A method and device for calculating vehicle attitude information, a vehicle control system, and a vehicle

Abstract

The present invention relates to a method, device, vehicle control system, and vehicle for calculating vehicle posture information. The method comprises: establishing a vehicle body coordinate system based on the center of the vehicle body, establishing a sensor coordinate system based on the center of an angular velocity sensor, and creating a ground coordinate system; acquiring sensor information through the angle sensor; the sensor information including sensor position information and angular velocity information; determining the lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground based on the sensor position information, based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system; and determining the vehicle's vertical yaw rate based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and based on the sensor position information and the angular velocity information. The method, device, vehicle control system, and vehicle for calculating vehicle posture information provided by the present invention can mount an angular velocity sensor at any position on the vehicle body to accurately measure vehicle posture information.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle posture, and in particular to a method and device for calculating vehicle posture information, a vehicle control system, and a vehicle. Background Art

[0002] When a vehicle is driving, it is important to control the chassis to prevent the vehicle from rolling over or causing other traffic accidents. Chassis control requires real-time collection of vehicle posture information, among which the lateral and vertical angles between the center of the vehicle body and the horizontal ground, as well as the longitudinal angular velocity of the vehicle, are important parameters.

[0003] In the existing technology, angle sensors are mainly used to obtain the lateral angle and vertical angle between the center of the vehicle body and the horizontal ground, as well as the longitudinal angular velocity of the vehicle. By installing the angle sensor at a specific position, the lateral angle and vertical angle between the center of the vehicle body and the horizontal ground, as well as the longitudinal angular velocity of the vehicle can be directly measured by the angle sensor.

[0004] However, current solutions using angle sensors have specific requirements for their installation location. They must be installed at the center of the vehicle, and their coordinate axes must completely align with those of the vehicle's coordinate system. This ensures that the angle information collected by the sensor directly corresponds to the vehicle's posture. This solution has the disadvantage of requiring high precision in the placement and installation of the angle sensor, making it difficult to install, repair, or replace. Summary of the Invention

[0005] In view of this, it is necessary to provide a vehicle posture information calculation method, device, vehicle control system and vehicle to solve the problem in the prior art that an angular velocity sensor needs to be installed in a specific position to accurately measure the vehicle posture information.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for calculating vehicle posture information, comprising:

[0008] Establish a ground coordinate system, establish a body coordinate system based on the center of the body, and establish a sensor coordinate system based on the center of the angular velocity sensor;

[0009] Acquire sensor information through the angle sensor; the sensor information includes sensor position information and angular velocity information;

[0010] Based on the vehicle body coordinate system, the sensor coordinate system and the ground coordinate system, the lateral angle and the longitudinal angle between the center of the vehicle body and the horizontal ground are determined according to the sensor position information;

[0011] The vehicle vertical yaw rate is determined based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and according to the sensor position information and angular velocity information.

[0012] Preferably, based on the vehicle body coordinate system, the sensor coordinate system and the ground coordinate system, according to the sensor position information, determining the lateral angle and the vertical angle between the center of the vehicle body and the horizontal ground includes:

[0013] Take three body unit vectors on the coordinates of the body coordinate system and three sensor unit vectors on the coordinate axes of the sensor coordinate system;

[0014] Determine vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system based on the sensor position information, the three vehicle body unit vectors, and the three sensor unit vectors;

[0015] Determine the lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground based on the vertical coordinate.

[0016] Preferably, determining the vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system based on the sensor position information, the three vehicle body unit vectors, and the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system includes:

[0017] Calculate the coordinate representations of the three body unit vectors in the ground coordinate system according to the three body unit vectors;

[0018] Calculate the coordinate values of the three sensor unit vectors in the vehicle body coordinate system based on the sensor position information;

[0019] Calculate the coordinate representations of the three sensor unit vectors in the ground coordinate system according to the coordinate representations of the three sensor unit vectors and the three vehicle body unit vectors in the ground coordinate system;

[0020] The vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system are determined according to the coordinate representations of the three sensor unit vectors in the ground coordinate system and the coordinate values of the three sensor unit vectors in the vehicle body coordinate system.

[0021] Preferably, calculating the coordinate representations of the three sensor unit vectors in the ground coordinate system according to the coordinate representations of the three sensor unit vectors and the three vehicle body unit vectors in the ground coordinate system includes:

[0022] Calculate the coordinate representation of the three sensor unit vectors in the vehicle body coordinate system according to the three sensor unit vectors;

[0023] The coordinate representations of the three sensor unit vectors in the ground coordinate system are calculated according to the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system and the coordinate representations of the three vehicle body unit vectors in the ground coordinate system.

[0024] Preferably, determining the vehicle vertical yaw rate based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information and angular velocity information includes:

[0025] Calculate the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system according to the coordinate representation of the three sensor unit vectors in the vehicle body coordinate system;

[0026] Calculate the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system based on the angular velocity information and the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system;

[0027] The vehicle's vertical yaw rate is calculated based on the cosine of the angle and the angular velocity information.

[0028] Preferably, calculating the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system according to the angular velocity information and the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system includes:

[0029] determining a total angular velocity of the angle sensor according to the angular velocity information;

[0030] Calculate the dot product of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system and the total angular velocity;

[0031] The cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system is calculated based on the dot product of the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system and the total angular velocity.

[0032] Preferably, calculating the vertical yaw rate of the vehicle according to the cosine value of the angle and the angular velocity information includes:

[0033] Calculate the angular velocity component of the total angular velocity on the vertical axis of the vehicle body coordinate system according to the total angular velocity and the cosine value of the included angle;

[0034] The vehicle's vertical yaw rate is calculated based on the angular velocity component of the total angular velocity about the vertical axis of the vehicle body coordinate system.

[0035] In a second aspect, the present invention further provides a vehicle posture information calculation device, comprising:

[0036] A coordinate system establishment module is used to establish a ground coordinate system, a body coordinate system based on the body center, and a sensor coordinate system based on the angular velocity sensor center;

[0037] An acquisition module is used to obtain sensor information through an angle sensor; the sensor information includes sensor position information and angular velocity information;

[0038] An angle calculation module, used to determine the lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground based on the vehicle body coordinate system, the sensor coordinate system and the ground coordinate system according to the sensor position information;

[0039] The angular velocity calculation module is used to determine the vehicle's vertical yaw angular velocity based on the vehicle body coordinate system, the sensor coordinate system and the ground coordinate system, and according to the sensor position information and angular velocity information.

[0040] In a third aspect, the present invention further provides a vehicle control system, comprising a memory and a processor, wherein:

[0041] Memory, used to store programs;

[0042] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the vehicle posture information calculation method in any of the above implementations.

[0043] In a fourth aspect, the present invention further provides a vehicle comprising the above-mentioned vehicle control system.

[0044] The beneficial effect of adopting the above-mentioned embodiment is as follows: the present invention provides a vehicle posture information calculation method, device, vehicle control system and vehicle. When the angle sensor is installed at any position on the vehicle body, the information collected by the sensor is converted among the above-mentioned three coordinate systems by establishing a vehicle body coordinate system, a sensor coordinate system and a ground coordinate system, and the coordinate representation of the information collected by the sensor in different coordinate systems is obtained to determine the lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground and the vertical yaw angular velocity of the vehicle.

[0045] The vehicle posture information calculation method provided by the present invention can install the angle sensor at any position of the vehicle body. The lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground and the vertical yaw angular velocity of the vehicle can be determined without installing the angle sensor at a specific position, thereby reducing the installation requirements of the angle sensor, thereby facilitating the installation and maintenance and replacement of the angle sensor. At the same time, the signal transmission link of this solution is simple and the signal transmission is stable, and it will not increase any hardware cost of the vehicle, thus solving the problem that the use of satellite positioning systems is expensive and the signal transmission link is complex. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic flow chart of an embodiment of a method for calculating vehicle posture information provided by the present invention;

[0047] Figure 2 A positional relationship diagram of an embodiment of the relative positional relationship between coordinate systems provided by the present invention;

[0048] Figure 3A schematic diagram of a flow chart of an embodiment of the present invention for determining the lateral angle and vertical angle between the center of a vehicle body and the horizontal ground;

[0049] Figure 4 A schematic diagram of a flow chart of an embodiment of the present invention for determining the vertical coordinate representation of three vehicle body unit vectors in a ground coordinate system;

[0050] Figure 5 A schematic diagram of a flow chart of an embodiment of determining the vertical yaw rate of a vehicle provided by the present invention;

[0051] Figure 6 A schematic diagram of a flow chart of an embodiment of the present invention for calculating the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system;

[0052] Figure 7 A schematic structural diagram of an embodiment of a vehicle posture information calculation device provided by the present invention;

[0053] Figure 8 This is a schematic diagram of the structure of a vehicle control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0055] In the description of the present application, “plurality” means two or more, unless otherwise clearly defined.

[0056] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0057] The present invention provides a vehicle posture information calculation method, device, vehicle control system and vehicle, which are described below respectively.

[0058] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a method for calculating vehicle posture information provided by the present invention. A specific embodiment of the present invention discloses a method for calculating vehicle posture information, including:

[0059] S101, establishing a ground coordinate system, establishing a body coordinate system based on the center of the body, and establishing a sensor coordinate system based on the center of the angular velocity sensor;

[0060] S102, acquiring sensor information through an angle sensor; the sensor information includes sensor position information and angular velocity information;

[0061] S103, determining a lateral angle and a longitudinal angle between the center of the vehicle body and the horizontal ground based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information;

[0062] S104 : Determine the vertical yaw rate of the vehicle based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and according to the sensor position information and angular velocity information.

[0063] In the above example, see Figure 2 , Figure 2 The position relationship diagram of an embodiment of the relative position relationship between the coordinate systems provided by the present invention is used to obtain the position parameter group [x′, y′, z′; θ xxe ,θ xye θ xze θ yxe ,θ yye ,θ yze θ zxe ,θ zye ,θ zze ], this position parameter is determined by the installation position of the angle sensor on the vehicle body and is unique.

[0064] Where x′ represents the position of the angle sensor center in the vehicle body coordinate system. e The coordinate of the coordinate axis; y′ represents the y coordinate of the angle sensor center in the vehicle body coordinate system e The coordinates of the coordinate axis; z' represents the center of the angle sensor in the vehicle body coordinate system z e Coordinate of the coordinate axis; θ xxe Indicates x in the angle sensor coordinate system s Coordinate axis and body coordinate system x e The angle between the coordinate axes; θ xye Indicates x in the angle sensor coordinate system s The coordinate axis and the y coordinate system of the vehicle body e The angle between the coordinate axes; θ xze Indicates x in the angle sensor coordinate system s The coordinate axis and the z coordinate system of the vehicle body e The angle between the coordinate axes; θ yxe Indicates y in the angle sensor coordinate system s Coordinate axis and body coordinate system x e The angle between the coordinate axes; θ yye Indicates y in the angle sensor coordinate system s The coordinate axis and the y coordinate system of the vehicle bodye The angle between the coordinate axes; θ yze Indicates the y angle in the sensor coordinate system s The coordinate axis and the z coordinate system of the vehicle body e The angle between the coordinate axes; θ zxe Indicates the z in the angle sensor coordinate system s Coordinate axis and body coordinate system x e The angle between the coordinate axes; θ zye Indicates the z in the angle sensor coordinate system s The coordinate axis and the y coordinate system of the vehicle body e The angle between the coordinate axes; θ zze Indicates the z in the angle sensor coordinate system s The coordinate axis and the z coordinate system of the vehicle body e The angle between the coordinate axes.

[0065] Furthermore, the angle sensor is used to detect the angle sensor x s Coordinate axis, y s Coordinate axis, z s The angle θ between the coordinate axis and the horizontal ground xs ,θ ys ,θ zs It should be noted that the present invention does not impose any further restrictions on the angle sensor, and only requires that it can collect the information required by the present invention. After creating the ground coordinate system O-XYZ, where the XOY plane is a horizontal plane, the three ground unit vectors on the X, Y, and Z axes are:

[0066] It should be noted that the ground coordinate system is established with the horizontal ground as the XOY plane of the ground coordinate system; the body center is the geometric center of the body, and the body center is used as the origin of the body coordinate system, and the body coordinate system is established with the horizontal plane parallel to the vehicle chassis as the XOY plane of the body coordinate system; similarly, the sensor center is the geometric center of the sensor, and the sensor center is used as the origin of the sensor coordinate system, and the sensor coordinate system is established with the horizontal plane parallel to the bottom of the angle sensor as the XOY plane of the body coordinate system.

[0067] Compared with the existing technology, this embodiment provides a method for calculating vehicle posture information. When the angle sensor is installed at any position on the vehicle body, the method converts the information collected by the sensor among the above three coordinate systems by establishing a vehicle body coordinate system, a sensor coordinate system and a ground coordinate system, obtains the coordinate representation of the information collected by the sensor in different coordinate systems, and determines the lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground and the vertical yaw angular velocity of the vehicle.

[0068] The vehicle posture information calculation method provided by the present invention can install the angle sensor at any position of the vehicle body. The lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground and the vertical yaw angular velocity of the vehicle can be determined without installing the angle sensor at a specific position, thereby reducing the installation requirements of the angle sensor, thereby facilitating the installation and maintenance and replacement of the angle sensor. At the same time, the signal transmission link of this solution is simple and the signal transmission is stable, and it will not increase any hardware cost of the vehicle, thus solving the problem that the use of satellite positioning systems is expensive and the signal transmission link is complex.

[0069] See also Figure 3 , Figure 3 This is a flow chart of an embodiment of the present invention for determining the lateral angle and vertical angle between the center of a vehicle body and the horizontal ground. In some embodiments of the present invention, based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and according to sensor position information, the lateral angle and vertical angle between the center of the vehicle body and the horizontal ground are determined, including:

[0070] S301, taking three vehicle body unit vectors on the coordinates of the vehicle body coordinate system, and taking three sensor unit vectors on the coordinate axes of the sensor coordinate system;

[0071] S302, determining vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system based on the sensor position information, the three vehicle body unit vectors, and the three sensor unit vectors;

[0072] S303: Determine the transverse angle and the longitudinal angle between the center of the vehicle body and the horizontal ground according to the vertical coordinate representation.

[0073] In the above embodiment, the vehicle body coordinate system O is taken e -X e Y e Z e x e 、y e 、z e Three body unit vectors on the coordinate axes Take the angle sensor center coordinate system O s -X s Y s Z s Angle sensor x s 、y s 、z s Three unit vectors on the coordinate axis

[0074] The vertical coordinate representation of the three body unit vectors in the ground coordinate system is determined through the body coordinate system, the sensor coordinate system and the ground coordinate system, as well as the three body unit vectors, the three sensor unit vectors and the three ground unit vectors, and the lateral angle and longitudinal angle between the center of the body and the horizontal ground are further determined.

[0075] Vehicle body coordinate system x e 、y e Unit vectors on the coordinate axes The cosine of the angle with the horizontal plane is equal to the vertical coordinate of the vector, that is:

[0076]

[0077] Where: θ x Represents vehicle x e The angle between the coordinate axis and the horizontal road surface; θ y represents vehicle y e The angle between the coordinate axis and the horizontal road surface.

[0078] Furthermore, θ x ,θ y The calculation formula is:

[0079]

[0080] See also Figure 4 , Figure 4 This is a flow chart of an embodiment of determining the vertical coordinate representations of three vehicle unit vectors in a ground coordinate system provided by the present invention. In some embodiments of the present invention, determining the vertical coordinate representations of the three vehicle unit vectors in a ground coordinate system based on sensor position information, the three vehicle unit vectors, and the coordinate representations of the three sensor unit vectors in the vehicle coordinate system includes:

[0081] S401, calculating coordinate representations of three vehicle body unit vectors in a ground coordinate system based on the three vehicle body unit vectors;

[0082] S402, calculating the coordinate values of the three sensor unit vectors in the vehicle body coordinate system according to the sensor position information;

[0083] S403, calculating the coordinate representations of the three sensor unit vectors in the ground coordinate system according to the coordinate representations of the three sensor unit vectors and the three vehicle body unit vectors in the ground coordinate system;

[0084] S404 : Determine vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system according to the coordinate representations of the three sensor unit vectors in the ground coordinate system and the coordinate values of the three sensor unit vectors in the vehicle body coordinate system.

[0085] In the above embodiment, the coordinates of the three vehicle body unit vectors in the ground coordinate system O-XYZ are set as (x i ,y i ,z i ),x j ,y j ,z j ),(x k ,y k ,z k ). And satisfy:

[0086]

[0087] Furthermore, we can know that:

[0088]

[0089] The unit vectors of the three sensors are in the vehicle body coordinate system O e -X e Y e Z e The coordinates are set as (x ie ,y ie ,z ie ),x je ,y je ,z je ),(x ke ,y ke ,z ke ).

[0090] Furthermore, x ie ,y ie ,z ie calculate:

[0091]

[0092] Furthermore, x je ,y je ,z je calculate:

[0093]

[0094] Furthermore, x ke ,y ke, z ke calculate:

[0095]

[0096] The coordinate representations of the three sensor unit vectors and the three vehicle body unit vectors in the ground coordinate system are converted to obtain the coordinate representations of the three sensor unit vectors in the ground coordinate system.

[0097] Calculate the body coordinate system O e -X e Y e Z e x e 、y e 、z e Three body unit vectors on the coordinate axes The vertical coordinate z in the ground coordinate system O-XYZ i 、z j 、z k . Sensor x s Coordinate axis, y s Coordinate axis, z s The angle θ between the coordinate axis and the horizontal plane xs ,θ ys ,θ zs Equivalent to the angle sensor center angle sensor x s 、y s 、z s Three sensor unit vectors on the coordinate axis Angle θ with the horizontal plane xs ,θ ys ,θ zs The cosine of the angle is equal to the modulus of the vector's vertical coordinate, that is:

[0098]

[0099] Furthermore, z i 、z j 、z k It can be calculated that:

[0100]

[0101] In some embodiments of the present invention, calculating the coordinate representations of the three sensor unit vectors in the ground coordinate system based on the coordinate representations of the three sensor unit vectors and the three vehicle body unit vectors in the ground coordinate system includes:

[0102] Calculate the coordinate representation of the three sensor unit vectors in the vehicle body coordinate system according to the three sensor unit vectors;

[0103] The coordinate representations of the three sensor unit vectors in the ground coordinate system are calculated according to the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system and the coordinate representations of the three vehicle body unit vectors in the ground coordinate system.

[0104] In the above embodiment, the three sensor unit vectors In the vehicle body coordinate system O e -X e Y e Ze Indicates:

[0105]

[0106] Further, can be transformed into:

[0107]

[0108] Further, can be transformed into:

[0109]

[0110] Furthermore, the three sensor unit vectors The coordinates of the ground coordinate system O-XYZ are (x ie *x i +y ie *x j +z ie *x k , x ie *y i +y ie *y j +z ie *y k , x ie *z i +y ie *z j +z ie *z k )、(x je *x i +y je *x j +z je *x k , x je *y i +y je *y j +z je *y k , x je *z i +y je *z j +z je *z k )、(x ke *x i +y ke *x j +z ke *x k , x ke *y i +y ke *y j +zke *y k , x ke *z i +y ke *z j +z ke *z k ).

[0111] See also Figure 5 , Figure 5 This is a flow chart of an embodiment of determining a vehicle's vertical yaw rate according to the present invention. In some embodiments of the present invention, determining the vehicle's vertical yaw rate based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and according to sensor position information and angular velocity information, includes:

[0112] S501, calculating the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system based on the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system;

[0113] S502, calculating the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system based on the angular velocity information and the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system;

[0114] S503: Calculate the vertical yaw rate of the vehicle according to the cosine value of the included angle and the angular velocity information.

[0115] In the above embodiment, the angle sensor can measure the angle around the sensor coordinate system x s Coordinate axis, y s Coordinate axis, z s Angular velocity of the coordinate axis w xs 、w ys 、w zs ;

[0116] Three sensor unit vectors In the vehicle body coordinate system O e -X e Y e Z e Indicates:

[0117]

[0118] Furthermore, the three body unit vectors It can be calculated that:

[0119]

[0120] Further, let

[0121]

[0122] Where: D i express exist Directional coefficient; D j express exist Directional coefficient; D k express exist Coefficient in direction.

[0123] Further, can be converted to:

[0124] See also Figure 6 , Figure 6 This is a flow chart of an embodiment of calculating the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system provided by the present invention. In some embodiments of the present invention, calculating the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system based on angular velocity information and the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system includes:

[0125] S601, determining the total angular velocity of the angle sensor according to the angular velocity information;

[0126] S602, calculating the dot product of the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system and the total angular velocity;

[0127] S603 : Calculate the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system according to the dot product of the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system and the total angular velocity.

[0128] In the above embodiment, the angle sensor x s Coordinate axis, y s Coordinate axis, z s Angular velocity of the coordinate axis w xs 、w ys 、w zs The resultant total angular velocity.

[0129]

[0130]

[0131] in: represents the total angular velocity of the angle sensor, Indicates the magnitude of the total angular velocity of the angle sensor.

[0132] Further, and The vector dot product is:

[0133]

[0134] Further, it can be converted into:

[0135]

[0136] Further, and The vector dot product can be calculated as:

[0137]

[0138] Where: θ represents the total angular velocity With the body coordinate system O e -X e Y e Z e z e The angle between the coordinate axes.

[0139] Furthermore, cosθ can be calculated as:

[0140]

[0141] In some embodiments of the present invention, calculating the vertical yaw rate of the vehicle based on the cosine value of the angle and the angular velocity information includes:

[0142] Calculate the angular velocity component of the total angular velocity on the vertical axis of the vehicle body coordinate system according to the total angular velocity and the cosine value of the included angle;

[0143] The vehicle's vertical yaw rate is calculated based on the angular velocity component of the total angular velocity about the vertical axis of the vehicle body coordinate system.

[0144] In the above embodiment, the total angular velocity is calculated In the vehicle body coordinate system O e -X e Y e Z e z e Angular velocity components of the coordinate axes.

[0145]

[0146] Further, The size of can be calculated as:

[0147]

[0148] in: Represents the total angular velocity In the vehicle body center coordinate system O e -X e Y e Z ez e Angular velocity components of the coordinate axes; Represents the total angular velocity In the vehicle body center coordinate system O e -X e Y e Z e z e The magnitude of the angular velocity component of the coordinate axis, that is, the vertical yaw angular velocity of the vehicle.

[0149] In order to better implement the vehicle posture information calculation method in the embodiment of the present invention, based on the vehicle posture information calculation method, correspondingly, please refer to Figure 7 , Figure 7 This is a schematic structural diagram of an embodiment of a vehicle posture information calculation device provided by the present invention. The embodiment of the present invention provides a vehicle posture information calculation device 700, including:

[0150] A coordinate system establishment module 701 is used to establish a ground coordinate system, a body coordinate system based on the center of the body, and a sensor coordinate system based on the center of the angular velocity sensor;

[0151] The acquisition module 702 is used to obtain sensor information through the angle sensor; the sensor information includes sensor position information and angular velocity information;

[0152] Angle calculation module 703, for determining the lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground based on the vehicle body coordinate system, the sensor coordinate system and the ground coordinate system according to the sensor position information;

[0153] The angular velocity calculation module 704 is configured to determine the vehicle's vertical yaw angular velocity based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and according to the sensor position information and angular velocity information.

[0154] It should be noted here that the device 700 provided in the above embodiment can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above method embodiments, which will not be repeated here.

[0155] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of a vehicle control system provided by an embodiment of the present invention. Based on the above-described vehicle posture information calculation method, the present invention also provides a vehicle posture information calculation vehicle control system. The vehicle posture information calculation vehicle control system can be a computing vehicle control system such as a mobile terminal, desktop computer, notebook, PDA, or server. The vehicle posture information calculation vehicle control system includes a processor 810, a memory 820, and a display 830. Figure 8Only some components of the vehicle control system are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0156] In some embodiments, the memory 820 can be an internal storage unit of the vehicle posture information calculation vehicle control system, such as a hard drive or memory of the vehicle posture information calculation vehicle control system. In other embodiments, the memory 820 can also be an external storage vehicle control system of the vehicle posture information calculation vehicle control system, such as a plug-in hard drive, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle posture information calculation vehicle control system. Furthermore, the memory 820 can also include both an internal storage unit of the vehicle posture information calculation vehicle control system and an external storage vehicle control system. The memory 820 is used to store application software and various types of data installed in the vehicle posture information calculation vehicle control system, such as program code for installing the vehicle posture information calculation vehicle control system. The memory 820 can also be used to temporarily store data that has been output or is about to be output. In one embodiment, the memory 820 stores a vehicle posture information calculation program 840, which can be executed by the processor 810 to implement the vehicle posture information calculation method of each embodiment of the present application.

[0157] In some embodiments, the processor 810 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 820, such as executing a vehicle posture information calculation method.

[0158] In some embodiments, display 830 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 830 is used to display information from the vehicle posture information calculation and control system and to display a visual user interface. Components 810-830 of the vehicle posture information calculation and control system communicate with each other via a system bus.

[0159] In one embodiment, when the processor 810 executes the vehicle posture information calculation program 840 in the memory 820 , the steps in the above vehicle posture information calculation method are implemented.

[0160] This embodiment further provides a vehicle having a vehicle posture information calculation program stored thereon. When the vehicle posture information calculation program is executed by a processor, the following steps are implemented:

[0161] Establish a ground coordinate system, establish a body coordinate system based on the center of the body, and establish a sensor coordinate system based on the center of the angular velocity sensor;

[0162] Acquire sensor information through the angle sensor; the sensor information includes sensor position information and angular velocity information;

[0163] Based on the vehicle body coordinate system, the sensor coordinate system and the ground coordinate system, the lateral angle and the longitudinal angle between the center of the vehicle body and the horizontal ground are determined according to the sensor position information;

[0164] The vehicle vertical yaw rate is determined based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and according to the sensor position information and angular velocity information.

[0165] In summary, the present embodiment provides a method, device, vehicle control system, and vehicle for calculating vehicle posture information. When the angle sensor is installed at any position on the vehicle body, the vehicle body coordinate system, sensor coordinate system, and ground coordinate system are established to convert the information collected by the sensor among the three coordinate systems mentioned above, obtain the coordinate representation of the information collected by the sensor in different coordinate systems, and determine the lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground and the vertical yaw angular velocity of the vehicle.

[0166] The vehicle posture information calculation method provided by the present invention can install the angle sensor at any position of the vehicle body. The lateral angle and longitudinal angle between the center of the vehicle body and the horizontal ground and the vertical yaw angular velocity of the vehicle can be determined without installing the angle sensor at a specific position, thereby reducing the installation requirements of the angle sensor, thereby facilitating the installation and maintenance and replacement of the angle sensor. At the same time, the signal transmission link of this solution is simple and the signal transmission is stable, and it will not increase any hardware cost of the vehicle, thus solving the problem that the use of satellite positioning systems is expensive and the signal transmission link is complex.

[0167] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A method for calculating vehicle posture information, characterized in that: include: Establish a ground coordinate system, establish a body coordinate system based on the body center, and establish a sensor coordinate system based on the angle sensor center; acquiring sensor information through the angle sensor; The sensor information includes sensor position information and angular velocity information; Determining, based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system, and according to the sensor position information, a lateral angle and a longitudinal angle between the center of the vehicle body and the horizontal ground; determining a vertical yaw rate of the vehicle based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information and the angular velocity information; The determining, based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information, a lateral angle and a vertical angle between the center of the vehicle body and the horizontal ground, includes: Taking three body unit vectors on the coordinates of the body coordinate system and taking three sensor unit vectors on the coordinate axes of the sensor coordinate system; Determining vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system based on the sensor position information, the three vehicle body unit vectors, and the three sensor unit vectors; the cosine of the angle between the unit vector on the coordinate axis of the vehicle body coordinate system and the horizontal plane is equal to the vertical coordinate of the vector; Determining a transverse angle and a longitudinal angle between the center of the vehicle body and the horizontal ground according to the vertical coordinate representation; The determining of the vehicle vertical yaw rate based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information and the angular velocity information includes: Calculating a coordinate representation of a vertical unit vector in the vehicle body unit vector in the sensor coordinate system according to the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system; Calculating a cosine value of an angle between a total angular velocity and a vertical axis of the vehicle body coordinate system according to the angular velocity information and a coordinate representation of a vertical unit vector in the vehicle body unit vector in the sensor coordinate system; The vertical yaw rate of the vehicle is calculated according to the cosine value of the included angle and the angular velocity information.

2. The vehicle posture information calculation method according to claim 1, characterized in that: The determining, based on the sensor position information, the three vehicle body unit vectors, and the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system, the vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system includes: Calculating coordinate representations of the three vehicle body unit vectors in the ground coordinate system according to the three vehicle body unit vectors; Calculating coordinate values of the three sensor unit vectors in the vehicle body coordinate system according to the sensor position information; Calculating coordinate representations of the three sensor unit vectors in the ground coordinate system based on the coordinate representations of the three sensor unit vectors and the three vehicle body unit vectors in the ground coordinate system; The vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system are determined according to the coordinate representations of the three sensor unit vectors in the ground coordinate system and the coordinate values of the three sensor unit vectors in the vehicle body coordinate system.

3. The vehicle posture information calculation method according to claim 2, characterized in that: Calculating the coordinate representations of the three sensor unit vectors in the ground coordinate system based on the coordinate representations of the three sensor unit vectors and the three vehicle body unit vectors in the ground coordinate system includes: Calculating coordinate representations of the three sensor unit vectors in the vehicle body coordinate system according to the three sensor unit vectors; The coordinate representations of the three sensor unit vectors in the ground coordinate system are calculated according to the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system and the coordinate representations of the three vehicle body unit vectors in the ground coordinate system.

4. The vehicle posture information calculation method according to claim 3, characterized in that: Calculating the cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system based on the angular velocity information and the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system includes: determining a total angular velocity of the angle sensor according to the angular velocity information; Calculating a dot product of a coordinate representation of a vertical unit vector in the vehicle body unit vector in the sensor coordinate system and the total angular velocity; The cosine value of the angle between the total angular velocity and the vertical axis of the vehicle body coordinate system is calculated according to the dot product of the coordinate representation of the vertical unit vector in the vehicle body unit vector in the sensor coordinate system and the total angular velocity.

5. The vehicle posture information calculation method according to claim 4, characterized in that: The calculating the vertical yaw rate of the vehicle according to the cosine value of the included angle and the angular velocity information includes: Calculating an angular velocity component of the total angular velocity on the vertical axis of the vehicle body coordinate system according to the total angular velocity and the cosine value of the included angle; The vehicle vertical yaw rate is calculated based on the angular velocity component of the total angular velocity about the vertical axis of the vehicle body coordinate system.

6. A vehicle posture information calculation device, characterized in that: include: Coordinate system establishment module, used to establish the ground coordinate system, establish the body coordinate system based on the body center, and establish the sensor coordinate system based on the angle sensor center; An acquisition module, configured to acquire sensor information through the angle sensor; the sensor information includes sensor position information and angular velocity information; An angle calculation module, configured to determine a lateral angle and a longitudinal angle between the center of the vehicle body and the horizontal ground based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information; an angular velocity calculation module, configured to determine a vertical yaw angular velocity of the vehicle based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information and the angular velocity information; The determining, based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information, a lateral angle and a vertical angle between the center of the vehicle body and the horizontal ground, includes: Taking three body unit vectors on the coordinates of the body coordinate system and taking three sensor unit vectors on the coordinate axes of the sensor coordinate system; Determining vertical coordinate representations of the three vehicle body unit vectors in the ground coordinate system based on the sensor position information, the three vehicle body unit vectors, and the three sensor unit vectors; the cosine of the angle between the unit vector on the coordinate axis of the vehicle body coordinate system and the horizontal plane is equal to the vertical coordinate of the vector; Determining a transverse angle and a longitudinal angle between the center of the vehicle body and the horizontal ground according to the vertical coordinate representation; The determining of the vehicle vertical yaw rate based on the vehicle body coordinate system, the sensor coordinate system, and the ground coordinate system and according to the sensor position information and the angular velocity information includes: Calculating a coordinate representation of a vertical unit vector in the vehicle body unit vector in the sensor coordinate system according to the coordinate representations of the three sensor unit vectors in the vehicle body coordinate system; Calculating a cosine value of an angle between a total angular velocity and a vertical axis of the vehicle body coordinate system according to the angular velocity information and a coordinate representation of a vertical unit vector in the vehicle body unit vector in the sensor coordinate system; The vertical yaw rate of the vehicle is calculated according to the cosine value of the included angle and the angular velocity information.

7. A vehicle control system, characterized in that: comprising a memory and a processor, wherein, The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the vehicle posture information calculation method according to any one of claims 1 to 6.

8. A vehicle, characterized in that: Comprising the vehicle control system as claimed in claim 7.

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