Odometer detection method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a kind of odometer detection method, device, electronic equipment and storage medium, method includes: the odometer associated data of odometer and the measurement source associated data of measurement source are acquired;Wherein, the odometer associated data includes odometer data and odometer state;The measurement source associated data includes measurement source data and measurement source state;In the case where it is determined that the odometer state is odometer delay effective and the measurement source state is measurement source effective, the deviation data of the odometer data and the measurement source data is calculated;According to the deviation data, the detection state of the odometer is determined.The technical scheme of the present application embodiment can improve the accuracy of odometer state detection.

Description

Technical Field

[0001] The present invention relates to the field of equipment testing technology, and in particular to a method, apparatus, electronic device and storage medium for odometer testing. Background Technology

[0002] Odometers provide vehicle motion information, including rear wheel speed and front wheel steering angle. These two parameters are crucial for the motion update phase of vehicle kinematic models, used in dead reckoning and vehicle positioning, and are key information for the positioning of autonomous vehicles. Understandably, odometers are prone to malfunction during use. For example, in certain weather conditions, such as rain or snow, slippery roads can cause vehicles to skid. In extreme cases, tire blowouts may even occur. In situations like wheel slippage or tire blowouts, odometer data becomes inaccurate, affecting the autonomous vehicle's positioning. Failure to detect odometer malfunctions promptly can severely impact vehicle usability and create safety hazards.

[0003] In existing technologies, commonly used odometer detection methods typically include model-based detection methods and auxiliary detection methods based on additional auxiliary testing equipment. Model-based detection methods may include odometer state detection methods based on Hidden Markov Models, while auxiliary detection methods based on additional auxiliary testing equipment may involve detecting the odometer's state using auxiliary equipment such as inertial navigation devices.

[0004] In the process of developing this invention, the inventors discovered the following shortcomings in existing technologies: Model-based detection methods for odometer status detection often require a large amount of sample data from different odometer detection scenarios to train the model, resulting in poor adaptability to various odometer detection scenarios and an inability to detect scenarios not pre-trained. Auxiliary detection methods based on additional testing equipment can currently only detect some fault states of the odometer. Therefore, it is evident that existing odometer detection methods generally suffer from low accuracy in odometer status detection. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for odometer detection, which can improve the accuracy of odometer status detection.

[0006] According to one aspect of the present invention, an odometer detection method is provided, comprising:

[0007] Acquire odometer-related data and measurement source-related data; wherein, the odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status;

[0008] If it is determined that the odometer status is odometer delay effective and the measurement source status is measurement source effective, calculate the deviation data between the odometer data and the measurement source data;

[0009] The detection status of the odometer is determined based on the deviation data.

[0010] According to another aspect of the present invention, an odometer detection device is provided, characterized in that it comprises:

[0011] The associated data acquisition module is used to acquire odometer-related data and measurement source-related data of the measurement source; wherein, the odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status;

[0012] The measurement deviation data calculation module is used to calculate the deviation data between the odometer data and the measurement source data when it is determined that the odometer status is odometer delay effective and the measurement source status is measurement source effective.

[0013] The first detection status determination module is used to determine the detection status of the odometer based on the deviation data.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the odometer detection method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the odometer detection method according to any embodiment of the present invention.

[0019] This invention provides an embodiment of the invention that acquires odometer-related data, including odometer data and odometer status, as well as measurement source-related data, including measurement source data and measurement source status. When the odometer status is determined to be odometer delay effective and the measurement source status is measurement source effective, the deviation data between the odometer data and the measurement source data is calculated. Based on the calculated deviation data, the detection status of the odometer is determined, thus solving the problem of low accuracy in existing odometer status detection methods and improving the accuracy of odometer status detection.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of an odometer detection method provided in an embodiment of the present invention;

[0023] Figure 2 This is a flowchart of a method for updating odometer-related data and measurement source-related data according to an embodiment of the present invention;

[0024] Figure 3 This is a flowchart of a method for determining the detection status of an odometer according to an embodiment of the present invention;

[0025] Figure 4 This is a flowchart of a method for a single measurement source to perform state detection on an odometer, provided by an embodiment of the present invention;

[0026] Figure 5 This is a flowchart of a method for detecting the state of an odometer using multiple measurement sources, provided in an embodiment of the present invention.

[0027] Figure 6 This is a schematic flowchart of an odometer detection method provided in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of an odometer detection device provided in an embodiment of the present invention;

[0029] Figure 8 A schematic diagram of an electronic device that can be used to implement embodiments of the present invention is shown. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Figure 1 This is a flowchart of an odometer detection method provided by an embodiment of the present invention. This embodiment is applicable to situations where the odometer is detected based on the odometer status, the measurement source status, and the deviation data between the two. This method can be executed by an odometer detection device, which can be implemented in software and / or hardware, and is generally integrated into an electronic device. This electronic device can be a terminal device or a server device. The present invention does not limit the specific type of electronic device. Correspondingly, as... Figure 1 As shown, the method includes the following operations:

[0033] S110. Obtain odometer-related data and measurement source-related data of the measurement source; wherein, the odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status.

[0034] The odometer-related data can be data related to the odometer device. Odometer data can be data measured or calculated by the odometer, and the odometer status can characterize the working status of the odometer device. The measurement source-related data can be data related to the measurement source device. Measurement source data can be data measured or calculated by the measurement source, and the measurement source status can characterize the working status of the measurement source device. The measurement source can be any available measurement source device in the vehicle used for positioning, such as GPS (Global Positioning System), visual SLAM (simultaneous localization and mapping), and laser SLAM, as long as it can achieve the positioning function of the vehicle. This embodiment of the invention does not limit the type or number of measurement sources.

[0035] In this embodiment of the invention, since both the odometer and the measurement source are devices within the vehicle, the odometer data can be used for vehicle positioning, while the measurement source data can directly acquire the vehicle's positioning data. Therefore, although the odometer and the measurement source are independent devices, the data acquired by the two devices are indirectly correlated. Thus, the odometer's status can be detected by combining the odometer-related data with the measurement source-related data.

[0036] It is understood that odometer data and measurement source data can be multi-dimensional. Odometer data may include, but is not limited to, speed and front wheel steering angle, while measurement source data may include, but is not limited to, eastward position, northward position, and heading. In this embodiment of the invention, to achieve the detection of multiple different odometer states, the odometer state in the odometer-related data and the measurement source state in the measurement source-related data can be set to multiple different state types.

[0037] Optionally, the odometer status may include, but is not limited to, invalid odometer delay, valid odometer delay, normal odometer, abnormal odometer, and uncertain odometer status. Invalid odometer delay indicates a large odometer delay error, resulting in invalid odometer data. Valid odometer delay indicates a small odometer delay error, resulting in valid odometer data. Normal odometer indicates that the odometer is functioning normally and without fault. Abnormal odometer indicates that the odometer is malfunctioning. It is understood that any odometer malfunction, such as lock-up, slippage, or low tire pressure, can cause an abnormal odometer status. Uncertain odometer status indicates that the current state type of the odometer cannot be accurately determined.

[0038] Optionally, the measurement source status may include, but is not limited to, measurement source delay or confidence invalid, measurement source delay and confidence valid, measurement source distance invalid, measurement source heading invalid, and measurement source valid. Specifically, measurement source delay or confidence invalid indicates that the measurement source delay error is large, or the measurement source confidence is low, resulting in invalid measurement source data. Measurement source delay and confidence valid indicates that the measurement source delay error is small, and the measurement source confidence is high, resulting in valid measurement source data. Measurement source distance invalid indicates that the distance data in the measurement source data has low accuracy and is invalid data. Measurement source heading invalid indicates that the heading data in the measurement source data has low accuracy and is invalid data. Measurement source valid indicates that the measurement source data has high accuracy and is valid data.

[0039] In this embodiment of the invention, a multi-dimensional dataset can be maintained for both odometer-related data and measurement source-related data. In a specific example, assuming the measurement sources include GPS, visual SLAM, and laser SLAM, the GPS measurement source-related data can be: (eastward position array, northward position array, heading array, state array); the visual SLAM measurement source-related data can be: (eastward position array, northward position array, heading array, state array); and the laser SLAM measurement source-related data can be: (eastward position array, northward position array, heading array, state array). The eastward position array, northward position array, and heading array are used to store measurement source data, while the state array stores the measurement source state. The odometer-related data can be: (speed array, front wheel angle array, state array). The speed array and front wheel angle array are used to store odometer data, while the state array stores the odometer state. It is understood that each array can include at least one set of data. All data sets include the same data dimensions. For example, each array can include N data points, where the first N-1 data points can be historical frame data, and the Nth data point can be current frame data. Therefore, when detecting the odometer status, the odometer status in the current frame can be detected in real time.

[0040] S120. If it is determined that the odometer status is odometer delay effective and the measurement source status is measurement source effective, calculate the deviation data between the odometer data and the measurement source data.

[0041] The deviation data can be the difference between the odometer data and the measurement source data calculated for the same amount of data.

[0042] To achieve accurate detection of the odometer status, it is necessary to ensure that relatively accurate odometer data is obtained when the odometer is in an effective odometer delay state, and at the same time, it is necessary to ensure that relatively accurate measurement source data is obtained when the measurement source is in an effective measurement source state. Only in this way can the validity of the odometer data and the measurement source data be guaranteed, so that the deviation data between the odometer data and the measurement source data can be calculated.

[0043] S130. Determine the detection status of the odometer based on the deviation data.

[0044] Understandably, since both odometer data and measurement source data can be used for vehicle positioning, the odometer's detection status can be determined based on the calculated deviation between the odometer data and the measurement source data. Optionally, the odometer's detection status may include, but is not limited to, odometer normal, odometer abnormal, and odometer status uncertain.

[0045] Therefore, by introducing a measurement source for odometer state detection, it is not necessary to pre-train a odometer state detection model using a large amount of sample data from various odometer scenarios; only odometer-related data and measurement source-related data are required. It is understandable that any odometer malfunction due to any type of fault will result in abnormal odometer data, which will be reflected in the deviation between the odometer data and the measurement source data. Therefore, the odometer detection method provided in this embodiment can detect all odometer fault states, improving the accuracy of odometer state detection.

[0046] This invention provides an embodiment of the invention that acquires odometer-related data, including odometer data and odometer status, as well as measurement source-related data, including measurement source data and measurement source status. When the odometer status is determined to be odometer delay effective and the measurement source status is measurement source effective, the deviation data between the odometer data and the measurement source data is calculated. Based on the calculated deviation data, the detection status of the odometer is determined, thus solving the problem of low accuracy in existing odometer status detection methods and improving the accuracy of odometer status detection.

[0047] Figure 2 This is a flowchart illustrating a method for updating odometer-related data and measurement source-related data according to an embodiment of the present invention. Figure 3 This is a flowchart of a method for determining the detection status of an odometer according to an embodiment of the present invention. This embodiment is based on the above embodiment and is further specified. In this embodiment, various specific optional implementation methods are given for obtaining odometer-related data and measurement source-related data of the measurement source, as well as determining the detection status of the odometer. Correspondingly, as... Figure 2 and Figure 3 As shown, the method in this embodiment may include:

[0048] S210. Obtain the current frame real-time odometer status and the current frame real-time odometer data of the odometer.

[0049] The current frame real-time odometer status refers to the real-time status of the odometer when it acquires the odometer data for the current frame. The current frame real-time odometer data is the odometer data acquired in real-time for the current frame.

[0050] Optionally, to improve the accuracy of odometer status detection, data calculation and comparison can be performed using data and status from the odometer and measurement source over a time window. Specifically, for both the odometer and measurement source, a historical data window of length N can be maintained. When the number of historical data points from the odometer or measurement source is less than N, the data can be directly filled into the corresponding historical data window array. When the number of historical data points is greater than N, N historical data points are taken starting from the latest frame to form a historical data window of length N. For example, if N = 10 frames, and the historical data time window is frames 1 to 10, and the historical data is frames 1 to 13, then frames 13 to 3 are taken as historical data with a time window length of 10 frames; the 13th historical data frame occupies the position of the 10th frame in the time window. During initialization, you can either keep the historical data with a time window length of N from being updated, or you can reset the data at the Nth frame position in the historical data window to 0, reset the measurement source status of the Nth frame to measurement source delay or confidence invalid, and reset the odometer status of the Nth frame to odometer delay invalid. Then, wait for the odometer and measurement source to obtain the data and status of the current frame in real time to update the data and status of the historical data window.

[0051] S220. Determine whether the current frame's real-time odometer status is valid with odometer delay. If yes, execute S230; otherwise, execute S240.

[0052] In an optional embodiment of the present invention, determining that the current frame real-time odometer status is valid due to odometer delay may include: obtaining the current frame odometer timestamp and the current frame fused positioning timestamp; and determining that the current frame real-time odometer status is valid due to odometer delay when the time difference between the current frame odometer timestamp and the current frame fused positioning timestamp is less than or equal to a first time threshold.

[0053] The current frame odometer timestamp is the timestamp at which the odometer acquires the current frame data. The current frame fusion positioning timestamp can be the timestamp at which fusion positioning data is acquired through fusion positioning technology. Fusion positioning refers to the comprehensive positioning result obtained by fusing positioning data acquired by multiple devices that can be used for positioning. The first time threshold can be a time threshold set according to the odometer detection requirements; this embodiment of the invention does not limit the specific value of the first time threshold.

[0054] Understandably, timestamps accurately represent the generation time of data. Therefore, the real-time odometer status of the current frame can be determined using timestamps. Since fused positioning data is obtained from the combined positioning of multiple positioning devices, it possesses a certain degree of reliability and accuracy. Therefore, the timestamp of the current frame odometer and the fused positioning timestamp of the current frame can be obtained separately to determine the accuracy of the current frame odometer timestamp. Specifically, if the time difference between the current frame odometer timestamp and the fused positioning timestamp is less than or equal to a first time threshold, it indicates that although there is a delay in the odometer data, the delay is small and has little impact on data accuracy. In this case, the real-time odometer status of the current frame can be determined as valid due to odometer delay.

[0055] Typically, the frequency of fused positioning is higher than the frequency of odometer data generation. Therefore, when the odometer obtains the current frame odometer timestamp, it can simultaneously obtain the current frame fused positioning timestamp.

[0056] S230. Update the current frame odometer status of the odometer-related data according to the current frame real-time odometer status, and update the current frame odometer data of the odometer-related data according to the current frame real-time odometer data.

[0057] Specifically, updating the current frame odometer status of the associated data based on the current frame's real-time odometer status can be achieved by updating the current frame's odometer status to "odometer delay valid," which means updating the "odometer delay valid" status as the Nth frame status in the historical data window and then updating it in the odometer status array. Similarly, updating the current frame odometer data of the associated data based on the current frame's real-time odometer data can be achieved by updating the current frame's odometer speed as the Nth frame data in the historical data window and then updating the current frame's odometer front wheel angle as the Nth frame data in the historical data window and then updating it in the odometer front wheel angle array.

[0058] S240. Update the current frame odometer status to odometer delay invalid, and keep the current frame odometer data from being updated, or update the position of the current frame odometer data in the Nth frame of the historical data window to the default value.

[0059] The current frame update updates the data and status of the Nth frame of the historical data window. It can be seen that when the real-time odometer status of the current frame is odometer delay invalid, the odometer status at the Nth frame position of the historical data window is updated to odometer delay invalid. The current frame odometer data not being updated means that the odometer data of the historical data window remains unchanged and is not updated. It still retains the data of the previous frame of the current frame. That is, the odometer data of the Nth frame can be the same as the odometer data of the (N-1)th frame.

[0060] Correspondingly, if the time difference between the current frame odometer timestamp and the current frame fused positioning timestamp is greater than the first time threshold, it indicates that the odometer data not only has a delay, but the delay is also significant, which has a substantial impact on data accuracy. Therefore, the current frame's real-time odometer status can be determined as odometer delay invalid. In this case, the current frame's odometer data can be kept unchanged, meaning the odometer data of frame N+1 can be the same as the odometer data of frame N. Alternatively, the current frame's odometer data can be set to a default value at the Nth frame position in the historical data window. This default value can be set according to specific needs, such as 0 or other values, as long as it can characterize the current frame's odometer data as invalid data. This embodiment of the invention does not impose any limitations on this.

[0061] S250. Obtain the current frame real-time measurement source status and the current frame real-time measurement source data of the measurement source.

[0062] The current frame real-time measurement source status can be the real-time status of the measurement source acquiring the current frame measurement source data. The current frame real-time measurement source data is the measurement source data of the current frame acquired by the measurement source in real time. It should be noted that if there are multiple measurement sources, the acquisition process of the associated data for each measurement source is independent of each other.

[0063] S260. Determine whether the current frame's real-time measurement source status is valid for measurement source delay and confidence. If yes, execute S270; otherwise, execute S280.

[0064] In an optional embodiment of the present invention, determining that the current frame real-time measurement source status is valid for measurement source delay and confidence may include: obtaining the current frame measurement source timestamp and the current frame fused positioning timestamp; and determining that the current frame real-time measurement source status is valid for measurement source delay and confidence when the time difference between the current frame measurement source timestamp and the current frame fused positioning timestamp is less than or equal to a second time threshold and the confidence of the measurement source is greater than or equal to a preset confidence threshold.

[0065] The current frame measurement source timestamp is the timestamp at which the measurement source acquires the current frame data. The second time threshold can be a time threshold set according to the detection requirements of the measurement source; it can be the same as or different from the first time threshold. The preset confidence threshold can also be a confidence threshold set according to the detection requirements of the measurement source. This embodiment of the invention does not limit the specific values ​​of the second time threshold and the preset confidence threshold.

[0066] In this embodiment of the invention, timestamps can also be used to update the measurement source associated data. Specifically, if the time difference between the current frame measurement source timestamp and the current frame fused positioning timestamp is less than or equal to a second time threshold, it indicates that although the measurement source data has a delay, the delay is small and has little impact on data accuracy. If at the same time it is determined that the confidence level of the measurement source is greater than or equal to a preset confidence threshold, it indicates that the data obtained by the measurement source is reliable, and the real-time measurement source status of the current frame can be determined as having valid measurement source delay and confidence level.

[0067] S270. Update the current frame measurement source status of the measurement source associated data according to the current frame real-time measurement source status, and update the current frame measurement source data of the measurement source associated data according to the current frame real-time measurement source data.

[0068] Specifically, updating the current frame measurement source status of the related data based on the real-time measurement source status of the current frame can be achieved by updating the current frame measurement source status to indicate that the measurement source delay and confidence level are valid. That is, updating the measurement source delay and confidence level as the Nth frame data of the historical data window in the measurement source status array. Similarly, updating the current frame measurement source data of the related data based on the real-time measurement source data of the current frame can be achieved by updating the eastward position of the current frame measurement source as the Nth frame data of the historical data window in the eastward position array, updating the northward position of the current frame measurement source as the Nth frame data of the historical data window in the northward position array, and updating the heading of the current frame measurement source as the Nth frame data of the historical data window in the heading array.

[0069] In an optional embodiment of the present invention, after updating the current frame measurement source data of the measurement source associated data according to the current frame real-time measurement source data, the method may further include: calculating the distance deviation and / or heading deviation of the current frame measurement source based on the current frame measurement source data and the previous frame measurement source data of the current frame measurement source data; if the distance deviation is determined to be greater than or equal to a distance threshold, updating the current frame measurement source status to measurement source distance failure; if the heading deviation is determined to be greater than or equal to a heading threshold, updating the current frame measurement source status to measurement source heading failure; if the distance deviation is determined to be less than the distance threshold and the heading deviation is determined to be less than the heading threshold, updating the current frame measurement source status to measurement source validity.

[0070] The distance deviation of the measurement source in the current frame can be the distance deviation between the current positioning point acquired by the measurement source in the current frame and the positioning point acquired in the previous frame. The positioning point can be calculated based on the eastward position, northward position, and heading in the measurement source data. The heading deviation can be the deviation between the heading data acquired by the measurement source in the current frame and the heading data acquired in the previous frame. The distance threshold can be a threshold set according to actual needs, used to determine whether there are jumps or other issues with the position data measured by the measurement source. Similarly, the heading threshold can also be a threshold set according to actual needs, used to determine whether there are jumps or other issues with the heading data measured by the measurement source. This embodiment of the invention does not limit the specific values ​​of the distance threshold and the heading threshold. Measurement source distance failure indicates that the position data measured by the current measurement source is invalid, and measurement source heading failure indicates that the heading data measured by the current measurement source is invalid.

[0071] After updating the measurement source association data for the current frame, it is necessary to further determine whether there is a jump phenomenon in the measurement source, in order to further update the measurement source status. Specifically, the measurement source data of the current frame can be subtracted from the measurement source data of the previous frame to calculate the distance deviation and / or heading deviation of the measurement source in the current frame. If it is determined that the distance deviation is greater than or equal to the distance threshold, the measurement source status of the current frame is updated to measurement source distance failure; if it is determined that the heading deviation is greater than or equal to the heading threshold, the measurement source status of the current frame is updated to measurement source heading failure; if it is determined that the distance deviation is less than the distance threshold and the heading deviation is less than the heading threshold, the measurement source status of the current frame is updated to measurement source validity.

[0072] The above technical solution, by detecting the jump status of the measurement source, can avoid the problem of large errors in the measurement source data and measurement source status caused by the jump failure of the measurement source, thereby ensuring the accuracy of the measurement source associated data.

[0073] S280. Update the current frame measurement source status to invalid measurement source delay and confidence, and keep the current frame measurement source data from being updated, or set the position of the current frame measurement source data in the Nth frame of the historical data window to the default value.

[0074] Correspondingly, if the time difference between the current frame measurement source timestamp and the current frame fusion positioning timestamp is greater than the second time threshold, it indicates that the measurement source data not only has a delay, but also a large delay, which has a significant impact on data accuracy. If at the same time it is determined that the confidence level of the measurement source is less than the preset confidence threshold, it indicates that the data obtained by the measurement source is unreliable, and the current frame measurement source status can be determined as measurement source delay and invalid confidence. At this time, the current frame measurement source data can be kept unchanged, that is, the measurement source data of the (N+1)th frame can be the same as the measurement source data of the Nth frame. Alternatively, the position of the current frame measurement source data in the Nth frame of the historical data window can also be set to a default value. This default value can also be set according to specific needs, such as 0 or other values, as long as it can indicate that the current frame odometer data is invalid data. This embodiment of the invention does not impose any restrictions on this.

[0075] It should be noted that, Figure 2 This is just a schematic diagram of one implementation method. There is no sequential relationship between steps S210-S240 and steps S250-S280. Steps S210-S240 can be implemented first, followed by steps S250-S280, or steps S250-S280 can be implemented first, followed by steps S210-S240, or both can be implemented in parallel.

[0076] Accordingly, after updating the odometer-related data and the measurement source-related data, such as Figure 3 As shown, the detection status of the odometer can be further determined based on the updated odometer association data and measurement source association data.

[0077] S310. Obtain the odometer association data and the measurement source association data within the preset time period.

[0078] The preset time period can be, for example, the time period corresponding to a historical data window.

[0079] In a specific example, obtaining the odometer-related data and the measurement source-related data within a preset time period can be achieved by obtaining a historical data window of N frames after the odometer completes its data update operation, and a historical data window of N frames after the measurement source completes its data update operation.

[0080] S320. Determine if the odometer status is odometer delay valid. If yes, execute S330; otherwise, execute S350.

[0081] S330. Determine if the measurement source status is valid. If yes, execute S340; otherwise, execute S360.

[0082] S340. Calculate the deviation data between the odometer data and the measurement source data, and determine the detection status of the odometer based on the deviation data.

[0083] Optionally, the detection status of the current frame of the odometer can be determined based on the deviation data.

[0084] S350. Determine that the odometer status is odometer delay invalid, and determine that the odometer detection status is odometer abnormal.

[0085] In this embodiment of the invention, if during the process of acquiring odometer data, it is determined that the corresponding odometer state is odometer delay invalid, then the detection state of the odometer can be directly determined as odometer abnormal. For example, for an N-frame historical data window of the odometer, if the N+1th frame of the state array data is odometer delay invalid, then the detection state of the N+1th frame odometer state at the Nth frame position of the historical data window can be directly determined as odometer abnormal.

[0086] S360. Determine whether the measurement source status is valid or not, and determine the odometer detection status as uncertain.

[0087] In an optional embodiment of the present invention, determining whether the measurement source status portion is valid or not may include: the measurement source status portion of the first frame and the measurement source status portion of the measurement source associated data being valid or not.

[0088] The measurement source state of the first frame can be the measurement source state of the first frame of data from multiple historical data sets. The measurement source state of the last frame can be the measurement source state of the last frame of data from multiple historical data sets.

[0089] In this embodiment of the invention, determining whether the measurement source status is valid can specifically involve determining whether all measurement source statuses are valid. Optionally, all measurement source statuses being valid could mean that both the first and last frame of the associated measurement source data are valid. Conversely, if some or all of the first and last frame of the associated measurement source data are invalid, the odometer status cannot be detected based on the measurement source, and in this case, the odometer detection status can be directly determined as uncertain.

[0090] By adopting the above technical solution, updating the data and status of the odometer-related data and the measurement source-related data, and combining the data and status included in the odometer-related data and the measurement source-related data to detect the odometer status, all fault states of the odometer can be detected, thus improving the accuracy of odometer status detection.

[0091] Figure 4 This is a flowchart of a method for a single measurement source to perform state detection on an odometer, provided by an embodiment of the present invention. Figure 5 This is a flowchart of a method for detecting the state of an odometer using multiple measurement sources, provided by an embodiment of the present invention. This embodiment is a specific implementation based on the above embodiment. In this embodiment, various specific optional implementation methods are given for calculating the deviation data between the odometer data and the measurement source data, and determining the detection state of the odometer based on the deviation data. Accordingly, as... Figure 4 As shown, when performing state detection on the odometer for each individual measurement source, the method in this embodiment may include:

[0092] S410: Obtain the odometer association data and the measurement source association data.

[0093] The odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status.

[0094] S420. When it is determined that the odometer status is odometer delay effective and the measurement source status is measurement source effective, calculate the deviation data between the odometer data and the measurement source data.

[0095] In an optional embodiment of the present invention, determining that the measurement source state is valid may include: obtaining the first frame measurement source state and the last frame measurement source state in the measurement source association data; and determining that the measurement source state is valid when both the first frame measurement source state and the last frame measurement source state are valid.

[0096] Accordingly, step S420 may specifically include the following operations:

[0097] S421. Set the first frame odometer recursive pose to the initial value.

[0098] The odometer recursive pose can be a pose calculated based on odometer data. The first frame odometer recursive pose is also the recursive pose of the first frame of the odometer.

[0099] Understandably, although the data acquired by the odometer and the measurement source are related, they are fundamentally different data types, thus requiring standardization. Specifically, the odometer recursive pose can be calculated from the odometer data. The odometer recursive pose can be the eastward, northward, and heading data calculated from the odometer data, ensuring consistency with the data type of the measurement source data. When calculating the deviation between the odometer data and the measurement source data, the initial odometer recursive pose of the first frame can be set to an initial value. For example, the first frame odometer recursive pose can be set to 000, indicating that the eastward, northward, and heading calculated from the odometer data are all 0.

[0100] S422. Calculate the odometer recursive pose of non-first frame frames frame by frame based on the odometer association data and the first frame odometer recursive pose until the last frame odometer recursive pose is obtained.

[0101] The odometry recursive pose in the last frame is the recursive pose of the last frame of the odometry.

[0102] After initializing the first frame of the odometer recursive pose, the odometer recursive pose can be calculated frame by frame using the odometer's historical data window. Specifically, based on the previous frame's odometer recursive pose, the current frame's odometer recursive pose can be calculated using the Ackerman steering model and the current frame's odometer data. For example, based on the previous frame's odometer recursive pose data, including eastward position, northward position, and heading, the current frame's odometer recursive pose can be calculated using the Ackerman steering model and the current frame's odometer speed and front wheel angle to obtain the current frame's eastward position, northward position, and heading. The above method can be used to calculate the odometer recursive pose for each frame until the final frame's odometer recursive pose is obtained.

[0103] S423. Calculate the pose difference between the odometer recursive pose of the first frame and the odometer recursive pose of the last frame to obtain the cumulative odometer deviation.

[0104] The pose difference is the difference between the odometry recursive pose data. The cumulative odometry deviation is the deviation calculated by accumulating odometry data over a continuous time period. Optionally, the cumulative odometry deviation can include cumulative odometry distance deviation and cumulative odometry heading deviation. The cumulative odometry distance deviation can be calculated based on the deviation between positioning distances obtained from the cumulative odometry recursive pose data over a continuous time period. The cumulative odometry heading deviation can be calculated based on the deviation between headings obtained from the cumulative odometry recursive pose data over a continuous time period.

[0105] Specifically, the positioning points in the first and last frames can be calculated based on the recursive pose of the first and last frames of the odometer, and the distance difference between these two positioning points can be used as the cumulative odometer distance deviation. Similarly, the heading in the first and last frames can be obtained based on the recursive pose of the first and last frames of the odometer, and the heading difference between these two headings can be used as the cumulative odometer heading deviation.

[0106] S424. Obtain the first frame measurement source data and the last frame measurement source data based on the measurement source association data.

[0107] The first frame of measurement source data is the first frame of measurement source data in the historical data window of the measurement source. The last frame of measurement source data is the last frame of measurement source data in the historical data window of the measurement source.

[0108] S425. Calculate the data difference between the first frame measurement source data and the last frame measurement source data to obtain the cumulative deviation of the measurement source.

[0109] The cumulative deviation of the measurement source can include the cumulative distance deviation and the cumulative heading deviation. The cumulative distance deviation is the deviation between positioning distances calculated from the cumulative measurement source data over a continuous time period. The cumulative heading deviation is the deviation between headings calculated from the cumulative measurement source data over a continuous time period.

[0110] Specifically, the positioning points of the first and last frames can be calculated based on the first and last frame measurement source data, and the distance difference between the first and last frame positioning points can be calculated as the cumulative distance deviation of the measurement source. Similarly, the headings of the first and last frames can be obtained based on the first and last frame measurement source data, and the heading difference between the first and last frame headings can be calculated as the cumulative heading deviation of the measurement source.

[0111] It should be noted that, Figure 4 This is just a schematic diagram of one implementation method. There is no sequential relationship between steps S421-S423 and steps S424-S425. You can implement steps S421-S423 first and then steps S424-S425, or you can implement steps S424-S425 first and then steps S421-S423, or you can implement both in parallel.

[0112] S430. Calculate the absolute value of the deviation between the cumulative deviation of the odometer and the cumulative deviation of the measurement source.

[0113] S440. Determine whether the absolute value of the deviation meets the deviation reference condition. If yes, execute S450; otherwise, execute S460.

[0114] The absolute value of the deviation can be the absolute value of the difference between the cumulative deviation of the odometer and the cumulative deviation of the measurement source. The deviation reference condition can be the condition used to determine the odometer's detection status.

[0115] In an optional embodiment of the present invention, the absolute value of the deviation includes the absolute value of distance deviation and the absolute value of heading deviation; the deviation reference condition may include: the absolute value of distance deviation is less than or equal to a preset distance deviation threshold, and the absolute value of heading deviation is less than or equal to a preset heading deviation threshold.

[0116] The absolute distance deviation can be the absolute value of the difference between the odometer's cumulative distance deviation and the measurement source's cumulative distance deviation. The absolute heading deviation can be the absolute value of the difference between the odometer's cumulative heading deviation and the measurement source's cumulative heading deviation. The preset distance deviation threshold can be a threshold set for the absolute distance deviation, and the preset heading deviation threshold can be a threshold set for the absolute heading deviation. It is understood that the preset distance deviation threshold and the preset heading deviation threshold can be set according to actual needs, and this embodiment of the invention does not limit the specific values ​​of the preset distance deviation threshold and the preset heading deviation threshold.

[0117] S450. Determine that the odometer's detection status is normal.

[0118] In this embodiment of the invention, if the odometer status is determined to be odometer delay effective, the measurement source status is determined to be measurement source effective, and the absolute value of the deviation between the odometer cumulative deviation and the measurement source cumulative deviation satisfies the deviation reference condition, that is, the absolute value deviation of the distance is less than or equal to a preset distance deviation threshold, and the absolute value deviation of the heading is less than or equal to a preset heading deviation threshold, then the odometer detection status can be determined to be odometer normal. Optionally, the odometer detection status of the current frame can be determined to be odometer normal.

[0119] S460. Determine that the odometer's detection status is odometer malfunction.

[0120] In this embodiment of the invention, if the odometer status is determined to be odometer delay valid and the measurement source status is measurement source valid, but the absolute value of the deviation between the odometer cumulative deviation and the measurement source cumulative deviation does not meet the deviation reference condition, that is, the absolute value deviation of the distance is greater than a preset distance deviation threshold, and / or the absolute value deviation of the heading is greater than a preset heading deviation threshold, then the odometer detection status can be determined to be odometer abnormal. Optionally, the odometer detection status of the current frame can be determined to be odometer abnormal.

[0121] The above-described odometer detection method only provides a comparison detection process between the odometer and a single measurement source. When multiple measurement sources exist, the odometer detection method provided in any of the above embodiments can be used to detect the odometer status for each measurement source.

[0122] Accordingly, a detection method for multiple measurement sources is developed by combining the single-source odometer detection method:

[0123] When there are multiple measurement sources, the odometer detection method may also include the following steps.

[0124] S510. Determine that the current frame odometer status of the odometer associated data is not odometer delay invalid, and obtain the first odometer detection quantity where the odometer detection status of a single measurement source is odometer abnormal.

[0125] The odometer detection status of the measurement source can be the odometer status obtained using a single measurement source. The first odometer detection quantity can be the number of measurement sources that determine the odometer detection status as an odometer malfunction.

[0126] S520, The difference between the total number of measurement sources and the number of first odometer detections is taken as the second odometer detection number.

[0127] The total number of measurement sources refers to the number of measurement sources used to detect the odometer status. The second odometer detection number refers to the number of measurement sources that detected other odometer statuses besides odometer malfunctions.

[0128] S530. Determine whether the number of first odometers detected is greater than the number of second odometers detected. If yes, execute S540; otherwise, execute S550.

[0129] S540. Determine that the odometer's detection status is odometer malfunction.

[0130] S550, Determine that the odometer's detection status is normal.

[0131] Figure 6 This is a flowchart illustrating an odometer detection method provided by an embodiment of the present invention. In a specific example, such as... Figure 6As shown, after establishing corresponding historical data windows for the odometer and measurement sources, the current frame data of the historical data windows for odometer data and measurement source data can be updated. If there are multiple measurement sources, when detecting the odometer status through multiple measurement sources, if the current frame odometer status of the associated data is not determined to be odometer delay invalid, the odometer status detection results for each measurement source are counted separately, and the number of measurement sources whose detection results indicate odometer abnormality is counted as the first odometer detection count. Then, by subtracting the first odometer detection count from the total number of measurement sources, the number of measurement sources whose detection results indicate odometer abnormality can be obtained as the second odometer detection count. After obtaining the first and second odometer detection counts, the relationship between the first and second odometer detection counts can be determined. If the first odometer detection count is greater than the second odometer detection count, the odometer detection status is determined to be odometer abnormal; otherwise, the odometer detection status is determined to be odometer normal.

[0132] By adopting the above technical solution, after obtaining the odometer association data and the measurement source association data, the odometer recursive pose is calculated from the odometer association data to achieve consistency with the measurement source data. This allows for the calculation of the deviation data between the odometer data and the measurement source data. Furthermore, the detection status of the odometer is determined based on the calculated deviation data, which can detect all fault states of the odometer and improve the accuracy of odometer status detection.

[0133] It should be noted that any arrangement or combination of the technical features in the above embodiments also falls within the protection scope of this invention.

[0134] Figure 7 This is a schematic diagram of an odometer detection device provided in an embodiment of the present invention, as shown below. Figure 7 As shown, the device includes: a correlation data acquisition module 610, a measurement deviation data calculation module 620, and a first detection state determination module 630, wherein:

[0135] The associated data acquisition module 610 is used to acquire odometer-related data and measurement source-related data of the measurement source; wherein, the odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status;

[0136] The measurement deviation data calculation module 620 is used to calculate the deviation data between the odometer data and the measurement source data when it is determined that the odometer state is odometer delay effective and the measurement source state is measurement source effective.

[0137] The first detection status determination module 630 is used to determine the detection status of the odometer based on the deviation data.

[0138] This invention provides an embodiment of the invention that acquires odometer-related data, including odometer data and odometer status, as well as measurement source-related data, including measurement source data and measurement source status. When the odometer status is determined to be odometer delay effective and the measurement source status is measurement source effective, the deviation data between the odometer data and the measurement source data is calculated. Based on the calculated deviation data, the detection status of the odometer is determined, thus solving the problem of low accuracy in existing odometer status detection methods and improving the accuracy of odometer status detection.

[0139] Optionally, the associated data acquisition module 610 is specifically used to: acquire the current frame real-time odometer status and the current frame real-time odometer data of the odometer; when it is determined that the current frame real-time odometer status is valid for odometer delay, update the current frame odometer status of the associated odometer data according to the current frame real-time odometer status, and update the current frame odometer data of the associated odometer data according to the current frame real-time odometer data.

[0140] Optionally, the associated data acquisition module 610 is specifically used to: acquire the current frame odometer timestamp and the current frame fused positioning timestamp; and determine that the current frame real-time odometer status is odometer delay valid when the time difference between the current frame odometer timestamp and the current frame fused positioning timestamp is less than or equal to a first time threshold.

[0141] Optionally, the associated data acquisition module 610 is specifically used to: acquire the current frame real-time measurement source status and the current frame real-time measurement source data of the measurement source; when it is determined that the current frame real-time measurement source status is valid for measurement source delay and confidence, update the current frame measurement source status of the associated measurement source data according to the current frame real-time measurement source status, and update the current frame measurement source data of the associated measurement source data according to the current frame real-time measurement source data.

[0142] Optionally, the associated data acquisition module 610 is specifically used to: acquire the current frame measurement source timestamp and the current frame fusion positioning timestamp; and determine that the current frame real-time measurement source status is valid in the case that the time difference between the current frame measurement source timestamp and the current frame fusion positioning timestamp is less than or equal to a second time threshold, and the confidence of the measurement source is greater than or equal to a preset confidence threshold.

[0143] Optionally, the associated data acquisition module 610 is further configured to: calculate the distance deviation and / or heading deviation of the current frame measurement source based on the current frame measurement source data and the previous frame measurement source data of the current frame measurement source data; update the current frame measurement source status to measurement source distance failure if the distance deviation is determined to be greater than or equal to a distance threshold; update the current frame measurement source status to measurement source heading failure if the heading deviation is determined to be greater than or equal to a heading threshold; and update the current frame measurement source status to measurement source validity if the distance deviation is determined to be less than the distance threshold and the heading deviation is determined to be less than the heading threshold.

[0144] Optionally, the deviation data includes odometer cumulative deviation and measurement source cumulative deviation; the measurement deviation data calculation module 620 is specifically used for: setting the first frame odometer recursive pose to an initial value; calculating the non-first frame odometer recursive pose frame by frame according to the odometer association data and the first frame odometer recursive pose until the last frame odometer recursive pose is obtained; calculating the pose difference between the first frame odometer recursive pose and the last frame odometer recursive pose to obtain the odometer cumulative deviation; wherein, the odometer cumulative deviation includes odometer cumulative distance deviation and odometer cumulative heading deviation; obtaining the first frame measurement source data and the last frame measurement source data according to the measurement source association data; calculating the data difference between the first frame measurement source data and the last frame measurement source data to obtain the measurement source cumulative deviation; wherein, the measurement source cumulative deviation includes measurement source cumulative distance deviation and measurement source cumulative heading deviation.

[0145] Optionally, the measurement deviation data calculation module 620 is specifically used to: obtain the first frame measurement source status and the last frame measurement source status in the measurement source association data; and determine the measurement source status as valid if both the first frame measurement source status and the last frame measurement source status are valid. The first detection status determination module 630 is specifically used to: calculate the absolute value of the deviation between the odometer cumulative deviation and the measurement source cumulative deviation; and determine the odometer detection status as normal if the absolute value of the deviation meets the deviation benchmark condition; and determine the odometer detection status as abnormal if the absolute value of the deviation does not meet the deviation benchmark condition. Wherein, the absolute value of the deviation includes the absolute value of distance deviation and the absolute value of heading deviation; the deviation benchmark condition includes: the absolute value of distance deviation is less than or equal to a preset distance deviation threshold, and the absolute value of heading deviation is less than or equal to a preset heading deviation threshold.

[0146] Optionally, the number of measurement sources can be multiple; the first detection state determination module 630 is specifically used to: when it is determined that the current frame odometer state of the odometer associated data is not odometer delay invalid, obtain a first odometer detection count where the odometer detection state of a single measurement source is odometer abnormal; take the difference between the total number of measurement sources and the first odometer detection count as a second odometer detection count; when it is determined that the first odometer detection count is greater than the second odometer detection count, determine that the odometer detection state is odometer abnormal.

[0147] Optionally, the odometer detection device may further include: a second detection state determination module, used to determine the detection state of the odometer as odometer abnormal when the odometer state is determined to be odometer delay invalid; a third detection state determination module, used to determine the detection state of the odometer as odometer state uncertain when the odometer state is determined to be odometer delay valid, and the measurement source state is partially valid or not valid at all; wherein, determining that the measurement source state is partially valid or not valid at all includes: the measurement source state of the first frame and the measurement source state of the measurement source associated data are partially valid or not valid at all.

[0148] The above-described odometer detection device can execute the odometer detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the odometer detection method provided in any embodiment of the present invention.

[0149] Since the odometer detection device described above is capable of executing the odometer detection method in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the odometer detection device in this embodiment based on the odometer detection method described in the embodiments of the present invention. Therefore, how the odometer detection device implements the odometer detection method in the embodiments of the present invention will not be described in detail here. Any device used by those skilled in the art to implement the odometer detection method in the embodiments of the present invention falls within the scope of protection of this application.

[0150] Figure 8A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0151] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0152] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0153] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the odometer detection method.

[0154] In some embodiments, the odometer detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the odometer detection method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the odometer detection method by any other suitable means (e.g., by means of firmware).

[0155] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0156] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0157] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0158] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0159] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0160] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0161] This invention also provides a computer storage medium for storing a computer program, which, when executed by a computer processor, performs the odometer detection method described in any of the above embodiments of this invention: acquiring odometer-related data and measurement source-related data of a measurement source; wherein the odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status; when it is determined that the odometer status is odometer delay valid and the measurement source status is measurement source valid, calculating the deviation data between the odometer data and the measurement source data; and determining the detection status of the odometer based on the deviation data.

[0162] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM, or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0163] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0164] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, radio frequency (RF), or any suitable combination thereof.

[0165] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0166] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0167] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of odometer detection, characterized by, include: Acquire odometer-related data and measurement source-related data; wherein, the odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status; If the odometer status is determined to be odometer delay effective and the measurement source status is measurement source effective, the deviation data between the odometer data and the measurement source data is calculated; wherein, the deviation data is the difference data calculated between the odometer data and the measurement source data for the same amount of data; The detection status of the odometer is determined based on the deviation data; wherein the detection status of the odometer includes odometer normal, odometer abnormal, and odometer status uncertain.

2. The method according to claim 1, characterized in that, The acquisition of odometer-related data includes: Obtain the current frame real-time odometer status and the current frame real-time odometer data of the odometer; If it is determined that the current frame real-time odometer status is valid for odometer delay, the current frame odometer status of the odometer-related data is updated according to the current frame real-time odometer status, and the current frame odometer data of the odometer-related data is updated according to the current frame real-time odometer data.

3. The method according to claim 1, characterized in that, The acquisition of measurement source association data includes: Obtain the current frame real-time measurement source status and the current frame real-time measurement source data of the measurement source; If it is determined that the current frame real-time measurement source status is valid in terms of measurement source delay and confidence, the current frame measurement source status of the measurement source associated data is updated according to the current frame real-time measurement source status, and the current frame measurement source data of the measurement source associated data is updated according to the current frame real-time measurement source data.

4. The method according to claim 3, characterized in that, After updating the current frame measurement source data of the measurement source association data based on the current frame real-time measurement source data, the method further includes: Calculate the distance deviation and / or heading deviation of the current frame measurement source based on the current frame measurement source data and the previous frame measurement source data of the current frame measurement source data; If the distance deviation is determined to be greater than or equal to the distance threshold, the current frame measurement source status is updated to measurement source distance failure; If the heading deviation is determined to be greater than or equal to the heading threshold, the current frame measurement source status is updated to measurement source heading failure; If it is determined that the distance deviation is less than the distance threshold and the heading deviation is less than the heading threshold, the current frame measurement source status is updated to measurement source valid.

5. The method according to any one of claims 1-4, characterized in that, The deviation data includes the odometer cumulative deviation and the measurement source cumulative deviation; The calculation of the deviation data between the odometer data and the measurement source data includes: Set the first frame odometry recursive pose to the initial value; Based on the odometer association data and the first frame odometer recursive pose, calculate the non-first frame odometer recursive pose frame by frame until the last frame odometer recursive pose is obtained. The pose difference between the odometry recursive pose of the first frame and the odometry recursive pose of the last frame is calculated to obtain the odometry cumulative deviation; wherein, the odometry cumulative deviation includes the odometry cumulative distance deviation and the odometry cumulative heading deviation. The first frame measurement source data and the last frame measurement source data are obtained based on the measurement source association data; The data difference between the first frame measurement source data and the last frame measurement source data is calculated to obtain the cumulative deviation of the measurement source; wherein, the cumulative deviation of the measurement source includes the cumulative distance deviation of the measurement source and the cumulative heading deviation of the measurement source.

6. The method according to claim 5, characterized in that, Determining that the measurement source status is valid includes: Obtain the first frame measurement source status and the last frame measurement source status from the measurement source association data; If it is determined that both the first frame measurement source state and the last frame measurement source state are valid, then the measurement source state is determined to be valid. Determining the odometer's detection status based on the deviation data includes: Calculate the absolute value of the deviation between the cumulative deviation of the odometer and the cumulative deviation of the measurement source; If the absolute value of the deviation meets the deviation reference condition, the detection status of the odometer is determined to be normal. If the absolute value of the deviation does not meet the deviation reference condition, the detection status of the odometer is determined to be an odometer malfunction. Wherein; the absolute value of the deviation includes the absolute value of distance deviation and the absolute value of heading deviation; the deviation reference condition includes: the absolute value of distance deviation is less than or equal to a preset distance deviation threshold, and the absolute value of heading deviation is less than or equal to a preset heading deviation threshold.

7. The method according to claim 6, characterized in that, The number of measurement sources is multiple; determining the odometer detection status based on the deviation data includes: If it is determined that the current frame odometer status of the odometer associated data is not odometer delay invalid, the first odometer detection quantity where the odometer detection status of a single measurement source is odometer abnormal is obtained. The difference between the total number of measurement sources and the number of first odometer detections is taken as the second odometer detection number; If the number of first odometers detected is greater than the number of second odometers detected, the detection status of the odometer is determined to be odometer malfunction.

8. An odometer detection device, characterized in that, include: The associated data acquisition module is used to acquire odometer-related data and measurement source-related data of the measurement source; wherein, the odometer-related data includes odometer data and odometer status; the measurement source-related data includes measurement source data and measurement source status; The measurement deviation data calculation module is used to calculate the deviation data between the odometer data and the measurement source data when the odometer status is determined to be odometer delay effective and the measurement source status is measurement source effective; wherein, the deviation data is the difference data calculated between the odometer data and the measurement source data for the same amount of data; The first detection status determination module is used to determine the detection status of the odometer based on the deviation data; wherein the detection status of the odometer includes odometer normal, odometer abnormal, and odometer status uncertain.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the odometer detection method according to any one of claims 1-7.

10. A computer storage medium storing computer instructions that cause a processor to execute the odometer detection method according to any one of claims 1-7.

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