A vehicle anti-shake stabilizer perception method, application, and system

Abstract

A vehicle anti-shake stabilizer sensing method, application, system and truck, wherein the truck is equipped with a vehicle shake compensation device, wherein the shake compensation device installs an additional second inertial sensor at the position of a sensing device, and simultaneously installs the inertial sensor and the sensing device on a rigid body structure, installs a first inertial sensor on the vehicle body, establishes a three-dimensional coordinate system with the center of the rear axle of the vehicle as the origin, calculates coordinate conversion information from the second inertial sensor to the first inertial sensor, and performs coordinate conversion on information obtained by the sensing device according to the coordinate conversion information, so that obstacles subsequently identified are all in the vehicle body / global coordinate system, thereby eliminating the noise impact caused by unnecessary vehicle suspension.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle data information perception, and specifically relates to a vehicle anti-shake stabilizer perception method, application, and system. Background Art

[0002] The vehicle's perception sensors (cameras, Lidar) often need to be installed at a relatively high position on the vehicle due to field of view requirements. For trucks, they often need to be installed near the front of the truck, such as near the top edge of the windshield.

[0003] Trucks often have softer air suspensions on the front to ensure a better feel for passengers and drivers.

[0004] Therefore, if the sensor is installed behind the soft air suspension and far away from the rigid part of the vehicle body, the vibration of the suspension will be amplified at the sensor. This will have a very bad impact on the perception result. Because it is difficult for the sensor to determine whether the vehicle angle has really changed or it is just the noise caused by the vehicle suspension, it cannot be compensated well. Summary of the invention

[0005] In view of this, one of the objectives of the present invention is to provide a vehicle anti-shake stabilizer sensing method, application, and system.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] A vehicle vibration compensation method comprises the following steps:

[0008] A first inertial sensor is installed on the vehicle body, and an additional second inertial sensor is installed at the location of the sensing device;

[0009] The sensing device and the second inertial sensor are mounted on a rigid structure, and then the structure is fixed to the front of the vehicle as a whole;

[0010] When the vehicle is stationary, a three-dimensional coordinate system is established with the center of the rear axle of the vehicle as the origin to obtain the position A1 (x 1 ,y 1 , z 1 ), the first inertial sensor position B1(x 2 ,y 2 , z 2 ), the center position of the rigid structure at the front of the vehicle is A2(x 3 ,y 3 , z 3 ), suspension center position B2(x 4 ,y 4 , z 4 );

[0011] In static state, the conversion formula from A1 to B1 is:

[0012] i.Angle: 0;

[0013] ii. Location:

[0014] When the vehicle is moving, the conversion formula from A1 to B1 is:

[0015] iii. Angle: Subtract the 3D angle value of B1 from the 3D angle value of A1 to obtain the angle value, and then convert the angle value into roll, yaw or pitch rotation information;

[0016] iv. Position: Vector The length scalar is obtained by rotating the three-dimensional coordinate position with B2 as the origin according to the angle in iii, plus the vector

[0017] According to the conversion information calculated in different states, the data of the sensing device is converted into a body / global coordinate system with B1 as the standard in a stationary state or a moving state of the vehicle.

[0018] As a preferred technical solution, the sensing device is a sensing sensor for sensing obstacles in front of the vehicle.

[0019] As a preferred technical solution, the orientation angles of the second inertial sensor position A1 and the center position A2 of the rigid structure are consistent.

[0020] The vehicle vibration compensation method as described above is applied to vibration compensation on trucks.

[0021] A vehicle vibration compensation device includes a first inertial sensor installed on a vehicle body, a rigid structure installed on a front of the vehicle, a sensing device and a second inertial sensor installed on the rigid structure, and a computing module, wherein the computing module is used to:

[0022] When the vehicle is stationary, a three-dimensional coordinate system is established with the center of the rear axle of the vehicle as the origin to obtain the position A1 (x 1 ,y 1 , z 1 ), the first inertial sensor position B1(x 2 ,y 2 , z 2 ), the center position of the rigid structure at the front of the vehicle is A2(x 3 ,y 3 , z 3 ), suspension center position B2(x 4 ,y 4 , z 4 );

[0023] In static state, calculate the angle and position from A1 to B1:

[0024] i.Angle: 0;

[0025] ii. Location:

[0026] When the vehicle is moving, calculate the angle and position from A1 to B1:

[0027] iii. Angle: Subtract the 3D angle value of B1 from the 3D angle value of A1 to obtain the angle value, and then convert the angle value into roll, yaw or pitch rotation information;

[0028] iv. Position: Vector The length scalar is obtained by rotating the three-dimensional coordinate position with B2 as the origin according to the angle in iii, plus the vector

[0029] According to the angle and position information calculated in different states, the data of the sensing device is subjected to coordinate system conversion, and converted into a vehicle body / global coordinate system with B1 as the standard in a stationary state or a moving state of the vehicle.

[0030] As a preferred technical solution, the sensing device is a sensing sensor for sensing obstacles in front of the vehicle.

[0031] As a preferred technical solution, the orientation angles of the second inertial sensor position A1 and the center position A2 of the rigid structure are consistent.

[0032] A truck is provided with the vehicle vibration compensation device as described above.

[0033] The beneficial effects are as follows: the present invention provides a vehicle anti-shake stabilizer sensing method, application, system and truck, by installing an additional second inertial sensor at the position of the sensing device, and simultaneously installing the inertial sensor and the sensing device on a rigid structure, establishing a three-dimensional coordinate system with the center of the rear axle of the vehicle as the origin, calculating the coordinate conversion information from the second inertial sensor to the first inertial sensor, and performing coordinate conversion on the information obtained by the sensing device according to the coordinate conversion information, so that the obstacles subsequently identified are all in the vehicle body / full coordinate system, and the influence of the suspension vibration is minimized or even eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0035] Figure 1 It is a schematic diagram of the installation positions of two sensors in an embodiment of the present invention;

[0036] Figure 2 Schematic diagram of a stationary state in an embodiment of the present invention.

[0037] Figure 3 A schematic diagram of the moving state in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The examples are provided to better illustrate the present invention, but the present invention is not limited to the examples. Therefore, those skilled in the art may make non-essential improvements and adjustments to the implementation scheme according to the above invention content, which still fall within the protection scope of the present invention.

[0040] Embodiment 1: Vehicle vibration compensation method

[0041] A vehicle vibration compensation method comprises the following steps:

[0042] A first inertial sensor is installed on the vehicle body, and an additional second inertial sensor is installed at the location of the sensing device;

[0043] The sensing device and the second inertial sensor are mounted on a rigid structure, and then the structure is fixed to the front of the vehicle as a whole;

[0044] Please refer to Figure 1 and Figure 2 As shown, when the vehicle is stationary, a three-dimensional coordinate system is established with the center of the rear axle of the vehicle as the origin to obtain the position A1 (x 1 ,y 1 , z 1 ), the first inertial sensor position B1(x 2,y 2 , z 2 ), the center position of the rigid structure at the front of the vehicle is A2(x 3 ,y 3 , z 3 ), suspension center position B2(x 4 ,y 4 , z 4 );

[0045] A1 and A2 are on the same rigid body, so it can be assumed that the orientation angle of point A1 is consistent with that of point A2. During actual installation, the orientation angle of point A1 should be consistent with that of point A2.

[0046] In static state, please refer to Figure 3 The figure shows the stationary state of the vehicle, and the conversion formula from A1 to B1 is:

[0047] i. Angle: 0; (IMU1 and IMU2 are installed horizontally by default)

[0048] ii. Location: The three added vectors above are all fixed values ​​because the four points are fixed in the static state.

[0049] When the vehicle is moving, please refer to Figure 3 The figure shows the vehicle movement state, and the conversion formula from A1 to B1 is:

[0050] iii. Angle: Subtract the 3D angle value of B1 from the 3D angle value of A1 to obtain the angle value, and then convert the angle value into roll, yaw or pitch rotation information;

[0051] iv. Position: Vector The length scalar is obtained by rotating the three-dimensional coordinate position with B2 as the origin according to the angle in iii, plus the vector

[0052] According to the conversion information calculated in different states, the data of the sensing device is converted into a body / global coordinate system with B1 as the standard in a stationary state or a moving state of the vehicle.

[0053] Embodiment 1: Vehicle vibration compensation device

[0054] Please refer to Figure 1 to Figure 3 As shown, a vehicle vibration compensation device includes a first inertial sensor installed on the vehicle body, a rigid structure installed on the front of the vehicle, a sensing device and a second inertial sensor are installed on the rigid structure, and a computing module is also included, wherein the computing module is used to:

[0055] When the vehicle is stationary, a three-dimensional coordinate system is established with the center of the rear axle of the vehicle as the origin to obtain the position A1 (x 1 ,y 1 , z 1 ), the first inertial sensor position B1(x 2 ,y 2 , z 2 ), the center position of the rigid structure at the front of the vehicle is A2(x 3 ,y 3 , z 3 ), suspension center position B2(x 4 ,y 4 , z 4 );

[0056] In static state, calculate the angle and position from A1 to B1:

[0057] i.Angle: 0;

[0058] ii. Location:

[0059] When the vehicle is moving, calculate the angle and position from A1 to B1:

[0060] iii. Angle: Subtract the 3D angle value of B1 from the 3D angle value of A1 to obtain the angle value, and then convert the angle value into roll, yaw or pitch rotation information;

[0061] iv. Position: Vector The length scalar is obtained by rotating the three-dimensional coordinate position with B2 as the origin according to the angle in iii, plus the vector

[0062] According to the angle and position information calculated in different states, the data of the sensing device is subjected to coordinate system conversion, and converted into a vehicle body / global coordinate system with B1 as the standard in a stationary state or a moving state of the vehicle.

[0063] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A vehicle vibration compensation method, characterized in that: The following steps are involved: A first inertial sensor is installed on the vehicle body, and an additional second inertial sensor is installed at the location of the sensing device; The sensing device and the second inertial sensor are mounted on a rigid structure, and then the structure is fixed to the front of the vehicle as a whole; When the vehicle is stationary, a three-dimensional coordinate system is established with the center of the rear axle of the vehicle as the origin, and the position of the second inertial sensor at the front of the vehicle A1 (x1, y1, z1), the position of the first inertial sensor at the body B1 (x2, y2, z2), the center position of the rigid structure at the front of the vehicle A2 (x3, y3, z3), and the suspension center position B2 (x4, y4, z4) are obtained; In static state, the conversion formula from A1 to B1 is: i.Angle: 0; ii. Location: When the vehicle is moving, the conversion formula from A1 to B1 is: iii. Angle: Subtract the 3D angle value of B1 from the 3D angle value of A1 to obtain the angle value, and then convert the angle value into roll, yaw or pitch rotation information; iv. Position: Vector The length scalar is obtained by rotating the three-dimensional coordinate position with B2 as the origin according to the angle in iii, plus the vector According to the conversion information calculated in different states, the data of the sensing device is converted into a body / global coordinate system with B1 as the standard in a stationary state or a moving state of the vehicle; The orientation angles of the second inertial sensor position A1 and the center position A2 of the rigid structure are consistent.

2. The vehicle vibration compensation method according to claim 1, characterized in that: The sensing device is a sensing sensor used to sense obstacles in front of the vehicle.

3. Application of the vehicle vibration compensation method as described in any one of claims 1 to 2 in vibration compensation on trucks.

4. A vehicle vibration compensation device, characterized in that: The invention comprises a first inertial sensor installed on the vehicle body, a rigid structure installed on the front of the vehicle, a sensing device and a second inertial sensor are installed on the rigid structure, and a computing module, wherein the computing module is used for: When the vehicle is stationary, a three-dimensional coordinate system is established with the center of the rear axle of the vehicle as the origin, and the position of the second inertial sensor at the front of the vehicle A1 (x1, y1, z1), the position of the first inertial sensor at the body B1 (x2, y2, z2), the center position of the rigid structure at the front of the vehicle A2 (x3, y3, z3), and the suspension center position B2 (x4, y4, z4) are obtained; In static state, calculate the angle and position from A1 to B1: i.Angle: 0 ii. Location: When the vehicle is moving, calculate the angle and position from A1 to B1: iii. Angle: Subtract the 3D angle value of B1 from the 3D angle value of A1 to obtain the angle value, and then convert the angle value into roll, yaw or pitch rotation information; iv. Position: Vector The length scalar is obtained by rotating the three-dimensional coordinate position with B2 as the origin according to the angle in iii, plus the vector According to the angle and position information calculated in different states, the data of the sensing device is subjected to coordinate system conversion, and converted into a vehicle body / global coordinate system with B1 as the standard in a stationary state or a moving state of the vehicle; The orientation angles of the second inertial sensor position A1 and the center position A2 of the rigid structure are consistent.

5. The vehicle vibration compensation device according to claim 4, characterized in that: The sensing device is a sensing sensor used to sense obstacles in front of the vehicle.

6. A truck, characterized in that: The truck is equipped with the vehicle vibration compensation device according to any one of claims 4 to 5.

Images