CN114521239A - Sensing method, application and system of vehicle anti-shake stabilizer - Google Patents

Sensing method, application and system of vehicle anti-shake stabilizer Download PDF

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Publication number
CN114521239A
CN114521239A CN202080068853.2A CN202080068853A CN114521239A CN 114521239 A CN114521239 A CN 114521239A CN 202080068853 A CN202080068853 A CN 202080068853A CN 114521239 A CN114521239 A CN 114521239A
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China
Prior art keywords
vehicle
inertial sensor
angle
sensing
shake compensation
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CN202080068853.2A
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朱帆
陈琳
尚明生
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Chongqing Institute of Green and Intelligent Technology of CAS
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Chongqing Institute of Green and Intelligent Technology of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Abstract

A vehicle shake-proof stabilizer sensing method, application, system and truck, the truck is provided with a vehicle shake compensation device, the shake compensation device installs an additional second inertia sensor at the position of sensing equipment, and installs the inertia sensor and the sensing equipment at a rigid body structure, installs a first inertia sensor on the vehicle body, establishes a three-dimensional coordinate system with the vehicle rear axle center as an origin, calculates the coordinate conversion information from the second inertia sensor to the first inertia sensor, and performs coordinate conversion on the information acquired by the sensing equipment according to the coordinate conversion information, so that the subsequently identified obstacles are all under the vehicle body/global coordinate system, and the noise influence caused by unnecessary vehicle suspension is eliminated.

Description

Sensing method, application and system of vehicle anti-shake stabilizer Technical Field
The invention belongs to the technical field of vehicle data information sensing, and particularly relates to a sensing method, application and system of a vehicle anti-shake stabilizer.
Background
The vehicle's sensing sensor (camera) is often mounted at a relatively high position of the vehicle due to the field of view requirements. It is often desirable for a truck to be mounted near the nose of the truck, such as near the top edge of the windshield.
The truck head often has a softer air suspension to guarantee passenger and driver's body to feel.
Thus, the sensor is mounted behind the soft air suspension and at a greater distance from the rigid body portion of the vehicle body, and the flutter of the suspension is amplified at the sensor. There may be very bad influence on the perception result. Because the sensor is difficult to judge whether the angle of the vehicle is actually changed or only noise caused by the suspension of the vehicle is generated, the compensation cannot be well carried out.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method, an application and a system for sensing a vehicle anti-shake stabilizer.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a vehicle shake compensation method comprising the steps of:
installing a first inertial sensor on the vehicle body, and installing an additional second inertial sensor at the position of the sensing equipment;
mounting the sensing equipment and the second inertial sensor on a rigid body structure, and then integrally fixing the sensing equipment and the second inertial sensor on a vehicle head;
in a static state of the vehicle, a three-dimensional coordinate system is established by taking the center of a rear axle of the vehicle as an origin, and the position A1 (x) of a second inertial sensor at the head of the vehicle is obtained1，y 1，z 1) First inertial sensor position at body B1 (x)2，y 2，z 2) Center position of rigid body structure at the vehicle head A2 (x)3，y 3，z 3) Suspension center position B2 (x)4，y 4，z 4)；
In the static state, the conversion formula from A1 to B1 is:
i. angle: 0;
position:
Figure PCTCN2020116136-APPB-000001
in the vehicle moving state, the conversion formula from a1 to B1 is:
angle: subtracting the three-dimensional angle value of B1 from the three-dimensional angle value of A1 to obtain an angle value, and converting the angle value into rotation information of roll, yaw or pitch;
position: vector quantity
Figure PCTCN2020116136-APPB-000002
Is calculated from the three-dimensional coordinate position of the length scalar quantity of (1) with B2 as the origin and rotated according to the angle in iii, and the vector quantity is added
Figure PCTCN2020116136-APPB-000003
And converting the data of the sensing equipment into a vehicle body/global coordinate system which takes B1 as a standard in a static state or a vehicle moving state by performing coordinate system conversion according to the conversion information obtained by calculation in different states.
Preferably, the sensing device is a sensing sensor for sensing an obstacle in front of the vehicle.
Preferably, the second inertial sensor position a1 is aligned with the orientation angle of the rigid body structure center position a 2.
Application of the vehicle shake compensation method as described above to shake compensation on a truck.
The utility model provides a vehicle shake compensation arrangement, is including installing the first inertial sensor at the automobile body, installing the rigid body structure at the locomotive, rigid body structure is last to install perception equipment and second inertial sensor, still includes the calculation module, the calculation module is used for:
in the stationary state of the vehicle, with the vehicleEstablishing a three-dimensional coordinate system by taking the center of the rear axle of the vehicle as an origin, and acquiring the position A1 (x) of a second inertial sensor at the head of the vehicle1，y 1，z 1) First inertial sensor position at body B1 (x)2，y 2，z 2) Center position A2 (x) of rigid body structure at vehicle head3，y 3，z 3) Suspension center position B2 (x)4，y 4，z 4)；
At rest, the angles and positions of a1 to B1 are calculated:
i. angle: 0;
position:
Figure PCTCN2020116136-APPB-000004
in the vehicle moving state, the angles and positions of a1 to B1 are calculated:
angle: subtracting the three-dimensional angle value of B1 from the three-dimensional angle value of A1 to obtain an angle value, and converting the angle value into rotation information of roll, yaw or pitch;
position: vector quantity
Figure PCTCN2020116136-APPB-000005
Is calculated from the three-dimensional coordinate position of the length scalar quantity of (1) with B2 as the origin and rotated according to the angle in iii, and the vector quantity is added
Figure PCTCN2020116136-APPB-000006
And converting the data of the sensing equipment into a vehicle body/global coordinate system which takes B1 as a standard in a static state or a vehicle moving state by carrying out coordinate system conversion according to the angle and position information obtained by calculation in different states.
Preferably, the sensing device is a sensing sensor for sensing an obstacle in front of the vehicle.
Preferably, the second inertial sensor position a1 is aligned with the orientation angle of the rigid body structure center position a 2.
A truck fitted with a vehicle shake compensation device as described above.
Has the advantages that: the invention provides a sensing method, application, a system and a truck of a vehicle anti-shake stabilizer.A second additional inertial sensor is arranged at the position of sensing equipment, the inertial sensor and the sensing equipment are simultaneously arranged on a rigid body structure, a three-dimensional coordinate system is established by taking the center of a rear axle of a vehicle as an origin, coordinate conversion information from the second inertial sensor to a first inertial sensor is calculated, and coordinate conversion is carried out on information acquired by the sensing equipment according to the coordinate conversion information, so that obstacles identified subsequently are all under a vehicle body/all-different coordinate system, and the influence of suspended shake is reduced to the minimum or even eliminated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are of some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive step.
FIG. 1 is a schematic view of two sensor mounting locations in an embodiment of the present invention;
fig. 2 is a schematic static state diagram in the embodiment of the invention.
FIG. 3 is a diagram illustrating a moving state according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The examples are given for the purpose of better illustration of the invention, but the invention is not limited to the examples. Therefore, those skilled in the art can make insubstantial modifications and adaptations to the embodiments described above without departing from the scope of the present invention.
Example 1: vehicle shake compensation method
A vehicle shake compensation method comprising the steps of:
installing a first inertial sensor on the vehicle body, and installing an additional second inertial sensor at the position of the sensing equipment;
mounting the sensing equipment and the second inertial sensor on a rigid body structure, and then integrally fixing the sensing equipment and the second inertial sensor on a vehicle head;
referring to fig. 1 and 2, in the stationary state of the vehicle, a three-dimensional coordinate system is established with the center of the rear axle of the vehicle as the origin, and a position a1 (x) of the second inertial sensor at the vehicle head is obtained1，y 1，z 1) First inertial sensor position at body B1 (x)2，y 2，z 2) Center position of rigid body structure at the vehicle head A2 (x)3，y 3，z 3) Suspension center position B2 (x)4，y 4，z 4)；
Since a1 and a2 are on the same rigid body, the angle of the point a1 is assumed to be coincident with a 2. In actual installation, the orientation angle of the point A1 and the point A2 should be ensured to be consistent.
In the stationary state, referring to fig. 3 showing the stationary state of the vehicle, the conversion formula from a1 to B1 is:
i. angle: 0; (IMU1 and IMU2 are both horizontally mounted by default)
Position:
Figure PCTCN2020116136-APPB-000007
the above three added vectors are fixed values since four points are fixed in a stationary state.
In the vehicle moving state, please refer to the vehicle moving state shown in fig. 3, the conversion formula from a1 to B1 is:
angle: subtracting the three-dimensional angle value of B1 from the three-dimensional angle value of A1 to obtain an angle value, and converting the angle value into rotation information of roll, yaw or pitch;
position: vector quantity
Figure PCTCN2020116136-APPB-000008
Is calculated from the three-dimensional coordinate position of the length scalar quantity of (1) with B2 as the origin and rotated according to the angle in iii, and the vector quantity is added
Figure PCTCN2020116136-APPB-000009
And converting the data of the sensing equipment into a vehicle body/global coordinate system which takes B1 as a standard in a static state or a vehicle moving state by performing coordinate system conversion according to the conversion information obtained by calculation in different states.
Example 1: vehicle shake compensation device
Referring to fig. 1 to 3, a vehicle shake compensation apparatus includes a first inertial sensor mounted on a vehicle body, a rigid structure mounted on a vehicle head, and a calculation module, where the rigid structure is mounted with a sensing device and a second inertial sensor, and the calculation module is configured to:
in a static state of the vehicle, a three-dimensional coordinate system is established by taking the center of a rear axle of the vehicle as an origin, and the position A1 (x) of a second inertial sensor at the head of the vehicle is obtained1，y 1，z 1) First inertial sensor position at body B1 (x)2，y 2，z 2) Center position A2 (x) of rigid body structure at vehicle head3，y 3，z 3)，Hanging center position B2 (x)4，y 4，z 4)；
At rest, the angles and positions of a1 to B1 are calculated:
i. angle: 0;
position:
Figure PCTCN2020116136-APPB-000010
in the vehicle moving state, the angles and positions of a1 to B1 are calculated:
angle: subtracting the three-dimensional angle value of B1 from the three-dimensional angle value of A1 to obtain an angle value, and converting the angle value into rotation information of roll, yaw or pitch;
position: vector quantity
Figure PCTCN2020116136-APPB-000011
Is calculated from the three-dimensional coordinate position of the length scalar quantity of (1) with B2 as the origin and rotated according to the angle in iii, and the vector quantity is added
Figure PCTCN2020116136-APPB-000012
And converting the data of the sensing equipment into a vehicle body/global coordinate system which takes B1 as a standard in a static state or a vehicle moving state by carrying out coordinate system conversion according to the angle and position information obtained by calculation in different states.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (8)

  1. A vehicle shake compensation method characterized by comprising the steps of:
    installing a first inertial sensor on the vehicle body, and installing an additional second inertial sensor at the position of the sensing equipment;
    mounting the sensing equipment and the second inertial sensor on a rigid body structure, and then integrally fixing the sensing equipment and the second inertial sensor on a vehicle head;
    in a static state of the vehicle, a three-dimensional coordinate system is established by taking the center of a rear axle of the vehicle as an origin, and the position A1 (x) of a second inertial sensor at the head of the vehicle is obtained1，y 1，z 1) First inertial sensor position at body B1 (x)2，y 2，z 2) Center position of rigid body structure at the vehicle head A2 (x)3，y 3，z 3) Suspension center position B2 (x)4，y 4，z 4)；
    In the static state, the conversion formula from A1 to B1 is:
    i. angle: 0;
    position:
    Figure PCTCN2020116136-APPB-100001
    in the vehicle moving state, the conversion formula from a1 to B1 is:
    angle: subtracting the three-dimensional angle value of B1 from the three-dimensional angle value of A1 to obtain an angle value, and converting the angle value into rotation information of roll, yaw or pitch;
    position: vector quantity
    Figure PCTCN2020116136-APPB-100002
    Is calculated from the three-dimensional coordinate position of the length scalar quantity of (1) with B2 as the origin and rotated according to the angle in iii, and the vector quantity is added
    Figure PCTCN2020116136-APPB-100003
    And converting the data of the sensing equipment into a vehicle body/global coordinate system which takes B1 as a standard in a static state or a vehicle moving state by performing coordinate system conversion according to the conversion information obtained by calculation in different states.
  2. The vehicle shake compensation method according to claim 1, wherein the sensing device is a sensing sensor for sensing an obstacle ahead of the vehicle.
  3. The vehicle shake compensation method of claim 1, wherein the second inertial sensor position a1 is coincident with an orientation angle of a central position a2 of the rigid structure.
  4. Use of a vehicle shake compensation method according to any of claims 1 to 3 in shake compensation on a truck.
  5. The utility model provides a vehicle shake compensation arrangement which characterized in that, is including installing at the first inertial sensor of automobile body, installing the rigid body structure at the locomotive, rigid body structure is last to install perception equipment and second inertial sensor, still includes calculation module, calculation module is used for:
    in a static state of the vehicle, a three-dimensional coordinate system is established by taking the center of a rear axle of the vehicle as an origin, and the position A1 (x) of a second inertial sensor at the head of the vehicle is obtained1，y 1，z 1) First inertial sensor position at body B1 (x)2，y 2，z 2) Center position of rigid body structure at the vehicle head A2 (x)3，y 3，z 3) Suspension center position B2 (x)4，y 4，z 4)；
    At rest, the angles and positions of a1 to B1 are calculated:
    i. angle: 0
    Position:
    Figure PCTCN2020116136-APPB-100004
    in the vehicle moving state, the angles and positions of a1 to B1 are calculated:
    angle: subtracting the three-dimensional angle value of B1 from the three-dimensional angle value of A1 to obtain an angle value, and converting the angle value into rotation information of roll, yaw or pitch;
    position: vector quantity
    Figure PCTCN2020116136-APPB-100005
    Is calculated from the three-dimensional coordinate position of the length scalar quantity of (1) with B2 as the origin and rotated according to the angle in iii, and the vector quantity is added
    Figure PCTCN2020116136-APPB-100006
    And converting the data of the sensing equipment into a vehicle body/global coordinate system which takes B1 as a standard in a static state or a vehicle moving state by carrying out coordinate system conversion according to the angle and position information obtained by calculation in different states.
  6. The vehicle shake compensation apparatus according to claim 5, wherein the sensing device is a sensing sensor for sensing an obstacle ahead of the vehicle.
  7. The vehicle shake compensation apparatus according to claim 5, wherein the second inertial sensor position A1 coincides with an orientation angle of a central position A2 of the rigid body structure.
  8. A truck, characterized in that the truck is equipped with the vehicle shake compensation apparatus according to any one of claims 5 to 7.
CN202080068853.2A 2020-09-18 2020-09-18 Sensing method, application and system of vehicle anti-shake stabilizer Pending CN114521239A (en)

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DE102014111126A1 (en) * 2014-08-05 2016-02-11 Valeo Schalter Und Sensoren Gmbh Method for generating an environment map of an environmental area of a motor vehicle, driver assistance system and motor vehicle
JP6473684B2 (en) * 2015-11-11 2019-02-20 日立建機株式会社 Wheel slip angle estimating apparatus and method
US10401501B2 (en) * 2017-03-31 2019-09-03 Uber Technologies, Inc. Autonomous vehicle sensor calibration system
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CN110049229A (en) * 2018-01-17 2019-07-23 南京火眼猴信息科技有限公司 A kind of camera shake compensation device and method for tunnel Image Acquisition
CN109883444B (en) * 2019-02-25 2022-03-25 航天科工防御技术研究试验中心 Attitude angle coupling error compensation method and device and electronic equipment
CN110781827B (en) * 2019-10-25 2021-05-11 中山大学 Road edge detection system and method based on laser radar and fan-shaped space division

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