CN114485511A - Method and device for measuring vehicle clearance width - Google Patents
Method and device for measuring vehicle clearance width Download PDFInfo
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- CN114485511A CN114485511A CN202011166070.6A CN202011166070A CN114485511A CN 114485511 A CN114485511 A CN 114485511A CN 202011166070 A CN202011166070 A CN 202011166070A CN 114485511 A CN114485511 A CN 114485511A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention relates to a method and a device for measuring the vehicle clearance width and a computer readable storage medium. The measuring method comprises the following steps: carrying out a running condition test of a vehicle, and acquiring position information and course angle information of a carriage of the vehicle at a plurality of moments; calculating the position information of a plurality of outer contour points of the vehicle at corresponding moments according to the position information, the course angle information and the outer contour size of the carriage; determining a driving track of each outer contour point according to the position information of each outer contour point at each moment; and determining the plane maximum limit width of the vehicle according to the maximum distance of each driving track. The invention can fit the driving track of each outer contour point of the vehicle by measuring the position information and the course angle information of the vehicle, thereby determining the maximum plane limit width of the vehicle, so as to be used for the overall design of the vehicle, the planning design of roads and the protection of pedestrians and non-motor vehicles.
Description
Technical Field
The invention relates to a vehicle data measuring technology, in particular to a vehicle clearance width measuring method and a vehicle clearance width measuring device.
Background
The urban road reaches all areas of the city, is used by vehicles, traffic and pedestrians in the city, facilitates the life, work and cultural and entertainment activities of residents, and is connected with the urban road to bear the traffic of the city. In the running process of turning, lane changing and the like of urban roads, large vehicles with multiple groups, such as automobile trailers, automobile trains, 18-meter buses, virtual rail trolleys and the like, often cause scraping accidents and even cause casualties due to overlarge occupied space of the vehicles. Therefore, the method has good guiding significance for obtaining the maximum limit width of the large vehicle under various typical road conditions, the overall design of the vehicle, the planning design of the road and the protection of pedestrians and non-motor vehicles.
However, there is no relevant measurement technology in the art, and the reference cannot be provided for designers of large vehicles and planning designers of roads, which is not beneficial to traffic safety protection of pedestrians and non-motor vehicles.
In order to make up for the above-mentioned deficiency in the field, the invention provides a vehicle clearance width measuring technology, which fits the driving track of each outer contour point of the vehicle by measuring the position information and the course angle information of the vehicle, so as to determine the maximum clearance width of the plane of the vehicle, so as to be used for the overall design of the vehicle, the planning design of the road and the protection of pedestrians and non-motor vehicles.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
In order to make up for the above-mentioned shortcomings in the art, the present invention provides a method for measuring a vehicle clearance width, a device for measuring a vehicle clearance width, and a computer-readable storage medium, which fit a driving trajectory of each outer contour point of a vehicle by measuring position information and course angle information of the vehicle, so as to determine a planar maximum clearance width of the vehicle, so as to provide for general design of the vehicle, planning design of a road, and protection of pedestrians and non-motor vehicles.
The method for measuring the vehicle clearance width comprises the following steps: carrying out a running condition test of a vehicle, and acquiring position information and course angle information of a carriage of the vehicle at a plurality of moments; calculating the position information of a plurality of outer contour points of the vehicle at corresponding moments according to the position information, the course angle information and the outer contour size of the carriage; determining a driving track of each outer contour point according to the position information of each outer contour point at each moment; and determining the plane maximum limit width of the vehicle according to the maximum distance of each driving track.
Preferably, in some embodiments of the present invention, the step of collecting the position information and the heading angle information of the vehicle at a plurality of time instants may include: installing a position sensor and a course angle sensor at a reference position of the carriage; and in the running condition testing process, acquiring the sensor signal of the position sensor in real time to serve as the position information of the carriage, and acquiring the sensor signal of the course angle sensor in real time to serve as the course angle information of the carriage.
Preferably, in some embodiments of the present invention, the plurality of outer contour points may include a vehicle front left edge point, a vehicle front right edge point, a vehicle rear left edge point, a vehicle rear right edge point, a vehicle body center left edge point, and a vehicle body center right edge point of the car. The step of calculating the position information of the plurality of outer contour points may include: calculating relative coordinates of each outer contour point and the reference position according to the outer contour size of the carriage; calculating coordinate data of the reference position according to the position information of the reference position; and calculating the coordinate data of each outer contour point according to the coordinate data of the reference position, the course angle information of the carriage and the relative coordinates of each outer contour point and the reference position.
Preferably, in some embodiments of the present invention, the vehicle may comprise a multi-section cabin. At least one main test car in which the position sensor may be mounted. The heading angle sensor may be mounted to each of the cars. The plurality of outer contour points may include a vehicle head left edge point, a vehicle head right edge point, a vehicle tail left edge point, a vehicle tail right edge point, a vehicle body center left edge point, and a vehicle body center right edge point of each of the carriages. The step of calculating the position information of the plurality of outer contour points may further include: calculating the coordinate data of the reference position of the slave measuring carriage according to the coordinate data of the reference position of the master measuring carriage, the course angle information of the master measuring carriage and the course angle information of the adjacent slave measuring carriages; and calculating the coordinate data of each outer contour point of the slave vehicle measuring chamber according to the coordinate data of the reference position of the slave vehicle measuring chamber, the course angle information and the relative coordinates of each outer contour point and the reference position of the outer contour point.
Preferably, in some embodiments of the present invention, the step of determining the driving trajectory of each of the outer contour points may include: and fitting the driving track of each outer contour point of the vehicle according to the coordinate data of each outer contour point of each compartment at each moment. The step of determining the planar maximum bounding width may comprise: and respectively calculating the maximum distance between the driving tracks, and determining the maximum value as the plane maximum limit width of the vehicle.
Preferably, in some embodiments of the present invention, the measuring method may further include: collecting the body roll angle of each carriage at each moment, and counting the maximum value; calculating the roll compensation width according to the maximum value of the roll angle of the vehicle body and the height of the carriage; and calculating a maximum limit width of the vehicle according to the plane maximum limit width and the roll compensation width.
Preferably, in some embodiments of the present invention, the step of acquiring the body roll angle of each of the cars may include: mounting a plurality of accelerometers to each of the cars to acquire acceleration information for each of the cars; and respectively calculating the body roll angle of each compartment according to the acceleration information of each compartment.
According to another aspect of the present invention, there is also provided herein a vehicle clearance width measuring device.
The device for measuring the vehicle limit width comprises a memory and a processor. The processor is connected to the memory and configured to: carrying out a running condition test of a vehicle, and acquiring position information and course angle information of a carriage of the vehicle at a plurality of moments; calculating the position information of a plurality of outer contour points of the vehicle at corresponding moments according to the position information, the course angle information and the outer contour size of the carriage; determining a driving track of each outer contour point according to the position information of each outer contour point at each moment; and determining the plane maximum limit width of the vehicle according to the maximum distance of each driving track.
Preferably, in some embodiments of the present invention, the processor may be further configured to: installing a position sensor and a course angle sensor at a reference position of the carriage; and in the running condition testing process, acquiring the sensor signal of the position sensor in real time to serve as the position information of the carriage, and acquiring the sensor signal of the course angle sensor in real time to serve as the course angle information of the carriage.
Preferably, in some embodiments of the present invention, the plurality of outer contour points may include a vehicle front left edge point, a vehicle front right edge point, a vehicle rear left edge point, a vehicle rear right edge point, a vehicle body center left edge point, and a vehicle body center right edge point of the car. The processor may be further configured to: calculating the relative coordinates of each outer contour point and the reference position according to the outer contour size of the carriage; calculating coordinate data of the reference position according to the position information of the reference position; and calculating the coordinate data of each outer contour point according to the coordinate data of the reference position, the course angle information of the carriage and the relative coordinates of each outer contour point and the reference position.
Preferably, in some embodiments of the present invention, the vehicle may comprise a multi-section cabin. At least one main test car in which the position sensor may be mounted. The heading angle sensor may be mounted to each of the cars. The plurality of outer contour points comprise a vehicle head left edge point, a vehicle head right edge point, a vehicle tail left edge point, a vehicle tail right edge point, a vehicle body center left edge point and a vehicle body center right edge point of each carriage. The processor may be further configured to: calculating the coordinate data of the reference position of the slave measuring carriage according to the coordinate data of the reference position of the master measuring carriage, the course angle information of the master measuring carriage and the course angle information of the adjacent slave measuring carriage; and calculating the coordinate data of each outer contour point of the slave vehicle measuring chamber according to the coordinate data of the reference position of the slave vehicle measuring chamber, the course angle information and the relative coordinates of each outer contour point and the reference position of the outer contour point.
Preferably, in some embodiments of the present invention, the processor may be further configured to: fitting a driving track of each outer contour point of the vehicle according to the coordinate data of each outer contour point of each compartment at each moment; and respectively calculating the maximum distance between the driving tracks, and determining the maximum value as the plane maximum limit width of the vehicle.
Preferably, in some embodiments of the present invention, the processor may be further configured to: collecting the body roll angle of each carriage at each moment, and counting the maximum value; calculating the roll compensation width according to the maximum value of the roll angle of the automobile body and the height of the carriage; and calculating a maximum limit width of the vehicle according to the plane maximum limit width and the roll compensation width.
Preferably, in some embodiments of the present invention, the processor may be further configured to: mounting a plurality of accelerometers to each of said cars to acquire acceleration information for each of said cars; and respectively calculating the body roll angle of each compartment according to the acceleration information of each compartment.
According to another aspect of the present invention, a computer-readable storage medium is also provided herein.
The present invention provides the above computer readable storage medium having stored thereon computer instructions. When the computer instructions are executed by the processor, the method for measuring the vehicle clearance width provided by any one of the above embodiments can be implemented, and the position information and the heading angle information of the vehicle are measured to fit the driving track of each outer contour point of the vehicle, so that the plane maximum clearance width of the vehicle is determined, and the method can be used for the overall design of the vehicle, the planning design of roads and the protection of pedestrians and non-motor vehicles.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1 shows a schematic flow diagram of a method for measuring a vehicle clearance width according to an aspect of the invention.
FIG. 2 illustrates an installation schematic of a vehicle clearance width measurement device provided in accordance with some embodiments of the present invention.
FIG. 3 illustrates a schematic view of the travel trajectories of outer contour points provided in accordance with some embodiments of the invention.
FIG. 4 illustrates a schematic diagram of a vehicle maximum bounding width provided in accordance with some embodiments of the present invention.
Fig. 5 shows a schematic diagram of an architecture of a vehicle clearance width measuring device according to another aspect of the present invention.
Reference numerals:
101-104 steps of a method for measuring the vehicle clearance width;
20 a measuring device of the vehicle clearance width;
201 a first sensor assembly;
202 a second sensor assembly;
21 a first car;
22 a second car;
23 a hinge means;
50 a measurement device of the vehicle clearance width;
51 a memory;
52 a processor.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in connection with the preferred embodiments, there is no intent to limit its features to those embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Additionally, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," "vertical" and the like as used in the following description are to be understood as referring to the segment and the associated drawings in the illustrated orientation. The relative terms are used for convenience of description only and do not imply that the described apparatus should be constructed or operated in a particular orientation and therefore should not be construed as limiting the invention.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, regions, layers and/or sections, these elements, regions, layers and/or sections should not be limited by these terms, but rather are used to distinguish one element, region, layer and/or section from another element, region, layer and/or section. Thus, a first component, region, layer or section discussed below could be termed a second component, region, layer or section without departing from some embodiments of the present invention.
As described above, in the course of driving on urban roads such as turning and lane changing, due to the large space occupied by the vehicles, scraping accidents and even casualties are often caused by large vehicles with multiple groups such as automobile trailers, motor trains, 18-meter buses and virtual rail trolleys. However, there is no related measurement technology in the art, and the reference cannot be provided for designers of large vehicles and designers of roads, which is not beneficial to the traffic safety protection of pedestrians and non-motor vehicles.
In order to make up for the above-mentioned shortcomings in the art, the present invention provides a method for measuring a vehicle clearance width, a device for measuring a vehicle clearance width, and a computer-readable storage medium, which fit a driving trajectory of each outer contour point of a vehicle by measuring position information and course angle information of the vehicle, so as to determine a planar maximum clearance width of the vehicle, so as to provide for general design of the vehicle, planning design of a road, and protection of pedestrians and non-motor vehicles.
In some non-limiting embodiments, the vehicle clearance width measuring method provided by the present invention may be implemented by a vehicle clearance width measuring device. Specifically, the measurement device may include a memory and a processor. The memory may include a computer-readable storage medium having stored thereon computer instructions. The processor may be coupled to the memory and adapted to execute computer instructions stored on the memory to implement the measurement method described above. In some embodiments, the method for measuring the vehicle clearance width can be applied to rubber-tyred vehicles running on roads, including but not limited to semi-trailers, trains, virtual rail trolleys, and other multi-consist large vehicles.
Referring to fig. 1, fig. 1 illustrates a flow chart of a method for measuring a vehicle clearance width according to an aspect of the present invention.
As shown in fig. 1, the method for measuring the vehicle limit width provided by the present invention may include step 101: and carrying out a running condition test of the vehicle, and acquiring the position information and the course angle information of the carriage of the vehicle at a plurality of moments.
According to the urban road engineering design specification CJJ37 and the urban road intersection design specification CJJ152, urban roads mainly include three major categories: straight line, curve, intersection. Correspondingly, the running conditions of the vehicle on the urban road can also include straight running conditions, curve running conditions, and various intersection running conditions such as left-turning, right-turning and turning around. The vehicle clearance width measurer can adopt a driver driving or intelligent driving mode to respectively carry out driving condition tests on various driving conditions of the vehicle so as to measure the vehicle clearance width of the vehicle under various driving conditions. It is to be understood that the measurement herein is a generic description and may include a person measuring the bounded width of a vehicle, or a processor and/or controller executing a measurement procedure of the bounded width of a vehicle.
The method for measuring the vehicle limit width provided by the invention is described below with reference to an embodiment of a curve driving condition of a vehicle in a quarter turn. The quarter turn curve driving profile may include a straight-turn-straight course. It will be appreciated by persons skilled in the art that this example is provided merely as a non-limiting example of the invention, and is intended to clearly demonstrate the broad concepts of the invention and to provide a practical solution to the problems set forth in the public and not to limit the scope of the invention.
Referring to fig. 2, fig. 2 illustrates an installation diagram of a vehicle clearance width measuring device according to some embodiments of the present invention.
As shown in fig. 2, in some embodiments, the vehicle to be measured may include two car consists 21, 22. The first car 21 is connected to the second car 22 by means of an articulation 23. The first car 21 mounts a first sensor assembly 201 and the second car 22 mounts a second sensor assembly 202. The first sensor assembly 201 may be mounted at the centroid position of the first car 21 to indicate the reference position of the first car 21. The second sensor assembly 202 can be mounted at the centroid position of the second car 22 to indicate the reference position of the second car 22. The device 20 for measuring the vehicle clearance width may include a data acquisition board or a data acquisition computer, and is communicatively connected to the first sensor assembly 201 and the second sensor assembly 202 to acquire the position information and the heading angle information of each of the cars 21 and 22 at a plurality of times during the driving condition test.
In some embodiments, the first sensor assembly 201 may be configured with a position sensor and a first heading angle sensor. The position sensor includes, but is not limited to, a Global Positioning System (GPS), which may have an accuracy requirement of centimeter level. In the running condition test process, the position sensor and the first course angle sensor can acquire the position information and the course angle information of the first carriage 21 in real time according to the acquisition frequency f above 20 Hz. In some embodiments, the location information may indicate longitude and latitude coordinates of the centroid location of the first car 21 at the corresponding time. In some embodiments, the heading angle information may indicate an angle between the heading direction of the car and the true north direction, which may range from [ -180 °, 180 ° ], with an angular accuracy of 0.1 °. The measuring device 20 may acquire the sensor signal of the position sensor in real time as the position information of the first car 21 and the sensor signal of the first heading angle sensor in real time as the heading angle information of the first car 21.
In some preferred embodiments, the second sensor assembly 202 may configure only the second heading angle sensor and not the position sensor. During the driving condition test, the measuring device 20 can acquire the sensor signal of the second heading angle sensor in real time as the heading angle information of the second car 22. The measuring device 20 may calculate the position information of the second car 22 based on the position information of the master car 21, the heading angle information of the second car 22 (slave car adjacent to the first car 21), and the outer contour dimensions of the cars 21 and 22, using the first car 21 as the master car. By determining the position information of the second car 22 in this way of calculation, the number of position sensors required by the measurement method can be reduced, thereby reducing the hardware cost of the sensors and simplifying the wiring architecture of the sensor data lines.
Further, in some embodiments, not shown, if the vehicle includes three or more cars, the measuring device may preferably calculate the position information of the third car according to the position information of the second car, the heading angle information of the third car (the slave car adjacent to the second car), and the outer contour dimension of each car.
Alternatively, in other embodiments not shown, the vehicle may also include a plurality of main cars equipped with position sensors. One or more slave measuring carriages which are not provided with the position sensor can be arranged between every two master measuring carriages. The measuring device can also preferably select adjacent main measuring carriages nearby according to the grouping serial number of the auxiliary measuring carriages, and calculate the position information of the auxiliary measuring carriages according to the position information and the course angle information of the adjacent main measuring carriages, the course angle information of the auxiliary measuring carriages and the outer contour size of each carriage.
As shown in fig. 1, the method for measuring the vehicle clearance width provided by the present invention may further include step 102: and calculating the position information of a plurality of outer contour points of the vehicle at corresponding moments according to the position information, the course angle information and the outer contour size of the carriage.
In some embodiments of the present invention, the first car 21 may include six outer contour points, i.e., a car head left edge point, a car head right edge point, a car tail left edge point, a car tail right edge point, a car body center left edge point, and a car body center right edge point of the first car 21. The second car 22 can also include six outer contour points, i.e., a car head left edge point, a car head right edge point, a car tail left edge point, a car tail right edge point, a car body center left edge point, and a car body center right edge point of the second car 22. The vehicle may comprise a total of twelve outer contour points of two compartments 21, 22.
In some embodiments, the initial driving direction of the vehicle in the driving condition test may be defined as a longitudinal direction x, the width direction of the car may be defined as a transverse direction y, and the heading angle θ of each car 21, 22 may be determined by taking the longitudinal direction x as a reference headingi。
First, the measuring device 20 can calculate the distance L from the centroid position of the first car 21 to the longitudinal edge thereof based on the outer contour dimension of the first car 21x1And a distance L to a lateral edge thereofy1To determine the relative coordinates (Δ x) of each outer contour point of the first car 21 and its centroid positioni1,Δyi1). Based on the same principle, the measuring device 20 can also calculate the distance L from the centroid position of the second car 22 to the longitudinal edge thereof based on the outer contour dimension of the second car 22x2And a distance L to a lateral edge thereofy2To determine the relative coordinates (Δ x) of each outer contour point of the second car 22 and its centroid positioni2,Δyi2). Where i indicates the ith outer contour point of the own car.
Thereafter, the measuring device 20 may be based on the longitudinal displacement distance x acquired by the first sensor assembly 201 of the first car 21jAnd course angle information theta1Coordinate data (x) of the centroid position of the first car 21 at the corresponding time is calculated1,y1). Specifically, when the heading angle θ1When 0, the first car 21 is in a straight-line running process before turning, and its centroid position coordinate (x)1,y1) Comprises the following steps:
x1＝xj
y1＝0
when the course angle theta1Not equal to 0, the first car 21 enters the course of the turn, its barycentric position coordinate (x)1,y1) And course angle information theta1The following can be used for correlation:
thereafter, the measuring device 20 may first determine the heading angle information θ of the first car 211Relative coordinates (Δ x) of each outer contour point of the first car 21 and the centroid position thereofi1,Δyi1) The rotation conversion is carried out, and then the mass center position coordinate (x) of the first carriage 21 is obtained1,y1) And relative coordinates after rotational conversion (. DELTA.x'i1,Δy′i1) Coordinate data (x) of each outer contour point of the first car 21 is calculatedi1,yi1)＝(x1+Δx′i1,y1+Δy′i1). Where i indicates the ith outer contour point of the own car.
As described above, for the second car 22, the measuring device 20 may first be based on the centroid position coordinates (x) of the first car 211,y1) Calculate the centroid position coordinate (x) of the second car 222,y2) And then the heading angle information theta of the second car 22 collected by the second sensor assembly 2022To the secondRelative coordinates (Δ x) of each outer contour point of the car 22 and the centroid position thereofi2,Δyi2) And (4) carrying out rotary transformation. The measuring device 20 may then determine the centroid position coordinate (x) of the second car 222,y2) And relative coordinates after rotational transformation (Δ x'i2,Δy′i2) Coordinate data (x) of each outer contour point of the second car 22 is calculatedi2,yi2)＝(x2+Δx′i2,y2+Δy′i2)。
As shown in fig. 1, the method for measuring the vehicle clearance width provided by the present invention may further include step 103: determining the driving track of each outer contour point according to the position information of each outer contour point at each moment; and step 104: and determining the plane maximum limit width of the vehicle according to the maximum distance of each driving track.
As described above, the position sensor, the first heading angle sensor, and the second heading angle sensor can acquire the position information and the heading angle information of the first car 21 and the second car 22 in real time at the acquisition frequency f of 20Hz or higher. Accordingly, the measuring device 20 can calculate the position coordinates of the twelve outer contour points of the vehicle at each time. Then, the measuring device 20 may fit twelve travel track curves according to the coordinate data of the twelve outer contour points at each time to indicate the travel tracks of the twelve outer contour points in the travel condition test of the quarter turn.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a travel track of each outer contour point according to some embodiments of the present invention.
As shown in fig. 3, the measuring device 20 may count the outermost driving tracks at the two ends of the vehicle, and use the maximum distance between the two driving tracks as the maximum width L of the plane of the vehicle under the right-angle turning condition1max. In some embodiments, the measuring device 20 may count the maximum distance L between each driving track and the remaining eleven driving tracks respectively1＝{L1,2,L1,3,…,Ln,m,…,L11,12And determining the maximum value thereof as the planar maximum bounding width L of the vehicle1max. Maximum limit of the planeBoundary width L1maxThe maximum width that the vehicle needs to occupy in the planar model of the quarter turn condition may be indicated.
In consideration of the phenomenon that the vehicle body is inclined generally during the turning of the vehicle, in some preferred embodiments, the measuring device 20 may further collect the roll angle of each car 21, 22 at each time of the driving condition test
And counting the maximum value to compensate the vehicle body inclination.
Specifically, the first sensor assembly 201 may also be configured with a first accelerometer for collecting acceleration information of the first car 21. The second sensor assembly 202 may also be configured with a second accelerometer for collecting acceleration information of the second car 22. The measuring device 20 can calculate the roll angle of each car 21, 22 at each time point based on the acceleration information of each car 21, 22 at each time point
And counting the maximum value therein
Thereafter, the measuring device 20 can extract the height information H from the outer contour dimension of each car 21, and combine the height information H with the maximum vehicle body roll angle of each car 21, 22
To calculate the roll compensation width L caused by the inclination of the vehicle2max：
The measuring device 20 can then limit the width L according to the above-mentioned maximum limit of the plane1maxAnd the above-mentioned roll compensation width L2maxCalculating the maximum limit width L of the vehiclemax：
Lmax＝L1max+L2max
Referring to fig. 4, fig. 4 illustrates a schematic diagram of a maximum bounding width of a vehicle provided in accordance with some embodiments of the present invention.
As shown in fig. 4, in some embodiments, the measurement device 20 may adjust the roll compensation width L2maxCompensating the outer track in the quarter turn condition to determine the widest track of the vehicle after roll compensation and obtain the maximum limit width L of the vehiclemax. In some embodiments, the measurement device 20 may measure the roll-compensated vehicle's widest trajectory and the vehicle's maximum bounding width LmaxThe method is provided for designers of large vehicles or planning designers of roads to guide the designers to carry out overall design of vehicles, planning design of roads and traffic safety protection of pedestrians and non-motor vehicles.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
According to another aspect of the present invention, there is also provided herein a vehicle clearance width measuring device.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating an architecture of a vehicle clearance width measuring device according to another aspect of the present invention.
As shown in fig. 5, the device 50 for measuring the vehicle limit width includes a memory 51 and a processor 52. The processor 52 is connected to the memory 51 and is adapted to execute the computer instructions stored in the memory 51 to implement the method for measuring the vehicle clearance width provided in any one of the above embodiments. The measuring device 50 can fit the driving track of each outer contour point of the vehicle by measuring the position information and the course angle information of the vehicle, and determine the maximum plane limit width of the vehicle, thereby providing the overall design of the vehicle, the planning design of the road, and the protection of pedestrians and non-motor vehicles.
According to another aspect of the present invention, a computer-readable storage medium is also provided herein.
The present invention provides the above computer readable storage medium having stored thereon computer instructions. The computer instructions, when executed by the processor 52, may implement the method for measuring a vehicle clearance width provided in any of the embodiments described above. The invention can fit the driving track of each outer contour point of the vehicle by measuring the position information and the course angle information of the vehicle and determine the maximum plane limit width of the vehicle, thereby being used for the overall design of the vehicle, the planning design of roads and the protection of pedestrians and non-motor vehicles.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Although the processor 52 described in the above embodiments may be implemented by a combination of software and hardware. It is understood that the processor 52 may be implemented solely in software or hardware. For a hardware implementation, the processor 52 may be implemented on one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic devices designed to perform the functions described herein, or a selected combination thereof. For a software implementation, the processor 52 may be implemented by separate software modules running on a common chip, such as program modules (processes) and function modules (functions), each of which may perform one or more of the functions and operations described herein.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (15)
1. A method for measuring the width of a vehicle boundary, comprising:
carrying out a running condition test of a vehicle, and acquiring position information and course angle information of a carriage of the vehicle at a plurality of moments;
calculating the position information of a plurality of outer contour points of the vehicle at corresponding moments according to the position information, the course angle information and the outer contour size of the carriage;
determining a driving track of each outer contour point according to the position information of each outer contour point at each moment; and
determining a planar maximum bounding width of the vehicle according to the maximum distance of the driving tracks.
2. The measurement method of claim 1, wherein the step of collecting position information and heading angle information of the vehicle at a plurality of times comprises:
installing a position sensor and a course angle sensor at a reference position of the carriage; and
and in the running condition testing process, acquiring the sensor signal of the position sensor in real time to serve as the position information of the carriage, and acquiring the sensor signal of the course angle sensor in real time to serve as the course angle information of the carriage.
3. The measurement method according to claim 2, wherein the plurality of outer contour points include a head left edge point, a head right edge point, a tail left edge point, a tail right edge point, a body center left edge point, and a body center right edge point of the car, and the step of calculating the position information of the plurality of outer contour points includes:
calculating the relative coordinates of each outer contour point and the reference position according to the outer contour size of the carriage;
calculating coordinate data of the reference position according to the position information of the reference position; and
and calculating the coordinate data of each outer contour point according to the coordinate data of the reference position, the course angle information of the carriage and the relative coordinates of each outer contour point and the reference position.
4. The measurement method of claim 3, wherein the vehicle comprises a plurality of carriages, at least one main measurement carriage in which the position sensor is installed, the heading angle sensor is installed in each of the carriages, the plurality of outer contour points include a head left edge point, a head right edge point, a tail left edge point, a tail right edge point, a body center left edge point, and a body center right edge point of each of the carriages, and the step of calculating the position information of the plurality of outer contour points further comprises:
calculating the coordinate data of the reference position of the slave measuring carriage according to the coordinate data of the reference position of the master measuring carriage, the course angle information of the master measuring carriage and the course angle information of the adjacent slave measuring carriages; and
and calculating the coordinate data of each outer contour point of the slave vehicle measuring chamber according to the coordinate data of the reference position of the slave vehicle measuring chamber, the course angle information and the relative coordinates of each outer contour point and the reference position of the outer contour point.
5. The measuring method according to claim 4, wherein the step of determining the travel track for each of the outer contour points comprises:
fitting a driving track of each outer contour point of the vehicle according to the coordinate data of each outer contour point of each compartment at each moment,
the step of determining the planar maximum bounding width comprises:
and respectively calculating the maximum distance between the driving tracks, and determining the maximum value as the plane maximum limit width of the vehicle.
6. The measurement method of claim 5, further comprising:
collecting the body roll angle of each carriage at each moment, and counting the maximum value;
calculating the roll compensation width according to the maximum value of the roll angle of the vehicle body and the height of the carriage; and
calculating a maximum clearance width of the vehicle from the planar maximum clearance width and the roll compensation width.
7. The measurement method according to claim 6, wherein the step of acquiring the body roll angle of each of the cars comprises:
mounting a plurality of accelerometers to each of the cars to acquire acceleration information for each of the cars; and
and respectively calculating the body roll angle of each compartment according to the acceleration information of each compartment.
8. A device for measuring the width of a vehicle boundary, comprising:
a memory; and
a processor coupled to the memory and configured to:
carrying out a running condition test of a vehicle, and acquiring position information and course angle information of a carriage of the vehicle at a plurality of moments;
calculating the position information of a plurality of outer contour points of the vehicle at corresponding moments according to the position information, the course angle information and the outer contour size of the carriage;
determining a driving track of each outer contour point according to the position information of each outer contour point at each moment; and
determining a planar maximum bounding width of the vehicle according to the maximum distance of the driving tracks.
9. The measurement device of claim 8, wherein the processor is further configured to:
installing a position sensor and a course angle sensor at a reference position of the carriage; and
and in the running condition testing process, acquiring the sensor signal of the position sensor in real time to serve as the position information of the carriage, and acquiring the sensor signal of the course angle sensor in real time to serve as the course angle information of the carriage.
10. The measurement device of claim 9, wherein the plurality of outer contour points includes a nose left edge point, a nose right edge point, a tail left edge point, a tail right edge point, a body center left edge point, and a body center right edge point of the car, the processor further configured to:
calculating the relative coordinates of each outer contour point and the reference position according to the outer contour size of the carriage;
calculating coordinate data of the reference position according to the position information of the reference position; and
and calculating the coordinate data of each outer contour point according to the coordinate data of the reference position, the course angle information of the carriage and the relative coordinates of each outer contour point and the reference position.
11. The measurement device of claim 10, wherein the vehicle comprises a plurality of carriages, at least one main measurement carriage in which the position sensor is mounted, the heading angle sensor is mounted to each of the carriages, the plurality of outer contour points includes a nose left edge point, a nose right edge point, a tail left edge point, a tail right edge point, a body center left edge point, and a body center right edge point of each of the carriages, the processor is further configured to:
calculating the coordinate data of the reference position of the slave measuring carriage according to the coordinate data of the reference position of the master measuring carriage, the course angle information of the master measuring carriage and the course angle information of the adjacent slave measuring carriages; and
and calculating the coordinate data of each outer contour point of the slave vehicle measuring chamber according to the coordinate data of the reference position of the slave vehicle measuring chamber, the course angle information and the relative coordinates of each outer contour point and the reference position of the outer contour point.
12. The measurement device of claim 11, wherein the processor is further configured to:
fitting a driving track of each outer contour point of the vehicle according to the coordinate data of each outer contour point of each compartment at each moment; and
and respectively calculating the maximum distance between the driving tracks, and determining the maximum value as the plane maximum limit width of the vehicle.
13. The measurement device of claim 12, wherein the processor is further configured to:
collecting the body roll angle of each carriage at each moment, and counting the maximum value;
calculating the roll compensation width according to the maximum value of the roll angle of the vehicle body and the height of the carriage; and
calculating a maximum clearance width of the vehicle from the planar maximum clearance width and the roll compensation width.
14. The measurement device of claim 13, wherein the processor is further configured to:
mounting a plurality of accelerometers to each of the cars to acquire acceleration information for each of the cars; and
and respectively calculating the body roll angle of each compartment according to the acceleration information of each compartment.
15. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, carry out a method of measuring a vehicle clearance width according to any one of claims 1 to 7.
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