A method, device, electronic device and storage medium for calculating heading angle

Abstract

The present application relates to the field of vehicle control technology, and provides a heading angle calculation method, device, electronic device and storage medium. The method obtains first wheel speed data corresponding to a first wheel of a vehicle and obtains second wheel speed data corresponding to a second wheel of the vehicle, wherein the first rolling distance and the second rolling distance can reflect the current motion state of the vehicle, when the vehicle is traveling in a straight line, the rolling distances corresponding to the first wheel and the second wheel are the same, and the heading angle of the vehicle remains unchanged, when the vehicle turns, the rolling distances of the first wheel and the second wheel are different, and then the radius and direction of the vehicle when turning can be calculated through the first rolling distance and the second rolling distance, so as to achieve accurate heading angle calculation.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a heading angle calculation method, device, electronic device and storage medium. Background Art

[0002] When a vehicle is driving, it usually obtains the heading angle of the vehicle through external systems such as the Global Positioning System (GPS). However, these sensors have the following problems: First, external systems such as GPS cannot provide high-frequency positioning signals, and cannot meet the vehicle's demand for real-time and accurate heading angle acquisition during dynamic driving; second, in some special environments, such as tunnels or high-rise building areas, the signals of external systems such as GPS are easily interfered, resulting in inaccurate heading angle data. Therefore, how to achieve reliable heading angle acquisition has become an urgent problem to be solved. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a heading angle calculation method, device, electronic device and storage medium to solve the problem in the prior art that the heading angle cannot be accurately obtained due to reliance on external systems such as GPS.

[0004] In a first aspect of an embodiment of the present application, a method for calculating a heading angle is provided, the method comprising: obtaining first wheel speed data corresponding to a first wheel of a vehicle, obtaining second wheel speed data corresponding to a second wheel of the vehicle, the first wheel and the second wheel being wheels arranged on both sides of the vehicle respectively; calculating a first rolling distance corresponding to the first wheel according to the first wheel speed data, calculating a second rolling distance corresponding to the second wheel according to the second wheel speed data; and calculating the vehicle's heading angle according to the first rolling distance and the second rolling distance.

[0005] According to a second aspect of an embodiment of the present application, a heading angle calculation device is provided, which includes: an acquisition module, used to acquire first wheel speed data corresponding to a first wheel of a vehicle, and to acquire second wheel speed data corresponding to a second wheel of the vehicle, wherein the first wheel and the second wheel are wheels arranged on both sides of the vehicle respectively; a distance module, used to calculate a first rolling distance corresponding to the first wheel according to the first wheel speed data, and to calculate a second rolling distance corresponding to the second wheel according to the second wheel speed data; and a heading angle module, used to calculate the heading angle of the vehicle according to the first rolling distance and the second rolling distance.

[0006] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0007] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0008] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the method in the embodiments of the present application obtains first wheel speed data corresponding to a first wheel of the vehicle and second wheel speed data corresponding to a second wheel of the vehicle, wherein the first wheel and the second wheel are wheels arranged on both sides of the vehicle respectively; a first rolling distance corresponding to the first wheel is calculated according to the first wheel speed data, and a second rolling distance corresponding to the second wheel is calculated according to the second wheel speed data; and a heading angle of the vehicle is calculated according to the first rolling distance and the second rolling distance, wherein the first rolling distance and the second rolling distance are accurately obtained through the first wheel speed data and the second wheel speed data, and the first rolling distance and the second rolling distance can reflect the current motion state of the vehicle, when the vehicle is traveling in a straight line, the rolling distances corresponding to the first wheel and the second wheel are the same, and the heading angle of the vehicle remains unchanged, when the vehicle turns, the rolling distances of the first wheel and the second wheel are different, and then the radius and direction of the vehicle when turning can be calculated through the first rolling distance and the second rolling distance, so as to achieve accurate heading angle calculation, and the scheme does not rely on an external positioning system, thus avoiding the problem in the related art that the heading angle cannot be accurately obtained due to reliance on external systems such as GPS. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 It is a flowchart of a method for calculating a heading angle provided in an embodiment of the present application;

[0011] Figure 2 is a flow chart of another method for calculating a heading angle provided in an embodiment of the present application;

[0012] Figure 3 is a flow chart of another method for calculating a heading angle provided in an embodiment of the present application;

[0013] Figure 4 This is a basic schematic diagram of a first wheel and a second wheel rolling provided by an embodiment of the present application;

[0014] Figure 5is another basic schematic diagram of the rolling of a first wheel and a second wheel provided in an embodiment of the present application;

[0015] Figure 6 This is another basic schematic diagram of the rolling of the first wheel and the second wheel provided in an embodiment of the present application;

[0016] Figure 7 is a flow chart of another method for calculating a heading angle provided in an embodiment of the present application;

[0017] Figure 8 is a flow chart of another method for calculating a heading angle provided in an embodiment of the present application;

[0018] Fig. 9 is a flowchart of another optional method for calculating a heading angle provided in an embodiment of the present application;

[0019] Fig.10 is a flowchart of another optional method for calculating a heading angle provided in an embodiment of the present application;

[0020] Fig.11 is a structural schematic diagram of a heading angle calculation device provided in an embodiment of the present application;

[0021] Fig.12 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0023] A method and device for calculating a heading angle according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0024] Figure 1 A method for calculating a heading angle provided in an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0025] S101, obtaining first wheel speed data corresponding to a first wheel of a vehicle, and obtaining second wheel speed data corresponding to a second wheel of the vehicle, wherein the first wheel and the second wheel are wheels arranged on both sides of the vehicle respectively;

[0026] S102, calculating a first rolling distance corresponding to the first wheel according to the first wheel speed data, and calculating a second rolling distance corresponding to the second wheel according to the second wheel speed data;

[0027] S103: Calculate the heading angle of the vehicle according to the first rolling distance and the second rolling distance.

[0028] It can be understood that the above-mentioned heading angle calculation method provided in this example is applied to vehicles, and the above-mentioned vehicles include vehicles with automatic driving or intelligent driving (including vehicles with manned functions (such as cars, buses, large buses, minibuses, etc.), vehicles with cargo functions (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, special structure trucks), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0029] Specifically, this example calculates the vehicle's heading angle by acquiring the wheel speed data corresponding to the first wheel and the second wheel respectively; it can be understood that the vehicle is provided with a first wheel and a second wheel, and the first wheel and the second wheel are respectively arranged on both sides of the vehicle, and the first wheel and the second wheel have the same wheel radius, and the first wheel and the second wheel are symmetrically distributed relative to the center line of the vehicle; for example, the first wheel is the left front wheel of the vehicle, and the second wheel is the right front wheel of the vehicle; for another example, the first wheel is the right front wheel of the vehicle, and the second wheel is the left front wheel of the vehicle; for another example, the first wheel is the right rear wheel of the vehicle, and the second wheel is the left rear wheel of the vehicle.

[0030] In order to accurately obtain the wheel speed data corresponding to each wheel, this example uses a high-precision wheel speed sensor to obtain the wheel speed data. Specifically, the first wheel and the second wheel are respectively provided with a high-precision wheel speed sensor, and the first wheel and the second wheel are respectively monitored by the respectively provided high-precision wheel speed sensors, thereby obtaining the first wheel speed data corresponding to the first wheel and obtaining the second wheel speed data corresponding to the second wheel of the vehicle.

[0031] It can be understood that since the rotation speed can be obtained by dividing the frequency by 60, based on this principle, this example can also obtain wheel frequency data through the frequency sensor, and calculate the wheel rotation speed data therefrom. For example, the frequency data of the first wheel is obtained through the frequency sensor, and the first wheel rotation speed data of the first wheel is calculated based on the frequency data; similarly, the frequency data of the second wheel is obtained, and the second wheel rotation speed data of the second wheel is calculated.

[0032] In addition, in order to meet the demand for real-time and accurate acquisition of the heading angle during dynamic driving of the vehicle, this example increases the sampling frequency of the high-precision wheel speed sensor. For example, assuming that the sampling frequency of the high-precision wheel speed sensor is 100Hz, the sensor can collect wheel speed data 100 times per second. Let the speed data of the first wheel be recorded as nleft, then the high-precision wheel speed sensor collects the speed data of the first wheel within one second, and the 100 second wheel speed data obtained are: nleft1, nleft2, nleft3…nleft100. Similarly, let the speed data of the second wheel be recorded as nright, then the 100 second wheel speed data collected within one second are: nright1, nright2, nright3…nright100.

[0033] After obtaining the first wheel speed data and the second wheel speed data, this example will further calculate the first rolling distance corresponding to the first wheel based on the first wheel speed data, and calculate the second rolling distance corresponding to the second wheel based on the second wheel speed data; the above-mentioned first wheel speed data is the rotation speed of the first wheel within a sampling period, then the first rolling distance is the total rolling distance of the first wheel within a sampling period, and similarly, the second rolling distance is the total rolling distance of the second wheel within a sampling period.

[0034] It can be understood that when the vehicle is traveling in a straight line and the heading angle does not change, the rolling distances of the first wheel and the second wheel are the same. When the vehicle turns and the heading angle changes, the rolling distances of the first wheel and the second wheel will be different, and the radius and direction of the vehicle when turning can be calculated through the first rolling distance and the second rolling distance, thereby accurately obtaining the heading angle of the vehicle.

[0035] It is understandable that how to calculate the heading angle of the vehicle according to the first rolling distance and the second rolling distance will be described in detail later and will not be repeated here.

[0036] According to the technical solution provided in the embodiment of the present application, first wheel speed data corresponding to a first wheel of the vehicle is obtained, and second wheel speed data corresponding to a second wheel of the vehicle is obtained, wherein the first wheel and the second wheel are wheels arranged on both sides of the vehicle respectively; a first rolling distance corresponding to the first wheel is calculated according to the first wheel speed data, and a second rolling distance corresponding to the second wheel is calculated according to the second wheel speed data; and a heading angle of the vehicle is calculated according to the first rolling distance and the second rolling distance, wherein the first rolling distance and the second rolling distance are accurately obtained through the first wheel speed data and the second wheel speed data, and the first rolling distance and the second rolling distance can reflect the current motion state of the vehicle, when the vehicle is traveling in a straight line, the rolling distances corresponding to the first wheel and the second wheel are the same, and the heading angle of the vehicle remains unchanged, when the vehicle turns, the rolling distances of the first wheel and the second wheel are different, and then the radius and direction of the vehicle when turning can be calculated through the first rolling distance and the second rolling distance, thereby realizing accurate calculation of the heading angle, and the solution does not rely on an external positioning system, thereby avoiding the problem in the related art that the heading angle cannot be accurately obtained due to reliance on external systems such as GPS.

[0037] In some embodiments, Figure 2 As shown, calculating the heading angle of the vehicle according to the first rolling distance and the second rolling distance includes:

[0038] S201, comparing the first rolling distance and the second rolling distance, and determining the heading angle direction of the vehicle according to the comparison result;

[0039] S202, calculating a rolling distance difference between the first rolling distance and the second rolling distance, and calculating a heading angle of the vehicle according to the rolling distance difference;

[0040] S203: Determine the heading angle according to the heading angle direction and the heading angle angle.

[0041] It can be understood that when the vehicle is driving, the rolling distance of each wheel is directly related to the vehicle's heading angle; when the vehicle turns, the rolling distances of the inner wheel and the outer wheel are different, and the vehicle's heading angle direction can be calculated by comparing the rolling distances of the inner wheel and the outer wheel.

[0042] In some examples, the first rolling distance is compared with the second rolling distance, and the heading angle direction of the vehicle is determined according to the comparison result, including the following three cases:

[0043] The first case: if the first rolling distance and the second rolling distance are the same, it indicates that the driving direction of the vehicle has not changed and has no heading angle direction.

[0044] The second case: if the first rolling distance is greater than the second rolling distance, it indicates that the driving direction of the vehicle deviates toward the direction of the second wheel, and the heading angle direction is “the direction of the second wheel”.

[0045] The third case: if the first rolling distance is smaller than the second rolling distance, it indicates that the driving direction of the vehicle deviates toward the direction of the first wheel, and the heading angle direction is “the direction of the first wheel”.

[0046] For example, taking the first wheel as the left wheel of the vehicle and the second wheel as the right wheel of the vehicle as an example, when the first rolling distance corresponding to the first wheel and the second rolling distance corresponding to the second wheel are the same, it proves that the driving direction of the vehicle has not changed during driving; when the first rolling distance is greater than the second rolling distance, it indicates that the vehicle is driving in the right direction, and the heading angle direction of the vehicle is determined to be "right"; when the first rolling distance is less than the second rolling distance, it indicates that the vehicle is driving in the right direction, and the heading angle direction of the vehicle is determined to be "left".

[0047] After obtaining the first scrolling distance and the second scrolling distance, this example calculates the scrolling distance difference between the first scrolling distance and the second scrolling distance, that is, the scrolling distance difference = the first scrolling distance - the second scrolling distance difference.

[0048] After determining the rolling distance difference, this example further calculates the vehicle's heading angle based on the mapping relationship between the rolling distance difference and the heading angle. How to calculate the vehicle's heading angle based on the rolling distance difference will be described in detail later and will not be repeated here.

[0049] It can be understood that the above-mentioned step S201 and step S202 do not have a certain order, and step S201 can be executed simultaneously; step S201 can be executed first and then step S202, or step S202 can be executed first and then step S201.

[0050] In some examples, this example determines the heading angle according to the heading angle direction and the heading angle angle. Specifically, the heading angle angle is recorded as θ. When the heading angle direction is "right", the heading angle is , when the heading angle direction is "left", the heading angle is .

[0051] According to the technical solution provided in the embodiment of the present application, the heading angle is decomposed into the heading angle direction and the heading angle angle, the first rolling distance and the second rolling distance are compared, and the heading angle direction of the vehicle is determined according to the comparison result, thereby accurately determining the heading angle direction; the rolling distance difference between the first rolling distance and the second rolling distance is calculated, and the heading angle angle of the vehicle is calculated according to the rolling distance difference, thereby accurately obtaining the heading angle angle; finally, the heading angle is determined according to the heading angle direction and the heading angle angle, thereby accurately calculating the heading angle, and the solution does not rely on an external positioning system, thereby avoiding the problem in the related technology of relying on external systems such as GPS, which leads to the inability to accurately obtain the heading angle.

[0052] In some embodiments, Figure 3 As shown, the heading angle of the vehicle is calculated according to the rolling distance difference, including:

[0053] S301, obtaining the wheelbase of the vehicle;

[0054] S302: Calculate the heading angle of the vehicle according to the difference between the wheelbase and the rolling distance.

[0055] It can be understood that the heading angle direction of the vehicle includes the following three situations:

[0056] The first case: if the first rolling distance and the second rolling distance are the same, it indicates that the driving direction of the vehicle has not changed and has no heading angle direction.

[0057] The second case: if the first rolling distance is greater than the second rolling distance, it indicates that the driving direction of the vehicle deviates toward the direction of the second wheel, and the heading angle direction is “the direction of the second wheel”.

[0058] The third case: if the first rolling distance is smaller than the second rolling distance, it indicates that the driving direction of the vehicle deviates toward the direction of the first wheel, and the heading angle direction is “the direction of the first wheel”.

[0059] In order to better illustrate the above three situations, this example takes the left front wheel of the vehicle as the first wheel, the right front wheel of the vehicle as the second wheel, and the first rolling distance as , the second rolling distance is recorded as .

[0060] In the first case, the first rolling distance and the second rolling distance are the same, the rolling distance difference is 0, the driving direction of the vehicle does not change, and the heading angle is 0; specifically, Figure 4 As shown, in = When , there is no wheel speed difference between the first wheel and the second wheel, the rolling distance of the first wheel and the second wheel per unit time is the same, the vehicle is in a straight-ahead state, and the heading angle θ=0°.

[0061] In the second case, the first rolling distance is greater than the second rolling distance, the wheel speed of the first wheel is greater than the wheel speed of the second wheel, the heading angle direction of the vehicle is "right", and the vehicle is in a rightward driving state. Specifically, Figure 5 As shown, the heading angle of the vehicle is θ. At this time, ∠θ and ∠θ1 are opposite angles, so ∠θ=∠θ1; because ∠θ1 and ∠β are in a complementary relationship, ∠α and ∠β are in a complementary relationship, so ∠α=∠θ1; so ∠α=∠θ.

[0062] Since BC is parallel to BˊCˊ, and ∠α is the corresponding angle, △ABC and △ABˊCˊ are similar triangles, then:

[0063] ;

[0064] in, is the first rolling distance, is the second rolling distance, is the wheelbase of the first wheel and the second wheel, It is the distance between the extension line of the vehicle's axis and the perpendicular line to the vehicle's travel direction.

[0065] but ;

[0066] like Figure 5 As shown, where ∠ Distance to target Has the following relationship:

[0067] ;

[0068] but ;

[0069] but .

[0070] According to the above formula, in the second case, the heading angle of the vehicle is related to the rolling distance difference between the first wheel and the second wheel. Therefore, in the second case, the heading angle of the vehicle can be accurately calculated based on the wheelbase and the rolling distance difference.

[0071] In the third case, the first rolling distance is less than the second rolling distance, the wheel speed of the first wheel is less than the wheel speed of the second wheel, the heading angle direction of the vehicle is "left", and the vehicle is in a left-moving state. Specifically, Figure 6 As shown, the heading angle of the vehicle is θ. At this time, ∠θ∠θ1 is opposite to each other, so ∠θ=∠θ1; because ∠θ1 and ∠β are complementary, ∠ is complementary to ∠β, so ∠ =∠θ1; so ∠ =∠θ.

[0072] Because BC is parallel to BˊCˊ, ∠ are corresponding angles, so △ABC and △ABˊCˊ are similar triangles, then:

[0073] ;

[0074] in, is the first rolling distance, is the second rolling distance, is the wheelbase of the first wheel and the second wheel, It is the distance between the extension line of the vehicle's axis and the perpendicular line to the vehicle's travel direction.

[0075] but ;

[0076] like Figure 6 As shown, where ∠ Distance to target Has the following relationship:

[0077] ;

[0078] but ;

[0079] but .

[0080] According to the above formula, in the third case, the heading angle of the vehicle is related to the rolling distance difference between the first wheel and the second wheel. Therefore, in the third case, the heading angle of the vehicle can be accurately calculated based on the wheelbase and the rolling distance difference.

[0081] In summary, in the second case, the heading angle , in the third case, the heading angle ; In addition, the condition of the second case is "the first scrolling distance is greater than the second scrolling distance", so Must be greater than In the second case, - The value of must be greater than 0; similarly, in the third case, the condition is "the first scrolling distance is greater than the second scrolling distance", so Must be less than In the third case, - The value of must be greater than 0. Based on the above analysis, the heading angle in the second and third cases is .

[0082] Based on the above principle, in this example, the wheelbase of the vehicle is obtained, and then the difference between the wheelbase and the rolling distance is substituted into the preset heading angle confirmation formula. The heading angle of the vehicle can be accurately calculated.

[0083] According to the technical solution provided in the embodiment of the present application, the wheelbase of the vehicle is obtained, and the heading angle of the vehicle is calculated based on the difference between the wheelbase and the rolling distance, thereby achieving accurate calculation of the heading angle of the vehicle. There is no need to rely on an external positioning system to obtain the heading angle, thus avoiding the problem in related technologies that relies on external systems such as GPS, resulting in an inability to accurately obtain the heading angle.

[0084] In some embodiments, Figure 7 As shown, the heading angle of the vehicle is calculated according to the rolling distance difference, including:

[0085] S701: Acquire a heading angle model corresponding to a heading angle direction, where the heading angle model is constructed based on a plurality of historical rolling distance differences corresponding to the heading angle directions.

[0086] The heading angle model includes a first heading angle model and a second heading angle model, and the first heading angle model includes:

[0087] ,in, is the output parameter of the first heading angle model, are the coefficients of the first linear equation system, is the input parameter of the first heading angle model;

[0088] The second heading angle model includes:

[0089] ,in, is the output parameter of the second heading angle model, are the coefficients of the second linear equation system, is the input parameter of the second heading angle model;

[0090] S702: Input the rolling distance difference into a heading angle model to obtain a heading angle.

[0091] It can be understood that in order to calculate the heading angle more quickly and conveniently, this example can also obtain the heading angle model corresponding to the heading angle direction. It can be understood that different heading angle directions correspond to different heading angle models.

[0092] Continuing with the above example, the heading angle direction of the vehicle includes two cases: left and right. The heading angle direction "left" corresponds to the first heading angle model; the heading angle direction "right" corresponds to the second heading angle model.

[0093] After determining the heading angle model, this example inputs the rolling distance difference into the heading angle model to obtain the corresponding heading angle.

[0094] For example, the first heading angle model corresponding to the heading angle direction "left" is: ; The second heading angle model corresponding to the heading angle direction "right" is Take the vehicle heading angle as an example; when it is determined that the vehicle heading angle direction is "left", the rolling distance difference is obtained and used as Input to the first heading angle model In the example, the heading angle corresponding to the rolling distance difference is obtained when the heading angle direction is "left"; when the heading angle direction of the vehicle is determined to be "right", the rolling distance difference is obtained and used as 1 Input to the second heading angle model In this way, the heading angle corresponding to the rolling distance difference is obtained when the heading angle direction is "right".

[0095] According to the technical solution provided in the embodiment of the present application, a heading angle model corresponding to the heading angle direction is obtained, and the heading angle model is constructed based on multiple historical rolling distance differences corresponding to the heading angle direction; the rolling distance difference is input into the heading angle model to obtain the heading angle, wherein the present solution sets corresponding heading angle models for different heading angle directions, respectively, so that the obtained heading angle model can accurately calculate the heading angle corresponding to the rolling distance difference under the heading angle direction, and does not need to rely on an external positioning system to obtain the heading angle, thereby avoiding the problem in the related technology of relying on external systems such as GPS, resulting in the inability to accurately obtain the heading angle.

[0096] In some embodiments, Figure 8 As shown, before obtaining the heading angle model corresponding to the heading angle direction, the method further includes:

[0097] S801, obtaining a historical heading angle corresponding to each historical rolling distance difference in the heading angle direction;

[0098] S802, constructing an initial heading angle model corresponding to each heading angle direction;

[0099] S803: Adjust the initial heading angle model according to the historical heading angle corresponding to each historical rolling distance difference to obtain a heading angle model corresponding to the heading angle direction.

[0100] Specifically, under different heading angle directions, each historical rolling distance difference corresponds to a historical heading angle, and the historical heading angle is the real heading angle corresponding to the historical heading angle obtained by an external system such as GPS without interference. m historical rolling distance differences are obtained, and the m historical rolling distance differences correspond to m historical heading angles respectively. The historical rolling distance differences are recorded as ( = equal to the historical first rolling distance - the historical second rolling distance), and the historical heading angle is recorded as ,but .

[0101] This example first constructs an initial heading angle model corresponding to each heading angle direction, and adjusts the initial heading angle model according to the historical heading angle corresponding to each historical rolling distance difference to obtain a heading angle model corresponding to the heading angle direction.

[0102] For example, according to the analysis of step S301 and step S302, the heading angle formula corresponding to the heading angle direction "left" is: , this example fits the above formula to obtain the initial first heading angle model corresponding to the heading angle direction "left": , among which, the above is the coefficient of the first linear equation group. It can be understood that in the initial first heading angle model Is an unknown number.

[0103] Following the previous example, in the step of adjusting the initial heading angle model according to the historical heading angle corresponding to each historical rolling distance difference, this example first adjusts the initial heading angle model according to Construct the sum of squared errors corresponding to the initial heading angle model as follows:

[0104] .

[0105] And minimize the sum of squared errors:

[0106] ;

[0107] For each coefficient , and solve for And solve the linear equations to get The value of the final fitting coefficient is obtained, and then the heading angle direction "left" corresponds to the first heading angle model " "; It can be understood that the first heading angle model corresponding to the heading angle direction "left" , , … To find the solved value.

[0108] In some examples, the heading angle direction "left" may correspond to the first heading angle model " "A fitting curve of the relationship between the rolling distance difference and the heading angle is constructed, so that relevant personnel can intuitively understand the relationship between the rolling distance difference and the heading angle when the heading angle is "left".

[0109] Similarly, according to the analysis of step S301 and step S302, the heading angle formula corresponding to the heading angle direction "right" is: , this example fits the above formula to obtain the initial second heading angle model corresponding to the heading angle direction "right": , among which, the above is the coefficient of the second linear equation group. It can be understood that in the initial second heading angle model Is an unknown number.

[0110] Following the previous example, in the step of adjusting the initial heading angle model according to the historical heading angle corresponding to each historical rolling distance difference, this example first adjusts the initial heading angle model according to Construct the sum of squared errors corresponding to the initial heading angle model as follows:

[0111] .

[0112] And minimize the sum of squared errors:

[0113] ;

[0114] For each coefficient , and solve for And solve the linear equations to get The value of the final fitting coefficient is obtained, and then the heading angle direction "right" corresponds to the heading angle model " "; It can be understood that the above heading angle direction "right" corresponds to the heading angle model To find the solved value.

[0115] In some examples, the heading angle direction "right" may correspond to the heading angle model " "A fitting curve of the relationship between the rolling distance difference and the heading angle is constructed, so that relevant personnel can intuitively understand the relationship between the rolling distance difference and the heading angle when the heading angle is "right".

[0116] According to the technical solution provided in the embodiment of the present application, the historical heading angle corresponding to each historical rolling distance difference in the heading angle direction is obtained; the initial heading angle model corresponding to each heading angle direction is constructed; the initial heading angle model is adjusted according to the historical heading angle corresponding to each historical rolling distance difference, and the heading angle model corresponding to the heading angle direction is obtained, thereby realizing the construction of the heading angle model corresponding to each heading angle direction, and then realizing the accurate calculation of the heading angle corresponding to the rolling distance difference in the heading angle direction according to the heading angle model, without relying on an external positioning system to obtain the heading angle, thereby avoiding the problem in the related technology of relying on external systems such as GPS, resulting in the inability to accurately obtain the heading angle.

[0117] In some embodiments, Fig. 9 As shown, calculating the first rolling distance corresponding to the first wheel according to the first wheel speed data includes:

[0118] S901, calculating the angular velocity corresponding to the first wheel according to the first wheel speed data;

[0119] S902, obtaining a wheel radius of the vehicle, and determining a speed corresponding to the first wheel according to the wheel radius and the angular velocity;

[0120] S903: Obtain a preset interval duration of a sampling period, and calculate a first scrolling distance according to the interval duration and the determined speed.

[0121] Specifically, the angular velocity corresponding to the first wheel is calculated according to the first wheel speed data, wherein the first wheel speed data is recorded as n, then the angular velocity corresponding to the first wheel is Similarly, after obtaining the second wheel speed data corresponding to the second wheel, the angular velocity corresponding to the second wheel can be calculated according to the above method, which will not be described in detail here.

[0122] Continuing with the above example, we obtain the wheel radius of the vehicle and determine the speed of the first wheel based on the wheel radius and angular velocity. Let the wheel radius be r, then the speed of the first wheel is Similarly, the speed corresponding to the second wheel can be obtained based on the same method, which will not be repeated here.

[0123] Finally, the preset sampling period interval is obtained, and the first rolling distance is calculated according to the interval and the determined speed, wherein the interval is the rolling time of the first wheel, and the interval is recorded as t, then the first rolling distance = ,but The second rolling distance corresponding to the second wheel can be calculated based on the same principle, which will not be described in detail here.

[0124] It can be understood that in some examples, the sampling frequency is set to 100 Hz, and 100 wheel speed data are collected per second, then t= .

[0125] According to the technical solution provided in the embodiment of the present application, the angular velocity corresponding to the first wheel is calculated based on the first wheel speed data; the wheel radius of the vehicle is obtained, the speed corresponding to the first wheel is determined based on the wheel radius and the angular velocity, the interval duration of the preset sampling period is obtained, and the first rolling distance is calculated based on the interval duration and the determined speed, thereby achieving accurate acquisition of the first rolling distance corresponding to the first wheel.

[0126] In some embodiments, Fig.10 As shown, after calculating the heading angle of the vehicle according to the first rolling distance and the second rolling distance, the method further includes:

[0127] S1001, adjusting the heading of the projection corresponding to the vehicle in the virtual reality device according to the heading angle;

[0128] S1002: Acquire a target heading angle transmitted by a positioning system, and correct a heading corresponding to the projection of the vehicle in the virtual reality device according to the target heading angle.

[0129] It can be understood that the virtual reality device is connected to the vehicle through communication via wifi, 3G, 4G, 5G, Bluetooth, etc. to achieve data interaction. After the virtual reality device is connected to the vehicle, the vehicle computer provides an output interface for the first wheel speed data corresponding to the first wheel and the second wheel speed data corresponding to the second wheel. The vehicle also provides an output interface for the calculated heading angle. After the virtual reality device is connected to the vehicle, the wheel speed data (the first wheel speed data and the second wheel speed data) and / or the heading angle can be obtained. It can be understood that if the virtual reality device obtains the wheel speed data, the virtual reality device can calculate the heading angle corresponding to the vehicle based on the wheel speed data.

[0130] Among them, the virtual reality device has a projection corresponding to the vehicle (the car model is used as the projection later), and the virtual reality device can adjust the heading (driving direction) of the car model in the virtual device according to the acquired heading angle, so that the heading of the car model in the virtual reality device is the same as the actual heading of the vehicle.

[0131] After adjusting the heading of the projection corresponding to the vehicle in the virtual reality device according to the heading angle, in order to further improve the accuracy of the heading of the car model in the virtual reality device so that the heading of the car model in the virtual reality device is the same as the actual heading of the vehicle, this example will also obtain the target heading angle transmitted by the positioning system, and correct the heading of the projection corresponding to the vehicle in the virtual reality device according to the target heading angle. It can be understood that the above-mentioned positioning system is an external system. When the external system can work normally (without interference), the target heading angle obtained is accurate. The heading of the projection corresponding to the vehicle in the virtual reality device is corrected based on the target heading angle, which further improves the accuracy of the heading of the car model in the virtual reality device so that the heading of the car model in the virtual reality device is the same as the actual heading of the vehicle.

[0132] In order to better understand the method, this embodiment provides a more specific example for illustration. The virtual reality device obtains the first wheel speed data and the second wheel speed data through the interface provided by the vehicle, and records the first wheel speed data as , record the second wheel speed data as .

[0133] Among them, when = The virtual reality device does not change the direction of the car model, and the virtual reality device controls the car model to keep moving in the current direction; the vehicle updates the current vehicle position every 0.1s through the on-board GPS data (frequency 10Hz), and transmits it to the car virtual reality device in real time through wifi, assisting the virtual reality device to correct the error of the heading angle calculated by the wheel speed data, and adjust the direction of the car model in the virtual reality device.

[0134] Among them, when When the vehicle is determined to be turning right, the heading angle model corresponding to the heading angle direction "right" is called, and the rolling distance difference is calculated. 1, then Input into the heading angle model to get the corresponding heading angle, as follows:

[0135] ;

[0136] In the formula is the scroll distance difference, is the heading angle, are the coefficients of the linear equations when turning right.

[0137] According to the calculation results, the heading angle of the car model in the virtual reality device is input to change the current driving direction of the car model. The current vehicle position is updated every 0.1s through the on-board GPS data (frequency 10Hz) and transmitted to the virtual reality device in real time via WiFi, to assist the virtual reality device in correcting the error of the heading angle calculated by the wheel speed data and adjust the direction of the car model in the virtual reality device.

[0138] Among them, when When the vehicle is determined to be turning left, the heading angle model corresponding to the heading angle direction "left" is called, and the rolling distance difference is calculated. After that, Input into the heading angle model to get the corresponding heading angle, as follows:

[0139] ;

[0140] In the formula is the scroll distance difference, is the heading angle, are the coefficients of the linear equations.

[0141] According to the calculation results, the heading angle of the car model in the virtual reality device is input to change the current driving direction of the car model. The current vehicle position is updated every 0.1s through the on-board GPS data (frequency 10Hz) and transmitted to the virtual reality device in real time via WiFi, to assist the virtual reality device in correcting the error of the heading angle calculated by the wheel speed data and adjust the direction of the car model in the virtual reality device.

[0142] This method uses the vehicle speed data to calculate the vehicle's heading angle, thereby obtaining the heading angle without relying on GPS signals. Compared with the traditional navigation method that relies on GPS signals, this method can also provide accurate vehicle heading angle information in environments with weak GPS signals, such as tunnels and under viaducts, thereby improving the stability and reliability of vehicle navigation.

[0143] This method obtains the trajectory (rolling distance) of each wheel by acquiring the vehicle speed data, and calculates the current heading angle of the vehicle through the rolling distance corresponding to each wheel. This method can effectively solve the problem of inaccurate vehicle positioning. Compared with the existing vehicle wheel speed sensor technology and vehicle motion parameter calculation technology, this method has higher positioning accuracy and can provide more accurate information such as vehicle speed and acceleration, which is beneficial to vehicle motion control and navigation.

[0144] The method is simple and easy to implement. It can calculate the heading angle of the vehicle by analyzing and processing the vehicle speed data without the need for additional hardware equipment, thus reducing the implementation cost. At the same time, the method can also be combined with other vehicle navigation technologies to further improve the accuracy and reliability of vehicle navigation.

[0145] According to the technical solution provided in the embodiment of the present application, the heading of the projection corresponding to the vehicle in the virtual reality device is adjusted according to the heading angle; the target heading angle transmitted by the positioning system is obtained, and the heading of the projection corresponding to the vehicle in the virtual reality device is corrected according to the target heading angle, so that the heading of the projection corresponding to the vehicle in the virtual reality device is the same as the actual direction of the vehicle, thereby improving the experience of using the virtual reality device on the vehicle.

[0146] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0147] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0148] This embodiment also provides a heading angle calculation device, such as Fig.11 As shown, the device comprises:

[0149] An acquisition module 1101 is used to acquire first wheel speed data corresponding to a first wheel of the vehicle, and acquire second wheel speed data corresponding to a second wheel of the vehicle, wherein the first wheel and the second wheel are wheels arranged on both sides of the vehicle respectively;

[0150] A distance module 1102, configured to calculate a first rolling distance corresponding to the first wheel according to the first wheel speed data, and calculate a second rolling distance corresponding to the second wheel according to the second wheel speed data;

[0151] The heading angle module 1103 is used to calculate the heading angle of the vehicle according to the first rolling distance and the second rolling distance.

[0152] In some examples, the heading angle module 1103 is also used to compare the first rolling distance and the second rolling distance, and determine the heading angle direction of the vehicle based on the comparison result; calculate the rolling distance difference between the first rolling distance and the second rolling distance, and calculate the heading angle of the vehicle based on the rolling distance difference; determine the heading angle based on the heading angle direction and the heading angle.

[0153] In some examples, the heading angle module 1103 is also used to obtain the wheelbase of the vehicle, and the difference between the wheelbase and the rolling distance is processed by a preset heading angle formula to obtain the heading angle; the heading angle formula is: ; is the first rolling distance, is the second rolling distance, is the wheelbase, ∠θ is the heading angle.

[0154] In some examples, the heading angle module 1103 is further used to obtain a heading angle model corresponding to the heading angle direction, the heading angle model is constructed based on multiple historical rolling distance differences corresponding to the heading angle direction, the heading angle model includes a first heading angle model and a second heading angle model, the first heading angle model includes:

[0155] ,in, is the output parameter of the first heading angle model, are the coefficients of the first linear equation system, is the input parameter of the first heading angle model;

[0156] The second heading angle model includes:

[0157] ,in, is the output parameter of the second heading angle model, are the coefficients of the second linear equation system, is the input parameter of the second heading angle model; the rolling distance difference is input into the heading angle model to obtain the heading angle.

[0158] In some examples, the heading angle module 1103 is also used to obtain the historical heading angle corresponding to each historical scrolling distance difference in the heading angle direction; construct an initial heading angle model corresponding to each heading angle direction; adjust the initial heading angle model according to the historical heading angle corresponding to each historical scrolling distance difference, and obtain the heading angle model corresponding to the heading angle direction.

[0159] In some examples, the distance module 1102 is also used to calculate the angular velocity corresponding to the first wheel based on the first wheel speed data; obtain the wheel radius of the vehicle, and determine the speed corresponding to the first wheel based on the wheel radius and the angular velocity; obtain the interval duration of a preset sampling period, and calculate the first rolling distance based on the interval duration and the determined speed.

[0160] In some examples, the heading angle module 1103 is also used to adjust the heading of the projection corresponding to the vehicle in the virtual reality device according to the heading angle; obtain the target heading angle transmitted by the positioning system, and correct the heading of the projection corresponding to the vehicle in the virtual reality device according to the target heading angle.

[0161] According to the technical solution provided by the embodiment of the present application, the heading angle calculation device provided by the embodiment obtains first wheel speed data corresponding to the first wheel of the vehicle and second wheel speed data corresponding to the second wheel of the vehicle, wherein the first wheel and the second wheel are wheels arranged on both sides of the vehicle respectively; calculates a first rolling distance corresponding to the first wheel according to the first wheel speed data, and calculates a second rolling distance corresponding to the second wheel according to the second wheel speed data; and calculates the heading angle of the vehicle according to the first rolling distance and the second rolling distance, wherein the first rolling distance and the second rolling distance are accurately obtained through the first wheel speed data and the second wheel speed data, and the first rolling distance and the second rolling distance can reflect the current motion state of the vehicle, when the vehicle is traveling in a straight line, the rolling distances corresponding to the first wheel and the second wheel are the same, and the heading angle of the vehicle remains unchanged, when the vehicle turns, the rolling distances of the first wheel and the second wheel are different, and then the radius and direction of the vehicle when turning can be calculated through the first rolling distance and the second rolling distance, so as to achieve accurate heading angle calculation, and the solution does not rely on an external positioning system, thereby avoiding the problem in the related art that the heading angle cannot be accurately obtained due to reliance on external systems such as GPS.

[0162] Fig.12 Schematic diagram of an electronic device 12 provided in an embodiment of the present application. Fig.12 As shown, the electronic device 12 of this embodiment includes: a processor 1201, a memory 1202, and a computer program 1203 stored in the memory 1202 and executable on the processor 1201. When the processor 1201 executes the computer program 1203, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 1201 executes the computer program 1203, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0163] The electronic device 12 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 12 may include, but is not limited to, a processor 1201 and a memory 1202. Those skilled in the art will appreciate that Fig.12 The electronic device 12 is merely an example and does not limit the electronic device 12 , and may include more or fewer components than those shown in the figure, or different components.

[0164] The processor 1201 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0165] The memory 1202 may be an internal storage unit of the electronic device 12, for example, a hard disk or memory of the electronic device 12. The memory 1202 may also be an external storage device of the electronic device 12, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the electronic device 12. The memory 1202 may also include both an internal storage unit of the electronic device 12 and an external storage device. The memory 1202 is used to store computer programs and other programs and data required by the electronic device.

[0166] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0167] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of regional requirements and patent practice. For example, in some regions, according to regional requirements and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0168] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A heading angle calculation method, characterized in that: The method comprises: Acquire first wheel speed data corresponding to a first wheel of a vehicle, and acquire second wheel speed data corresponding to a second wheel of the vehicle, wherein the first wheel and the second wheel are wheels disposed on both sides of the vehicle respectively; Calculate a first rolling distance corresponding to the first wheel according to the first wheel speed data, and calculate a second rolling distance corresponding to the second wheel according to the second wheel speed data; comparing the first rolling distance and the second rolling distance, and determining the heading angle direction of the vehicle according to the comparison result; Calculating a rolling distance difference between the first rolling distance and the second rolling distance, and obtaining a wheelbase of the vehicle, and processing the wheelbase and the rolling distance difference by a preset heading angle formula to obtain the heading angle; The heading angle formula is: ； is the first rolling distance, is the second rolling distance, is the wheelbase, is the heading angle; The heading angle is determined according to the heading angle direction and the heading angle angle.

2. The method according to claim 1, characterized in that Calculating the heading angle of the vehicle according to the rolling distance difference includes: Obtain a heading angle model corresponding to the heading angle direction, wherein the heading angle model is constructed based on a plurality of historical rolling distance differences corresponding to the heading angle direction, wherein the heading angle model includes a first heading angle model and a second heading angle model, wherein the first heading angle model includes: , wherein the is the output parameter of the first heading angle model, are the coefficients of the first linear equation system, is the input parameter of the first heading angle model; The second heading angle model includes: , wherein the is the output parameter of the second heading angle model, are the coefficients of the second linear equation system, is the input parameter of the second heading angle model; The rolling distance difference is input into the heading angle model to obtain the heading angle.

3. The method according to claim 2, characterized in that Before obtaining the heading angle model corresponding to the heading angle direction, the method further includes: Obtaining the historical heading angle corresponding to each of the historical rolling distance differences in the heading angle direction; Constructing an initial heading angle model corresponding to each heading angle direction; The initial heading angle model is adjusted according to the historical heading angle corresponding to each of the historical rolling distance differences to obtain the heading angle model corresponding to the heading angle direction.

4. The method according to claim 1, characterized in that: Calculating a first rolling distance corresponding to the first wheel according to the first wheel speed data includes: Calculating the angular velocity corresponding to the first wheel according to the first wheel speed data; Acquire a wheel radius of the vehicle, and determine a speed corresponding to the first wheel according to the wheel radius and the angular velocity; The preset interval duration of the sampling period is obtained, and the first scrolling distance is calculated according to the interval duration and the determined speed.

5. The method according to claim 1, characterized in that After calculating the heading angle of the vehicle according to the first rolling distance and the second rolling distance, the method further includes: Adjusting the heading of the projection corresponding to the vehicle in the virtual reality device according to the heading angle; A target heading angle transmitted by a positioning system is obtained, and a heading corresponding to the vehicle projected in the virtual reality device is corrected according to the target heading angle.

6. A heading angle calculation device, characterized in that: The device comprises: an acquisition module, configured to acquire first wheel speed data corresponding to a first wheel of a vehicle, and acquire second wheel speed data corresponding to a second wheel of the vehicle, wherein the first wheel and the second wheel are wheels disposed on both sides of the vehicle respectively; a distance module, configured to calculate a first rolling distance corresponding to the first wheel according to the first wheel speed data, and to calculate a second rolling distance corresponding to the second wheel according to the second wheel speed data; A heading angle module, used for comparing the first rolling distance with the second rolling distance, and determining the heading angle direction of the vehicle according to the comparison result; Calculating a rolling distance difference between the first rolling distance and the second rolling distance, and obtaining a wheelbase of the vehicle, and processing the wheelbase and the rolling distance difference by a preset heading angle formula to obtain the heading angle; The heading angle formula is: ； is the first rolling distance, is the second rolling distance, is the wheelbase, is the heading angle; The heading angle is determined according to the heading angle direction and the heading angle angle.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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