CN114518231A - Attitude angle anomaly detection method and device and computer storage medium - Google Patents
Attitude angle anomaly detection method and device and computer storage medium Download PDFInfo
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Abstract
The application discloses an attitude angle anomaly detection method and device and a computer storage medium. The method comprises the steps of obtaining a moment of inertia based on the mass of the vehicle component and the mass center position parameter of the vehicle component; calculating to obtain an attitude angle according to the rotational inertia, the mass of the vehicle part, the vehicle attribute parameter and the vehicle speed; the vehicle attribute parameters are determined based on the type of the vehicle; and generating early warning information under the condition that the attitude angle exceeds a first preset threshold value. The moment of inertia can be obtained through the mass of the vehicle component and the corresponding centroid position parameter, the current turning height of the vehicle can be obtained through the energy conservation law based on the moment of inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed, and the attitude angle can be further generated according to the turning height, so that a user can judge the current driving state of the vehicle more visually, and higher safety can be brought to the vehicle and the user.
Description
Technical Field
The present disclosure relates to the field of vehicle detection technologies, and in particular, to a method and an apparatus for detecting an attitude angle anomaly, and a computer storage medium.
Background
With the improvement of living standard, automobiles become indispensable transportation tools in life gradually, and corresponding performances of automobiles of different brands or types are different, for example, for some low-cost automobiles, a three-axis acceleration sensor is mostly used for detecting acceleration. However, it is found that, for an automobile using a three-axis acceleration sensor, an angular velocity change value corresponding to acceleration cannot be obtained without providing angular velocity by a gyroscope, and a detection standard for vehicle attitude angle abnormality is determined based on a vehicle angle change amount, so that detection of vehicle attitude angle abnormality cannot be realized, which brings uncertainty and danger to a user and affects the driving experience of the user.
Disclosure of Invention
The embodiment of the application provides an attitude angle abnormity detection method, an attitude angle abnormity detection device and a computer storage medium, which can determine the current attitude angle of a vehicle through the vehicle quality, attribute parameters and the current speed so as to further judge whether the vehicle has the abnormal attitude angle or not and guarantee the safety of a user.
In a first aspect, an embodiment of the present application provides an attitude angle abnormality detection method, which is applied to a vehicle, and includes:
obtaining a moment of inertia based on the mass of the vehicle component and the centroid location parameter of the vehicle component;
calculating to obtain an attitude angle according to the rotational inertia, the mass of the vehicle part, the vehicle attribute parameter and the vehicle speed; the vehicle attribute parameters are determined based on the type of the vehicle;
and generating early warning information under the condition that the attitude angle exceeds a first preset threshold value.
In the embodiment of the application, the rotational inertia can be obtained through the mass of the vehicle component and the corresponding mass center position parameter, the current turning height of the vehicle can be obtained through the energy conservation law based on the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed, and the attitude angle can be further generated according to the turning height, so that a user can judge the driving state of the current vehicle more intuitively, and higher safety can be brought to the vehicle and the user.
In an alternative of the first aspect, before obtaining the moment of inertia based on the mass of the vehicle component and the center of mass position parameter of the vehicle component, the method further includes:
determining the acceleration of the vehicle in a preset direction; the preset direction is different from the driving direction of the vehicle;
the moment of inertia obtained based on the mass of the vehicle component and the centroid position parameter of the vehicle component is specifically:
under the condition that the acceleration is larger than a second preset threshold value, obtaining the moment of inertia based on the mass of the vehicle component and the mass center position parameter of the vehicle component; the second preset threshold is determined based on the vehicle attribute parameter.
In the embodiment of the application, acceleration different from the current driving direction of the vehicle can be further determined to judge whether the vehicle is at present in the risk of attitude angle abnormality, and further, the magnitude of the acceleration is determined to obtain a more effective attitude angle.
In yet another alternative of the first aspect, the center of mass position parameter of the vehicle component is represented by a spatial rectangular coordinate system established with the set reference point as the origin of coordinates.
In the embodiment of the application, the centroid position parameters of the vehicle components are determined by setting the reference points, different reference point positions correspond to the centroid position parameters of different vehicle components, the reference points convenient to calculate and the corresponding centroid position parameters can be set, the detection speed and efficiency of the vehicle attitude angles are improved, and better and faster judgment is brought to users.
In a further alternative of the first aspect, in the case that the acceleration is greater than the second preset threshold, the moment of inertia is obtained based on the mass of the vehicle component and the center of mass position parameter of the vehicle component, specifically:
determining a centroid position parameter of the vehicle based on the mass of the vehicle component and the centroid position parameter of the vehicle component if the acceleration is greater than a second preset threshold;
and obtaining the rotary inertia based on the mass center position parameter of the vehicle, the mass of the vehicle component and the mass center position parameter of the vehicle component.
In the embodiment of the application, the vehicle mass center position parameters corresponding to different vehicle types and user numbers are different, the actual mass center position parameter of the vehicle can be determined through the mass of the vehicle component and the mass center position parameter of the corresponding vehicle component, the rotational inertia of the vehicle to the mass center shaft can be obtained based on the actual mass center parameter, and the calculated attitude angle can be more accurate.
In yet another alternative of the first aspect, the attitude angle calculated from the moment of inertia, the mass of the vehicle component, the vehicle property parameter, and the vehicle speed is specifically:
obtaining rotational kinetic energy based on the rotational inertia, the mass of the vehicle component, the centroid position parameter of the vehicle and the vehicle speed;
determining the vehicle turnover height based on the mass of the vehicle component, the vehicle attribute parameters and the rotational kinetic energy;
and calculating to obtain an attitude angle based on the vehicle overturning height and the vehicle attribute parameters.
In the embodiment of the application, the rotation kinetic energy can be determined according to the law of conservation of energy, the vehicle turning angle can be calculated according to the fact that the potential energy is equal to the rotation kinetic energy, and the attitude angle can be further calculated, so that the calculation of the attitude angle is more accurate, and more reliable data can be brought to a user.
In yet another alternative of the first aspect, before generating the warning information if the attitude angle exceeds the first preset threshold, the method further includes:
acquiring an attitude angle according to a preset time interval;
the generating of the early warning information when the attitude angle exceeds the first preset threshold specifically includes:
and if the attitude angle is detected within the preset time interval and the attitude angle exceeds a first preset threshold value, generating early warning information.
In the embodiment of the application, the observation duration can be introduced to calculate and detect the attitude angle, so that the detected attitude angle is more convincing and reliable.
In yet another alternative of the first aspect, the method further comprises:
and generating a request command for executing the braking action and executing the braking action when the attitude angle exceeds a first preset threshold value.
In the embodiment of the application, when the gesture angle is detected to exceed the preset threshold value, the braking action can be executed in time according to the detection result, so that emergency measures are provided for a user in advance, and the safety of the user and the safety of a vehicle are improved.
In a second aspect, an embodiment of the present application provides an attitude angle abnormality detection apparatus, including:
the first calculation module is used for obtaining the rotary inertia based on the mass of the vehicle component and the mass center position parameter of the vehicle component;
the second calculation module is used for calculating an attitude angle according to the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed; the vehicle attribute parameters are determined based on the type of the vehicle;
and the generating module is used for generating early warning information under the condition that the attitude angle exceeds a first preset threshold value.
In the embodiment of the application, the rotational inertia can be obtained through the mass of the vehicle component and the corresponding mass center position parameter, the current turning height of the vehicle can be obtained through the energy conservation law based on the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed, and the attitude angle can be further generated according to the turning height, so that a user can judge the driving state of the current vehicle more intuitively, and higher safety can be brought to the vehicle and the user.
In an alternative of the second aspect, the apparatus further comprises:
the determining module is used for determining the acceleration of the vehicle in the preset direction before the first calculating module obtains the moment of inertia based on the mass of the vehicle component and the mass center position parameter of the vehicle component; the preset direction is different from the driving direction of the vehicle;
the first calculation module is specifically used for obtaining the moment of inertia based on the mass of the vehicle component and the mass center position parameter of the vehicle component under the condition that the acceleration is larger than a second preset threshold value; the second preset threshold is determined based on the vehicle attribute parameter.
In the embodiment of the application, acceleration different from the current driving direction of the vehicle can be further determined to judge whether the vehicle is at present in the risk of attitude angle abnormality, and further, the magnitude of the acceleration is determined to obtain a more effective attitude angle.
In yet another alternative of the second aspect, the center of mass position parameter of the vehicle component is represented by a spatial rectangular coordinate system established with the set reference point as a coordinate origin.
In the embodiment of the application, the centroid position parameters of the vehicle components are determined by setting the reference points, different reference point positions correspond to the centroid position parameters of different vehicle components, the reference points convenient to calculate and the corresponding centroid position parameters can be set, the detection speed and efficiency of the vehicle attitude angles are improved, and better and faster judgment is brought to users.
In yet another alternative of the second aspect, the first calculating module specifically includes:
the first calculation unit is used for determining the mass center position parameter of the vehicle based on the mass of the vehicle component and the mass center position parameter of the vehicle component under the condition that the acceleration is larger than a second preset threshold value;
and the second calculation unit is used for obtaining the rotary inertia based on the center of mass position parameter of the vehicle, the mass of the vehicle component and the center of mass position parameter of the vehicle component.
In the embodiment of the application, the vehicle mass center position parameters corresponding to different vehicle types and user numbers are different, the actual mass center position parameter of the vehicle can be determined through the mass of the vehicle component and the mass center position parameter of the corresponding vehicle component, the rotational inertia of the vehicle to the mass center axis can be obtained based on the actual mass center parameter, and the calculated attitude angle can be more accurate.
In yet another alternative of the second aspect, the second calculation module specifically includes:
the third calculation unit is used for obtaining rotational kinetic energy based on the rotational inertia, the mass of the vehicle component, the mass center position parameter of the vehicle and the vehicle speed;
the fourth calculation unit is used for determining the vehicle turnover height based on the mass of the vehicle component, the vehicle attribute parameters and the rotational kinetic energy;
and the fifth calculating unit is used for calculating an attitude angle based on the vehicle turning height and the vehicle attribute parameters.
In the embodiment of the application, the rotation kinetic energy can be determined according to the law of conservation of energy, the vehicle turning angle can be calculated according to the fact that the potential energy is equal to the rotation kinetic energy, and the attitude angle can be further calculated, so that the calculation of the attitude angle is more accurate, and more reliable data can be brought to a user.
In yet another alternative of the second aspect, the apparatus further comprises:
the detection module is used for acquiring the attitude angle according to a preset time interval before generating the early warning information under the condition that the attitude angle exceeds a first preset threshold;
the generation module is specifically used for generating early warning information if the attitude angle is detected within a preset time interval and the attitude angle exceeds a first preset threshold.
In the embodiment of the application, the observation duration can be introduced to calculate and detect the attitude angle, so that the detected attitude angle is more convincing and reliable.
In yet another alternative of the second aspect, the apparatus further comprises:
and the execution module is used for generating a request instruction for executing the braking action and executing the braking action under the condition that the attitude angle exceeds a first preset threshold value.
In the embodiment of the application, under the condition that the attitude angle is detected to exceed the preset threshold value, the braking action can be executed in time according to the detection result so as to provide emergency measures for users in advance and increase the safety of the users and vehicles.
In a third aspect, an embodiment of the present application provides an attitude angle anomaly detection apparatus, including a processor, a memory, and a communication interface; the processor is connected with the memory and the communication interface; a memory for storing executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the attitude angle anomaly detection method provided by the first aspect of the embodiments of the present application or any implementation manner of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer storage medium, where a computer program is stored, where the computer program includes program instructions, and when the program instructions are executed by a processor, the method for detecting an attitude angle abnormality, provided by the first aspect of the present application or any one of the implementations of the first aspect, may be implemented.
In a fifth aspect, the present application provides a computer program product, which when running on an attitude angle abnormality detection apparatus, causes the attitude angle abnormality detection apparatus to execute the attitude angle abnormality detection method provided in the first aspect of the present application or any one of the implementation manners of the first aspect.
It is to be understood that the apparatus provided by the third aspect, the computer storage medium provided by the fourth aspect, and the computer program product provided by the fifth aspect are all configured to execute the method for detecting an attitude angle anomaly provided by the first aspect, and therefore, reference may be made to the beneficial effects of the method for detecting an attitude angle anomaly provided by the first aspect, and details of the beneficial effects are not repeated here.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a detection apparatus according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of an attitude angle anomaly detection method according to an embodiment of the present application;
FIG. 3 is a table diagram illustrating a calculation of a rotational inertia of a vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a method for calculating an attitude angle according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an effect of an attitude angle provided in an embodiment of the present application;
fig. 6 is a schematic flowchart of another attitude angle abnormality detection method according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a vehicle moment balance provided by an embodiment of the present application;
fig. 8 is a schematic structural diagram of an attitude angle abnormality detection apparatus according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of another attitude angle abnormality detection apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
The terms "first," "second," "third," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a detection device according to an embodiment of the present disclosure.
As shown in fig. 1, the detection device includes one or more three-axis acceleration sensors, one or more controllers, and one or more memories. The three-axis acceleration sensor or the three-axis acceleration sensors can be applied to detection in multiple fields, and can be specifically used for obtaining the attitude angle of the vehicle in the driving process through calculation by acquiring the acceleration of the vehicle so as to give an early warning to a traffic accident. Possibly, the three-axis acceleration sensor can be applied to the automotive electronics field, mainly focusing on body control, safety systems and navigation, and being arranged at the positions of a vehicle door, a vehicle roof, front and rear seats and the like. Possibly, triaxial acceleration sensor can be applied to hard disk protection field that shocks resistance, mainly focuses on hardware self-protection and reduction damage, and can settle in the hardware. Possibly, when the triaxial acceleration sensor is applied to the field of automotive electronics, the controller can receive the acceleration of the vehicle in a preset direction (the preset direction is different from the current driving direction of the vehicle), and the current attitude angle of the vehicle is calculated according to the acceleration in combination with the mass parameters and the attribute parameters of the vehicle, so that early warning information is provided for a user. Possibly, when the triaxial acceleration sensor is applied to the field of hard disk impact protection, the controller can detect the change value of the sensor when a fall occurs and execute corresponding protection actions, such as closing electronic or mechanical devices with poor shock resistance. The one or more memories may be used to store data calculated by the one or more controllers. In particular, the detection means may also comprise a speaker, or a display screen, connected to one or more controllers. The loudspeaker can be used for playing prompt information or early warning information correspondingly generated according to the data calculated by the controller, and the display screen can be used for displaying the data calculated by the user controller and the related prompt information of the corresponding data or the related execution action of the corresponding data.
In the embodiment of the application, the triaxial acceleration sensor is applied to the field of automotive electronics, and the triaxial acceleration sensor can be specifically applied to an automobile provided with the triaxial acceleration sensor. In the driving process of the automobile, the acceleration of the automobile in the preset direction is obtained by the three-axis acceleration sensor, the controller arranged in the automobile receives the detected acceleration and then calculates the turning height of the current automobile according to the mass of the current automobile, the mass center position parameter, the attribute parameter, the detected acceleration and the driving speed of the corresponding part, and further calculates the attitude angle and the corresponding early warning information according to the turning height to prompt a user, so that the safety of the user in the driving process can be ensured.
Correspondingly, the detection device provided by the embodiment of the application can be applied to different types of articles. Possibly, the detection device may be provided on the vehicle for calculating the attitude angle of the vehicle based on the acceleration detected by the three-axis acceleration sensor. Possibly, the detection device can be arranged in the hard disk and used for controlling and executing the protection action according to the change value of the acceleration detected by the three-axis acceleration sensor when the hard disk falls.
It should be noted that the three-axis acceleration sensor and the detection device provided in the embodiments of the present application are not limited to be used in the above-mentioned fields, and are not limited herein.
The attitude angle abnormality detection method provided by the embodiment of the present application is described in detail below with reference to fig. 2.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a method for detecting an attitude angle anomaly according to an embodiment of the present application.
As shown in fig. 2, the attitude angle abnormality detection method is applied to a vehicle, and specifically includes:
Specifically, when the vehicle runs normally and encounters a stumbling object, sideslip or side collision and the like, the vehicle forms a certain included angle relative to the horizontal ground, the included angle is an attitude angle of the vehicle (which can be determined by the vehicle turnover height and the vehicle attribute parameters), and the attitude angle can be expressed in the current running direction (pitch angle) of the vehicle or perpendicular to the current running direction (roll angle) of the vehicle. The fact that the vehicle forms an angle with respect to the horizontal ground means that the vehicle rotates based on a mass point, which may be a certain wheel of the vehicle or two or more wheels disposed on the same side. Further, when the vehicle rotates based on a mass point, the vehicle can be regarded as a rigid body and rotate around the mass point, and the process can generate the moment of inertia.
Specifically, the calculation of the moment of inertia is related to the shape and mass distribution of the object and the position of the rotating shaft, that is, the mass distribution of the current vehicle and the position of the rotating shaft where the center of mass of rotation is located need to be obtained when calculating the moment of inertia of the vehicle. It should be noted that when the vehicle is regarded as a rigid body, the actual centroid position of the vehicle needs to be obtained, and different masses of various components of different types of vehicles result in different actual centroid positions of the vehicles, so that obtaining the mass of the vehicle component based on the actual centroid position is better than directly obtaining the mass of the whole vehicle, and the method is convenient for accurately obtaining the actual centroid position of the vehicle.
Furthermore, after the mass of the vehicle component is obtained, the position of each vehicle component needs to be correspondingly determined, and the actual center of mass position of the vehicle and the position of the rotating shaft are determined according to the position of each vehicle component. The positions of the vehicle components can be determined by establishing a spatial rectangular coordinate system, and the positions of the corresponding spatial rectangular coordinate systems are different according to different reference origin positions of the spatial rectangular coordinate system, and further the positions of the vehicle components are different. Specifically, the centroid position parameter of the vehicle component in the embodiment of the present application is represented by a spatial rectangular coordinate system (x, y, z) established with the set reference point as a coordinate origin, and the preferable settable reference point is a midpoint of a line connecting the axle centers of the front wheels of the vehicle (which is convenient for calculation).
Specifically, reference may be made to fig. 3, which is a schematic diagram illustrating a calculation table of a rotational inertia of a vehicle according to an embodiment of the present application. As shown in fig. 3, the components of the vehicle include the chassis, the engine, the transmission, the driver, the passenger, the power supply, the vehicle seat, the wheels, and the like, and the corresponding mass and the position in the space rectangular coordinate system with the origin as the preferred reference point are measured corresponding to the components, for example, the mass of the chassis is 555 kilograms and the coordinates in the space rectangular coordinate system are (1.35, 0.00, 0.57). It is noted that the mass of the vehicle as a whole can also be calculated for the mass of the various components of the vehicle in the table shown in fig. 3, for example 2220 kg for the total vehicle mass shown in the figure. Further, a centroid position parameter of the vehicle, namely the current actual centroid position of the vehicle, is calculated based on the coordinates of each component of the vehicle on each coordinate axis and the mass. Specifically, the sum of the products of the mass of each component of the vehicle and the mass of the corresponding component may be calculated in advance, for example, in fig. 3, the sum of the values of all components of the corresponding vehicle on the x-axis is 3210, the sum of the values on the y-axis is 6, and the sum of the values on the z-axis is 1180, and the current actual centroid position of the vehicle is obtained based on the overall vehicle mass and is (1.45, 0.00, 0.53). The actual centroid position of the overall vehicle, which is obtained by calculation, is found to be in the same plane (xoz) with the reference point which is the midpoint of the connecting line of the front wheel axle centers of the vehicle.
Further, the rotational offsets of the respective components relative to the actual center of mass of the overall vehicle may be derived based on the actual center of mass position of the overall vehicle and the positions of the respective components of the vehicle, and based on the rotational offsets andand obtaining the rotational inertia of the whole vehicle relative to the actual center of mass in the direction of each axis according to the mass of each component. Specifically, the actual center of mass position of the entire vehicle and the rotational offsets of the various components of the vehicle in the x-axis, y-axis, and z-axis, respectively, may be first determined, for example, the rotational offsets of the chassis in the x-axis, y-axis, and z-axis with respect to the actual center of mass are-0.1, 0, and 0.04, respectively. The rotational inertia of each component of the vehicle in the direction of each axis may then be derived from the formula, for example, the x-axis rotational inertia may be calculated as m (Y)2+Z2) Where m is the mass of each component of the vehicle, Y and Z may respectively represent the rotational offsets of the corresponding components in the directions of the Y axis and the Z axis based on the actual center of mass of the whole vehicle, taking the chassis as an example, the rotational inertias of the chassis in the directions of the axes based on the actual center of mass of the whole vehicle are respectively 0.818, 5.909 and 5.100 (three decimal places may be reserved).
Summing the moments of inertia of various vehicle components based on the actual center of mass of the overall vehicle yields the moment of inertia of the overall vehicle based on the actual center of mass of the overall vehicle, e.g., 63, 1048, and 1549, respectively, of the overall vehicle in the direction of each axis based on the actual center of mass of the overall vehicle in FIG. 3.
It should be noted that while the moment of inertia of the overall vehicle is derived based on the actual center of mass of the overall vehicle, it is understood that the mass point around which the vehicle rotates is not the actual center of mass of the overall vehicle, but rather is based on one or more wheels of the vehicle as the mass point.
And 202, calculating to obtain an attitude angle according to the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed.
In particular, vehicle property parameters are determined based on the type of the vehicle. The vehicle attributes may include rigid parameters such as a distance between front wheels of the vehicle, a distance between front wheels and rear wheels of the vehicle, a vehicle width, and a vehicle height, which are specifically determined according to the type of the vehicle, such as a vehicle height and a vehicle width of an off-road vehicle and a commercial vehicle, which are inconsistent.
Specifically, the change of the attitude angle of the vehicle can be regarded as the conversion of the rotational kinetic energy at the moment of collision into work against the gravity of the vehicle, and the attitude angle can be calculated based on the energy conservation law, which can be referred to as a schematic flow diagram of the method for calculating the attitude angle provided by the embodiment of the present application shown in fig. 4.
As shown in fig. 4, the method for calculating the attitude angle may specifically include:
Specifically, a vehicle rollover is taken as an example, that is, a plane in which a vehicle rollover direction is located is perpendicular to a plane in which a vehicle driving direction is located. The rotational kinetic energy at the moment when the vehicle overturns during the running process can include the kinetic energy of the rotational inertia of the vehicle and the translational kinetic energy of the vehicle. The kinetic energy of the rotational inertia of the vehicle may be the kinetic energy of the rotational inertia of the entire vehicle based on the turning mass point, and the specific expression of the rotational kinetic energy may be shown in formula (1).
In the above formula (1), J is the moment of inertia of the whole vehicle based on the overturning mass point, and ω is the overturning angular velocity of the whole vehicle based on the overturning mass point, which can be represented by the partial acceleration on the x-axis and the y-axis and the distance between the three-axis acceleration sensor and the overturning mass point. In step 201, the moment of inertia of the whole vehicle based on the actual center of mass of the whole vehicle is calculated, the actual center of mass and the flipped mass point can be respectively represented by two points, and the moment of inertia of the whole vehicle based on the flipped mass point can be calculated by using the parallel axis theorem based on the parallel relationship between the rotating shaft of the actual center of mass and the rotating shaft of the flipped mass point.
Specifically, the expression of the parallel axis theorem here may be Jc' ═ Jc + M × L, where Jc is the moment of inertia of the entire vehicle based on the actual center of mass of the entire vehicle, M is the overall mass of the vehicle, and L is the distance from the actual center of mass of the entire vehicle to the overturning mass point. The middle point of a connecting line which takes a set reference point as the axle center of the front wheel of the vehicleEstablishing a rectangular spatial coordinate system and the calculated moment of inertia in fig. 3, it is found that Jc here is the moment of inertia of the whole vehicle in the x-axis direction based on the actual center of mass of the whole vehicle, i.e. Jc ═ IxxAnd M is the sum of the masses of the various components of the vehicle. It is possible that, when the turning mass point is a wheel (e.g. a front left wheel or a rear left wheel or a front right wheel or a rear right wheel), L may be expressed as a linear distance from an actual center of mass of the vehicle to the wheel, and specifically, the actual center of mass and the wheel may be first placed in a rectangular spatial coordinate system and expressed by coordinates, e.g. as (x1, y1, z1) and (x2, y2, z2), respectively, and the linear distance may be calculated according to the following equation (2).
Possibly, when the turning mass point is two wheels (for example, a left front wheel and a left rear wheel or a right front wheel and a right rear wheel), L may be represented as a vertical distance from an actual centroid of the vehicle to a connecting line of the wheels, and a detailed description of a specific calculation manner is omitted here.
The vehicle translational kinetic energy can be expressed based on the current vehicle speed, and the specific expression of the translational kinetic energy can be shown as formula (3).
In the above equation (3), M is the overall mass of the vehicle, and V is the current speed of the vehicle in the traveling direction.
Further, after the moment of inertia and the translational kinetic energy of the whole vehicle based on the turning mass point are obtained, the rotational kinetic energy of the whole vehicle can be obtained, and the expression of the rotational kinetic energy can be shown as formula (4).
In the above formula (4), Ixx is the moment of inertia of the whole vehicle in the x-axis direction based on the actual center of mass of the whole vehicle, M is the sum of the masses of the various components of the vehicle, L is the distance from the actual center of mass of the whole vehicle to the overturning mass point, α 1 is the acceleration component of the triaxial acceleration sensor in the x-axis direction, α 2 is the acceleration component of the triaxial acceleration sensor in the y-axis direction, R is the distance from the triaxial acceleration sensor to the overturning mass point, and V is the current speed of the vehicle in the driving direction. The angles between the y axis and the x axis and the included angles between the y axis and the x axis can be calculated according to the acceleration detected by the three-axis acceleration sensor, the three-axis acceleration sensor can be represented by coordinates according to the space rectangular coordinate system, and the R can be calculated by using the calculation formula of the distance between the two points. It should be noted that the three-axis acceleration sensor in the embodiment of the present application may be disposed in the tachograph, that is, R is calculated by determining the position of the tachograph in the established spatial rectangular coordinate system.
Specifically, after the rotational kinetic energy of the whole vehicle is obtained by calculation in step 2021, the gravitational work (i.e., potential energy) of the whole vehicle obtained by using the law of conservation of energy should be equal to the rotational kinetic energy of the whole vehicle, and a specific expression of conservation of energy may be shown as equation (5).
As shown in the above equation (5), g on the right side of the equation is the gravity acceleration (generally 9.8 is selected), D1 is the vehicle width (also can be expressed as the distance between the axle centers of the front wheels, which is a known parameter), D2 is the roll height of the actual center of mass of the vehicle when the vehicle rolls over along the roll mass point, which is a parameter to be obtained and corresponds to the roll angle of the vehicle.
Specifically, the ratio of the turnover height to the vehicle width calculated in step 2022 is the sine value of the turnover angle of the vehicle (see fig. 5 for a schematic diagram of the effect of the attitude angle provided in the embodiment of the present application). In other words, after the vehicle turning height is calculated, the vehicle turning angle is determined according to the vehicle turning height and the vehicle width. For example, the width of the vehicle is 2.2 meters, the calculated overturning height of the vehicle is 1.1 meters, the sine value of the overturning angle is determined to be 0.5 through the ratio, and the attitude angle is further calculated to be 30 degrees.
It should be noted that the embodiment of the present application is based on vehicle rollover behavior such as rollover, and can be set as quasi-static rollover of a rigid vehicle for a vehicle that is rolling over, i.e. neglecting the influence of the suspension and tires of the vehicle.
And 203, generating early warning information under the condition that the attitude angle exceeds a first preset threshold value.
Specifically, the vehicle attitude angle abnormality belongs to dangerous driving behavior, and belongs to vehicle attitude angle abnormality when the vehicle attitude angle satisfies a condition of more than 20 degrees and not more than 70 degrees according to vehicle attitude angle abnormality detection required in motor vehicle insurance internet of vehicles data item. The 70 degrees is a critical value that an axis of the vehicle rollover point and the center of gravity of the vehicle is parallel to an axis perpendicular to the horizontal ground when the vehicle rolls over, namely, the 70 degrees is a critical state angle of the vehicle rollover. Therefore, it is preferable to select the first preset threshold value as 20 degrees.
Specifically, when the attitude angle exceeds a first preset threshold, it is indicated that the current attitude angle of the vehicle is abnormal, a risk of rollover exists, and early warning information for reminding a user is correspondingly generated. And possibly, generating voice early warning information of 'abnormal vehicle attitude angle and request for reducing the vehicle speed', and playing the voice early warning information to the user through a loudspeaker. And possibly, generating the cyclic playing text information of 'abnormal vehicle attitude angle and request to reduce the vehicle speed' and displaying the cyclic playing text information on a control display screen of the vehicle.
Specifically, before step 203, the method may further include:
and acquiring the attitude angle according to a preset time interval.
Specifically, if the attitude angle is detected within a preset time interval and the attitude angle exceeds a first preset threshold, the warning information is generated.
Specifically, to ensure the accuracy of obtaining the attitude angle, the attitude angle may be obtained at preset time intervals. For example, the attitude angles may be initially acquired at a preset time interval of 80 milliseconds, and the attitude angles may be sequentially acquired at a step length of 10 milliseconds, and if the attitude angle is detected within the preset time interval and exceeds a first preset threshold, the warning information may be generated and output. The preset time interval provided by the embodiment of the present application may be set to 0-80 ms, 10-90 ms, 20-100 ms, and so on, corresponding to the step length.
It is further noted herein that when the attitude angle is acquired at preset time intervals, the frequency of acquiring the acceleration may be adjusted, for example, acquiring an acceleration and a corresponding vehicle running speed at the preset time intervals, so as to quickly calculate the attitude angle.
Specifically, when the attitude angle exceeds a first preset threshold, a request instruction for executing a braking action may be further generated, and the braking action is executed.
Specifically, when the attitude angle exceeds a first preset threshold and is close to the critical angle, the user may not have time to make a braking reaction, and in order to ensure the safety of the user, the braking action, that is, the current running speed of the vehicle is slowed down, may be automatically performed when the attitude angle exceeds the first preset threshold. For example, when the current running speed of the vehicle is 80 km/h, the timing control brake controls the running speed of the vehicle to 40 km/h to reduce the danger to the user when it is detected that the attitude angle exceeds the first preset threshold.
In the embodiment of the application, the rotational inertia can be obtained through the mass of the vehicle component and the corresponding mass center position parameter, the current turning height of the vehicle can be obtained through the energy conservation law based on the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed, and the attitude angle can be further generated according to the turning height, so that a user can judge the driving state of the current vehicle more intuitively, and higher safety can be brought to the vehicle and the user.
Referring to fig. 6, fig. 6 is a schematic flowchart illustrating another attitude angle abnormality detection method according to an embodiment of the present application.
As shown in fig. 6, the method for detecting an abnormality of an attitude angle is applied to a vehicle, and may specifically include:
Specifically, the preset direction is different from a traveling direction of the vehicle.
In particular, the vehicle is more likely to be caused to turn when the vehicle is subjected to acceleration in a direction different from the traveling direction. Taking the example of a vehicle rolling over, the vehicle may be subjected to a force that provides an acceleration in a direction perpendicular to the current direction of travel.
It should be noted that, an included angle formed between the plane of the preset direction and the plane of the driving direction of the vehicle may indicate that the preset direction is different from the driving direction of the vehicle, and the preset direction is not necessarily perpendicular to the driving direction when the vehicle turns over, and this perpendicular relationship is only one preferred direction.
And step 602, obtaining the moment of inertia based on the mass of the vehicle component and the mass center position parameter of the vehicle component under the condition that the acceleration is larger than a second preset threshold value.
Specifically, a schematic diagram of a vehicle torque balance provided by the embodiment of the present application shown in fig. 7 may be referred to. Taking the vehicle rollover as an example, according to the moment balance formula F1 × L1 — F2 × L2, it can be known that the force F1 applied to the lateral side of the vehicle in the case where the vehicle does not rollover multiplied by the moment of the vehicle in the direction of the force F1 is equal to the gravity of the vehicle multiplied by the moment of the vehicle in the direction of gravity, as shown in fig. 7, the force F1 applied to the lateral side of the vehicle and the gravity of the vehicle are taken together with the center of mass of the vehicle as the origin, and the obtained moment balance expression can be shown in formula (6).
The threshold value of the acceleration, which is related only to the vehicle height and the vehicle width, i.e. the vehicle property parameter, can be obtained according to the above equation (6), based on which the above-mentioned second predetermined threshold value can be represented by the threshold value. Further, when the acceleration exceeds the threshold, indicating that the force F1 applied laterally to the vehicle multiplied by the moment of the vehicle in the direction of the force F1 is greater than the vehicle's own weight multiplied by the moment of the vehicle in the direction of gravity, the vehicle has the potential to lift off one side and roll over.
For example, a car with a width of 1.6 m and a height of 1.4 m may be selected as the vehicle, and the critical value of the lateral acceleration may be calculated to be 14.8 by substituting equation (6) based on the vehicle, that is, when the lateral acceleration is greater than 14.8, the vehicle is lifted one side and is prone to rollover.
The direction of the lateral acceleration is not necessarily limited to the direction perpendicular to the vehicle traveling direction, and the lateral acceleration may be resolved into accelerations on the x axis and the y axis, respectively, and may be determined from the calculated acceleration on the x axis.
And step 603, calculating to obtain an attitude angle according to the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed.
Specifically, step 603 may be the same as step 202, and is not described herein again.
And step 604, generating early warning information under the condition that the attitude angle exceeds a first preset threshold value.
Specifically, step 604 may be the same as step 203, and is not described herein again.
Referring to fig. 8, fig. 8 is a schematic structural diagram illustrating an attitude angle abnormality detection apparatus according to an embodiment of the present application.
As shown in fig. 8, the attitude angle abnormality detection apparatus 800 includes a first calculation module 801, a second calculation module 802, and a generation module 803, wherein each module is described in detail as follows:
a first calculation module 801, configured to obtain a moment of inertia based on a mass of a vehicle component and a center of mass position parameter of the vehicle component;
the second calculation module 802 is configured to calculate an attitude angle according to the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter, and the vehicle speed; the vehicle attribute parameters are determined based on the type of the vehicle;
the generating module 803 is configured to generate the warning information when the attitude angle exceeds a first preset threshold.
In the embodiment of the application, the rotational inertia can be obtained through the mass of the vehicle component and the corresponding mass center position parameter, the current turning height of the vehicle can be obtained through the energy conservation law based on the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed, and the attitude angle can be further generated according to the turning height, so that a user can judge the driving state of the current vehicle more intuitively, and higher safety can be brought to the vehicle and the user.
As an optional implementation, the apparatus further comprises:
the determining module is used for determining the acceleration of the vehicle in a preset direction before the moment of inertia is obtained based on the mass of the vehicle component and the mass center position parameter of the vehicle component; the preset direction is different from the driving direction of the vehicle;
the first calculation module 801 is specifically configured to obtain a moment of inertia based on the mass of the vehicle component and the centroid position parameter of the vehicle component when the acceleration is greater than a second preset threshold; the second preset threshold is determined based on the vehicle attribute parameter.
As an alternative embodiment, the centroid position parameter of the vehicle component is represented by a spatial rectangular coordinate system established with the set reference point as the origin of coordinates.
As an optional implementation manner, the first calculating module 801 specifically includes:
the first calculation unit is used for determining the mass center position parameter of the vehicle based on the mass of the vehicle component and the mass center position parameter of the vehicle component under the condition that the acceleration is larger than a second preset threshold value;
and the second calculation unit is used for obtaining the rotary inertia based on the center of mass position parameter of the vehicle, the mass of the vehicle component and the center of mass position parameter of the vehicle component.
As an optional implementation manner, the second calculating module 802 specifically includes:
the third calculation unit is used for obtaining rotational kinetic energy based on the rotational inertia, the mass of the vehicle component, the mass center position parameter of the vehicle and the vehicle speed;
the fourth calculation unit is used for determining the vehicle turnover height based on the mass of the vehicle component, the vehicle attribute parameters and the rotational kinetic energy;
and the fifth calculation unit is used for calculating and obtaining the attitude angle based on the vehicle overturning height and the vehicle attribute parameters.
As an optional implementation, the apparatus further comprises:
the detection module is used for acquiring the attitude angle according to a preset time interval before generating the early warning information under the condition that the attitude angle exceeds a first preset threshold;
the generating module 803 is specifically configured to generate the warning information if the attitude angle is detected within a preset time interval and the attitude angle exceeds a first preset threshold.
As an optional implementation, the apparatus further comprises:
and the execution module is used for generating a request instruction for executing the braking action and executing the braking action under the condition that the attitude angle exceeds a first preset threshold value.
Referring to fig. 9, fig. 9 is a schematic structural diagram illustrating another attitude angle abnormality detection apparatus according to an embodiment of the present application. As shown in fig. 9, the attitude angle abnormality detection apparatus 900 may include: at least one processor 901, at least one network interface 904, a user interface 903, memory 905, and at least one communication bus 902.
The communication bus 902 can be used to implement the connection communication of the above components.
The user interface 903 may include keys, and the selectable user interfaces may include standard wired interfaces and wireless interfaces.
The network interface 904 may optionally include a bluetooth module, an NFC module, a Wi-Fi module, or the like.
The memory 905 may include a RAM or a ROM. Optionally, the memory 905 includes a non-transitory computer readable medium. The memory 905 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 905 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described method embodiments, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 905 may optionally be at least one memory device located remotely from the processor 901. As shown in fig. 9, the memory 905, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an attitude angle abnormality detection application program.
In particular, the processor 901 may be configured to invoke an attitude angle anomaly detection application program stored in the memory 905, and specifically perform the following operations:
obtaining a moment of inertia based on the mass of the vehicle component and the centroid location parameter of the vehicle component;
calculating to obtain an attitude angle according to the rotational inertia, the mass of the vehicle part, the vehicle attribute parameter and the vehicle speed; the vehicle attribute parameters are determined based on the type of the vehicle;
and generating early warning information under the condition that the attitude angle exceeds a first preset threshold value.
As an alternative embodiment, the processor 901 is further configured to perform, before deriving the moment of inertia based on the mass of the vehicle component and the center of mass position parameter of the vehicle component:
determining the acceleration of the vehicle in a preset direction; the preset direction is different from the driving direction of the vehicle;
the moment of inertia obtained based on the mass of the vehicle component and the centroid position parameter of the vehicle component is specifically:
when the acceleration is larger than a second preset threshold value, obtaining the rotary inertia based on the mass of the vehicle component and the mass center position parameter of the vehicle component; the second preset threshold is determined based on the vehicle attribute parameter.
As an alternative embodiment, the centroid position parameter of the vehicle component is represented by a spatial rectangular coordinate system established with the set reference point as the origin of coordinates.
As an alternative embodiment, the processor 901 specifically executes, when obtaining the moment of inertia based on the mass of the vehicle component and the center of mass position parameter of the vehicle component when the acceleration is greater than the second preset threshold:
determining a center of mass position parameter of the vehicle based on the mass of the vehicle component and the center of mass position parameter of the vehicle component when the acceleration is greater than a second preset threshold;
and obtaining the rotary inertia based on the mass center position parameter of the vehicle, the mass of the vehicle component and the mass center position parameter of the vehicle component.
As an alternative embodiment, the processor 901 specifically executes the following when calculating the attitude angle according to the inertia moment, the mass of the vehicle component, the vehicle property parameter and the vehicle speed:
obtaining rotational kinetic energy based on the rotational inertia, the mass of the vehicle component, the centroid position parameter of the vehicle and the vehicle speed;
determining the vehicle turnover height based on the mass of the vehicle component, the vehicle attribute parameters and the rotational kinetic energy;
and calculating to obtain an attitude angle based on the vehicle overturning height and the vehicle attribute parameters.
As an optional implementation, the processor 901 is further configured to perform, before generating the warning information if the attitude angle exceeds the first preset threshold:
acquiring an attitude angle according to a preset time interval;
when the attitude angle exceeds a first preset threshold, generating early warning information specifically comprises:
and if the attitude angle is detected within the preset time interval and the attitude angle exceeds a first preset threshold value, generating early warning information.
As an alternative embodiment, the processor 901 is further configured to perform:
and generating a request command for executing the braking action and executing the braking action when the attitude angle exceeds a first preset threshold value.
Embodiments of the present application further provide a computer-readable storage medium, which stores instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more of the steps in the embodiments shown in fig. 2 or fig. 6. Each of the constituent modules of the attitude angle abnormality detection apparatus described above may be stored in the computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in or transmitted over a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)), or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., Digital Versatile Disk (DVD)), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
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 a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. And the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks. The technical features in the present examples and embodiments may be arbitrarily combined without conflict.
The above-described embodiments are merely preferred embodiments of the present application, and are not intended to limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the design spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (10)
1. An attitude angle abnormality detection method applied to a vehicle, characterized by comprising:
obtaining a moment of inertia based on a mass of a vehicle component and a center of mass position parameter of the vehicle component;
calculating to obtain an attitude angle according to the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed; the vehicle attribute parameter is determined based on a type of the vehicle;
and generating early warning information under the condition that the attitude angle exceeds a first preset threshold value.
2. The method of claim 1, wherein prior to deriving a moment of inertia based on the mass of the vehicle component and the center of mass position parameter of the vehicle component, further comprises:
determining an acceleration of the vehicle in a preset direction; the preset direction is different from the driving direction of the vehicle;
the obtaining of the moment of inertia based on the mass of the vehicle component and the centroid position parameter of the vehicle component is specifically:
obtaining a moment of inertia based on the mass of a vehicle component and a center of mass position parameter of the vehicle component when the acceleration is greater than a second preset threshold; the second preset threshold is determined based on the vehicle attribute parameter.
3. The method of claim 1, wherein the center of mass position parameter of the vehicle component is represented by a spatial rectangular coordinate system established with a set reference point as a coordinate origin.
4. The method according to claim 2, wherein, in the case that the acceleration is greater than a second preset threshold, deriving the moment of inertia based on the mass of the vehicle component and the parameters of the position of the center of mass of the vehicle component is:
determining a center of mass position parameter of the vehicle based on a mass of a vehicle component and the center of mass position parameter of the vehicle component if the acceleration is greater than a second preset threshold;
a moment of inertia is derived based on the vehicle's center of mass position parameter, the mass of the vehicle component, and the vehicle component's center of mass position parameter.
5. The method according to claim 4, wherein the calculation of the attitude angle from the moment of inertia, the mass of the vehicle component, the vehicle property parameter, and the vehicle speed is specifically:
deriving rotational kinetic energy based on the moment of inertia, the mass of the vehicle component, the center of mass location parameter of the vehicle, and the vehicle speed;
determining a vehicle rollover height based on the mass of the vehicle component, the vehicle attribute parameters, and the rotational kinetic energy;
and calculating to obtain an attitude angle based on the vehicle turning height and the vehicle attribute parameters.
6. The method of claim 1, wherein generating early warning information if the attitude angle exceeds a first preset threshold further comprises:
acquiring the attitude angle according to a preset time interval;
the generating of the early warning information under the condition that the attitude angle exceeds a first preset threshold specifically comprises:
and if the attitude angle is detected within the preset time interval and the attitude angle exceeds a first preset threshold value, generating early warning information.
7. The method of claim 1, further comprising:
and under the condition that the attitude angle exceeds a first preset threshold value, generating a request instruction for executing a braking action, and executing the braking action.
8. An attitude angle abnormality detection device characterized by comprising:
the system comprises a first calculation module, a second calculation module and a control module, wherein the first calculation module is used for obtaining the moment of inertia based on the mass of a vehicle component and the center of mass position parameter of the vehicle component;
the second calculation module is used for calculating an attitude angle according to the rotational inertia, the mass of the vehicle component, the vehicle attribute parameter and the vehicle speed; the vehicle attribute parameter is determined based on a type of the vehicle;
and the generating module is used for generating early warning information under the condition that the attitude angle exceeds a first preset threshold value.
9. An attitude angle anomaly detection device is characterized by comprising a processor, a memory and a communication interface;
the processor is connected with the memory and the communication interface;
the memory for storing executable program code;
the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for performing the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115405185A (en) * | 2022-09-19 | 2022-11-29 | 重庆长安汽车股份有限公司 | Vehicle body posture self-adaptive vehicle door control method and system, vehicle and storage medium |
| WO2024198312A1 (en) * | 2023-03-24 | 2024-10-03 | 魔门塔(苏州)科技有限公司 | Vehicle attitude information acquisition method and apparatus, electronic device, and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115405185A (en) * | 2022-09-19 | 2022-11-29 | 重庆长安汽车股份有限公司 | Vehicle body posture self-adaptive vehicle door control method and system, vehicle and storage medium |
| CN115405185B (en) * | 2022-09-19 | 2024-05-07 | 重庆长安汽车股份有限公司 | Vehicle body posture self-adaptive vehicle door control method, system, vehicle and storage medium |
| WO2024198312A1 (en) * | 2023-03-24 | 2024-10-03 | 魔门塔(苏州)科技有限公司 | Vehicle attitude information acquisition method and apparatus, electronic device, and medium |
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