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