A vehicle body posture detection method, system, terminal and storage medium

Abstract

The application relates to the field of vehicle body posture detection, and specifically discloses a vehicle body posture detection method, a vehicle body posture detection system, a terminal and a storage medium, wherein infrared distance measuring sensors are installed at each wheel of a vehicle to measure the distance from the infrared distance measuring sensors to the ground; in response to the power-on of the vehicle, each infrared distance measuring sensor is triggered to operate, and a first measurement distance data is obtained; whether the first measurement distance data is normal is judged; if the first measurement distance data is normal, the first measurement is taken as the current basic posture data of the vehicle, and the current basic posture data is stored into historical data; if the first measurement distance data is not normal, the first measurement distance data is discarded, and the latest basic posture data in the historical data is selected as the current basic posture data of the vehicle. The application uses infrared distance measuring sensors to measure the vehicle body posture, and the measurement will not produce errors due to time elapse; meanwhile, the basic posture data is updated according to the measured distance data, the calculation deviation is corrected, and the control precision of the vehicle body posture is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle body posture detection, and specifically to a vehicle body posture detection method, system, terminal, and storage medium. Background Technology

[0002] The tilt of the vehicle body will cause the suspension to deflect at a certain angle, which may cause the vehicle to veer off course when driving straight, thus affecting the vehicle's handling. In severe cases, it may even increase the probability of the vehicle rolling over during cornering, endangering the lives of the driver and passengers. To ensure the handling and safety of the vehicle, the vehicle body posture should be controlled in a timely manner.

[0003] Controlling vehicle attitude requires measuring and calculating it. Traditional methods for measuring vehicle attitude mainly rely on inertial sensors, such as gyroscopes and accelerometers. However, the accuracy of these sensors decreases over time due to accumulated errors. Furthermore, traditional methods for calculating vehicle attitude primarily use a pre-set attitude at the factory as the baseline. This fails to adjust for changes in vehicle load, variations in load distribution, or irregular road conditions, thus impacting the accuracy of vehicle attitude control. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a vehicle body posture detection method, system, terminal, and storage medium. It uses an infrared ranging sensor to measure the vehicle body posture, which avoids errors over time. Simultaneously, it updates the basic posture data based on the measured distance data, corrects calculation deviations, and helps improve the accuracy of vehicle body posture control.

[0005] In a first aspect, the technical solution of the present invention provides a vehicle body posture detection method, comprising the following steps: Infrared ranging sensors are installed at each wheel of the vehicle to measure the distance from the infrared ranging sensors to the ground. Upon vehicle power-on, each infrared ranging sensor is activated to measure and obtain the first distance data. Determine if the first measured distance data is normal; If normal, the first measurement will be used as the vehicle's current basic attitude data, and the current basic attitude data will be stored in the historical data. If the data is abnormal, discard the first measured distance data and select the most recent basic attitude data from the historical data as the current basic attitude data of the vehicle.

[0006] In an optional implementation, after using the first measurement as the vehicle's current base attitude data or selecting the most recent base attitude data from historical data as the vehicle's current base attitude data, the following steps are further included: Infrared ranging sensors measure and obtain the latest distance data in real time; Detect vehicle speed; Determine if the vehicle speed exceeds the threshold; If yes, determine that the vehicle has entered a driving state; otherwise, determine that the vehicle is in a starting state. In response to the vehicle entering driving mode, all measured distance data within a period are periodically acquired, and the latest distance data is calculated based on all acquired measured distance data; Determine if the latest distance data is normal; If normal, the latest distance data will be used as the vehicle's current basic attitude data; If it is abnormal, the most recent basic attitude data in the historical data will be used as the current basic attitude data of the vehicle. The instantaneous attitude of the vehicle is calculated based on the vehicle's current basic attitude data.

[0007] In one optional implementation, the instantaneous attitude of the vehicle is calculated based on the vehicle's current basic attitude data, specifically including: Extract the most recent basic attitude data from the historical data, and calculate the difference between it and the current basic attitude data of the vehicle. The calculated difference is the instantaneous attitude of the vehicle.

[0008] In an optional implementation, the method further includes the following steps: When the vehicle is in a starting state, it periodically acquires all distance measurement data within a cycle, and calculates the latest distance data based on all acquired distance measurement data; The calculated latest distance data is used as the vehicle's current base attitude data to update the vehicle's base attitude data.

[0009] In one optional implementation, the latest distance data is calculated based on all acquired distance measurement data, specifically including: Calculate the average value of all measured distance data; The calculated average value is based on the latest distance data.

[0010] In one optional implementation, determining whether the latest distance data is normal specifically includes: Calculate the difference between the latest distance data and the preset default distance; Determine if the difference is within a preset range; If so, then the latest distance data is normal; If not, then the latest distance data is abnormal.

[0011] Secondly, the technical solution of the present invention provides a vehicle body posture detection system, including, Distance measurement module: In response to vehicle power-on, it triggers the operation of each infrared ranging sensor to measure and obtain the first distance data; Distance judgment module: Determines whether the first measured distance data is normal; Starting basic attitude determination module: If the distance judgment module determines that the result is normal, the first measured distance data is used as the current basic attitude data of the vehicle, and the current basic attitude data is stored in the historical data; if the distance judgment module determines that the result is abnormal, the first measured distance data is discarded, and the most recent basic attitude data in the historical data is selected as the current basic attitude data of the vehicle.

[0012] In an optional implementation, the distance measurement module is also used to trigger each infrared ranging sensor to measure the latest distance data in real time after the starting basic attitude determination module uses the first measurement as the current basic attitude data of the vehicle or selects the most recent basic attitude data in the historical data as the current basic attitude data of the vehicle. The system also includes, Vehicle status detection module: detects vehicle speed; determines whether the vehicle speed exceeds a threshold; if so, determines that the vehicle has entered a driving state; otherwise, determines that the vehicle is in a starting state. Latest distance calculation module: In response to the vehicle entering driving mode, the infrared ranging sensor measures distance data in real time, periodically selects distance data within a certain time period, and calculates the latest distance data based on the selected distance data; Vehicle basic attitude determination module: If the latest calculated distance data is normal, the latest distance data will be used as the vehicle's current basic attitude data; if the latest calculated distance data is abnormal, the most recent basic attitude data in the historical data will be used as the vehicle's current basic attitude data. Instantaneous attitude calculation module: Calculates the instantaneous attitude of the vehicle based on the vehicle's current basic attitude data.

[0013] Thirdly, the technical solution of the present invention provides a terminal, comprising: Memory, used to store the vehicle body attitude detection program; A processor is configured to implement the steps of the vehicle posture detection method as described above when executing the vehicle posture detection program.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing a vehicle body posture detection program, wherein the vehicle body posture detection program, when executed by a processor, implements the steps of the vehicle body posture detection method as described in any of the above claims.

[0015] This invention provides a vehicle body attitude detection method, device, terminal, and storage medium, which, compared to existing technologies, offers the following advantages: Infrared ranging sensors are installed at each wheel to measure the distance from the sensor to the ground in real time, and the vehicle body reference attitude data is adjusted based on the measured distance. This invention uses infrared ranging sensors to measure vehicle body attitude, eliminating errors that occur over time. Simultaneously, it updates the basic attitude data based on the measured distance data, correcting calculation deviations and improving the accuracy of vehicle body attitude control. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0017] Figure 1 This is a schematic diagram of a vehicle body posture detection method provided in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the starting self-learning correction principle in a vehicle posture detection method provided in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram illustrating the driving self-learning correction principle in a vehicle posture detection method provided by an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram illustrating the principle of a design example.

[0021] Figure 5 This is a schematic block diagram of a vehicle posture detection system provided in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the structure of a terminal provided in an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely 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 are within the scope of protection of the present invention.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0025] Figure 1 This is a schematic flowchart of a vehicle body posture detection method provided in an embodiment of the present invention. Figure 1 The executing entity can be a vehicle body posture detection system. Depending on different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0026] like Figure 1 As shown, the method includes the following steps.

[0027] S1, Install infrared ranging sensors at each wheel of the vehicle to measure the distance from the infrared ranging sensor to the ground.

[0028] It should be noted that the infrared ranging sensor can be installed on the inside of each wheel, with the measurement direction vertically downward, to measure the distance from the infrared ranging sensor to the ground.

[0029] S2 responds to the vehicle power-on, triggering the operation of each infrared ranging sensor to obtain the first measured distance data.

[0030] Once the vehicle is powered on, the infrared ranging sensor is activated to acquire the first measurement distance data.

[0031] S3, determine if the first measured distance data is normal.

[0032] In one optional implementation, a pre-set default distance is used to determine whether the obtained real-time measured distance is abnormal. The default distance refers to the theoretical distance between the infrared ranging sensor designed for the vehicle and the horizontal ground. The specific judgment logic is as follows: the actual measured distance obtained by the system is compared with the default distance. If the error exceeds the set range, the result is considered abnormal; if the error does not exceed the set range, the result is considered normal.

[0033] Specifically, the difference between the first measured distance data and the preset default distance is calculated; it is then determined whether the difference is within the preset range; if so, the first measured distance data is normal; otherwise, the first measured distance data is abnormal.

[0034] S4, if normal, use the first measured distance data as the vehicle's current basic attitude data, and store the current basic attitude data in historical data.

[0035] S5, if abnormal, discard the first measured distance data and select the most recent basic attitude data from the historical data as the current basic attitude data of the vehicle.

[0036] If the above judgment result is abnormal, it is generally believed that this abnormality is caused by irregular road surface at the start or a malfunction in the measurement system. The program will discard the obtained data and select the most recent historical data as the base attitude data. If the judgment result is normal, the program will use the data at the start as the base attitude data and continuously obtain actual measurement data.

[0037] The above describes the detection of basic vehicle posture data when the vehicle is powered on. The vehicle posture control system can obtain the basic vehicle posture data when the vehicle is powered on to adjust and control the vehicle posture, eliminating the differences in basic vehicle posture caused by the increase or decrease of vehicle load and different load position distribution.

[0038] In one optional implementation, after the vehicle is powered on, before the vehicle enters a driving state (determined by the vehicle speed exceeding a threshold), real-time distance measurement data can be continuously acquired. Furthermore, new basic attitude data is evaluated using the measured distances acquired over a period of time, and the basic attitude data is updated to complete the correction of the vehicle's basic attitude. Figure 2 This is a schematic diagram of the self-learning correction principle of the optional implementation method. After the vehicle is powered on, a set of data is measured. It is determined whether the set of data is abnormal. If it is normal, the set of data is used as the basic attitude data. If it is abnormal, the most recent historical data is selected as the basic attitude data. Then, as time goes by, new basic attitude data is calculated and updated based on the new measurement data. The vehicle attitude control program obtains the latest updated basic attitude data to perform attitude control.

[0039] When the vehicle starts moving and its speed exceeds a certain threshold, the program enters driving mode and performs driving self-learning and correction. Figure 3 This is a schematic diagram illustrating the self-learning correction principle of the vehicle. It continuously acquires distance data measured by the car's infrared ranging device, constantly selecting measured distances obtained over a period of time to evaluate new baseline attitude data. It then uses a pre-set default distance to determine if the obtained real-time measured distance is abnormal. If an anomaly is found, generally considered to be caused by a measurement system malfunction, the program discards the new baseline attitude data and continues to use the most recent historical data as the baseline attitude data. If no anomalies are found, the program updates the baseline attitude data, completing the correction of the vehicle's baseline attitude and obtaining more realistic and accurate vehicle baseline attitude data, thus eliminating calculation deviations caused by road irregularities.

[0040] like Figure 1As shown, specifically, the vehicle posture detection method of this embodiment, after using the first measurement as the current basic posture data of the vehicle or selecting the most recent basic posture data from historical data as the current basic posture data of the vehicle, further includes the following steps.

[0041] S6, the infrared ranging sensor measures and obtains the latest distance data in real time; S7 detects vehicle speed.

[0042] S8 determines whether the vehicle speed exceeds the threshold.

[0043] S9: If yes, determine that the vehicle has entered the driving state; otherwise, determine that the vehicle is in the starting state.

[0044] S10, in response to the vehicle entering driving mode, periodically acquires all measured distance data within a cycle, and calculates the latest distance data based on all acquired measured distance data.

[0045] It should be noted that the acquisition period is pre-configured, for example, once every 10 seconds. All measurement data within each 10-second interval is acquired, and the distance data within this period is calculated using this data, which is the latest distance data.

[0046] Specifically, the latest distance data is calculated based on all acquired distance measurement data. This includes: averaging all the distance measurement data; the calculated average is then used as the latest distance data. In other words, the average of all data is taken as the latest distance data.

[0047] S11, determine if the latest distance data is normal.

[0048] To determine if the distance is normal, the system calculates the difference between the latest distance data and the preset default distance; it then checks if the difference is within a preset range. If it is, the latest distance data is normal; otherwise, the latest distance data is abnormal.

[0049] S12, if normal, then the latest distance data will be used as the vehicle's current basic attitude data.

[0050] S13 If abnormal, the most recent basic attitude data in the historical data will be selected as the current basic attitude data of the vehicle.

[0051] S14, calculate the instantaneous attitude of the vehicle based on the vehicle's current basic attitude data.

[0052] During vehicle operation, the instantaneous attitude of the vehicle is calculated using basic attitude data, and the vehicle attitude control system can retrieve the transient attitude of the vehicle for user attitude control.

[0053] In this embodiment, the instantaneous attitude of the vehicle is calculated based on the current basic attitude data of the vehicle. Specifically, this includes: extracting the most recent basic attitude data from historical data, calculating the difference between the data and the current basic attitude data of the vehicle, and the calculated difference is the instantaneous attitude of the vehicle.

[0054] The specific calculation formula is as follows: H[S1,S2,S3,S4] - H[D1,D2,D3,D4]= H[Δ1,Δ2,Δ3,Δ4] ——Formula (1) In equation (1), H is the distance, S1, S2, S3, S4 are the latest basic attitude distances of the vehicle body, D1, D2, D3, D4 are the real-time measured distances of the four infrared ranging sensors, and Δ1, Δ2, Δ3, Δ4 are the corresponding instantaneous attitude differences.

[0055] It should be noted that when the vehicle is in a starting state, it periodically acquires all measured distance data within a cycle, calculates the latest distance data based on all acquired measured distance data, and updates the vehicle's basic attitude data using the calculated latest distance data as the vehicle's current basic attitude data.

[0056] Similarly, the cycle time is pre-configured, for example, to 10 seconds. After the vehicle is powered on and the first distance measurement data is retrieved, the periodic update program for the starting phase begins. After the vehicle enters the driving state, it enters the driving correction state.

[0057] Figure 4 This is a schematic diagram of a design example. In the diagram, label 1 represents the current measured data, label 2 represents the vehicle speed, label 3 represents the instantaneous attitude data, a represents the default distance, b represents the threshold for judging data anomalies, and c represents the threshold for judging vehicle speed at the start of walking.

[0058] The above text describes in detail an embodiment of a vehicle posture detection method. Based on the vehicle posture detection method described in the above embodiment, this invention also provides a vehicle posture detection system corresponding to the method.

[0059] Figure 5 This is a schematic block diagram of a vehicle body attitude detection system provided in an embodiment of the present invention. In this embodiment, the vehicle body attitude detection system 500 can be divided into multiple functional modules according to the functions it performs, such as... Figure 5As shown. The functional modules may include: a distance measurement module 510, a distance judgment module 520, a starting basic attitude determination module 530, a vehicle state detection module 540, a latest distance calculation module 550, a driving basic attitude determination module 560, and an instantaneous attitude calculation module 570. The module referred to in this invention is a series of computer program segments that can be executed by at least one processor and perform a fixed function, and which are stored in memory.

[0060] Distance measurement module 510: In response to vehicle power-on, it triggers the operation of each infrared ranging sensor to measure and obtain the first distance data.

[0061] Distance judgment module 520: Determines whether the first measured distance data is normal.

[0062] Starting basic attitude determination module 530: If the judgment result of the distance judgment module is normal, the first measured distance data is used as the current basic attitude data of the vehicle, and the current basic attitude data is stored in the historical data; if the judgment result of the distance judgment module is abnormal, the first measured distance data is discarded, and the most recent basic attitude data in the historical data is selected as the current basic attitude data of the vehicle.

[0063] The distance measurement module 510 is also used to trigger each infrared ranging sensor to measure the latest distance data in real time after the starting basic attitude determination module 530 uses the first measurement as the current basic attitude data of the vehicle or selects the most recent basic attitude data in the historical data as the current basic attitude data of the vehicle.

[0064] Vehicle status detection module 540: detects vehicle speed; determines whether the vehicle speed exceeds a threshold; if so, determines that the vehicle has entered a driving state; otherwise, determines that the vehicle is in a starting state.

[0065] Latest distance calculation module 550: In response to the vehicle entering driving mode, it periodically selects distance data within a certain time period and calculates the latest distance data based on the selected distance data.

[0066] Vehicle basic attitude determination module 560: If the latest calculated distance data is normal, the latest distance data will be used as the current basic attitude data of the vehicle; if the latest calculated distance data is abnormal, the most recent basic attitude data in the historical data will be used as the current basic attitude data of the vehicle.

[0067] Instantaneous attitude calculation module 570: Calculates the instantaneous attitude of the vehicle based on the vehicle's current basic attitude data.

[0068] In one optional implementation, the instantaneous attitude of the vehicle is calculated based on the current basic attitude data of the vehicle. Specifically, this includes: extracting the most recent basic attitude data from historical data, calculating the difference between the data and the current basic attitude data of the vehicle, and the calculated difference is the instantaneous attitude of the vehicle.

[0069] In an optional implementation, the starting basic attitude determination module 530 is further configured to periodically acquire all measured distance data within a period in response to the vehicle being in a starting state, calculate the latest distance data based on all acquired measured distance data, and update the vehicle basic attitude data by using the calculated latest distance data as the vehicle's current basic attitude data.

[0070] In one optional implementation, the latest distance data is calculated based on all acquired distance measurement data, specifically including: calculating the average value of all distance measurement data; the calculated average value is the latest distance data.

[0071] In one optional implementation, determining whether the latest distance data is normal specifically includes: calculating the difference between the latest distance data and a preset default distance; determining whether the difference is within a preset range; if yes, the latest distance data is normal; if no, the latest distance data is abnormal.

[0072] The vehicle posture detection system of this embodiment is used to implement the aforementioned vehicle posture detection method. Therefore, the specific implementation of this system can be found in the embodiment section of the vehicle posture detection method above. Thus, the specific implementation can be referred to the description of the corresponding embodiments, which will not be elaborated here.

[0073] Furthermore, since the vehicle body posture detection system in this embodiment is used to implement the aforementioned vehicle body posture detection method, its function corresponds to the function of the above method, and will not be described again here.

[0074] Figure 6 A schematic diagram of a terminal 600 provided in an embodiment of the present invention includes: a processor 610, a memory 620, and a communication unit 630. The processor 610 is used to implement the following steps when executing the vehicle posture detection program stored in the memory 620: Infrared ranging sensors are installed at each wheel of the vehicle to measure the distance from the infrared ranging sensors to the ground. Upon vehicle power-on, each infrared ranging sensor is activated to measure and obtain the latest distance data in real time. Determine if the first measured distance data is normal; If normal, the first measurement will be used as the vehicle's current basic attitude data, and the current basic attitude data will be stored in the historical data. If the data is abnormal, discard the first measured distance data and select the most recent basic attitude data from the historical data as the current basic attitude data of the vehicle.

[0075] The terminal 600 includes a processor 610, a memory 620, and a communication unit 630. These components communicate via one or more buses. Those skilled in the art will understand that the server structure shown in the figures does not constitute a limitation of the present invention. It can be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0076] The memory 620 can be used to store the execution instructions of the processor 610. The memory 620 can be implemented by any type of volatile or non-volatile storage terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. When the execution instructions in the memory 620 are executed by the processor 610, the terminal 600 is able to perform some or all of the steps in the above method embodiments.

[0077] The processor 610 serves as the control center of the storage terminal, connecting various parts of the electronic terminal via various interfaces and lines. It executes software programs and / or modules stored in the memory 620, and calls data stored in the memory to perform various functions of the electronic terminal and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 610 may only include a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0078] The communication unit 630 is used to establish a communication channel, enabling the storage terminal to communicate with other terminals. It can receive user data sent by other terminals or send user data to other terminals.

[0079] The present invention also provides a computer storage medium, which may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0080] The computer storage medium stores a vehicle body attitude detection program, which, when executed by the processor, performs the following steps: Infrared ranging sensors are installed at each wheel of the vehicle to measure the distance from the infrared ranging sensors to the ground. Upon vehicle power-on, each infrared ranging sensor is activated to measure and obtain the latest distance data in real time. Determine if the first measured distance data is normal; If normal, the first measurement will be used as the vehicle's current basic attitude data, and the current basic attitude data will be stored in the historical data. If the data is abnormal, discard the first measured distance data and select the most recent basic attitude data from the historical data as the current basic attitude data of the vehicle.

[0081] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium such as a USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or other media capable of storing program code. It includes several instructions to cause a computer terminal (which may be a personal computer, server, or a second terminal, network terminal, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0082] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0083] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0085] The above-disclosed embodiments are merely preferred embodiments of the present invention, but the present invention is not limited thereto. Any non-creative variations that can be conceived by those skilled in the art, as well as any improvements and modifications made without departing from the principles of the present invention, should fall within the protection scope of the present invention.

Claims

1. A method for detecting vehicle body posture, characterized in that, Includes the following steps: Infrared ranging sensors are installed at each wheel of the vehicle to measure the distance from the infrared ranging sensors to the ground. Upon vehicle power-on, each infrared ranging sensor is activated to measure and obtain the first distance data. Determine if the first measured distance data is normal; If normal, the first measurement will be used as the vehicle's current basic attitude data, and the current basic attitude data will be stored in the historical data. If it is abnormal, discard the first measured distance data and select the most recent basic attitude data in the historical data as the current basic attitude data of the vehicle. After using the first measurement as the vehicle's current baseline attitude data or selecting the most recent baseline attitude data from historical data as the vehicle's current baseline attitude data, the following steps are also included: Infrared ranging sensors measure and obtain the latest distance data in real time; Detect vehicle speed; Determine if the vehicle speed exceeds the threshold; If yes, determine that the vehicle has entered a driving state; otherwise, determine that the vehicle is in a starting state. In response to the vehicle entering driving mode, all measured distance data within a period are periodically acquired, and the latest distance data is calculated based on all acquired measured distance data; Determine if the latest distance data is normal; If normal, the latest distance data will be used as the vehicle's current basic attitude data; If it is abnormal, the most recent basic attitude data in the historical data will be used as the current basic attitude data of the vehicle. Calculate the instantaneous attitude of the vehicle based on its current basic attitude data; The method also includes the following steps: When the vehicle is in a starting state, it periodically acquires all distance measurement data within a cycle, and calculates the latest distance data based on all acquired distance measurement data; The calculated latest distance data is used as the vehicle's current basic attitude data to update the vehicle's basic attitude data; After the vehicle is powered on, before the vehicle enters the driving state, it continuously acquires real-time measurement distance data. The measured distances acquired over a period of time are used to evaluate new basic attitude data and update the basic attitude data to complete the correction of the vehicle's basic attitude. After the vehicle is powered on, a set of data is measured. It is determined whether the set of data is abnormal. If it is normal, the set of data is used as the basic attitude data. If it is abnormal, the most recent historical data is selected as the basic attitude data. Then, as time goes by, new basic attitude data is calculated and updated based on the new measurement data. The vehicle attitude control program uses the updated and latest basic attitude data for attitude control. When the vehicle starts and its speed exceeds a certain threshold, the program enters driving mode and performs driving self-learning correction. It continuously acquires distance data measured by the vehicle's infrared ranging device, constantly selecting measured distances obtained within a certain period to evaluate new basic attitude data. It also uses a pre-set default distance to determine whether the obtained real-time measured distance is abnormal. If an abnormality is found, it is due to a measurement system malfunction, and the program will discard the new basic attitude data and continue to use the most recent historical data as the basic attitude data. If no abnormality is found, the program updates the basic attitude data and completes the correction of the vehicle's basic attitude.

2. The vehicle body posture detection method according to claim 1, characterized in that, The instantaneous attitude of the vehicle is calculated based on the vehicle's current basic attitude data, specifically including: Extract the most recent basic attitude data from the historical data, and calculate the difference between it and the current basic attitude data of the vehicle. The calculated difference is the instantaneous attitude of the vehicle.

3. The vehicle body attitude detection method according to claim 1, characterized in that, The latest distance data is calculated based on all acquired distance measurement data, specifically including: Calculate the average value of all measured distance data; The calculated average value is based on the latest distance data.

4. The vehicle body attitude detection method according to claim 3, characterized in that, To determine if the latest distance data is normal, the following steps are taken: Calculate the difference between the latest distance data and the preset default distance; Determine if the difference is within a preset range; If so, then the latest distance data is normal; If not, then the latest distance data is abnormal.

5. A vehicle body posture detection system, characterized in that, include, Distance measurement module: In response to vehicle power-on, it triggers the operation of each infrared ranging sensor to measure and obtain the first distance data; Distance judgment module: Determines whether the first measured distance data is normal; Starting basic attitude determination module: If the distance judgment module determines that the result is normal, the first measured distance data is used as the current basic attitude data of the vehicle, and the current basic attitude data is stored in the historical data; if the distance judgment module determines that the result is abnormal, the first measured distance data is discarded, and the most recent basic attitude data in the historical data is selected as the current basic attitude data of the vehicle. After using the first measurement as the vehicle's current baseline attitude data or selecting the most recent baseline attitude data from historical data as the vehicle's current baseline attitude data, the following steps are also included: Infrared ranging sensors measure and obtain the latest distance data in real time; Detect vehicle speed; Determine if the vehicle speed exceeds the threshold; If yes, determine that the vehicle has entered a driving state; otherwise, determine that the vehicle is in a starting state. In response to the vehicle entering driving mode, all measured distance data within a period are periodically acquired, and the latest distance data is calculated based on all acquired measured distance data; Determine if the latest distance data is normal; If normal, the latest distance data will be used as the vehicle's current basic attitude data; If it is abnormal, the most recent basic attitude data in the historical data will be used as the current basic attitude data of the vehicle. Calculate the instantaneous attitude of the vehicle based on its current basic attitude data; The method also includes the following steps: When the vehicle is in a starting state, it periodically acquires all distance measurement data within a cycle, and calculates the latest distance data based on all acquired distance measurement data; The calculated latest distance data is used as the vehicle's current basic attitude data to update the vehicle's basic attitude data; After the vehicle is powered on, before the vehicle enters the driving state, it continuously acquires real-time measurement distance data. The measured distances acquired over a period of time are used to evaluate new basic attitude data and update the basic attitude data to complete the correction of the vehicle's basic attitude. After the vehicle is powered on, a set of data is measured. It is determined whether the set of data is abnormal. If it is normal, the set of data is used as the basic attitude data. If it is abnormal, the most recent historical data is selected as the basic attitude data. Then, as time goes by, new basic attitude data is calculated and updated based on the new measurement data. The vehicle attitude control program uses the updated and latest basic attitude data for attitude control. When the vehicle starts and its speed exceeds a certain threshold, the program enters driving mode and performs driving self-learning correction. It continuously acquires distance data measured by the vehicle's infrared ranging device, constantly selecting measured distances obtained within a certain period to evaluate new basic attitude data. It also uses a pre-set default distance to determine whether the obtained real-time measured distance is abnormal. If an abnormality is found, it is due to a measurement system malfunction, and the program will discard the new basic attitude data and continue to use the most recent historical data as the basic attitude data. If no abnormality is found, the program updates the basic attitude data and completes the correction of the vehicle's basic attitude.

6. The vehicle body attitude detection system according to claim 5, characterized in that, The distance measurement module is also used to trigger each infrared ranging sensor to measure the latest distance data in real time after the starting basic attitude determination module uses the first measurement as the current basic attitude data of the vehicle or selects the most recent basic attitude data in the historical data as the current basic attitude data of the vehicle. The system also includes, Vehicle status detection module: detects vehicle speed; determines whether the vehicle speed exceeds a threshold; if so, determines that the vehicle has entered a driving state; Otherwise, the vehicle is determined to be in a starting state; Latest distance calculation module: In response to the vehicle entering driving mode, it periodically selects distance data within a certain time period and calculates the latest distance data based on the selected distance data; Vehicle basic attitude determination module: If the latest calculated distance data is normal, then the latest distance data will be used as the current basic attitude data of the vehicle. If the latest calculated distance data is abnormal, the most recent basic attitude data in the historical data will be used as the current basic attitude data of the vehicle. Instantaneous attitude calculation module: Calculates the instantaneous attitude of the vehicle based on the vehicle's current basic attitude data.

7. A terminal, characterized in that, include: Memory, used to store the vehicle body attitude detection program; A processor is configured to implement the steps of the vehicle posture detection method as described in any one of claims 1-4 when executing the vehicle posture detection program.

8. A computer-readable storage medium, characterized in that, The readable storage medium stores a vehicle body attitude detection program, which, when executed by a processor, implements the steps of the vehicle body attitude detection method as described in any one of claims 1-4.

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