KR20210038464A - Method and apparatus for calibrating forward axis of vehicle accelerometer - Google Patents

Abstract

The present invention provides a method and an apparatus for calibrating a forward axis of a vehicle accelerometer and relates to a smart traffic field. Specifically, on the basis of an actual slope in a route, acceleration data of three axes of an accelerometer in a vehicle, and a kinematics equation satisfied by acceleration when a vehicle is traveling on a slope, consistency is determined between a direction of a real time slope of a forward direction/a reverse direction of the three axes and a direction of the actual slope, and one of the three axes which has the highest consistency between the real time slope of a forward direction/a reverse direction and the actual slope in a first time zone is calibrated as the forward axis. According to an embodiment of the present invention, the forward axis of the vehicle accelerometer on the basis of the actual slope data for the route and travel data for the vehicle can be calibrated and it is unnecessary to depend on mark data of a vehicle supplier.

Description

Method and apparatus for calibrating the vehicle accelerometer forward axis {METHOD AND APPARATUS FOR CALIBRATING FORWARD AXIS OF VEHICLE ACCELEROMETER}

The present application relates to smart traffic in the field of data processing technology, and more particularly, to a method and apparatus for calibrating a vehicle accelerometer forward axis.

The slope is an important expression of the change in the topography.Since it is possible to accurately recognize the overpass area and the parallel road section with slope using the slope, the success rate of binding the navigation path of the uphill and downhill road sections can be improved by using the slope during navigation. have. In practical applications, the vehicle navigation device can calculate the inclination using the accelerometer of the vehicle and the vehicle speed, and specifically, can obtain an accurate inclination only by grasping the direction of the forward axis of the accelerometer of the vehicle.

In the prior art, the forward axis of the accelerometer of the vehicle is generally indicated by the vehicle supplier that produced the vehicle, and the calibration parameters are generally strictly secured and not disclosed to the outside. However, vehicle navigation is generally provided by a map supplier, and the map supplier cannot obtain the calibration parameters of the accelerometer, and accordingly, cannot calculate the inclination, and finally, it is not possible to obtain an accurate navigation path.

The embodiment of the present application relates to a method and apparatus for calibrating a vehicle accelerometer forward axis, and solves a technical problem in which the accuracy of a navigation path is low in the prior art.

According to a first aspect of an embodiment of the present application, a method of calibrating a vehicle accelerometer forward axis is provided. That way,

When it is recognized that the vehicle has traveled and has reached a path with an inclination, acquiring an actual inclination of the path with an inclination;

Obtaining acceleration data of each of three axes of an accelerometer of the vehicle, wherein the three axes are a first axis, a second axis, and a third axis;

Based on the acceleration data and kinematic equations of the three axes, the forward and reverse real-time inclination of the first axis, the forward and reverse real-time inclination of the second axis, and the forward and reverse real-time inclination of the third axis, respectively, are calculated, and the kinematic equation is A kinematic equation that satisfies the acceleration when the vehicle travels on a slope;

Determining a correspondence between the forward and reverse real-time slopes of the three axes and the directions of the actual slopes;

And calibrating the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination of the three axes within a first time period as a forward axis. Accordingly, it is possible to calibrate the vehicle accelerometer forward axis based on the actual inclination data of the route and the driving data of the vehicle, and there is no need to rely on the marked data of the vehicle supplier.

In one possible embodiment, prior to each obtaining acceleration data of the three axes of the accelerometer of the vehicle, further comprising: statistic each of the average values of the three axes of the accelerometer within a second time; The step of obtaining acceleration data of each of the three axes of the accelerometer of the vehicle may include: obtaining current acceleration data of each of the three axes of the accelerometer of the vehicle; And obtaining acceleration data of the three axes by subtracting each of the average values corresponding to each of the three axes from the current acceleration data of the three axes. Thus, when calculating the forward and reverse real-time inclinations of the three axes, by subtracting the average value corresponding to each of the three axes from the current acceleration data of the three axes, removing the effect on the calculation of the inclination of the narrow angle, it is possible to obtain accurate forward and reverse real-time inclinations. I can.

In one possible embodiment, the step of calibrating the axis having the highest direction coincidence between the forward and reverse real-time gradients and the actual inclination among the three axes within the first time as a forward axis, comprises: the forward and reverse directions of the three axes within the first time. Measuring the coincidence of the real-time gradient and the direction of the actual gradient a plurality of times; Statistic, respectively, three coincidence probability values in which the forward and reverse real-time inclinations of the three axes coincide with the actual inclination directions within the first time period; And calibrating an axis corresponding to a maximum coincidence probability value among the three coincidence probability values as a forward axis. Accordingly, it is possible to obtain a more accurate calibration result by ensuring that the axes acquired multiple times and their directions are all coincident.

In one possible embodiment, the equation of kinematics includes the following,

은 상기 임의의 일 축의 가속도 데이터이고;

는 상기 임의의 일 축의 차체 전진 방향의 종향 가속도이고,

는 각각 전후 두 시점으로서, 이에 대응되는 차속은

이고; k는 상기 가속도계의 전진축과 차속 방향 일치 여부를 나타내고, 상기 가속도계의 전진축과 차속 방향이 일치하면, k는 1이고, H는 상기 임의의 일 축의 정방향 실시간 경사도이고; 상기 가속도계의 전진축과 차속 방향이 서로 반대되면, k는 -1이고, H는 상기 임의의 일 축의 역방향 실시간 경사도이다.Here, for any one of the three axes, g is the acceleration due to gravity, m is the weight of the vehicle,

Is the acceleration data of the arbitrary one axis;

Is the longitudinal acceleration in the advancing direction of the vehicle body of the arbitrary axis,

Is the two points of time before and after each, and the corresponding vehicle speed is

ego; k indicates whether the forward axis of the accelerometer matches the vehicle speed direction, and if the forward axis of the accelerometer matches the vehicle speed direction, k is 1, and H is the forward real-time inclination of the arbitrary axis; When the forward axis and the vehicle speed direction of the accelerometer are opposite to each other, k is -1, and H is the reverse real-time inclination of the arbitrary axis.

In one possible embodiment, when the actual slope is an uphill slope, the value of the actual slope is positive, and when the actual slope is a downhill slope, the value of the actual slope is negative;

The step of determining the coincidence of the forward and reverse real-time inclination of the three axes and the direction of the actual inclination may include, for any one of the three axes, the actual inclination, the forward real-time inclination and inclination threshold of the arbitrary one axis. Determining a correspondence between a positive real-time slope of the arbitrary axis and a direction of the actual slope based on the comparison result of the values; And determining a coincidence of the reverse real-time slope of the arbitrary one axis and the direction of the actual inclination, based on the comparison result of the actual inclination, the reverse real-time inclination of the one axis, and the inclination threshold value.

In one possible embodiment, when it is recognized that the vehicle has traveled and reaches a path with an inclination, acquiring an actual inclination of the path may include: sending a navigation path to the vehicle; And when the vehicle travels and reaches a path with an inclination among the navigation paths, acquiring an actual inclination of the path from a database for storing inclination data obtained in advance.

In one possible embodiment, when the vehicle is traveling, the inclination of the current path on which the vehicle is traveling is calculated based on the calibrated forward axis and the calibrated forward axis directions. As a result, it is possible to collect the slope data of each route using the vehicle whose forward axis is calibrated, enrich the route data in the map, and when planning the navigation route later, use the slope of the route to uphill and It is possible to improve the success rate of binding a navigation route in a downhill road section.

In one possible embodiment, the steps of calibrating the gravitational acceleration axis and the direction axis of the three axes, respectively, based on the calibrated advancing axis; Positioning the driving direction of the vehicle using accelerations of three axes of the accelerometer; And planning a navigation route of the vehicle using the driving direction of the vehicle. Accordingly, it is possible to predict the driving intention of the vehicle based on acceleration data corresponding to the three axes of the vehicle accelerometer, position the driving direction of the vehicle, and thus plan an accurate navigation path for the vehicle.

According to a second aspect of the embodiment of the present application, there is provided an apparatus for calibrating a vehicle accelerometer forward axis. The device is:

As an acquisition module for acquiring the actual slope of the path where the slope exists when it is recognized that the vehicle has traveled and reaches the path where the slope exists,

In addition, an acquisition module for acquiring acceleration data of three axes of the accelerometer of the vehicle, wherein the three axes are a first axis, a second axis, and a third axis;

Based on the acceleration data and kinematic equations of the three axes, it is to calculate the forward and reverse real-time inclination of the first axis, the forward and reverse real-time inclination of the second axis, and the forward and reverse real-time inclination of the third axis, respectively, and the kinematics The equation is a calculation module that is a kinematic equation that satisfies the acceleration when the vehicle is driving on a slope.

In addition, a calculation module for determining correspondence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions;

And a calibration module for calibrating the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination of the three axes within a first time period as a forward axis.

In one possible embodiment, further comprising: a statistics module for statistics each of the average values of the three axes of the accelerometer within a second time;

The acquisition module specifically acquires current acceleration data of three axes of an accelerometer of the vehicle; Acceleration data of the three axes are obtained by subtracting the average value corresponding to each of the three axes from the current acceleration data of the three axes.

In one possible embodiment, the calibration module specifically,

Measuring the correspondence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions multiple times within the first time period;

Statistic, respectively, three coincidence probability values in which the forward and reverse real-time inclinations of the three axes coincide with the actual inclination directions within the first time period;

The axis corresponding to the maximum coincidence probability value among the three coincidence probability values is calibrated as the forward axis.

In one possible embodiment, the equation of kinematics includes the following,

은 상기 임의의 일 축의 가속도 데이터이고;

는 상기 임의의 일 축의 차체 전진 방향의 종향 가속도이고,

는 각각 전후 두 시점으로서, 이에 대응되는 차속은

이고; k는 상기 가속도계의 전진축과 차속 방향 일치 여부를 나타내고, 상기 가속도계의 전진축과 차속 방향이 일치하면, k는 1이고, H는 상기 임의의 일 축의 정방향 실시간 경사도이고; 상기 가속도계의 전진축과 차속 방향이 서로 반대되면, k는 -1이고, H는 상기 임의의 일 축의 역방향 실시간 경사도이다.Here, for any one of the three axes, g is the acceleration due to gravity, m is the weight of the vehicle,

Is the acceleration data of the arbitrary one axis;

Is the longitudinal acceleration in the advancing direction of the vehicle body of the arbitrary axis,

Is the two points of time before and after each, and the corresponding vehicle speed is

ego; k indicates whether the forward axis of the accelerometer matches the vehicle speed direction, and if the forward axis of the accelerometer matches the vehicle speed direction, k is 1, and H is the forward real-time inclination of the arbitrary axis; When the forward axis and the vehicle speed direction of the accelerometer are opposite to each other, k is -1, and H is the reverse real-time inclination of the arbitrary axis.

In one possible embodiment, when the actual slope is an uphill slope, the value of the actual slope is positive, and when the actual slope is a downhill slope, the value of the actual slope is negative; Specifically, the calculation module is based on a comparison result of the actual inclination, the forward real-time inclination of the arbitrary one axis, and the inclination threshold value for an arbitrary one of the three axes, Determining the correspondence of the direction of the actual inclination; On the basis of the comparison result of the actual inclination, the reverse real-time inclination of the one axis and the inclination threshold value, the coincidence of the reverse real-time inclination of the one axis and the direction of the actual inclination is determined.

In one possible embodiment, the acquisition module specifically sends a navigation route to the vehicle; When the vehicle travels and reaches a path in which the inclination exists among the navigation paths, the actual inclination of the path is obtained from a database for storing inclination data obtained in advance.

In one possible embodiment, the calculation module also calculates the inclination of the current route on which the vehicle is traveling, based on the calibrated forward axis and the calibrated forward axis direction when the vehicle is traveling.

In one possible embodiment, the calibration module also calibrates the gravitational acceleration axis and the direction axis of the three axes, respectively, based on the calibrated advancing axis; The calculation module also positions the driving direction of the vehicle using accelerations of three axes of the accelerometer; A navigation route of the vehicle is planned using the driving direction of the vehicle.

According to a third aspect of the embodiment of the present application, an electronic device is provided. The electronic device includes at least one processor; And a memory that is communicatively connected to the at least one processor, wherein an instruction executable by the at least one processor is stored in the memory, and the instruction is executed by the at least one processor, and the at least one It is intended to enable the processor of to perform the method according to any one of the above-described aspects.

According to a fourth aspect of the embodiment of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, the computer instructions causing the computer to perform the method according to any one of the above-described first aspects.

According to a fifth aspect of the embodiment of the present application, a computer program stored in a computer-readable storage medium is provided, and at least one processor of the electronic device can read the computer program from the readable storage medium, and the at least one The processor of executes the computer program so that the electronic device performs the method according to any one of the above-described first aspects.

In summary, the embodiment of the present application has the following advantageous effects compared to the prior art.

According to the method and apparatus for calibrating the vehicle accelerometer forward axis provided in the embodiment of the present application, it is possible to calibrate the vehicle accelerometer forward axis based on the actual inclination data of the route and the driving data of the vehicle. There is no need to do it. Specifically, based on the actual inclination of the path and the acceleration data of the three axes of the accelerometer among the vehicles, and the kinematic equation that satisfies the acceleration when the vehicle is traveling on a slope, the correspondence between the forward and reverse real-time slopes of the three axes and the direction of the actual slope. Each of the three axes can be calibrated as the forward axis within the first time by determining the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination.

1 is a system configuration diagram to which a method of calibrating a vehicle accelerometer forward axis provided in an embodiment of the present application is applied.
2 is a flowchart of a method of calibrating a vehicle accelerometer forward axis provided in an embodiment of the present application.
3 is a structural diagram of an apparatus for calibrating a forward axis of a vehicle accelerometer provided in an embodiment of the present application.
4 is a block diagram of an electronic device for implementing a method of calibrating a vehicle accelerometer forward axis according to an exemplary embodiment of the present application.

Hereinafter, exemplary embodiments of the present application will be described in conjunction with the accompanying drawings, and various details of the embodiments of the present application are included in order to aid understanding, and these should be regarded as merely exemplary. Therefore, it should be understood that those of ordinary skill in the art may make various changes and modifications to the embodiments described herein, which do not depart from the scope and spirit of the present application. Likewise, for clarity and conciseness, descriptions of known functions and structures have been omitted from the following description. In a non-conflicting situation, the embodiments described below and features of the embodiments may be combined with each other.

The method according to the embodiment of the present application may be applied to a vehicle, a vehicle terminal of the vehicle, or a server or terminal communicating with the vehicle. Here, the vehicle may be any type of vehicle that carries people and/or objects and moves through a power system such as an engine, and includes, but is not limited to, a passenger car, a truck, a bus, an electric vehicle, a camping car, and the like. The vehicle may be a vehicle driven by a person, and the vehicle may be a vehicle with a certain autonomous driving capability. The embodiment of the present application is not limited to a vehicle.

The accelerometer (also referred to as an acceleration sensor) described in the embodiment of the present application may be a three-axis accelerometer. The accelerometer is the main component of the inertial measurement unit (IMU). The three axes of the accelerometer may be a forward axis, a gravitational acceleration axis, and a direction axis, and the driving intention of the vehicle can be predicted based on the acceleration data corresponding to the three axes of the vehicle accelerometer, and the driving direction of the vehicle can be positioned. You can plan an accurate navigation route for your needs. In practical applications, after calibrating the forward axis, it is possible to easily calibrate the gravitational acceleration axis and the directional axis using any conventional method, and the embodiment of the present application is not limited to a specific form of calibrating the gravitational acceleration axis and the directional axis. Does not. It can be understood that the three axes of the accelerometer may be defined by other names, and the embodiments of the present application are not specifically limited thereto.

The forward and reverse real-time slopes described in the embodiments of the present application may be a generic term for the forward real-time slope and the reverse real-time slope. The forward and reverse real-time inclinations of the three axes are related to the coincidence of the accelerometer forward axis and the vehicle speed direction, and assuming that the accelerometer advance axis and the vehicle speed direction coincide, the forward real-time inclination of the three axes can be calculated. Assuming that the accelerometer forward axis and the vehicle speed direction are opposite, it is possible to calculate the reverse real-time inclination of the three axes. A detailed calculation method will be described in detail in the following embodiments, and redundant descriptions will be omitted here.

The slope described in the embodiment of the present application may be a positive value, a negative value, or may be zero. For example, if the path is assumed to be a downhill slope, the slope can be positive, and if the path is a downhill slope, the slope can be negative. If the path slope is less than, the slope is 0. Can be

As shown in FIG. 1, FIG. 1 is a configuration diagram of an application scenario to which the method provided in the embodiment of the present application is applied.

The embodiment of the present application may be applied to a smart traffic scenario, or may be applied to an application scenario of the vehicle Internet.

Here, in order for the vehicle 11 shown in FIG. 1 to perform vehicle Internet communication, a vehicle terminal (or vehicle Internet terminal or vehicle to everything, also referred to as a vehicle to everything (V2X) communication device, etc.) on the vehicle Can be installed, and through the installed vehicle terminal, vehicle 11 in the drawing can perform vehicle-to-vehicle (vehicle to vehicle, abbreviated V2V) communication with other vehicles, and other pedestrians and vehicle to pedestrians (vehicle to pedestrian, abbreviated as V2V). V2P) communication can be performed, and other roadside infrastructure and vehicle to infrastructure (vehicle to infrastructure, abbreviated V2I) communication can be performed, or the communication network is vehicle to network (V2N abbreviated) Communication, etc. The vehicle terminal can implement overall connection and efficient information interaction between vehicles and pedestrians, other vehicles, roadside devices, and networks, and implement vehicle Internet functions such as information service, traffic safety, and traffic efficiency. For example, after the vehicle terminal is connected to the driver's mobile phone, the driver can use the vehicle terminal to play music, navigate a map, make and receive phone calls, and the like.

In one possible application scenario, a vehicle terminal and a camera are installed in the vehicle 11, and it is possible to recognize that the vehicle has traveled and reached a path with an inclination by detecting the surrounding environment based on the camera, and furthermore, the vehicle The vehicle terminal of (11) acquires the actual slope of the path where the corresponding slope exists from the server 12, and the vehicle terminal of the vehicle acquires the actual slope of the path and the acceleration data of the three axes of the accelerometer among the vehicles, and the vehicle runs on a slope. Based on the kinematic equations that the acceleration satisfies, the direction of the forward and reverse real-time inclination and the actual inclination of the three axes are determined, respectively, and the forward and reverse real-time inclination and the direction of the actual inclination are matched within the first time period. The axis with the highest performance can be calibrated as the forward axis. In this implementation form, the vehicle 11 can calibrate the vehicle accelerometer forward axis based on the actual inclination data of the route and the driving data of the vehicle, and there is no need to rely on the marking data of the vehicle supplier.

In another possible application scenario, the server 12 can send a navigation route to the vehicle 11 and obtain the position of the vehicle in real time, and when the vehicle has traveled to reach a path with an inclination, it is positioned, The server 12 may obtain the actual inclination of the path where the corresponding inclination exists from a location such as a database, and the server 12 provides the actual inclination of the path and acceleration data of the three axes of the accelerometer among the vehicle 11, and the vehicle Based on the kinematic equations that the acceleration satisfies when driving on a slope, the correspondence between the forward and reverse real-time inclination and the actual inclination of the three axes is determined, respectively, and the forward and reverse real-time inclination and the actual inclination of the three axes within the first time period. The axis with the highest directional coincidence can be calibrated as the forward axis. In this implementation, the server 12 may calibrate the vehicle accelerometer forward axis based on the actual inclination data of the route and the driving data of the vehicle, and there is no need to rely on the vehicle supplier's marking data.

When specifically applied, it can be understood that the number of servers may be any value of 1 or more, and the embodiments of the present application may be applied to other application scenarios, and the embodiments of the present application are not specifically limited thereto.

As shown in FIG. 2, FIG. 2 is a flowchart of a method of calibrating a vehicle accelerometer forward axis provided in an embodiment of the present application. The method may specifically include the following steps.

S101: When it is recognized that the vehicle has traveled and has reached a path with a slope, an actual slope of the path with the slope is obtained.

In one possible embodiment, by recognizing the environment around the vehicle based on a device such as a camera or a gyro system of the vehicle, it is possible to recognize whether the vehicle has traveled and reached a path with an inclination, and when the vehicle has traveled, there is an inclination. When it is recognized that the route is reached, inclination data of the corresponding route measured and stored in advance can be obtained from a storage space (for example, a database, etc.).

In another possible implementation form, the vehicle can request navigation to the map server, and the map server sends a navigation route to the vehicle. In the navigation process, the vehicle travels along the planned route, and when the vehicle is positioned to arrive on a route with an inclination, it is possible to obtain the actual inclination of the route from the database for storing the inclination data obtained in advance. In addition, the database may be provided in the map server or any other server, and the embodiment of the present application is not specifically limited thereto.

When applied in practice, it can be understood that the vehicle may recognize that the vehicle has reached the path where the slope exists in any other form, and that the actual slope of the path may be obtained, and the embodiment of the present application is not specifically limited thereto. Does not.

S102: Acquire acceleration data of each of the three axes of the accelerometer of the vehicle, wherein the three axes are a first axis, a second axis, and a third axis.

In the embodiment of the present application, since the three axes of the accelerometer measure acceleration data corresponding to each of the three axes of the vehicle during the vehicle driving process and store the acceleration data of the three axes in a predetermined position, the acceleration data of the three axes of the vehicle accelerometer is It can be obtained from a location for storing acceleration data in the vehicle, and the embodiment of the present application is not limited to specific acceleration data of three axes and a location for storing acceleration data.

S103: Based on the acceleration data and kinematic equations of the three axes, calculate the forward and reverse real-time inclination of the first axis, the forward and reverse real-time inclination of the second axis, and the forward and reverse real-time inclination of the third axis, respectively, and the kinematics The equation is a kinematic equation that satisfies the acceleration when the vehicle is driving on a slope.

When a vehicle is traveling on an uphill or downhill slope, the acceleration measured by the accelerometer is actually the sum of the vehicle longitudinal acceleration and the gravitational acceleration according to the slope, so the kinematic equation that the acceleration satisfies when the vehicle runs on a slope. Is satisfied.

In the embodiment of the present application, based on the acceleration data of the three axes and the kinematic equation, the forward and reverse real-time inclination of the first axis, the forward and reverse real-time inclination of the second axis, and the forward and reverse real-time inclination of the third axis can be calculated, respectively. .

Exemplarily, the equation of kinematics includes the following,

은 상기 임의의 일 축의 가속도 데이터이고;

는 상기 임의의 일 축의 차체 전진 방향의 종향 가속도이고,

는 각각 전후 두 시점으로서, 이에 대응되는 차속은

이고; k는 상기 가속도계의 전진축과 차속 방향 일치 여부를 나타내고, 상기 가속도계의 전진축과 차속 방향이 일치하면, k는 1이고, H는 상기 임의의 일 축의 정방향 실시간 경사도이고; 상기 가속도계의 전진축과 차속 방향이 서로 반대되면, k는 -1이고, H는 상기 임의의 일 축의 역방향 실시간 경사도이다.Here, for any one of the three axes, g is the acceleration due to gravity, m is the weight of the vehicle,

Is the acceleration data of the arbitrary one axis;

Is the longitudinal acceleration in the advancing direction of the vehicle body of the arbitrary axis,

Is the two points of time before and after each, and the corresponding vehicle speed is

ego; k indicates whether the forward axis of the accelerometer matches the vehicle speed direction, and if the forward axis of the accelerometer matches the vehicle speed direction, k is 1, and H is the forward real-time inclination of the arbitrary axis; When the forward axis and the vehicle speed direction of the accelerometer are opposite to each other, k is -1, and H is the reverse real-time inclination of the arbitrary axis.

시점의 차속

, 및

시점의 차속

를 각각 획득할 수 있고, 세 축 중 임의의 일 축에 대하여, 해당 축의 가속도 데이터를 상기 수식에 대입하여, 세 축 각각의 정방향 실시간 경사도와 역방향 실시간 경사도를 각각 획득할 수 있다.In the embodiment of the present application,

Vehicle speed of the viewpoint

, And

Vehicle speed of the viewpoint

Each of the three axes can be obtained, and for any one of the three axes, by substituting the acceleration data of the corresponding axis into the above equation, the forward real-time slope and the reverse real-time slope of each of the three axes can be obtained, respectively.

S104: Determine coincidence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions.

In the embodiment of the present application, for any one of the three axes, by comparing the direction of the forward real-time inclination of the corresponding axis and the direction of the actual inclination, it is determined whether the direction of the forward real-time inclination of the corresponding axis coincides with the direction of the actual inclination. For example, if the forward real-time inclination of the corresponding axis is a positive value, it may mean that the forward real-time inclination of the corresponding axis is calculated as an uphill slope, and if the actual inclination is also an uphill slope, the forward real-time inclination of the corresponding axis The direction of and the direction of the actual inclination coincide, otherwise it can be regarded as inconsistent.

S105: Within the first time, the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination among the three axes is calibrated as the forward axis.

In the embodiment of the present application, the specific value within the first time may be determined based on the actual application scenario, and within the first time, the forward and reverse real-time slopes and the actual slope of the three axes based on S102 to S104 a plurality of times. The coincidence of the direction of can be calculated, and the higher the coincidence of the direction of the forward real-time slope or the reverse real-time slope and the actual slope among the three axes, the higher the probability that the corresponding axis is the forward axis, and accordingly, the time of the corresponding section. Among the three axes within, the forward axis can be calibrated as the forward axis with the highest alignment between the forward and reverse real-time inclination and the actual inclination.

In summary, the embodiment of the present application provides a method and apparatus for calibrating the vehicle accelerometer forward axis, and the vehicle accelerometer advance axis can be calibrated based on the actual inclination data of the route and the driving data of the vehicle. There is no need to rely on Specifically, based on the actual inclination of the path and the acceleration data of the three axes of the accelerometer among the vehicles, and the kinematic equation that satisfies the acceleration when the vehicle is traveling on a slope, the correspondence between the forward and reverse real-time slopes of the three axes and the direction of the actual slope. Each of the three axes can be calibrated as the forward axis within the first time by determining the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination.

On the basis of the embodiment corresponding to Fig. 2, in one possible embodiment, before S102, further comprising the step of statistic each of the average values of the three axes of the accelerometer within a second time. The step (S102) of obtaining acceleration data of each of the three axes of the accelerometer of the vehicle (S102) may include: obtaining current acceleration data of each of the three axes of the accelerometer of the vehicle; And obtaining acceleration data of the three axes by subtracting the average value corresponding to each of the three axes from the current acceleration data of the three axes.

로 기재할 수 있다. 이러한 평균값은 가속도계 전진축 방향과 차속 방향의 협각 관계를 반영한다. 세 축의 정방향과 역방향 실시간 경사도를 산출할 때 세 축의 현재 가속도 데이터로부터 각각 세 축에 대응되는 평균값을 빼서, 해당 협각의 경사도 산출에 대한 영향을 제거하여, 정확한 정방향과 역방향 실시간 경사도를 획득할 수 있다.In the embodiment of the present application, the specific value within the second time can be determined according to the actual application scenario, and in the navigation process, data of the three axes of the accelerometer are received in real time, and each axis within the second time (e.g., 5 minutes) is Corresponding mean values can be statistics, e.g. each

It can be written as. This average value reflects the narrow-angle relationship between the accelerometer forward axis direction and the vehicle speed direction. When calculating the forward and reverse real-time inclinations of the three axes, by subtracting the average value corresponding to each of the three axes from the current acceleration data of the three axes, it is possible to obtain accurate forward and reverse real-time inclinations by removing the effect on the calculation of the inclination of the narrow angle. .

On the basis of the embodiment corresponding to FIG. 2, in one possible embodiment, when the actual slope is an uphill slope, the value of the actual slope is positive, and when the actual slope is a downhill slope, the value of the actual slope is negative. to be. The step (S104) of determining the coincidence of the forward and reverse real-time inclination of the three axes and the direction of the actual inclination (S104) includes, for any one of the three axes, the actual inclination and the forward real-time inclination of the arbitrary one axis. Determining a correspondence between a forward real-time slope of the arbitrary axis and a direction of the actual slope based on the comparison result of the slope threshold value; And determining a coincidence of the reverse real-time slope of the arbitrary one axis and the direction of the actual inclination, based on the comparison result of the actual inclination, the reverse real-time inclination of the one axis, and the inclination threshold value.

Here, the slope threshold may be a criterion for determining whether a slope exists. For example, when the slope is less than the slope threshold, it may be considered that the slope does not exist, and the slope threshold is 0-3. It may be set to an arbitrary value or the like, and the embodiment of the present application is not specifically limited thereto.

(n=1,2,3)로 기재하고; 현재 위치 세 축의 역방향 실시간 경사도는

(n=1,2,3)로 기재하고; 경로의 실제 경사도는

로 기재하고; 경사도 임계값을 T로 기재하고; 세 축의 정방향 실시간 경사도의 방향과 실제 경사도의 방향의 일치성을 나타내기 위한 일치성 파라미터는

(n=1,2,3)로 기재하고; 세 축의 역방향 실시간 경사도의 방향과 실제 경사도의 방향의 일치성을 나타내기 위한 일치성 파라미터는

(n=1,2,3)로 기재하면,As an example, the forward real-time inclination of the three axes of all positions is

It is described as (n=1,2,3); The reverse real-time slope of the three axes of the current position

It is described as (n=1,2,3); The actual slope of the path is

Written as; Describe the slope threshold as T; The coincidence parameter to indicate the correspondence between the direction of the forward real-time slope of the three axes and the direction of the actual slope is

It is described as (n=1,2,3); The coincidence parameter to indicate the coincidence between the direction of the real-time slope of the three axes and the direction of the actual slope is

If you write (n=1,2,3),

(n=1,2,3)의 산출은 아래와 같을 수 있다. 즉,

The calculation of (n=1,2,3) can be as follows. In other words,

=0, -T<

<T이면,

=1, 아니면

= -1;if

=0, -T<

If <T,

=1, otherwise

= -1;

>0,

>=T이면,

=1;if

>0,

If >=T,

=1;

>0, -T<

<T이면,

=0;if

>0, -T<

If <T,

=0;

>0,

<=-T이면,

=-1;if

>0,

If <=-T,

=-1;

<0,

<=-T이면,

=1;if

<0,

If <=-T,

=1;

<0, -T<

<T이면,

=0;if

<0, -T<

If <T,

=0;

<0,

>=T이면,

=-1이다.if

<0,

If >=T,

=-1.

=1은 정방향 실시간 경사도의 방향과 실제 경사도의 방향이 일치하다는 것을 나타낼 수 있다.

=0은 정방향 실시간 경사도의 방향과 실제 경사도의 방향의 일치 여부가 불명료하다는 것을 나타낼 수 있다.

=-1은 정방향 실시간 경사도의 방향과 실제 경사도의 방향이 불일치함을 나타낼 수 있다.here,

=1 may indicate that the direction of the forward real-time slope and the direction of the actual slope coincide.

=0 may indicate that it is unclear whether the direction of the forward real-time slope and the direction of the actual slope coincide.

=-1 may indicate that the direction of the forward real-time slope and the direction of the actual slope are inconsistent.

(n=1,2,3)의 산출은 아래와 같을 수 있다. 즉,

The calculation of (n=1,2,3) can be as follows. In other words,

=0, -T<

<T이면,

=1, 아니면

= -1;if

=0, -T<

If <T,

=1, otherwise

= -1;

>0,

>=T이면,

=1;if

>0,

If >=T,

=1;

>0, -T<

<T이면,

=0;if

>0, -T<

If <T,

=0;

>0,

<=-T이면,

=-1;if

>0,

If <=-T,

=-1;

<0,

<=-T이면,

=1;if

<0,

If <=-T,

=1;

<0, -T<

<T이면,

=0;if

<0, -T<

If <T,

=0;

<0,

>=T이면,

=-1이다.if

<0,

If >=T,

=-1.

=1은 역방향 실시간 경사도의 방향과 실제 경사도의 방향이 일치함을 나타낼 수 있다.

=0은 역방향 실시간 경사도의 방향과 실제 경사도의 방향의 일치 여부가 불명료함을 나타낼 수 있다.

=-1은 역방향 실시간 경사도의 방향과 실제 경사도의 방향이 불일치함을 나타낼 수 있다.here,

=1 may indicate that the direction of the reverse real-time slope coincides with the direction of the actual slope.

=0 may indicate that it is unclear whether the direction of the reverse real-time slope matches the direction of the actual slope.

=-1 may indicate that the direction of the reverse real-time slope and the direction of the actual slope are inconsistent.

On the basis of the embodiment corresponding to FIG. 2, in one possible embodiment, the step of calibrating the axis having the highest direction coincidence between the forward and reverse real-time tilt and the actual tilt among the three axes within a first time as a forward axis (S105) is And measuring the coincidence of the direction of the actual inclination with the forward and reverse real-time slopes of the three axes within the first time period multiple times; Statistic, respectively, three coincidence probability values in which the forward and reverse real-time slopes of the three axes within the first time and the direction of the actual slope coincide; And calibrating an axis corresponding to a maximum coincidence probability value among the three coincidence probability values as a forward axis.

,n=1,2,3)에 대해 각각 통계하여, 경사도 방향값 0, -1, 1에 대응되는 확율을 획득하고, 방향값이 1인 확율을 해당 축에 대응되는 정방향 실시간 경사도 또는 역방향 실시간 경사도 방향의 일치성 확율값(또는 일치성 통계값이라고도 함)으로 한다. 일치성 확율값은, 해당 축이 전진축일 가능성이 큰 것을 의미하므로, 해당 시간 내의 일치성 확율값이 가장 큰 축을 전진축으로 캘리브레이션할 수 있다.In the embodiment of the present application, based on S102 to S104 within the first time, the coincidence of the forward and reverse real-time inclination of the three axes and the direction of the actual inclination is calculated multiple times, and the forward and reverse real-time inclination of the three axes within the first time Each of the three coincidence probability values in which the direction of and the actual inclination coincide can be calculated. For example, the forward and reverse real-time tilt directions of three axes within a certain period (

,n=1,2,3), respectively, to obtain the probability corresponding to the slope direction value 0, -1, 1, and determine the probability that the direction value is 1 in the forward direction real-time slope corresponding to the corresponding axis or in the reverse real-time direction. It is the probability of coincidence in the direction of the slope (also referred to as the statistical value of coincidence). Since the coincidence probability value means that the corresponding axis is likely to be the forward axis, the axis with the largest coincidence probability value within the corresponding time can be calibrated as the forward axis.

When specifically applied, by repeating the process of S102-S105, if the axes acquired multiple times and their directions all coincide, the self-calibration process is stopped and the calibration result is secured to output, thereby obtaining more accurate calibration results. I can.

On the basis of the embodiment corresponding to FIG. 2, in one possible embodiment, after S105, on the basis of the calibrated advancing axis and the calibrated advancing axis direction, when the vehicle is running, the inclination of the current route on which the vehicle is traveling is calculated. It may further include the step of calculating.

In the embodiment of the present application, after calibrating the forward axis in the vehicle, based on the parameters such as the calibrated forward axis, the direction of the forward axis, and the vehicle speed, the inclination of the current path the vehicle is traveling is calculated using any possible form. The route data can be enriched in the map by calculating and further collecting the slope data of each route using the vehicle, and when planning a navigation route later, navigation of the uphill and downhill road sections using the slope of the route Path binding success rate can be improved.

On the basis of the embodiment corresponding to FIG. 2, in one possible embodiment, after S105, calibrating the gravitational acceleration axis and the direction axis of the three axes, respectively, based on the calibrated advancing axis; Positioning the driving direction of the vehicle using accelerations of three axes of the accelerometer; It may further include planning a navigation route for the vehicle by using the driving direction of the vehicle.

In practical applications, after calibrating the forward axis, it is possible to easily calibrate the gravitational acceleration axis and the directional axis using any conventional method, and the embodiment of the present application is not limited to a specific form of calibrating the gravitational acceleration axis and the directional axis. Does not. It is possible to predict the driving intention of the vehicle based on acceleration data corresponding to three axes of the vehicle accelerometer, position the driving direction of the vehicle, and thus plan an accurate navigation path for the vehicle.

3 is a configuration diagram of an embodiment of an apparatus for calibrating a vehicle accelerometer forward axis provided in the present application. As shown in Figure 3, the apparatus for calibrating the vehicle accelerometer forward axis provided in the present embodiment,

When it is recognized that the vehicle has traveled and has reached a path with an inclination, as an acquisition module 31 for acquiring an actual inclination of the path with the inclination,

In addition, an acquisition module 31 that acquires acceleration data of three axes of the vehicle accelerometer, wherein the three axes are a first axis, a second axis, and a third axis;

Based on the acceleration data and kinematic equations of the three axes, the forward and reverse real-time inclination of the first axis, the forward and reverse real-time inclination of the second axis, and the forward and reverse real-time inclination of the third axis, respectively, are calculated, and the kinematic equation is As the calculation module 32, which is a kinematic equation that satisfies the acceleration when the vehicle runs on a slope,

In addition, a calculation module 32 for determining correspondence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions;

And a calibration module 33 for calibrating the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination among the three axes within a first time period as a forward axis.

In one possible embodiment, it further comprises a statistics module for statistic each of the average values of the three axes of the accelerometer within the second time period.

The acquisition module specifically acquires current acceleration data of three axes of an accelerometer of the vehicle; Acceleration data of the three axes are obtained by subtracting the average value corresponding to each of the three axes from the current acceleration data of the three axes.

In one possible embodiment, the calibration module specifically,

Measuring the correspondence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions a plurality of times within the first time period;

Three coincidence probability values in which the forward and reverse real-time inclinations of the three axes and the actual inclination directions coincide within the first time are each calculated.

The axis corresponding to the maximum coincidence probability value among the three coincidence probability values is calibrated as the forward axis.

In one possible embodiment, the equation of kinematics includes the following,

은 상기 임의의 일 축의 가속도 데이터이고;

는 상기 임의의 일 축의 차체 전진 방향의 종향 가속도이고,

는 각각 전후 두 시점으로서, 이에 대응되는 차속은

이고; k는 상기 가속도계의 전진축과 차속 방향 일치 여부를 나타내고, 상기 가속도계의 전진축과 차속 방향이 일치하면, k는 1이고, H는 상기 임의의 일 축의 정방향 실시간 경사도이고; 상기 가속도계의 전진축과 차속 방향이 서로 반대되면, k는 -1이고, H는 상기 임의의 일 축의 역방향 실시간 경사도이다.Here, for any one of the three axes, g is the acceleration due to gravity, m is the weight of the vehicle,

Is the acceleration data of the arbitrary one axis;

Is the longitudinal acceleration in the advancing direction of the vehicle body of the arbitrary axis,

Is the two points of time before and after each, and the corresponding vehicle speed is

ego; k indicates whether the forward axis of the accelerometer matches the vehicle speed direction, and if the forward axis of the accelerometer matches the vehicle speed direction, k is 1, and H is the forward real-time inclination of the arbitrary axis; When the forward axis and the vehicle speed direction of the accelerometer are opposite to each other, k is -1, and H is the reverse real-time inclination of the arbitrary axis.

In one possible embodiment, when the actual slope is an uphill slope, the value of the actual slope is positive, and when the actual slope is a downhill slope, the value of the actual slope is negative; Specifically, the calculation module is based on a comparison result of the actual inclination, the forward real-time inclination of the arbitrary one axis, and the inclination threshold value for an arbitrary one of the three axes, Determining the correspondence of the direction of the actual inclination; On the basis of the comparison result of the actual inclination, the reverse real-time inclination of the one axis and the inclination threshold value, the coincidence of the reverse real-time inclination of the one axis and the direction of the actual inclination is determined.

In one possible embodiment, the acquisition module specifically sends a navigation route to the vehicle; When the vehicle travels and reaches a path in which the inclination exists among the navigation paths, the actual inclination of the path is obtained from a database for storing inclination data obtained in advance.

In one possible embodiment, the calculation module also calculates the inclination of the current route on which the vehicle is traveling, based on the calibrated forward axis and the calibrated forward axis direction when the vehicle is traveling.

In one possible embodiment, the calibration module also calibrates the gravitational acceleration axis and the direction axis of the three axes, respectively, based on the calibrated advancing axis; The calculation module also positions the driving direction of the vehicle using accelerations of three axes of the accelerometer; The vehicle's driving direction is used to plan a navigation route for the vehicle.

According to an embodiment of the present application, a method and apparatus for calibrating a vehicle accelerometer forward axis is provided, and the vehicle accelerometer advance axis can be calibrated based on the actual inclination data of the route and the driving data of the vehicle. There is no need to do it. Specifically, based on the actual inclination of the path and the acceleration data of the three axes of the accelerometer among the vehicles, and the kinematic equation that satisfies the acceleration when the vehicle is traveling on a slope, the correspondence between the forward and reverse real-time slopes of the three axes and the direction of the actual slope. Each of the three axes can be calibrated as the forward axis within the first time by determining the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination.

The apparatus for calibrating the forward axis of the vehicle accelerometer provided in each embodiment of the present application can execute the method illustrated in each of the corresponding embodiments described above, and the implementation method and principle are the same, and therefore, a redundant description will be omitted.

According to an embodiment of the present application, the present application further provides a computer program stored in a computer-readable storage medium, at least one processor of the electronic device can read computer instructions from the readable storage medium, and at least one processor Executes a computer program to cause the electronic device to perform the method according to any of the above-described embodiments.

According to an embodiment of the present application, the present application further provides an electronic device and a readable storage medium.

4, a block diagram of an electronic device for a method of calibrating a forward axis according to an embodiment of the present application. Electronic devices refer to various types of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, large computers, and other suitable computers. Electronic devices may refer to various types of mobile devices, such as personal portable terminals, cell phones, smart phones, wearable devices, and other similar computing devices. The members disclosed herein, their connections and relationships, and their functions are merely exemplary, and are not intended to limit the implementation of the present application as disclosed and/or required by the text.

As shown in FIG. 4, the electronic device includes one or more processors 401, a memory 402, and an interface including a high-speed interface and a low-speed interface for connecting each member. Each member is connected to each other through a different bus, and can be mounted on a common main board or mounted in other ways according to demand. The processor may process commands executed in the electronic device, and is stored in or on the memory to provide commands to display graphic information of the GUI on an external input/output device (eg, a display device coupled to an interface). Can include. In other embodiments, a plurality of processors and/or a plurality of buses and a plurality of memories may be used together, depending on demand. Likewise, it is possible to connect multiple electronic devices, each of which provides some necessary operation (eg, as a server array, a set of blade servers, or as a multiprocessor system). 4 illustrates one processor 401 as an example.

The memory 402 is a non-transitory computer-readable storage medium according to the present application. Here, instructions that can be executed by at least one processor are stored in the memory, so that at least one processor performs the method of calibrating the vehicle accelerometer forward axis according to the present application. The non-transitory computer-readable storage medium of the present application stores computer commands, and the computer commands allow the computer to perform the method of calibrating the vehicle accelerometer forward axis according to the present application.

The memory 402 is a non-transitory computer-readable storage medium, such as a non-transitory software program, a non-transitory computer executable program and module, for example, a program instruction/module corresponding to the method of calibrating the vehicle accelerometer forward axis according to the embodiment of the present application. (For example, the acquisition module 31, the calculation module 32, and the calibration module 33 shown in FIG. 3) may be stored. The processor 401 executes non-transitory software programs, instructions, and modules stored in the memory 402 to perform various functional applications and data processing of the server. That is, a method of calibrating a vehicle accelerometer forward axis among the above-described method embodiments is implemented.

The memory 402 may include a program storage area and a data storage area. Here, the program storage area may store an operating system and an application program required for at least one function. The data storage area may store data configured according to use of an electronic device for calibrating a vehicle accelerometer forward axis. Meanwhile, the memory 402 may include a high-speed random access memory, and may include, for example, a non-transitory memory such as at least one magnetic storage device, a flash memory, or other non-transitory solid state storage device. In some embodiments, memory 402 may optionally include memory that is installed remotely to processor 401. This remote memory can be connected to an electronic device that calibrates the vehicle accelerometer forward axis through a network. Examples of the above-described network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The electronic device of the method of calibrating the vehicle accelerometer forward axis may further include an input device 403 and an output device 404. The processor 401, the memory 402, the input device 403, and the output device 404 may be connected by a bus or other methods, and FIG. 4 illustrates that they are connected through a bus.

The input device 403 may receive input number or letter code information, and may generate a key signal input for user setting and function control of an electronic device that calibrates a vehicle accelerometer forward axis. For example, there are input devices such as a touch screen, a keypad, a mouse, a track pad, a touch panel, an instruction lever, one or more mouse buttons, a track ball, and a control lever. The output device 404 may include a display device, an auxiliary lighting device (eg, LED), a tactile feedback device (eg, a vibration motor), and the like. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

Various embodiments of the systems and technologies described herein may be implemented in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (dedicated integrated circuits), computer hardware, firmware, software, and/or combinations thereof. Such various embodiments may include being implemented in one or a plurality of computer programs, and the one or a plurality of computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, and the corresponding programmable The processor may be a dedicated or general purpose programmable processor, and may receive data and commands from a storage system, at least one input device, and at least one output device, and transmit data and commands to the storage system and at least one input device. , And transmits to the at least one output device.

Such computer programs (also referred to as programs, software, software applications, or code) contain mechanical instructions of a programmable processor, and use high-level process and/or object-oriented programming languages, and/or assembly/mechanical languages to execute such computer programs. You can do it. For example, the terms "machine-readable medium" and "computer-readable medium" as used herein refer to any computer program product, device, and/or device (e.g., A magnetic disk, an optical disk, a memory, a programmable logic device (PLD)) and a machine-readable medium for receiving mechanical instructions that are machine-readable signals. The term “machine-readable signal” refers to any signal for providing mechanical instructions and/or data to a programmable processor.

In order to provide interaction with a user, the systems and technologies described herein can be implemented on a computer, and the computer may be a display device (e.g., CRT (cathode tube) or LCD ( Liquid crystal display) monitor); And a keyboard and a pointing device (eg, a mouse or a trackball), and a user may provide an input to the computer through the keyboard and the corresponding pointing device. Other types of devices may also provide interactions with users. For example, the feedback provided to the user may be any form of sensing feedback (eg, visual feedback, auditory feedback, or tactile feedback); Input from the user may be received through any form (sound input, voice input, or tactile input).

The systems and technologies described herein include computing systems including background members (e.g., as a data server), or computing systems including intermediate members (e.g., application servers), or computing including front-end members. System (e.g., a user computer having a graphical user interface or an Internet browser, the user may interact with the embodiments of the systems and technologies described herein through a corresponding graphical user interface or an Internet browser), or such a background It can be implemented in any combination of computing systems including members, intermediate members, or front end members. The members of the system can be interconnected through digital data communication (eg, a communication network) in any form or medium. Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

The computer system can include clients and servers. Clients and servers are generally far apart from each other and typically interact over a communication network. A client-server relationship is created through a computer program that runs on the corresponding computer and has a client-server relationship with each other.

According to the technical solution according to the embodiment of the present application, it is possible to calibrate the vehicle accelerometer forward axis based on the actual inclination data of the route and the driving data of the vehicle, and there is no need to rely on the marking data of the vehicle supplier. Specifically, based on the actual inclination of the path and the acceleration data of the three axes of the accelerometer among the vehicles, and the kinematic equation that satisfies the acceleration when the vehicle is traveling on a slope, the correspondence between the forward and reverse real-time slope of the three axes and the direction of the actual slope. Each of the three axes can be calibrated as the forward axis within the first time by determining the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination.

It should be understood that steps can be rearranged, added or deleted using the various types of processes described above. For example, each step described in the present application may be performed in parallel, may be performed sequentially, or may be performed in a different order, and if the technical solution disclosed in the present application can obtain the desired result, the text is It is not limited about.

The specific embodiments described above are not limited to the scope of protection of the present application. Those of ordinary skill in the art will appreciate that various modifications, combinations, sub-combinations and substitutions can be made based on design needs and other factors. All modifications, equivalent substitutions and improvements made within the spirit and principle of this application should be regarded as falling within the scope of protection of this application.

Claims (19)

When it is recognized that the vehicle has traveled and reaches a path with an inclination, acquiring an actual inclination of the path with an inclination;
Obtaining acceleration data of each of three axes of an accelerometer of the vehicle, wherein the three axes are a first axis, a second axis, and a third axis;
Based on the acceleration data and kinematic equations of the three axes, the forward and reverse real-time inclination of the first axis, the forward and reverse real-time inclination of the second axis, and the forward and reverse real-time inclination of the third axis are respectively calculated, and the kinematic equation is A kinematic equation that satisfies the acceleration when the vehicle travels on a slope;
Determining a correspondence between the forward and reverse real-time slopes of the three axes and the directions of the actual slopes;
Calibrating the forward axis, the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination of the three axes within a first time period, as a forward axis. The method of claim 1,
Before the step of acquiring acceleration data of each of the three axes of the accelerometer of the vehicle,
Further comprising statistic each of the average values of the three axes of the accelerometer within a second time period;
The step of obtaining acceleration data of each of the three axes of the accelerometer of the vehicle,
Acquiring, respectively, current acceleration data of three axes of an accelerometer of the vehicle;
And obtaining acceleration data of the three axes by subtracting the average values respectively corresponding to the three axes from the current acceleration data of the three axes. The method according to claim 1 or 2,
The step of calibrating the axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination among the three axes within a first time period as a forward axis,
Measuring a correspondence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions multiple times within the first time period;
Statistic, respectively, three coincidence probability values in which the forward and reverse real-time inclinations of the three axes coincide with the actual inclination directions within the first time period;
And calibrating an axis corresponding to a maximum coincidence probability value among the three coincidence probability values as a forward axis. The method according to claim 1 or 2,
The kinematic equation includes the following,

Here, for any one of the three axes, g is the acceleration due to gravity, m is the weight of the vehicle,

Is the acceleration data of the arbitrary one axis;

Is the longitudinal acceleration in the advancing direction of the vehicle body of the arbitrary axis,

Is the two points of time before and after each, and the corresponding vehicle speed is

ego; k indicates whether the forward axis of the accelerometer matches the vehicle speed direction, and if the forward axis of the accelerometer matches the vehicle speed direction, k is 1, and H is the forward real-time inclination of the arbitrary axis; When the forward axis and the vehicle speed direction of the accelerometer are opposite to each other, k is -1, and H is a reverse real-time inclination of the arbitrary axis. The method of claim 4,
When the actual slope is an uphill slope, the value of the actual slope is positive, and when the actual slope is a downhill slope, the actual slope is negative;
The step of determining correspondence between the forward and reverse real-time slopes of the three axes and the directions of the actual slopes,
For any one of the three axes, based on the comparison result of the actual inclination, the forward real-time inclination and the inclination threshold of the arbitrary one axis, the positive real-time inclination of the arbitrary one axis and the direction of the actual inclination coincide. Determining sex;
And determining, based on the comparison result of the actual inclination, the reverse real-time inclination of the one axis, and the inclination threshold value, the coincidence of the reverse real-time inclination of the one axis and the direction of the actual inclination; and How to do it. The method of claim 1,
When it is recognized that the vehicle has traveled and has reached a path with an inclination, the step of obtaining an actual inclination of the path,
Sending a navigation route to the vehicle;
If the vehicle travels and reaches a path in which the inclination exists among the navigation paths is positioned, acquiring the actual inclination of the path from a database for storing the inclination data obtained in advance. How to characterize. The method of claim 1,
The method further comprising calculating a slope of a current path on which the vehicle is traveling, based on the calibrated forward axis and the calibrated forward axis direction when the vehicle is running. The method according to claim 1 or 2,
Calibrating the gravitational acceleration axis and the direction axis of the three axes, respectively, based on the calibrated forward axis;
Positioning the driving direction of the vehicle using accelerations of three axes of the accelerometer;
And planning a navigation route of the vehicle using the driving direction of the vehicle. As an acquisition module for acquiring the actual slope of the path where the slope exists when it is recognized that the vehicle has traveled and reaches the path where the slope exists,
In addition, an acquisition module for acquiring acceleration data of three axes of the accelerometer of the vehicle, wherein the three axes are a first axis, a second axis, and a third axis;
Based on the acceleration data and kinematic equations of the three axes, it is to calculate the forward and reverse real-time inclination of the first axis, the forward and reverse real-time inclination of the second axis, and the forward and reverse real-time inclination of the third axis, respectively, and the kinematics The equation is a calculation module that is a kinematic equation that satisfies the acceleration when the vehicle is driving on a slope.
In addition, a calculation module for determining correspondence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions;
A device for calibrating a forward axis of a vehicle accelerometer, comprising: a calibration module for calibrating an axis having the highest direction coincidence between the forward and reverse real-time inclination and the actual inclination of the three axes within a first time period as a forward axis. The method of claim 9,
Further comprising a statistics module for statistic each of the average values of the three axes of the accelerometer within a second time period;
The acquisition module acquires current acceleration data of the three axes of the accelerometer of the vehicle, respectively; And obtaining acceleration data of the three axes by subtracting the average value corresponding to each of the three axes from the current acceleration data of the three axes. The method of claim 9 or 10,
The calibration module,
Measuring the correspondence between the forward and reverse real-time inclinations of the three axes and the actual inclination directions multiple times within the first time period;
Statistic, respectively, three coincidence probability values in which the forward and reverse real-time inclinations of the three axes coincide with the actual inclination directions within the first time period;
Apparatus, characterized in that for calibrating an axis corresponding to a maximum coincidence probability value among the three coincidence probability values as a forward axis. The method of claim 9 or 10,
The kinematic equation includes the following,

Here, for any one of the three axes, g is the acceleration due to gravity, m is the weight of the vehicle,

Is the acceleration data of the arbitrary one axis;

Is the longitudinal acceleration in the advancing direction of the vehicle body of the arbitrary axis,

Is the two points of time before and after each, and the corresponding vehicle speed is

ego; k indicates whether the forward axis of the accelerometer matches the vehicle speed direction, and if the forward axis of the accelerometer matches the vehicle speed direction, k is 1, and H is the forward real-time inclination of the arbitrary axis; When the forward axis and the vehicle speed direction of the accelerometer are opposite to each other, k is -1, and H is the reverse real-time inclination of the arbitrary axis. The method of claim 12,
When the actual slope is an uphill slope, the value of the actual slope is positive, and when the actual slope is a downhill slope, the actual slope is negative;
The calculation module,
For any one of the three axes, based on the comparison result of the actual inclination, the forward real-time inclination and the inclination threshold of the arbitrary one axis, the positive real-time inclination of the arbitrary one axis and the direction of the actual inclination coincide. Determine the surname;
The device, characterized in that, based on the comparison result of the actual inclination, the reverse real-time inclination of the one axis, and the inclination threshold value, the coincidence of the reverse real-time inclination of the one axis and the direction of the actual inclination is determined. The method of claim 9,
The acquisition module is specifically,
Send a navigation route to the vehicle;
When the vehicle travels and reaches a path in which the inclination exists among the navigation paths is positioned, the actual inclination of the path is obtained from a database for storing the inclination data obtained in advance. The method of claim 9,
The calculation module further calculates a slope of a current path on which the vehicle is traveling based on the calibrated forward axis and the calibrated forward axis when the vehicle is traveling. The method of claim 9 or 10,
The calibration module also calibrates the gravitational acceleration axis and the direction axis of the three axes, respectively, based on the calibrated forward axis;
The calculation module also positions the driving direction of the vehicle using accelerations of three axes of the accelerometer; The device, characterized in that for planning a navigation route of the vehicle by using the driving direction of the vehicle. At least one processor; And a memory communicatively connected to the at least one processor; Herein, an instruction that can be executed by the at least one processor is stored in the memory, and the instruction is executed by the at least one processor, so that the at least one processor can perform the method according to claim 1. Electronic device, characterized in that. A non-transitory computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions carry out the method according to claim 1. In the computer program stored in a computer-readable storage medium,
A computer program implementing the method according to claim 1 when the computer program is executed by a processor.

Images