CN114236166A

CN114236166A - Zero-speed detection method and device, computer equipment and storage medium

Info

Publication number: CN114236166A
Application number: CN202210028260.4A
Authority: CN
Inventors: 宋舜辉
Original assignee: DeepRoute AI Ltd
Current assignee: DeepRoute AI Ltd
Priority date: 2022-01-11
Filing date: 2022-01-11
Publication date: 2022-03-25

Abstract

The application relates to a zero-speed detection method, a zero-speed detection device, computer equipment and a storage medium. The method comprises the following steps: when the scalar speed meets the preset target static scalar speed condition, acquiring the vector speed of each direction axis at the current moment, determining the current transverse angular speed and the current longitudinal acceleration, and respectively performing low-pass filtering operation on the current transverse angular speed and the current longitudinal acceleration to obtain the current transverse filtering angular speed and the current longitudinal filtering acceleration; performing transverse angular velocity discrete degree calculation on the current transverse filtering angular velocity and the historical transverse filtering angular velocity to obtain transverse angular velocity discrete degree, and performing longitudinal acceleration discrete degree calculation on the current longitudinal filtering acceleration and the historical longitudinal filtering acceleration to obtain longitudinal acceleration discrete degree; and when the transverse angular velocity discrete degree and the longitudinal acceleration discrete degree accord with the preset target static vector velocity condition, determining that the target to be detected is in a static state. The zero-speed detection accuracy can be improved by adopting the method.

Description

Zero-speed detection method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of driving technologies, and in particular, to a zero-speed detection method, apparatus, and computer storage medium.

Background

With the development of inertial navigation technology, zero-speed detection technology is developed for detecting whether a carrier is in a zero-speed stationary state, however, the conventional method is to use an inertial measurement unit to measure whether the carrier is in the zero-speed stationary state, for example, the inertial measurement unit mounted on a vehicle can be used to detect whether the vehicle is in the zero-speed stationary state. However, when the inertial measurement unit measures the carrier, a measurement error occurs due to interference of external high-frequency noise, so that whether the carrier is in a zero-speed stationary state cannot be accurately determined, and the problem of low zero-speed detection accuracy is caused.

Disclosure of Invention

In view of the above, it is necessary to provide a null-velocity detection method, a null-velocity detection apparatus, and a computer-readable storage medium capable of improving the null-velocity detection accuracy.

In a first aspect, the present application provides a zero-speed detection method. The method comprises the following steps:

obtaining a scalar quantity speed parameter corresponding to a target to be detected at the current moment, and obtaining vector speeds of all direction axes corresponding to the current moment when the scalar quantity speed parameter meets a preset target static scalar quantity speed condition;

determining a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity;

obtaining historical filtering angular speeds and historical longitudinal filtering vector speeds corresponding to all historical moments, calculating angular speed discrete degrees based on the current filtering angular speeds and the historical filtering angular speeds to obtain filtering angular speed discrete degrees, and calculating longitudinal vector speed discrete degrees based on the current longitudinal filtering vector speeds and the historical longitudinal filtering vector speeds to obtain longitudinal speed discrete degrees;

and when the filtering angular velocity discrete degree and the longitudinal velocity discrete degree accord with the preset target static vector velocity condition, determining that the target to be detected is in a static state.

In one embodiment, obtaining a scalar quantity speed parameter corresponding to a target to be detected at a current moment, and obtaining vector speeds of direction axes corresponding to the current moment when the scalar quantity speed parameter meets a preset target static scalar quantity condition includes:

the method comprises the steps of obtaining a wheel speed parameter corresponding to a target to be detected at the current moment, obtaining a satellite measurement speed parameter corresponding to the target to be detected at the current moment when the wheel speed parameter does not exceed a preset wheel speed threshold value, and obtaining vector speeds of all direction axes corresponding to the current moment when the satellite measurement speed parameter meets a satellite measurement speed static condition.

In one embodiment, when the satellite measurement speed parameter satisfies the satellite measurement speed stationary condition, acquiring vector speeds of respective directional axes corresponding to a current time includes:

when the satellite measurement speed parameter does not exceed a preset satellite measurement speed threshold, acquiring the vector speed of each direction axis corresponding to the current moment;

in one embodiment, when the filter angular velocity dispersion degree and the longitudinal velocity dispersion degree meet a preset target stationary vector velocity condition, determining that the target to be detected is in a stationary state includes:

and when the filtering angular velocity discrete degree does not exceed the preset filtering angular velocity discrete degree threshold value and the longitudinal velocity discrete degree does not exceed the preset longitudinal velocity discrete degree threshold value, determining that the target to be detected is in a static state.

The method further comprises the following steps:

and when the filtering angular velocity discrete degree exceeds a preset filtering angular velocity discrete degree threshold value, or the longitudinal velocity discrete degree exceeds a preset longitudinal velocity discrete degree threshold value, acquiring a wheel speed parameter target corresponding to the target to be detected at the target moment.

In one embodiment, the method further comprises:

when the wheel speed parameter exceeds a preset wheel speed threshold value, acquiring a wheel speed parameter corresponding to a target to be detected at a target moment, wherein the target moment is the next moment of the current moment;

when the satellite measurement speed parameter does not exceed a preset satellite measurement speed threshold, acquiring a wheel speed parameter corresponding to a target to be detected at a target moment;

in one embodiment, determining a current angular velocity and a current longitudinal vector velocity from vector velocities of respective directional axes, and performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity, includes:

determining a current transverse angular velocity and a current longitudinal acceleration from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current transverse angular velocity and the current longitudinal acceleration to obtain a current transverse filtering angular velocity and a current longitudinal filtering acceleration;

acquiring historical filtering angular velocity and historical longitudinal filtering vector velocity corresponding to each historical moment, wherein the historical filtering angular velocity and the historical longitudinal filtering vector velocity corresponding to each historical moment comprise the following steps:

and acquiring historical transverse filtering angular velocity and historical longitudinal filtering acceleration corresponding to each historical moment.

In one embodiment, the performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain the current filtering angular velocity and the current longitudinal filtering vector velocity includes:

acquiring historical angular velocity, historical filtering angular velocity, historical longitudinal vector velocity and historical longitudinal filtering vector velocity corresponding to each historical moment;

weighting the current angular velocity and the historical angular velocities corresponding to the historical moments respectively to obtain the current weighted angular velocity and the historical weighted angular velocities, and calculating the sum of the current weighted angular velocity and the historical weighted angular velocities to obtain a target angular velocity sum;

weighting the historical filtering angular speeds corresponding to the historical moments to obtain the historical filtering weighted angular speeds, calculating the sum of the historical filtering weighted angular speeds to obtain a target filtering angular speed sum, and calculating the difference between the target angular speed sum and the target filtering angular speed sum to obtain the current filtering angular speed;

weighting the current longitudinal vector speed and the historical longitudinal vector speeds corresponding to the historical moments respectively to obtain the current weighted longitudinal speed and the historical longitudinal weighted speeds, and calculating the sum of the current weighted longitudinal speed and the historical longitudinal weighted speeds to obtain the sum of the target longitudinal speeds;

weighting the historical longitudinal filtering vector speed corresponding to each historical moment to obtain each historical longitudinal filtering weighting speed, calculating the sum of each historical longitudinal filtering weighting speed to obtain the sum of the target longitudinal filtering speeds, and calculating the difference between the sum of the target longitudinal speeds and the sum of the target longitudinal filtering speeds to obtain the current longitudinal filtering vector speed.

In one embodiment, after determining that the speed at the current time is zero, the method further includes:

and acquiring a static zero speed, and performing zero speed correction on the target to be detected based on the static zero speed.

In a second aspect, the present application further provides a zero-speed detection apparatus. The device comprises:

the acquisition module is used for acquiring scalar quantity speed parameters corresponding to the target to be detected at the current moment, and acquiring vector speeds of all direction axes corresponding to the current moment when the scalar quantity speed parameters meet the preset target static scalar quantity speed condition;

the filtering module is used for determining the current angular velocity and the current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain the current filtering angular velocity and the current longitudinal filtering vector velocity;

the discrete module is used for acquiring historical filtering angular velocity and historical longitudinal filtering vector velocity corresponding to each historical moment, calculating the discrete degree of the filtering angular velocity based on the current filtering angular velocity and the historical filtering angular velocity to obtain the discrete degree of the filtering angular velocity, and calculating the discrete degree of the longitudinal vector velocity based on the current longitudinal filtering vector velocity and the historical longitudinal filtering vector velocity to obtain the discrete degree of the longitudinal velocity; and the judging module is used for determining that the target to be detected is in a static state when the filtering angular velocity dispersion degree and the longitudinal velocity dispersion degree accord with the preset target static vector velocity condition.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

obtaining historical filtering angular speeds and historical longitudinal filtering vector speeds corresponding to all historical moments, calculating the filtering angular speed discrete degree based on the current filtering angular speed and the historical filtering angular speeds to obtain the filtering angular speed discrete degree, and calculating the longitudinal vector speed discrete degree based on the current longitudinal filtering vector speed and the historical longitudinal filtering vector speeds to obtain the longitudinal speed discrete degree;

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

According to the zero-speed detection method, the zero-speed detection device, the computer equipment, the storage medium and the computer program product, the scalar quantity speed parameter corresponding to the target to be detected at the current moment is obtained, and when the scalar quantity speed parameter meets the preset target static scalar quantity speed condition, the vector speed of each direction axis corresponding to the current moment is obtained; determining a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity; obtaining historical filtering angular speeds and historical longitudinal filtering vector speeds corresponding to all historical moments, calculating the filtering angular speed discrete degree based on the current filtering angular speed and the historical filtering angular speeds to obtain the filtering angular speed discrete degree, and calculating the longitudinal vector speed discrete degree based on the current longitudinal filtering vector speed and the historical longitudinal filtering vector speeds to obtain the longitudinal speed discrete degree; and when the filtering angular velocity discrete degree and the longitudinal velocity discrete degree accord with the preset target static vector velocity condition, determining that the target to be detected is in a static state. After the scalar speed parameter accords with a preset target static scalar speed condition, low-pass filtering operation is carried out on the current transverse angular speed and the current longitudinal acceleration to remove external noise interference signals, the current transverse filtering angular speed and the current longitudinal filtering acceleration after filtering are more accurate, then the discrete degree calculation is carried out on the historical transverse filtering angular speed and the current longitudinal filtering acceleration, and when the calculated transverse angular speed discrete degree and the calculated longitudinal acceleration discrete degree accord with the preset target static vector speed condition, the target to be detected is in a static state. The detection accuracy of the static state of the target to be detected is improved by jointly judging the scalar quantity speed parameter, the transverse angular speed discrete degree and the longitudinal acceleration discrete degree.

Drawings

FIG. 1 is a diagram of an exemplary embodiment of a zero speed detection method;

FIG. 2 is a schematic flow chart of a zero-speed detection method in one embodiment;

FIG. 3 is a schematic illustration of lateral angular velocity and longitudinal acceleration in one embodiment;

FIG. 4 is a flow chart illustrating the low pass filtering operation in one embodiment;

FIG. 5 is a schematic flow chart of a zero speed detection method in an embodiment;

FIG. 6 is a block diagram showing the structure of a zero-speed detecting apparatus according to an embodiment;

FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment;

FIG. 8 is a diagram showing an internal structure of a computer device in another embodiment

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The zero-speed detection method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104, or may be located on the cloud or other network server. The terminal 102 acquires scalar quantity speed parameters corresponding to the target to be detected at the current moment, and when the scalar quantity speed parameters meet the preset target static scalar quantity speed condition, the terminal 102 acquires vector speeds of all direction axes corresponding to the current moment; the terminal 102 determines a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and performs low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity respectively to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity; the terminal 102 acquires a historical filtering angular velocity and a historical longitudinal filtering vector velocity corresponding to each historical moment, calculates the angular velocity dispersion degree based on the current filtering angular velocity and the historical filtering angular velocity to obtain a filtering angular velocity dispersion degree, and calculates the longitudinal vector velocity dispersion degree based on the current longitudinal filtering vector velocity and the historical longitudinal filtering vector velocity to obtain a longitudinal velocity dispersion degree; when the filtering angular velocity dispersion degree and the longitudinal velocity dispersion degree meet the preset target static vector velocity condition, the terminal 102 determines that the target to be detected is in a static state, and the terminal can display a reminding message that the target to be detected is in the static state, and can also send the reminding message that the target to be detected is in the static state to the server 104 and store the reminding message in the data storage system. Wherein the terminal 102 may obtain the scalar speed parameter and the respective directional axis vector speed through the server 104. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The server 104 may be implemented as a stand-alone server or as a server cluster comprised of multiple servers.

In one embodiment, as shown in fig. 2, a zero-speed detection method is provided, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:

step 202, obtaining a scalar quantity speed parameter corresponding to the target to be detected at the current moment, and obtaining vector speeds of all direction axes corresponding to the current moment when the scalar quantity speed parameter meets a preset target static scalar quantity speed condition.

The target to be detected is an object which needs to be subjected to zero-speed detection, and can be a vehicle, an airplane and the like. The scalar velocity parameter refers to velocity information measured on the target at the present time by the scalar velocity measurement element. The vector speed of each direction axis refers to triaxial vector speed information obtained by measuring a target to be detected at the current moment through a vector speed measuring element. The target static scalar speed condition refers to a condition for judging whether the target to be detected is in a static state by using scalar speed, and comprises the condition that a scalar speed parameter does not exceed a scalar speed parameter threshold value.

Specifically, the scalar speed measurement element may be a wheel speed measurement element, and may also be a global satellite navigation system measurement element. The vector velocity measurement element may be an inertial measurement element in an inertial navigation system. The three-axis vector velocity information may be three-axis angular velocity or three-axis acceleration. The terminal can be a third-party computing platform carried by the target to be detected, and can also be a self-contained system of the target to be detected, so that the target to be detected can carry out zero-speed self-check through the terminal carried by the terminal. And when the scalar speed parameter does not exceed the scalar speed parameter threshold, acquiring the vector speed of each direction axis corresponding to the target to be detected at the current moment measured by the vector speed measuring element.

And 204, determining the current angular velocity and the current longitudinal vector velocity from the vector velocities of the directional axes, and performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity respectively to obtain the current filtering angular velocity and the current longitudinal filtering vector velocity.

The current angular velocity is a vector velocity corresponding to the right direction of the target measured at the current moment. The current longitudinal vector velocity is the vector velocity corresponding to the front direction of the target measured at the current moment. The current filtering angular velocity is obtained by performing low-pass filtering operation on the current angular velocity corresponding to the current moment, and the current longitudinal filtering vector velocity is obtained by performing low-pass filtering operation on the current longitudinal vector velocity corresponding to the current moment.

Specifically, the terminal determines a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and performs low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity by using a low-pass filter to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity.

And step 206, acquiring historical filtering angular speeds and historical longitudinal filtering vector speeds corresponding to the historical moments, calculating angular speed discrete degrees based on the current filtering angular speed and the historical filtering angular speeds to obtain filtering angular speed discrete degrees, and calculating longitudinal vector speed discrete degrees based on the current longitudinal filtering vector speeds and the historical longitudinal filtering vector speeds to obtain longitudinal speed discrete degrees.

The historical filtering angular velocity is obtained by performing low-pass filtering operation on the historical angular velocity corresponding to the historical time, the historical longitudinal filtering vector velocity is obtained by performing low-pass filtering operation on the historical longitudinal vector velocity corresponding to the historical time, and the discrete degree calculation is used for calculating the deviation degree of the current filtering vector velocity and the historical filtering vector velocity. Each historical time refers to a time before the current time within a preset time period of the current time.

Specifically, the terminal may obtain, from the memory, a historical filtering angular velocity and a historical longitudinal filtering vector velocity corresponding to each historical time within a preset time period in which the current time is located, perform angular velocity dispersion degree calculation based on the current filtering angular velocity and the historical filtering angular velocity to obtain a filtering angular velocity dispersion degree, and perform longitudinal vector velocity dispersion degree calculation based on the current longitudinal filtering vector velocity and the historical longitudinal filtering vector velocity to obtain a longitudinal velocity dispersion degree.

And step 208, when the filtering angular velocity discrete degree and the longitudinal velocity discrete degree accord with the preset target static vector velocity condition, determining that the target to be detected is in a static state.

The target static vector velocity condition is a condition for judging whether a target to be detected is in a static state by using a vector velocity, and comprises that the discrete degree of the filtering angular velocity does not exceed the discrete degree threshold of the filtering angular velocity and the discrete degree of the longitudinal velocity does not exceed the discrete degree threshold of the longitudinal velocity.

Specifically, when the terminal detects that the discrete degree of the filtering angular velocity does not exceed the threshold value of the discrete degree of the filtering angular velocity and the discrete degree of the longitudinal velocity does not exceed the threshold value of the discrete degree of the longitudinal velocity, it is determined that the target to be detected is in a static state.

In the zero-speed detection method, a scalar quantity speed parameter corresponding to a target to be detected at the current moment is obtained through a terminal of the target to be detected, and when the scalar quantity speed parameter meets a preset target static scalar quantity speed condition, vector speeds of all direction axes corresponding to the current moment are obtained; determining a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity; obtaining historical filtering angular speeds and historical longitudinal filtering vector speeds corresponding to all historical moments, calculating angular speed discrete degrees based on the current filtering angular speeds and the historical filtering angular speeds to obtain filtering angular speed discrete degrees, and calculating longitudinal vector speed discrete degrees based on the current longitudinal filtering vector speeds and the historical longitudinal filtering vector speeds to obtain longitudinal speed discrete degrees; and when the filtering angular velocity discrete degree and the longitudinal velocity discrete degree accord with the preset target static vector velocity condition, determining that the target to be detected is in a static state. After the scalar speed parameter accords with a preset target static scalar speed condition, low-pass filtering operation is carried out on the current transverse angular speed and the current longitudinal acceleration to remove external noise interference signals, the current transverse filtering angular speed and the current longitudinal filtering acceleration after filtering are more accurate, then the discrete degree calculation is carried out on the historical transverse filtering angular speed and the current longitudinal filtering acceleration, and when the calculated transverse angular speed discrete degree and the calculated longitudinal acceleration discrete degree accord with the preset target static vector speed condition, the target to be detected is in a static state. The self-detection accuracy of the static state of the target to be detected is improved by jointly judging the scalar quantity speed parameter, the transverse angular speed discrete degree and the longitudinal acceleration discrete degree.

In one embodiment, obtaining a scalar quantity speed parameter corresponding to a target to be detected at a current moment, and obtaining vector speeds of respective direction axes corresponding to the current moment when the scalar quantity speed parameter meets a preset target static scalar quantity speed condition includes:

and when the satellite measurement speed parameter does not exceed a preset satellite measurement speed threshold, acquiring the vector speed of each direction axis corresponding to the current moment.

The method further comprises the following steps:

The satellite measurement speed static condition is a condition for further judging whether the target to be detected is in a static state by using a satellite measurement speed parameter, and the satellite measurement speed parameter does not exceed a preset satellite measurement speed threshold value. The satellite measurement speed parameter refers to speed information obtained by processing signals received by the signal antenna by the signal receiver board card. The filtering angular velocity dispersion degree threshold value is a product value of the static filtering angular velocity dispersion degree of the target to be detected when the target to be detected is completely static and a preset coefficient. The longitudinal speed discrete degree threshold value is a product value of the stationary longitudinal speed discrete degree of the target to be detected when the target to be detected is completely stationary and a preset coefficient. The filtering angular velocity dispersion degree and the longitudinal velocity dispersion degree refer to result parameters obtained after the dispersion degree calculation is respectively carried out on the filtering angular velocity and the longitudinal filtering vector velocity of the target to be detected in a preset time period before the current moment, and the dispersion degree calculation can be variance calculation. The target time may be a preset detection time, for example, the target time may be a time 1s after the current time, or may be a time 0.1s after the current time.

Specifically, the wheel speed parameter may be obtained by a wheel speed meter carried by the object to be detected. The wheel speed threshold may be 1 m/s. The Satellite measurement speed parameter may be a resultant speed of an east-direction speed and a north-direction speed obtained by resolving a Satellite signal received by a GNSS antenna by a receiver card board of a GNSS (Global Navigation Satellite System) carried by a target to be detected, and when the target moves, the GNSS antenna moves, and then the speed calculated by the GNSS receiver card board is high. The satellite measurement speed threshold may be 0.1 m/s. The filtering angular velocity dispersion degree and the longitudinal velocity dispersion degree can be a transverse angular velocity variance value and a longitudinal acceleration variance value obtained by respectively carrying out variance calculation on the filtering angular velocity and the longitudinal filtering vector velocity of the target to be detected in the first 1s of the current moment. And when the discrete degree of the filtering angular velocity exceeds a preset threshold value of the discrete degree of the filtering angular velocity, or the discrete degree of the longitudinal velocity exceeds a preset threshold value of the discrete degree of the longitudinal velocity, acquiring a wheel speed parameter corresponding to the target to be detected at the next moment of the current moment by the terminal of the target to be detected, and judging the static scalar speed condition of the target again.

For example, the target to be detected obtains a wheel speed parameter measured by a wheel speed meter at the current moment, and when the wheel speed parameter does not exceed 1m/s, the target to be detected obtains an antenna combining speed obtained by resolving a satellite signal received by a GNSS antenna of the target to be detected by a GNSS receiver board card; and when the antenna combination speed does not exceed 0.1m/s, the target to be detected obtains the triaxial vector speed measured by the inertia measurement element at the current moment from the terminal of the target to be detected.

For another example, if the preset coefficient may be 3, the filtering angular velocity dispersion degree threshold may be a static lateral angular velocity variance value that is 3 times, and the longitudinal velocity dispersion degree threshold may be a static longitudinal acceleration variance value that is 3 times;

when the lateral angular velocity variance value does not exceed the static lateral angular velocity variance value by 3 times and the longitudinal acceleration variance value does not exceed the static longitudinal acceleration variance value by 3 times, the terminal judges that the target to be detected is in a static state at the current moment;

the expression formula can be Ca <3Ca0 and Cg <3Cg0, where Ca is the longitudinal acceleration variance value, Ca0 is the static longitudinal acceleration variance value, and 3Ca0 is the longitudinal velocity dispersion threshold; cg is the lateral angular velocity variance value, Cg0 is the static lateral angular velocity variance value, and 3Cg0 is the filter angular velocity dispersion degree threshold.

In the embodiment, whether the target to be detected is in a high-speed motion state with the speed higher than 1m/s can be determined by judging the wheel speed of the target to be detected through the terminal carried by the target to be detected, whether the target to be detected is in a low-speed motion state with the speed higher than 0.1m/s can be determined by judging the speed of the GNSS antenna of the target to be detected, and finally, whether the target to be detected is in a static state can be determined by judging the filter angular velocity dispersion degree and the longitudinal velocity dispersion degree of the target to be detected and the dispersion degree threshold value when the target to be detected is static, if the filter angular velocity dispersion degree and the longitudinal velocity dispersion degree of the target to be detected do not meet the static vector speed condition of the target, the wheel speed parameter corresponding to the target to be detected at the next moment of the current moment is obtained again, and the static scalar speed condition of the target is judged again, the accuracy of zero-speed detection of the target to be detected is improved.

In one embodiment, the method further comprises:

and when the satellite measurement speed parameter does not exceed the preset satellite measurement speed threshold, acquiring a wheel speed parameter corresponding to the target to be detected at the target moment.

Specifically, the target time may be a preset detection time, for example, the target time may be a time 1s after the current time, or may be a time 0.1s after the current time. When the wheel speed parameter exceeds a preset wheel speed threshold value, the self-contained terminal of the target to be detected acquires a wheel speed parameter corresponding to the target to be detected at the next moment of the current moment;

and when the satellite measurement speed parameter does not exceed the preset satellite measurement speed threshold, the self-contained terminal of the target to be detected acquires a wheel speed parameter corresponding to the target to be detected at the next moment of the current moment.

In this embodiment, the self-contained terminal of the target to be detected sequentially determines the wheel speed parameter and the satellite measurement speed parameter, and when the speed parameter exceeding the corresponding threshold is detected, the wheel speed parameter corresponding to the next moment is obtained again for determination, so that the speed parameter corresponding to each moment can be detected, and the accuracy of zero-speed self-detection of the target to be detected is improved.

In one embodiment, determining a current angular velocity and a current longitudinal vector velocity from vector velocities of respective directional axes, and performing a low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity, includes:

the acquiring of the historical filtering angular velocity and the historical longitudinal filtering vector velocity corresponding to each historical time includes:

The transverse angular velocity refers to the angular velocity of the target to be detected in the right direction. The longitudinal acceleration refers to the acceleration in the advancing direction of the object to be detected.

Specifically, as shown in FIG. 3, a schematic of lateral angular velocity and longitudinal acceleration is provided; when the target to be detected starts or stops, the target to be detected shakes in the longitudinal direction, and the acceleration of the advancing direction of the target to be detected changes; meanwhile, the front end head of the target to be detected can be lifted, the transverse angular velocity of the target to be detected can be changed at the moment, and the angular velocity in the right direction of the target to be detected can be determined to be changed according to the right-hand rule and the advancing direction of the target to be detected. The terminal determines the current right transverse angular velocity and the current forward longitudinal acceleration of the target to be detected from the vector velocities of all direction axes, and respectively performs low-pass filtering operation on the current right transverse angular velocity and the current forward longitudinal acceleration to obtain the current right transverse filtering angular velocity and the current forward longitudinal filtering acceleration; and acquiring the right historical transverse filtering angular velocity and the forward historical longitudinal filtering acceleration corresponding to each historical moment.

In the embodiment, the right-direction current longitudinal filtering acceleration and the forward-direction current longitudinal filtering acceleration of the target to be detected are judged through the self-carried terminal of the target to be detected, so that the detection flow is simplified, and the zero-speed detection efficiency of the target to be detected is improved.

In one embodiment, as shown in fig. 4, a flow chart of a low-pass filtering operation step is provided, where the low-pass filtering operation is performed on the current angular velocity and the current longitudinal vector velocity respectively to obtain a current filtered angular velocity and a current longitudinal filtered vector velocity, and the method includes:

step 402, acquiring historical angular velocity, historical filtering angular velocity, historical longitudinal vector velocity and historical longitudinal filtering vector velocity corresponding to each historical moment;

step 404, weighting the current angular velocity and the historical angular velocities corresponding to the historical moments respectively to obtain the current weighted angular velocity and the historical weighted angular velocities, and calculating the sum of the current weighted angular velocity and the historical weighted angular velocities to obtain a target angular velocity sum;

step 406, weighting the historical filtering angular velocities corresponding to the historical moments to obtain the historical filtering weighted angular velocities, calculating the sum of the historical filtering weighted angular velocities to obtain a target filtering weighted angular velocity sum, and calculating the difference between the target angular velocity sum and the target filtering weighted angular velocity sum to obtain the current filtering angular velocity;

step 408, weighting the current longitudinal vector speed and the historical longitudinal vector speeds corresponding to the historical moments respectively to obtain the current weighted longitudinal speed and the historical longitudinal weighted speeds, and calculating the sum of the current weighted longitudinal speed and the historical longitudinal weighted speeds to obtain the sum of the target longitudinal speeds;

and step 410, weighting the historical longitudinal filtering vector speeds corresponding to the historical moments to obtain the historical longitudinal filtering weighting speeds, calculating the sum of the historical longitudinal filtering weighting speeds to obtain the target longitudinal filtering speed sum, and calculating the difference between the target longitudinal filtering speed sum and the target longitudinal filtering speed sum to obtain the current longitudinal filtering vector speed.

Specifically, the low-pass filtering operation may be an operation performed by a filter formula of a k (positive integer) order IIR (Infinite Impulse Response filter) filter, where the filter formula is:

a(1)*y(n)＝b(1)*x(n)+b(2)*x(n-1)+...+b(k+1)*x(n-k)-a(2)*y(n-1)-...-a(k+1)*y(n-k)；

a (1), b (2), b (k +1), a (2) and a (k +1) are filter coefficients and can be obtained through filter performance, wherein a (1) is a coefficient 1;

k is the order of the filter;

and a (1) × y (n) is the output value of the filter at the nth moment and is used as the current input data.

x (n), x (n-1) and x (n-k) are input values of the filter at the nth time, the nth-1 time and the nth-k time and serve as historical input data. For example, if n is 6 and the filter order k is 3, x (n), x (n-1), and x (n-k) are x (6), x (5), and x (3), and represent input values of the filter at the 6 th, 5 th, and 3 rd seconds.

y (n-1) and y (n-k) are output values of the filter at the n-1 th time and the n-k th time, and serve as historical output data.

In this embodiment, the filtering output of the IIR depends on the current input data, the historical input data, and the historical output data, and the current input data is adjusted according to the difference between the historical input data and the historical output data, so that the current input data is closer to the historical output data, noise interference signals in the current input data can be removed, more accurate current output data, that is, the current transverse filtering angular velocity and the current longitudinal filtering acceleration, can be obtained, and the zero-speed detection of the target to be detected is more accurate.

The static zero speed refers to a speed calculated by using an inertial system in the target to be detected when the target to be detected is in a static state and serves as a standard quantity of a system speed error.

Specifically, the target to be detected obtains the static standard quantity from the terminal, and corrects other error quantities through the static observed quantity, so as to optimize the combined navigation result of the target to be detected in a static state. In this embodiment, the zero-speed correction accuracy of the target to be detected can be improved by the static zero-speed.

In one embodiment, as shown in fig. 5, a flow diagram of a zero-speed detection method is provided,

specifically, the method comprises the following steps:

the method comprises the steps that a self-contained terminal of a target to be detected obtains a wheel speed parameter corresponding to the target to be detected at the current moment, and when the wheel speed parameter is larger than 1m/s, a wheel speed parameter corresponding to the next moment of the current moment is obtained;

when the wheel speed parameter is less than 1m/s, acquiring a GNSS speed parameter corresponding to the target to be detected at the current moment, and when the GNSS speed parameter is greater than 0.1m/s, acquiring a wheel speed parameter corresponding to the next moment at the current moment;

when the GNSS speed parameter is less than 0.1m/s, acquiring the current transverse angular velocity and the current longitudinal acceleration measured by an inertial measurement element corresponding to the target to be detected at the current moment, and respectively performing low-pass filtering operation on the current transverse angular velocity and the current longitudinal acceleration to obtain the current transverse filtering angular velocity and the current longitudinal filtering acceleration;

acquiring a transverse filtering angular velocity and a longitudinal filtering acceleration of a target to be detected in the first 1s of the current moment, wherein the transverse filtering angular velocity comprises the current transverse filtering angular velocity and a historical transverse filtering angular velocity in the first 1s of the current moment, and the longitudinal filtering angular velocity comprises the current longitudinal filtering angular velocity and a historical longitudinal filtering angular velocity in the first 1s of the current moment, and then performing variance calculation on the transverse filtering angular velocity and the longitudinal filtering acceleration respectively to obtain a transverse angular velocity variance value and a longitudinal acceleration variance value;

when the transverse angular velocity variance value is larger than the transverse angular velocity variance threshold value and the longitudinal acceleration variance value is larger than the longitudinal acceleration variance threshold value, acquiring a wheel speed parameter corresponding to the next moment of the current moment;

and when the lateral angular velocity variance value is smaller than the lateral angular velocity variance threshold value and the longitudinal acceleration variance value is smaller than the longitudinal acceleration variance threshold value, judging that the target to be detected is in a static state at the current moment.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the present application further provides a zero-velocity detection apparatus for implementing the zero-velocity detection method. The implementation scheme for solving the problem provided by the apparatus is similar to the implementation scheme described in the above method, so specific limitations in one or more embodiments of the zero-speed detection apparatus provided below can be referred to the limitations of the zero-speed detection method in the foregoing, and details are not described here.

In one embodiment, as shown in fig. 6, there is provided a zero speed detection apparatus 600, comprising: an obtaining module 602, a filtering module 604, a discretizing module 606, and a determining module 608, wherein:

the obtaining module 602 is configured to obtain a scalar quantity speed parameter corresponding to the target to be detected at the current time, and when the scalar quantity speed parameter meets a preset target static scalar quantity speed condition, obtain each direction axis vector speed corresponding to the current time;

the filtering module 604 is configured to determine a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and perform low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity respectively to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity;

a discrete module 606, configured to obtain a historical filtering angular velocity and a historical longitudinal filtering vector velocity corresponding to a historical time, perform filtering angular velocity discrete degree calculation based on the current filtering angular velocity and the historical filtering angular velocity to obtain a filtering angular velocity discrete degree, and perform longitudinal vector velocity discrete degree calculation based on the current longitudinal filtering vector velocity and the historical longitudinal filtering vector velocity to obtain a longitudinal velocity discrete degree;

the determining module 608 is configured to determine that the target to be detected is in a stationary state when the filter angular velocity dispersion degree and the longitudinal velocity dispersion degree meet a preset target stationary vector velocity condition.

In one embodiment, the obtaining module 602 further includes:

the wheel speed parameter obtaining module is used for obtaining scalar quantity speed parameters corresponding to the target to be detected at the current moment, and obtaining vector speeds of all direction axes corresponding to the current moment when the scalar quantity speed parameters meet a preset target static scalar quantity speed condition, and the wheel speed parameter obtaining module comprises:

In one embodiment, the obtaining module 602 further includes:

the direction axis vector velocity obtaining module is used for obtaining each direction axis vector velocity corresponding to the current moment when the satellite measuring velocity parameter meets the satellite measuring velocity static condition, and comprises:

In one embodiment, the obtaining module 602 further includes:

the discrete degree obtaining module is used for determining that the target to be detected is in a static state when the discrete degree of the filtering angular velocity and the discrete degree of the longitudinal velocity accord with a preset target static vector velocity condition, and comprises the following steps:

In one embodiment, the zero-speed detection apparatus 600 is further configured to:

In one embodiment, the obtaining module 602 is further configured to:

determining a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity, wherein the method comprises the following steps:

In one embodiment, the filtering module 604 further comprises:

the adding module is used for respectively carrying out low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain the current filtering angular velocity and the current longitudinal filtering vector velocity, and comprises:

In one embodiment, the determining module 608 is further configured to:

after judging that the speed at the current moment is zero, the method further comprises the following steps:

The modules in the zero-speed detection device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing scalar speed parameter data, each direction axis vector speed data, scalar speed parameter threshold data, transverse speed discrete degree threshold data, longitudinal speed discrete degree threshold data and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a zero speed detection method.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a zero speed detection method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the configurations shown in fig. 7-8 are only block diagrams of some of the configurations relevant to the present disclosure, and do not constitute a limitation on the computing devices to which the present disclosure may be applied, and that a particular computing device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

obtaining a scalar quantity speed parameter corresponding to a target to be detected at the current moment, and obtaining vector speeds of all direction axes corresponding to the current moment when the scalar quantity speed parameter meets a preset target static scalar quantity speed condition; determining a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity; obtaining historical filtering angular speeds and historical longitudinal filtering vector speeds corresponding to all historical moments, calculating angular speed discrete degrees based on the current filtering angular speeds and the historical filtering angular speeds to obtain filtering angular speed discrete degrees, and calculating longitudinal vector speed discrete degrees based on the current longitudinal filtering vector speeds and the historical longitudinal filtering vector speeds to obtain longitudinal speed discrete degrees; and when the filtering angular velocity discrete degree and the longitudinal velocity discrete degree accord with the preset target static vector velocity condition, determining that the target to be detected is in a static state.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

obtaining a scalar quantity speed parameter corresponding to a target to be detected at the current moment, and obtaining vector speeds of all direction axes corresponding to the current moment when the scalar quantity speed parameter meets a preset target static scalar quantity speed condition, wherein the method comprises the following steps: the method comprises the steps of obtaining a wheel speed parameter corresponding to a target to be detected at the current moment, obtaining a satellite measurement speed parameter corresponding to the target to be detected at the current moment when the wheel speed parameter does not exceed a preset wheel speed threshold value, and obtaining vector speeds of all direction axes corresponding to the current moment when the satellite measurement speed parameter meets a satellite measurement speed static condition.

when the satellite measurement speed parameter meets the satellite measurement speed static condition, obtaining the vector speed of each direction axis corresponding to the current moment, including: when the satellite measurement speed parameter does not exceed a preset satellite measurement speed threshold, acquiring the vector speed of each direction axis corresponding to the current moment;

when the filtering angular velocity discrete degree and the longitudinal velocity discrete degree accord with the preset target static vector velocity condition, determining that the target to be detected is in a static state, comprising the following steps of: when the filtering angular velocity discrete degree does not exceed a preset filtering angular velocity discrete degree threshold value and the longitudinal velocity discrete degree does not exceed a preset longitudinal velocity discrete degree threshold value, determining that the target to be detected is in a static state; the method further comprises the following steps: and when the filtering angular velocity discrete degree exceeds a preset filtering angular velocity discrete degree threshold value, or the longitudinal velocity discrete degree exceeds a preset longitudinal velocity discrete degree threshold value, acquiring a wheel speed parameter target corresponding to the target to be detected at the target moment.

the method further comprises the following steps: when the wheel speed parameter exceeds a preset wheel speed threshold value, acquiring a wheel speed parameter corresponding to a target to be detected at a target moment, wherein the target moment is the next moment of the current moment; and when the satellite measurement speed parameter does not exceed the preset satellite measurement speed threshold, acquiring a wheel speed parameter corresponding to the target to be detected at the target moment.

determining a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity, wherein the method comprises the following steps: determining a current transverse angular velocity and a current longitudinal acceleration from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current transverse angular velocity and the current longitudinal acceleration to obtain a current transverse filtering angular velocity and a current longitudinal filtering acceleration; acquiring historical filtering angular velocity and historical longitudinal filtering vector velocity corresponding to each historical moment, wherein the historical filtering angular velocity and the historical longitudinal filtering vector velocity corresponding to each historical moment comprise the following steps: and acquiring historical transverse filtering angular velocity and historical longitudinal filtering acceleration corresponding to each historical moment.

respectively carrying out low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain the current filtering angular velocity and the current longitudinal filtering vector velocity, and the method comprises the following steps: acquiring historical angular velocity, historical filtering angular velocity, historical longitudinal vector velocity and historical longitudinal filtering vector velocity corresponding to each historical moment; weighting the current angular velocity and the historical angular velocities corresponding to the historical moments respectively to obtain a current weighted angular velocity and each historical weighted angular velocity, and calculating the sum of the current weighted angular velocity and each historical weighted angular velocity to obtain a target angular velocity sum; weighting the historical filtering angular speeds corresponding to the historical moments to obtain the historical filtering weighted angular speeds, calculating the sum of the historical filtering weighted angular speeds to obtain a target filtering angular speed sum, and calculating the difference between the target angular speed sum and the target filtering angular speed sum to obtain the current filtering angular speed; weighting the current longitudinal vector speed and the historical longitudinal vector speeds corresponding to the historical moments respectively to obtain the current weighted longitudinal speed and the historical longitudinal weighted speeds, and calculating the sum of the current weighted longitudinal speed and the historical longitudinal weighted speeds to obtain the sum of the target longitudinal speeds; weighting the historical longitudinal filtering vector speed corresponding to each historical moment to obtain each historical longitudinal filtering weighting speed, calculating the sum of each historical longitudinal filtering weighting speed to obtain the sum of the target longitudinal filtering speeds, and calculating the difference between the sum of the target longitudinal speeds and the sum of the target longitudinal filtering speeds to obtain the current longitudinal filtering vector speed.

after judging that the speed at the current moment is zero, the method further comprises the following steps: and acquiring a static zero speed, and performing zero speed correction on the target to be detected based on the static zero speed.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

when the wheel speed parameter exceeds a preset wheel speed threshold value, acquiring a wheel speed parameter corresponding to a target to be detected at a target moment, wherein the target moment is the next moment of the current moment; and when the satellite measurement speed parameter does not exceed the preset satellite measurement speed threshold, acquiring a wheel speed parameter corresponding to the target to be detected at the target moment.

respectively carrying out low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain the current filtering angular velocity and the current longitudinal filtering vector velocity, and the method comprises the following steps: acquiring historical angular velocity, historical filtering angular velocity, historical longitudinal vector velocity and historical longitudinal filtering vector velocity corresponding to each historical moment; weighting the current angular velocity and the historical angular velocities corresponding to the historical moments respectively to obtain a current weighted angular velocity and each historical weighted angular velocity, and calculating the sum of the current weighted angular velocity and each historical weighted angular velocity to obtain a target angular velocity sum; weighting the historical filtering angular speeds corresponding to the historical moments to obtain the historical filtering weighted angular speeds, calculating the sum of the historical filtering weighted angular speeds to obtain a target filtering angular speed sum, and calculating the difference between the target angular speed sum and the target filtering angular speed sum to obtain the current filtering angular speed;

weighting the current longitudinal vector speed and the historical longitudinal vector speeds corresponding to the historical moments respectively to obtain the current weighted longitudinal speed and the historical longitudinal weighted speeds, and calculating the sum of the current weighted longitudinal speed and the historical longitudinal weighted speeds to obtain the sum of the target longitudinal speeds; weighting the historical longitudinal filtering vector speed corresponding to each historical moment to obtain each historical longitudinal filtering weighting speed, calculating the sum of each historical longitudinal filtering weighting speed to obtain the sum of the target longitudinal filtering speeds, and calculating the difference between the sum of the target longitudinal speeds and the sum of the target longitudinal filtering speeds to obtain the current longitudinal filtering vector speed.

In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method of zero-speed detection, the method comprising:

obtaining scalar quantity speed parameters corresponding to a target to be detected at the current moment, and obtaining vector speeds of all direction axes corresponding to the current moment when the scalar quantity speed parameters meet a preset target static scalar quantity speed condition;

obtaining historical filtering angular velocity and historical longitudinal filtering vector velocity corresponding to each historical moment, calculating filtering angular velocity discrete degree based on the current filtering angular velocity and the historical filtering angular velocity to obtain filtering angular velocity discrete degree, and calculating longitudinal vector velocity discrete degree based on the current longitudinal filtering vector velocity and the historical longitudinal filtering vector velocity to obtain longitudinal velocity discrete degree;

and when the filtering angular velocity discrete degree and the longitudinal velocity discrete degree accord with a preset target static vector velocity condition, determining that the target to be detected is in a static state.

2. The method according to claim 1, wherein the obtaining of the scalar speed parameter corresponding to the target to be detected at the current time, and when the scalar speed parameter meets a preset target static scalar speed condition, obtaining the vector speed of each direction axis corresponding to the current time comprises:

and acquiring wheel speed parameters corresponding to the target to be detected at the current moment, acquiring satellite measurement speed parameters corresponding to the target to be detected at the current moment when the wheel speed parameters do not exceed a preset wheel speed threshold, and acquiring vector speeds of all direction axes corresponding to the current moment when the satellite measurement speed parameters meet the satellite measurement speed static condition.

3. The method according to claim 2, wherein when the satellite measurement speed parameter satisfies the satellite measurement speed stationary condition, acquiring vector speeds of respective direction axes corresponding to a current time includes:

and when the satellite measuring speed parameter does not exceed a preset satellite measuring speed threshold, acquiring the vector speed of each direction axis corresponding to the current moment.

4. The method according to claim 1, wherein the determining that the object to be detected is in a stationary state when the degrees of the angular velocity dispersion and the longitudinal velocity dispersion meet a preset object stationary vector velocity condition comprises:

when the filtering angular velocity discrete degree does not exceed a preset filtering angular velocity discrete degree threshold value and the longitudinal velocity discrete degree does not exceed a preset longitudinal velocity discrete degree threshold value, determining that the target to be detected is in a static state;

the method further comprises the following steps:

and when the filtering angular velocity discrete degree exceeds the preset filtering angular velocity discrete degree threshold value, or the longitudinal velocity discrete degree exceeds the preset longitudinal velocity discrete degree threshold value, acquiring a wheel speed parameter corresponding to the target to be detected at a target moment, wherein the target moment is the next moment of the current moment.

5. The method of claim 3, further comprising:

when the wheel speed parameter exceeds the preset wheel speed threshold value, acquiring a wheel speed parameter corresponding to the target to be detected at the target moment, wherein the target moment is the next moment of the current moment;

and when the satellite measuring speed parameter does not exceed the preset satellite measuring speed threshold, acquiring a wheel speed parameter corresponding to the target to be detected at the target moment.

6. The method of claim 1, wherein determining a current angular velocity and a current longitudinal vector velocity from the respective directional axis vector velocities, and performing a low pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtered angular velocity and a current longitudinal filtered vector velocity, respectively, comprises:

7. The method of claim 1, wherein said performing a low-pass filtering operation on said current angular velocity and said current longitudinal vector velocity, respectively, to obtain a current filtered angular velocity and a current longitudinal filtered vector velocity comprises:

weighting the current angular velocity and the historical angular velocities corresponding to the historical moments respectively to obtain a current weighted angular velocity and each historical weighted angular velocity, and calculating the sum of the current weighted angular velocity and each historical weighted angular velocity to obtain a target angular velocity sum;

weighting the current longitudinal vector speed and the historical longitudinal vector speeds corresponding to the historical moments respectively to obtain a current weighted longitudinal speed and each historical longitudinal weighted speed, and calculating the sum of the current weighted longitudinal speed and each historical longitudinal weighted speed to obtain a target longitudinal speed sum;

weighting the historical longitudinal filtering vector speeds corresponding to the historical moments to obtain the historical longitudinal filtering weighting speeds, calculating the sum of the historical longitudinal filtering weighting speeds to obtain the target longitudinal filtering speed sum, and calculating the difference value between the target longitudinal filtering speed sum and the target longitudinal filtering speed sum to obtain the current longitudinal filtering vector speed.

8. The method of claim 1, further comprising, after said determining that the velocity at the current time is zero:

9. A zero speed detection apparatus, the apparatus comprising:

the filtering module is used for determining a current angular velocity and a current longitudinal vector velocity from the vector velocities of the directional axes, and respectively performing low-pass filtering operation on the current angular velocity and the current longitudinal vector velocity to obtain a current filtering angular velocity and a current longitudinal filtering vector velocity;

the discrete module is used for acquiring historical filtering angular velocity and historical longitudinal filtering vector velocity corresponding to each historical moment, calculating the discrete degree of the filtering angular velocity based on the current filtering angular velocity and the historical filtering angular velocity to obtain the discrete degree of the filtering angular velocity, and calculating the discrete degree of the longitudinal vector velocity based on the current longitudinal filtering vector velocity and the historical longitudinal filtering vector velocity to obtain the discrete degree of the longitudinal velocity;

and the judging module is used for determining that the target to be detected is in a static state when the filtering angle dispersion degree and the longitudinal speed dispersion degree accord with a preset target static vector speed condition.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.