CN216410214U - Vehicle posture sensing device and vehicle - Google Patents

Abstract

The application provides a vehicle posture sensing device and a vehicle. The vehicle attitude sensing apparatus includes: the system comprises a controller, a nine-axis attitude sensor and a temperature sensor, wherein the nine-axis attitude sensor and the temperature sensor are respectively communicated with the controller; the vehicle attitude sensing device receives initial attitude data of a vehicle and the ambient temperature of the vehicle through the controller, and determines the self attitude of the vehicle according to the initial attitude data and the ambient temperature, so that the technical problem of attitude measurement errors caused by large ambient temperature change range in the driving process of the vehicle is solved, and the accuracy of the determined self attitude of the vehicle is improved.

Description

Vehicle posture sensing device and vehicle

Technical Field

The application relates to the technical field of vehicles, in particular to a vehicle posture sensing device and a vehicle.

Background

The nine-axis attitude sensor is a high-performance three-dimensional motion attitude measuring device based on MEMS technology, and comprises motion sensors such as a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer and the like.

The nine-axis attitude sensor can be used for collecting the driving attitude of the vehicle and providing the surrounding environment information of the vehicle for the driver so as to assist the driver in driving the vehicle. However, the environment temperature variation range is large during the vehicle running, and the attitude measurement error of the nine-axis attitude sensor is easily caused.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application aims to provide a vehicle posture sensing device and a vehicle, so as to solve the technical problem of posture measurement errors caused by a large environment temperature change range in the running process of the vehicle.

In order to achieve the above purpose, the present application provides the following technical solutions:

in a first aspect, an embodiment of the present application provides a vehicle posture sensing device, including: the system comprises a controller, a nine-axis attitude sensor and a temperature sensor, wherein the nine-axis attitude sensor and the temperature sensor are respectively communicated with the controller;

the nine-axis attitude sensor is used for acquiring initial attitude data of a vehicle and sending the initial attitude data to the controller;

the temperature sensor is used for acquiring the ambient temperature of the vehicle and sending the ambient temperature to the controller;

the controller is used for receiving the initial attitude data and the environment temperature so as to determine the self attitude of the vehicle according to the initial attitude data and the environment temperature.

In the above aspect, the vehicle attitude sensing device includes a controller, a nine-axis attitude sensor, and a temperature sensor. The vehicle attitude sensing device receives initial attitude data of a vehicle and the ambient temperature of the vehicle through the controller, and determines the self attitude of the vehicle according to the initial attitude data and the ambient temperature, so that the technical problem of attitude measurement errors caused by large ambient temperature change range in the driving process of the vehicle is solved, and the accuracy of the determined self attitude of the vehicle is improved.

Optionally, the gesture sensing apparatus further comprises a distance sensor, and the distance sensor is in communication with the controller; the distance sensor is used for acquiring distance data between the vehicle and surrounding objects and sending the distance data to the controller; the controller is used for receiving the distance data and determining object information around the vehicle according to the distance data.

In the above scheme, the attitude sensing device acquires distance data between the vehicle and surrounding objects through the distance sensor, and then determines object information around the vehicle according to the distance data through the controller to determine the surrounding environment state of the vehicle, thereby realizing the obstacle avoidance function of the vehicle.

Optionally, the posture sensing device further includes a CAN communication module, and the CAN communication module communicates with the controller; the CAN communication module is used for receiving the initial attitude data and sending the initial attitude data to external equipment.

In the above scheme, the attitude sensing device realizes communication with an external device through the CAN communication module, and sends the obtained initial attitude data to the external device through the CAN communication module, so that the external device receives the initial attitude data and determines the current attitude of the vehicle according to the initial attitude data.

Optionally, the gesture sensing device further includes a burning module, and the burning module communicates with the download burning interface of the controller.

Optionally, the attitude sensing device further includes a crystal oscillator module, and the crystal oscillator module is in communication with the controller; the crystal oscillator module is used for providing a clock signal for the controller.

In the scheme, the crystal oscillator module has good frequency stability and external interference resistance, and the clock signal provided by the crystal oscillator module for the controller is more stable.

Optionally, the nine-axis attitude sensor includes a three-axis magnetometer, a three-axis gyroscope and a three-axis accelerometer; wherein, the three-axis magnetometer adopts an HMC5883L chip, and the three-axis gyroscope and the three-axis accelerometer adopt an ICM42688 chip.

Optionally, the posture sensing device further includes a power module, and the power module is electrically connected to the controller; the power module is used for providing working voltage for the controller.

In the scheme, the power supply module is used for providing the working voltage for the controller.

Optionally, the attitude sensing device further includes a filtering module, and the filtering module is electrically connected to the power supply module and the controller respectively; the filtering module is used for filtering the voltage output by the power supply module and then providing the filtered voltage for the controller.

In the above scheme, the power signal output by the power module is filtered by the filtering module, so as to eliminate the interference signal contained in the power signal.

In a second aspect, an embodiment of the present application provides a vehicle, including: the vehicle attitude sensing device comprises a vehicle body and the vehicle attitude sensing device of the first aspect, wherein the vehicle attitude sensing device is horizontally mounted on the vehicle body and is used for determining the self attitude of the vehicle body.

In the above aspect, the vehicle includes a vehicle body and the vehicle posture sensing device according to the first aspect, and since the vehicle posture sensing device receives the initial posture data of the vehicle body and the ambient temperature where the vehicle body is located through the controller, and determines the posture of the vehicle itself according to the initial posture data and the ambient temperature, it is possible to avoid a posture measurement error caused by a large ambient temperature variation range during the running of the vehicle.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a vehicle posture sensing device according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of another vehicle attitude sensing device according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a distance sensor according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a CAN communication module according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a burning module according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a crystal oscillator module according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a nine-axis attitude sensor according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The terms "first," "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily being construed as indicating or implying any actual such relationship or order between such entities or actions.

Aiming at the defects in the prior art, the embodiment of the application provides a vehicle posture sensing device, which is used for avoiding the technical problem of posture measurement error caused by large environment temperature variation range in the vehicle running process. Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle posture sensing device according to an embodiment of the present application, where the vehicle posture sensing device includes:

a controller 101, a nine-axis attitude sensor 102 and a temperature sensor 103, the nine-axis attitude sensor 102 and the temperature sensor 103 being in communication with the controller 101, respectively;

the nine-axis attitude sensor 102 is configured to acquire initial attitude data of the vehicle and send the initial attitude data to the controller 101;

the temperature sensor 103 is used for acquiring the ambient temperature of the vehicle and sending the ambient temperature to the controller 101;

the controller 101 is configured to receive the initial attitude data and the ambient temperature, and determine a self-attitude of the vehicle according to the initial attitude data and the ambient temperature.

The controller 101 may be implemented by an LPC55 chip series, for example, an LPC5502 chip, and the controller 101 may also be another MCU chip, which is not specifically limited in this application. The nine-axis attitude sensor 102 is a high-performance three-dimensional motion attitude measurement device based on the MEMS technology, and includes a three-axis magnetometer, a three-axis gyroscope, and a three-axis accelerometer. The temperature sensor 103 is a sensor that can sense temperature and convert the sensed temperature into a usable output signal, and can convert the temperature into the usable output signal by using the law that various physical properties of a substance change with the temperature, and the temperature sensor 103 can be implemented by a thermocouple, a thermistor, a resistance temperature detector, an IC temperature sensor, or the like, or a temperature compensation chip, for example, a DS18B20Z chip, which is not particularly limited in this application.

The acquired initial attitude data can be compensated by the environment temperature by adopting methods such as a least square method, a BP neural network method, a regression method and the like, and the self attitude of the vehicle can be further determined.

Specifically, taking the least square method as an example, because a certain temperature error occurs between the actual angle output value and the theoretical angle output value of the nine-axis attitude sensor 102 under different working environment temperatures, the least square method can be used for curve fitting, and finally the theoretical angle output value is reached or approached, so as to realize temperature compensation on the initial attitude data according to the environmental temperature. At the same temperature, theoretical output values and actual output values of different angles can be approximately considered to be a linear relation, namely, y is a linear relation of mx + n; fitting is carried out by a least square method, and numerical values of the parameter m and the parameter n can be obtained. And the numerical values of the parameter m and the parameter n obtained by fitting can change along with the change of the environment temperature, and then the relationship between the environment temperature and the parameter m and the relationship between the environment temperature and the parameter n are respectively determined by fitting according to a least square method, so that the temperature compensation of the obtained initial attitude data is realized according to the temperature data.

The vehicle posture can be determined by the controller 101 according to the initial posture data and the ambient temperature, or after the controller 101 receives the initial posture data and the ambient temperature, the initial posture data and the ambient temperature can be sent to another controller or an external device by the controller 101, so that the other controller or the external device can determine the vehicle posture according to the initial posture data and the ambient temperature.

As can be seen from the above, the vehicle posture sensing device provided in the embodiments of the present application includes a controller, a nine-axis posture sensor, and a temperature sensor. The vehicle attitude sensing device receives initial attitude data of a vehicle and the ambient temperature of the vehicle through the controller, and determines the self attitude of the vehicle according to the initial attitude data and the ambient temperature, so that the technical problem of attitude measurement errors caused by large ambient temperature change range in the driving process of the vehicle is solved, and the accuracy of the determined self attitude of the vehicle is improved.

Referring to fig. 2, fig. 2 is a schematic structural diagram of another vehicle posture sensing device according to an embodiment of the present application.

In some optional embodiments, the gesture sensing apparatus further comprises a distance sensor 104, the distance sensor 104 being in communication with the controller 101; the distance sensor 104 is used for acquiring distance data between the vehicle and surrounding objects and sending the distance data to the controller 101; the controller 101 is configured to receive the distance data and determine object information around the vehicle according to the distance data.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a distance sensor according to an embodiment of the present disclosure.

The distance sensor 104 may be an infrared distance sensor or an ultrasonic distance sensor, among others. Wherein the infrared distance sensor can determine distance data between the vehicle and surrounding objects by transmission and reception of infrared rays; the ultrasonic distance sensor can determine distance data between the vehicle and surrounding objects by transmission and reception of ultrasonic waves. Taking the distance sensor 104 as an ultrasonic distance sensor as an example, by transmitting an ultrasonic transmission signal to the surrounding environment and receiving a reflected ultrasonic reflection signal, distance data between the vehicle and the surrounding object is sensed through the time between signal transmission and signal reception and the propagation speed of the ultrasonic; the positions of surrounding objects are determined according to the directions of the reflected ultrasonic wave signals, and therefore the function of avoiding obstacles is achieved. If the distance sensor 104 is an ultrasonic distance sensor, the ultrasonic distance sensor may be implemented by two HC-SR04 ultrasonic distance measurement modules. The HC-SR04 ultrasonic ranging module comprises an ultrasonic transmitter, a receiver and a control circuit; the non-contact distance sensing function of 2cm-400cm can be provided, and the distance measuring precision can reach 3 mm. Specifically, for example, the controller 101 is implemented by an LPC5502 chip, and the ultrasonic distance sensor can be implemented by two HC-SR04 ultrasonic distance measurement modules, the pin 34, the pin 35, the pin 34, and the pin 37 of the LPC5502 chip are set as 2-way ultrasonic distance measurement module input interfaces.

In some optional embodiments, the gesture sensing apparatus further comprises a CAN communication module 105, the CAN communication module 105 is in communication with the controller 101; the CAN communication module 105 is configured to receive the initial posture data and send the initial posture data to an external device.

In some optional embodiments, the CAN communication module 105 is further configured to receive self-attitude data of the vehicle and transmit the self-attitude data to an external device.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a CAN communication module according to an embodiment of the present disclosure.

The CAN communication module 105 may include a CAN conversion chip and a CAN communication interface; specifically, the CAN communication module 105 may be implemented by a TJA1042T chip or a PCA82C250/PCA82C251 chip. The attitude sensing device CAN realize the forwarding of initial attitude data through the CAN communication module 105, and CAN also realize the forwarding of self attitude data of the vehicle through the CAN communication module 105. The CAN communication module 105 provides CAN communication function for the posture sensing device, so that the communication function of the posture sensing device is more complete. Specifically, for example, when the controller 101 is implemented by the LPC5502 chip, the pins 31 and 32 of the LPC5502 chip are set as CAN0_ RD and CAN0_ TD, respectively, and the initial attitude data or the self attitude data is output to the CAN communication module 105 through the pins 31 and 32.

Here, taking the example that the controller 101 is implemented by an LPC5502 chip, and the CAN communication module 105 is implemented by a TJA1042T chip, specifically, the CAN communication module 105 includes a TJA1042T chip, resistors (R1, R2, R6), capacitors (C2, C3), a CAN communication socket interface (JP1, JP2), and an antistatic ESD (D1, D2, D3, D4). The pin 3 of the TJA1042T chip is connected to a 5V power supply through a 100NF filtering capacitor and a 4.7UF energy storage capacitor which are connected in parallel; pin 1 of the TJA1042T chip is set to CAN _ TD and connected to pin 31 of the LPC5502 chip, pin 4 of the TJA1042T chip is set to CAN _ RD and connected to pin 32 of the LPC5502 chip; pin 3 of JP1 and pin 3 of JP2 are connected to pin 7_ CANH of TJA1042T chip, respectively; pin 4 of JP1 and pin 4 of JP2 are connected to pin 6_ CANH of TJA1042T chip, respectively; pin 8 of the TJA1042T chip is connected with a resistor R1, and the other end of the resistor R1 is grounded; in order to ensure the voltage safety, an anti-static ESD protection device is added to the power input port to protect the internal circuit.

In some optional embodiments, the gesture sensing apparatus further includes a burning module 106, and the burning module 106 communicates with the download burning interface of the controller 101.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a burning module according to an embodiment of the present disclosure.

The programming module 106 adopts an SWD download mode and comprises an SWD programming interface JP3, a resistor R11 and a resistor R12, the SWD programming interface JP3 comprises an SWDIO, an SWCLK, an nrest and a power supply voltage input interface, a pin 1 of the SWD programming interface JP3 is connected with a 5V power supply voltage, a pin 2 is connected with a 3.3V power supply voltage, a pin 3 is respectively connected with a download programming interface of the controller 101 and the resistor R11, a pin 4 is respectively connected with a download programming interface of the controller 101 and the resistor R12, and the other ends of the resistor R11 and the resistor R12 are connected with a 3.3V power supply voltage. Specifically, for example, the controller 101 is implemented by an LPC5502 chip, pin 2 and pin 3 of the LPC5502 chip can be set as a download burning interface.

In some optional embodiments, the gesture sensing apparatus further comprises a crystal oscillator module 107, and the crystal oscillator module 107 is in communication with the controller 101; the crystal module 107 is used for providing a clock signal for the controller 101.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a crystal oscillator module according to an embodiment of the present disclosure.

The crystal module 107 may be combined with the internal circuit of the controller 101 to generate the clock frequency necessary for the controller 101 to execute the instructions. The crystal oscillator module 107 is connected to a crystal oscillator signal input pin of the controller 101, and specifically, for example, the controller 101 is implemented by an LPC5502 chip, and the pin 15 and the pin 16 of the LPC5502 chip may be set as the crystal oscillator signal input pins. The crystal oscillator module 107 can be implemented by a commonly used crystal oscillator, for example, a 32MHz crystal oscillator X1, two ends of a crystal oscillator X1 are respectively connected to the pin 15 and the pin 16 of the controller 101, two ends of a crystal oscillator X1 are respectively connected to one ends of capacitors C16 and C17 of 8PF, and the other ends of the capacitors C16 and C17 are both grounded. The crystal oscillation module 107 provides a stable and accurate single frequency oscillation for the controller 101 by operating in a resonant state using a crystal that can interconvert electrical energy and mechanical energy.

In some optional embodiments, the nine-axis attitude sensor comprises a three-axis magnetometer, a three-axis gyroscope, and a three-axis accelerometer; wherein, the three-axis magnetometer adopts an HMC5883L chip, and the three-axis gyroscope and the three-axis accelerometer adopt an ICM42688 chip.

The three-axis gyroscope can be used for measuring angles and maintaining directions, and changes circuit states by using Coriolis force and through motion deviation of a vibrator which vibrates continuously in a rotating system to cause changes of relevant electrical parameters, so that motion conditions of a vehicle such as left-right inclination, front-back inclination or left-right swinging are reflected. The three-axis accelerometer is used for measuring the acceleration in all directions in space so as to determine the acceleration direction and the speed of the vehicle. The motion state of the vehicle can be basically determined through the three-axis gyroscope and the three-axis accelerometer, but accumulated deviation is generated along with the time, and the accuracy of the determined motion state of the vehicle cannot be ensured; the three-axis magnetometer can be used for measuring the earth magnetic field, and the motion state of the vehicle is corrected and compensated through the absolute pointing direction of the magnetic field, so that the error caused by accumulated deviation is effectively solved, and the accuracy of the obtained vehicle motion state is improved.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a nine-axis attitude sensor according to an embodiment of the present disclosure. The three-axis magnetometer is realized by an HMC5883L chip, the three-axis gyroscope and the three-axis accelerometer are realized by ICM42688 chips, and the controller 101 can be provided with an I2C communication interface to control the HMC5883L chip or the ICM42688 chip through an I2C bus. The directions of the coordinate systems of the HMC5883L chip and the ICM42688 chip are consistent, so that fusion processing of the measured data is facilitated. Specifically, for example, the controller 101 is implemented by an LPC5502 chip, the pin 9 and the pin 10 of the LPC5502 chip, and the pin 40 and the pin 41 may be respectively set as one I2C communication interface; pin 9 and pin 10 of the LPC5502 chip and pin 40 and pin 41 are connected to the I2C pin of the HMC5883L chip and ICM42688 chip, respectively, through 10K ohm pull-up resistors.

In some optional embodiments, the gesture sensing apparatus further includes a power module 108, and the power module 108 is electrically connected to the controller 101; the power module 108 is used to provide the controller 101 with an operating voltage.

The power module 108 may be a storage battery or a lithium battery, which is not limited in this application. When the controller 101 is implemented by the LPC5502 chip, the power supply module 108 may provide a 3.3V power supply voltage for supplying power to the LPC5502 chip.

The power supply module 108 can also be connected to a power supply voltage input interface of the recording module 106, and is configured to provide 5V power supply voltage and 3.3V power supply voltage for the recording module 106.

In some optional embodiments, the gesture sensing apparatus further includes a filtering module 109, and the filtering module 109 is electrically connected to the power module 108 and the controller 101 respectively; the filtering module 109 is configured to filter the voltage output by the power supply module 108 and provide the filtered voltage to the controller 101.

The filtering module 109 can be implemented by a filter, which is a frequency selection device, and can pass a specific frequency component in a signal, and greatly attenuate other frequency components, thereby achieving the effect of filtering interference noise. The filtering module 109 may also be directly implemented by a capacitor, which may have a capacitance value of 100 to 150 nF; the filter module 109 may be, for example, a 100nF filter capacitor. Wherein a 100nF filter capacitor can be matched for each voltage demand terminal. Specifically, for example, the controller 101 is implemented by an LPC5502 chip, the pin 19 reset IO of the LPC5502 chip may be connected to a 3.3V supply voltage through a 10K ohm resistor and a 100nF filter capacitor.

The power supply module 108 is connected to the power supply voltage input interface of the burning module 106 and the filtering module 109, and then connected to the power supply input terminals of the controller 101, the nine-axis attitude sensor 102, and the distance sensor 104, and configured to supply power to the power supply input terminals of the controller 101, the nine-axis attitude sensor 102, and the distance sensor 104 through the power supply voltage input interface of the burning module 106.

In some optional embodiments, the gesture sensing apparatus further includes a power indication module, and the power module 108 is connected to the power indication module, and the power indication module is configured to indicate an operating state of the power module 108.

The power supply indicating module can be realized by an indicating lamp or a buzzer. Specifically, for example, the power supply module is implemented by an indicator lamp, the power supply module 108 is grounded via a current-limiting resistor and the indicator lamp, and whether the output voltage of the power supply module 108 is abnormal or not can be determined by turning on or off or by brightness of the indicator lamp.

The power supply module 108 can be connected to the power supply indication module through the power supply voltage input interface of the burning module 106 and the filtering module 109.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application, where the vehicle includes: a vehicle body 201 and a vehicle posture sensing device 202 as described in any one of the above first aspect, wherein the vehicle posture sensing device 202 is horizontally mounted to the vehicle body 201 for determining the posture of the vehicle body 201.

In the vehicle provided above, the posture of the vehicle body is determined by the vehicle posture sensing device according to the first aspect. The vehicle attitude sensing device can receive the initial attitude data of the vehicle and the ambient temperature through the controller, and determine the self attitude of the vehicle according to the initial attitude data and the ambient temperature, so that the technical problem of attitude measurement errors caused by large ambient temperature change range in the driving process of the vehicle is solved, and the accuracy of the acquired self attitude of the vehicle is improved.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and system may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions in actual implementation, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (9)

1. A vehicle posture sensing apparatus, characterized by comprising: the system comprises a controller, a nine-axis attitude sensor and a temperature sensor, wherein the nine-axis attitude sensor and the temperature sensor are respectively communicated with the controller;

the nine-axis attitude sensor is used for acquiring initial attitude data of a vehicle and sending the initial attitude data to the controller;

the temperature sensor is used for acquiring the ambient temperature of the vehicle and sending the ambient temperature to the controller;

the controller is used for receiving the initial attitude data and the environment temperature so as to determine the self attitude of the vehicle according to the initial attitude data and the environment temperature.

2. The attitude sensing device according to claim 1, further comprising a distance sensor, the distance sensor being in communication with the controller;

the distance sensor is used for acquiring distance data between the vehicle and surrounding objects and sending the distance data to the controller;

the controller is used for receiving the distance data and determining object information around the vehicle according to the distance data.

3. The attitude aware apparatus of claim 1, further comprising a CAN communication module, the CAN communication module being in communication with the controller;

the CAN communication module is used for receiving the initial attitude data and sending the initial attitude data to external equipment.

4. The attitude sensing apparatus of claim 1, further comprising a burning module in communication with a download burning interface of the controller.

5. The attitude sensing apparatus of claim 1, further comprising a crystal module, the crystal module in communication with the controller;

the crystal oscillator module is used for providing a clock signal for the controller.

6. The attitude sensing device according to claim 1, wherein the nine-axis attitude sensor includes a three-axis magnetometer, a three-axis gyroscope, and a three-axis accelerometer; wherein, the three-axis magnetometer adopts an HMC5883L chip, and the three-axis gyroscope and the three-axis accelerometer adopt an ICM42688 chip.

7. The attitude sensing device according to claim 1, further comprising a power module, the power module being electrically connected to the controller;

the power module is used for providing working voltage for the controller.

8. The attitude sensing device according to claim 7, further comprising a filtering module electrically connected to the power supply module and the controller, respectively;

the filtering module is used for filtering the voltage output by the power supply module and then providing the filtered voltage for the controller.

9. A vehicle, characterized in that the vehicle comprises: a vehicle body and the vehicle attitude sensing device according to any one of claims 1 to 8, wherein the vehicle attitude sensing device is horizontally mounted to the vehicle body for determining the self-attitude of the vehicle body.

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