A vehicle-mounted height and posture data fusion device and method

Abstract

The present invention discloses a vehicle-mounted height and posture data fusion device, comprising: a data acquisition end and a relative motion end, wherein the data acquisition end and the relative motion end realize relative rotation through a first connecting rod and a second connecting rod, and the data acquisition end is provided with a Hall angle sensor module, an IMU module and a data processing module, wherein the Hall angle sensor module is bidirectionally connected to the data processing module for communication, and the IMU module is bidirectionally connected to the data processing module for communication.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle suspension state detection, and particularly relates to an on-vehicle height and attitude data fusion device and method thereof. Background Art

[0002] In a vehicle system equipped with an active suspension lifting function and damping control, a height sensor is used to measure the lifting height of the vehicle suspension, and an acceleration sensor is used to measure the acceleration data above or below the spring for controlling the damping of the vehicle. Such an architecture requires a large number of sensors installed in the whole vehicle, and the number of components and the length of the wire harness will increase during vehicle system integration, increasing the integration difficulty and cost; in terms of measurement quality, the measurement data of the acceleration sensor is affected by the vehicle attitude and gravitational acceleration. The acceleration sensor and the height sensor sample separately, and it is difficult to synchronize the sampling time. The data is scattered and requires the controller CPU to perform data processing and calculation. The inaccurate data also increases the calculation burden of the controller.

[0003] Specifically, in the current measurement environment, limited by multiple factors such as the sensor's own conditions, environmental factors, and optimization methods, there are still some main problems in the calibration technology of on-vehicle mobile measurement devices, which are mainly manifested in the following aspects: 1) The calibration parameters of the vision system will change due to the long-term continuous operation of the sensor, resulting in unstable calibration results, low parameter flexibility, and low calibration accuracy; 2) In the calibration of the relative pose parameters of the inertial measurement unit, there is IMU drift, and the parameter calibration lacks adaptive constraints; 3) The multi-sensor integrated vehicle system will generate vibrations during the motion state, which will change the relative position parameters between multiple sensors to a certain extent, and it is difficult to synchronize the acquisition time, thereby reducing the overall performance such as the robustness and reliability of the multi-sensor integrated vehicle system; 4) When the sensors are integrated into the whole vehicle, the wire harnesses and installations of various sensors are arranged separately and are complex. Moreover, traditional sensors only have simple data acquisition, and the data needs to be processed twice, which requires additional computing power of the controller for calculation and processing. The application scenarios are limited and lack intelligence.

[0004] In summary, the traditional on-vehicle mobile measurement devices have problems of poor synchronization of different types of data and low accuracy of measurement results. Summary of the Invention

[0005] In view of this, the present invention provides an on-vehicle height and attitude data fusion device and method thereof, which solves the problems of poor synchronization of different types of data and low accuracy of measurement results existing in the traditional on-vehicle mobile measurement devices by improving the construction methods of the height detection device and the attitude detection device.

[0006] To solve the above problems, the technical solution of the present invention is to adopt a vehicle-mounted height and attitude data fusion device, including: a data acquisition end and a relative motion end. The data acquisition end and the relative motion end achieve relative rotation through a first connecting rod and a second connecting rod. The data acquisition end is provided with a Hall angle sensing module, an IMU module, and a data processing module. Among them, the Hall angle sensing module is bidirectionally communicatively connected to the data processing module, and the IMU module is bidirectionally communicatively connected to the data processing module.

[0007] Optionally, when the Hall angle sensing module obtains the rotation angle data of the first connecting rod relative to the data acquisition end and the IMU module obtains the acceleration data and angular velocity data of the data acquisition end, the data processing module generates the relative displacement amount between the data acquisition end and the relative motion end based on the rotation angle data, the pre-calibrated lengths of the first connecting rod and the second connecting rod, and calculates the velocity data and acceleration data of the relative motion between the data acquisition end and the relative motion end based on the relative displacement amount; the data processing module generates the attitude angle data, vertical velocity data, and vertical displacement data of the data acquisition end based on the acceleration data and angular velocity data of the data acquisition end; the data processing module generates the vertical displacement data of the relative motion end based on the relative displacement amount between the data acquisition end and the relative motion end and the vertical displacement data of the data acquisition end, and calculates the vertical velocity data and vertical acceleration data of the relative motion end based on the vertical displacement data.

[0008] Optionally, the data processing module can also calibrate the acceleration data and angular velocity data of the data acquisition end obtained by the IMU module based on the vehicle chassis motion relationship, and generate the vertical velocity data and vertical displacement data of the data acquisition end based on the calibrated acceleration data and angular velocity data.

[0009] Optionally, the vehicle-mounted height and attitude data fusion device further includes a power supply module and a communication module disposed on the data acquisition end, and the communication module is bidirectionally communicatively connected to the data processing module.

[0010] Optionally, the data acquisition end is disposed at a position on the vehicle body chassis that is relatively fixed to the vehicle body, and the relative motion end is disposed at a position that moves synchronously with the wheels.

[0011] Accordingly, the present invention provides a method for fusing vehicle height and attitude data, including: obtaining the rotation angle data of the first link relative to the data acquisition end based on a Hall angle sensing module, and obtaining the acceleration data and angular velocity data of the data acquisition end based on an IMU module; the data processing module generates the relative displacement amount between the data acquisition end and the relative motion end based on the rotation angle data, the pre-calibrated lengths of the first link and the second link, and calculates the speed data and acceleration data of the relative motion between the data acquisition end and the relative motion end based on the relative displacement amount; generating the attitude angle data, vertical speed data and vertical displacement data of the data acquisition end based on the acceleration data and angular velocity data of the data acquisition end; generating the vertical displacement data of the relative motion end based on the relative displacement amount between the data acquisition end and the relative motion end and the vertical displacement data of the data acquisition end, and calculating the vertical speed data and vertical acceleration data of the relative motion end based on the vertical displacement data.

[0012] Optionally, the method for fusing vehicle height and attitude data further includes: after obtaining the acceleration data and angular velocity data of the data acquisition end based on the IMU module, calibrating the acceleration data and angular velocity data of the data acquisition end based on the vehicle chassis motion relationship, and generating the vertical speed data and vertical displacement data of the data acquisition end based on the calibrated acceleration data and angular velocity data.

[0013] Optionally, the method for fusing vehicle height and attitude data further includes: after the data processing module generates the vehicle motion data, transmitting the vehicle motion data to the backend vehicle control system through a communication module, where the vehicle motion data at least includes the relative displacement amount, speed data and acceleration data of the relative motion between the data acquisition end and the relative motion end, the attitude angle data, vertical speed data and vertical displacement data of the data acquisition end, and the vertical displacement data, vertical speed data and vertical acceleration data of the relative motion end.

[0014] The primary improvement of the present invention is to provide a device for fusing vehicle height and attitude data. By integrating a Hall angle sensing module and an IMU module into one sensor, while synchronously collecting height data and IMU data, the synchronized height data and IMU data are fused and processed based on a data processing module, and data transmission is carried out through a communication module, so that a single sensor can output the motion data of the data acquisition end and the relative motion end. The detection accuracy is higher than that of the prior art, fewer devices and wiring harnesses are required, and the vehicle integration is simpler, solving the problems of poor synchronization of different types of data and low accuracy of measurement results existing in traditional vehicle-mounted mobile measurement equipment. Description of the Drawings

[0015] Figure 1 is a simplified device structure connection diagram of the vehicle-mounted height and attitude data fusion device of the present invention;

[0016] Figure 2 is a simplified module connection diagram of the vehicle-mounted height and attitude data fusion device of the present invention;

[0017] Figure 3 is a simplified flowchart of the vehicle-mounted height and attitude data fusion method of the present invention. Detailed implementation manners

[0018] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] As Figure 1 shown, a vehicle-mounted height and attitude data fusion device includes: a data acquisition end 1 and a relative motion end 2. The data acquisition end 1 and the relative motion end 2 achieve relative rotation through a first connecting rod 3 and a second connecting rod 4. The data acquisition end 1 is provided with a Hall angle sensing module, an IMU module, and a data processing module. Among them, as Figure 2 shown, the Hall angle sensing module is bidirectionally communicatively connected to the data processing module, and the IMU module is bidirectionally communicatively connected to the data processing module; the data acquisition end 1 is arranged at a position on the vehicle body chassis that is relatively fixed to the vehicle body, and the relative motion end 2 is arranged at a position that moves synchronously with the wheels.

[0020] Further, when the Hall angle sensing module obtains the rotation angle data θ of the first connecting rod 3 relative to the data acquisition end 1 and the IMU module obtains the acceleration data a A (a AX , a AY , a AZ ), angular velocity data ω A of the data acquisition end 1, where a AZ is the vertical acceleration at end A, and a AX and a AY are the accelerations of the other two directions of the right-handed system of the data acquisition end 1. The data processing module generates the relative displacement amount x between the data acquisition end 1 and the relative motion end 2 based on the rotation angle data θ, the pre-calibrated length l 1 of the first connecting rod 3 and the length l 2 of the second connecting rod 4, and calculates the velocity data Δv and acceleration data Δa of the relative motion between the data acquisition end 1 and the relative motion end 2 based on the relative displacement amount x; the data processing module is based on the acceleration data a of the data acquisition end 1A (a AX ,a AY ,a AZ ) and angular velocity data ω A generate the attitude angle data roll A ,pitch A ,yaw A ,vertical velocity data v A and vertical displacement data x A of the data acquisition end 1; the data processing module generates the vertical displacement data x A of the relative motion end 2 based on the relative displacement x between the data acquisition end 1 and the relative motion end 2 and the vertical displacement data x B of the data acquisition end 1, where x B = x A - x, and calculates the vertical velocity data v B and vertical acceleration data a B of the relative motion end 2 based on the vertical displacement data x B .

[0021] Furthermore, the data processing module can also calibrate the acceleration data and angular velocity data of the data acquisition end 1 obtained by the IMU module based on the vehicle chassis motion relationship (the change rates of the vertical motion displacement, velocity, and acceleration values of the vehicle body are lower than those of the vertical motion displacement, velocity, and acceleration values of the wheels, i.e., v A < v B , a AZ < a B , a AZ ′ < a B ′, where a AZ ′ and a B ′ are the change rates of a AZ and a B ), and then generate the vertical velocity data v A and vertical displacement data x A of the data acquisition end 1 based on the calibrated acceleration data and angular velocity data. Among them, the specific calibration method can be: calculate the mean value of the absolute values of the corresponding data within the T (1 - 5 s) time period for various collected data. Taking velocity as an example, we get and When , the collected velocity data is reasonable at this time, so no calibration is performed. When , v A is weighted averaged with the vertical velocity data (i.e., v ) when participating in the calculation A_old last time to generate a new v A , and the calculation formula is where λ ∈ [0, 1] is a weighting coefficient for generating calibrated v A After that, based on the new v A , recalculate v according to the geometric relationship B .

[0022] Furthermore, the vehicle-mounted height and attitude data fusion device further includes a power supply module and a communication module disposed at the data acquisition end 1, and the communication module is bidirectionally communicatively connected to the data processing module. Among them, the communication module can be composed of a CAN / CANFD bus.

[0023] The primary improvement of the present invention is to provide a vehicle-mounted height and attitude data fusion device. By integrating a Hall angle sensing module and an IMU module into one sensor, while synchronously collecting height data and IMU data, the synchronized height data and IMU data are fused and processed based on a data processing module, and data transmission is performed through a communication module, enabling a single sensor to output the motion data of the data acquisition end and the relative motion end. The detection accuracy is higher than that of the prior art, the required devices and wiring harnesses are fewer, and the vehicle integration is simpler, solving the problems of poor data synchronization and low measurement result accuracy existing in traditional vehicle-mounted mobile measurement devices.

[0024] Correspondingly, as Figure 3 shown, the present invention provides a vehicle-mounted height and attitude data fusion method, including: obtaining the rotation angle data θ of the first link 3 relative to the data acquisition end 1 based on a Hall angle sensing module, the pre-calibrated length l 1 of the first link 3 and the length l 2 of the second link 4 to generate the relative displacement amount x between the data acquisition end 1 and the relative motion end 2 and calculating the velocity data Δv and acceleration data Δa of the relative motion between the data acquisition end 1 and the relative motion end 2 based on the relative displacement amount x; the data processing module generates the attitude angle data roll A (a AX , a AY , a AZ ) and angular velocity data ω A of the data acquisition end 1 to generate the attitude angle data roll A , pitch A , yaw A , the vertical velocity data v A and the vertical displacement data x A ; the data processing module is based on the relative displacement amount x between the data acquisition end 1 and the relative motion end 2, and the vertical displacement data x of the data acquisition end 1A , generate the vertical displacement data x of the relative moving end 2 B , where x B = x A - x, and calculate the vertical velocity data v B and the vertical acceleration data a B of the relative moving end 2 based on the vertical displacement data x B .

[0025] Furthermore, the vehicle height and attitude data fusion method further includes: after obtaining the acceleration data and angular velocity data of the data acquisition end 1 based on the IMU module, the data processing module can also, based on the vehicle chassis motion relationship (the change rates of the vertical motion displacement, velocity, and acceleration values of the vehicle body are lower than those of the vertical motion displacement, velocity, and acceleration values of the wheels, that is, v A < v B , a AZ < a B , a AZ ′ < a B ′, where a AZ ′ and a B ′ are the change rates of a AZ and a B ), calibrate the acceleration data and angular velocity data of the data acquisition end 1 obtained by the IMU module, and then generate the vertical velocity data v A and the vertical displacement data x A of the data acquisition end 1 based on the calibrated acceleration data and angular velocity data. Among them, the specific calibration method can be: calculate the mean value of the absolute values of the corresponding data within the T (1 - 5 s) time period for various collected data. Taking velocity as an example, we get and When , the collected velocity data is reasonable at this time, so no calibration is performed. When , v A is weighted averaged with the vertical velocity data (i.e., v ) when participating in the previous calculation A_old to generate a new v A , and the calculation formula is where λ ∈ [0, 1] is the weighting coefficient. After generating the calibrated v A , based on the new v A , recalculate v B according to the geometric relationship.

[0026] Further, the vehicle height and attitude data fusion method further includes: after the data processing module generates vehicle motion data, transmitting the vehicle motion data to the backend vehicle control system through the communication module, where the vehicle motion data at least includes the relative displacement amount, speed data, and acceleration data of the relative motion between the data acquisition end 1 and the relative motion end 2, the attitude angle data, vertical speed data, and vertical displacement data of the data acquisition end 1, and the vertical displacement data, vertical speed data, and vertical acceleration data of the relative motion end 2.

[0027] The above is a vehicle height and attitude data fusion device and method provided by the embodiments of the present invention. The embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For the relevant parts, refer to the description of the method part. It should be noted that for those of ordinary skill in the art in the technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0028] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention. The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

Claims

1. A vehicle-mounted height and posture data fusion device, characterized in that: include: A data acquisition end (1) and a relative motion end (2), wherein the data acquisition end (1) and the relative motion end (2) realize relative rotation via a first connecting rod (3) and a second connecting rod (4), and the data acquisition end (1) is provided with a Hall angle sensor module, an IMU module and a data processing module, wherein: The Hall angle sensor module is connected to the data processing module for bidirectional communication, and the IMU module is connected to the data processing module for bidirectional communication; When the Hall angle sensor module obtains the rotation angle data of the first connecting rod (3) relative to the data acquisition end (1) and the IMU module obtains the acceleration data and angular velocity data of the data acquisition end (1), The data processing module generates a relative displacement between the data acquisition end (1) and the relative motion end (2) based on the rotation angle data, the pre-calibrated length of the first connecting rod (3) and the length of the second connecting rod (4), and calculates speed data and acceleration data of the relative motion between the data acquisition end (1) and the relative motion end (2) based on the relative displacement; The data processing module generates attitude angle data, vertical velocity data and vertical displacement data of the data acquisition terminal (1) based on the acceleration data and angular velocity data of the data acquisition terminal (1); The data processing module generates vertical displacement data of the relative motion end (2) based on the relative displacement between the data acquisition end (1) and the relative motion end (2) and the vertical displacement data of the data acquisition end (1), and calculates vertical velocity data and vertical acceleration data of the relative motion end (2) based on the vertical displacement data.

2. The vehicle-mounted height and posture data fusion device according to claim 1, characterized in that: The data processing module can also calibrate the acceleration data and angular velocity data of the data acquisition end (1) acquired by the IMU module based on the vehicle chassis motion relationship, and generate vertical velocity data and vertical displacement data of the data acquisition end (1) based on the calibrated acceleration data and angular velocity data.

3. The vehicle-mounted height and posture data fusion device according to claim 1, characterized in that: The vehicle-mounted height and posture data fusion device further comprises a power supply module and a communication module arranged at the data acquisition end (1), and the communication module is bidirectionally connected to the data processing module.

4. The vehicle-mounted height and posture data fusion device according to claim 1, characterized in that: The data collection end (1) is arranged at a position of the vehicle chassis that is relatively fixed to the vehicle body, and the relative motion end (2) is arranged at a position that moves synchronously with the wheels.

5. A vehicle-mounted height and posture data fusion method, characterized in that: include: Obtaining rotation angle data of the first connecting rod (3) relative to the data acquisition end (1) based on the Hall angle sensor module, and obtaining acceleration data and angular velocity data of the data acquisition end (1) based on the IMU module; The data processing module generates a relative displacement between the data acquisition end (1) and the relative motion end (2) based on the rotation angle data, the pre-calibrated length of the first connecting rod (3) and the length of the second connecting rod (4), and calculates speed data and acceleration data of the relative motion between the data acquisition end (1) and the relative motion end (2) based on the relative displacement; Generating attitude angle data, vertical velocity data and vertical displacement data of the data acquisition terminal (1) based on the acceleration data and angular velocity data of the data acquisition terminal (1); Based on the relative displacement between the data acquisition end (1) and the relative motion end (2) and the vertical displacement data of the data acquisition end (1), the vertical displacement data of the relative motion end (2) are generated, and based on the vertical displacement data, the vertical velocity data and the vertical acceleration data of the relative motion end (2) are calculated.

6. The vehicle-mounted height and posture data fusion method according to claim 5, characterized in that: The vehicle-mounted height and posture data fusion method also includes: After the acceleration data and angular velocity data of the data acquisition end (1) are acquired based on the IMU module, the acceleration data and angular velocity data of the data acquisition end (1) are calibrated based on the vehicle chassis motion relationship, and the vertical velocity data and vertical displacement data of the data acquisition end (1) are generated based on the calibrated acceleration data and angular velocity data.

7. The vehicle-mounted height and posture data fusion method according to claim 5, characterized in that: The vehicle-mounted height and posture data fusion method also includes: After the data processing module generates vehicle motion data, the vehicle motion data is transmitted to the back-end vehicle control system through the communication module, wherein the vehicle motion data at least includes the relative displacement, velocity data and acceleration data of the relative motion between the data acquisition end (1) and the relative motion end (2), the attitude angle data, vertical velocity data and vertical displacement data of the data acquisition end (1), and the vertical displacement data, vertical velocity data and vertical acceleration data of the relative motion end (2).

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