Vehicle detection method and device based on limit attitude, electronic equipment and storage medium

Abstract

The invention discloses a vehicle detection method and device based on a limit attitude, electronic equipment and a storage medium. The method comprises the steps of controlling a target vehicle to operate in a target state; determining target operation data of the target vehicle according to the operation data of each device in the target vehicle; and determining an evaluation result of the target vehicle according to the target operation data of the target vehicle. According to the method, the performance detection efficiency of the target vehicle can be improved, the evaluation result can be provided, and follow-up tracing of the target vehicle is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle detection, and in particular to a vehicle detection method, device, electronic equipment and storage medium based on extreme posture. Background Art

[0002] During the finalization and development of a vehicle, it is usually necessary to verify the operation of the vehicle in different postures. For example, during the development and calibration of the ADAS system, it is necessary to verify the consistency of the repeated calibration results of the laser Lidar or visual image monitoring system under different load-bearing conditions and the stability of the system. However, the existing verification methods usually use manual means such as vehicle weight balance, which leads to low efficiency in vehicle performance detection and the lack of record of operating status data due to the use of manual means. Summary of the invention

[0003] The present invention provides a vehicle detection method, device, electronic equipment and storage medium based on extreme posture to solve the problem of low efficiency of vehicle performance detection.

[0004] According to one aspect of the present invention, a vehicle detection method based on extreme posture is provided, comprising:

[0005] The target vehicle is controlled to operate in a target state, and the posture of the target vehicle in the target state includes: an extreme posture; the extreme posture is used to represent the posture of the target vehicle that is about to flip;

[0006] Determining target operating data of the target vehicle according to operating data of each device in the target vehicle;

[0007] An evaluation result of the target vehicle is determined based on the target operating data of the target vehicle.

[0008] According to another aspect of the present invention, there is provided a vehicle detection device based on extreme posture, comprising:

[0009] The operation module is used to control the target vehicle to operate in a target state. The posture of the target vehicle in the target state includes: an extreme posture; the extreme posture is used to represent the posture of the target vehicle about to flip;

[0010] An operation data determination module, used to determine target operation data of the target vehicle according to the operation data of each device in the target vehicle;

[0011] The evaluation result determination module is used to determine the evaluation result of the target vehicle according to the target operation data of the target vehicle.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle detection method based on extreme posture described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle detection method based on extreme posture described in any embodiment of the present invention when executed.

[0017] The technical solution of the embodiment of the present invention controls the target vehicle to operate in a target state, which can provide a basis for the collection of subsequent operation data; the target operation data of the target vehicle is determined according to the operation data of each device in the target vehicle, and the determination of the target operation data can characterize the operation status of the target vehicle from multiple aspects; the evaluation result of the target vehicle is determined according to the target operation data of the target vehicle, which can improve the efficiency of the target vehicle performance evaluation, and the determination of the evaluation result can also ensure the safety of the target vehicle. This method can improve the efficiency of the target vehicle performance detection, and can also provide an evaluation result, which is convenient for the subsequent tracing of the target vehicle.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A flow chart of a vehicle detection method based on extreme posture provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a pitch angle change of a target vehicle provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of a target vehicle torsion angle change provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a target vehicle height change provided by an embodiment of the present invention;

[0024] Figure 5 A structural diagram of a vehicle height adjustment device provided by an embodiment of the present invention;

[0025] Figure 6 A top view of a vehicle height adjustment device provided by an embodiment of the present invention;

[0026] Figure 7 A side view of a vehicle height adjustment device provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the installation of an altitude detector provided by an embodiment of the present invention;

[0028] Fig. 9 A structural diagram of an altitude detector provided by an embodiment of the present invention;

[0029] Fig.10 A connection diagram between a vehicle height adjustment device and a height detector provided by an embodiment of the present invention;

[0030] Fig.11 A schematic diagram of a target vehicle body posture provided by an embodiment of the present invention;

[0031] Fig.12 A schematic diagram of a wheelbase provided by an embodiment of the present invention;

[0032] Fig.13 A schematic diagram of a front wheel track provided by an embodiment of the present invention;

[0033] Fig.14 A schematic diagram of a rear wheelbase provided by an embodiment of the present invention;

[0034] Fig.15 A schematic diagram of the structure of a vehicle detection device based on extreme posture provided by an embodiment of the present invention;

[0035] Fig.16 A schematic diagram of the structure of an electronic device for implementing a vehicle detection method based on extreme postures according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] Figure 1 This is a flow chart of a vehicle detection method based on extreme posture provided by an embodiment of the present invention. This embodiment is applicable to the situation where the performance of a vehicle is evaluated under extreme posture. The method can be executed by a vehicle detection device based on extreme posture. The vehicle detection device based on extreme posture can be implemented in the form of hardware and / or software. The vehicle detection device based on extreme posture can be configured in any electronic device with network communication function. Figure 1 As shown, the method includes:

[0039] S110. Control the target vehicle to operate in a target state.

[0040] The posture of the target vehicle in the target state includes: a limit posture. The limit posture is used to represent the posture of the target vehicle that is about to flip.

[0041] Furthermore, it is assumed that the reference direction is the direction of the vehicle head. The extreme postures include: head up to the left, head up to the right, head down to the left, head down to the right, head up, head down, left and right, etc. Among them, looking up to the left means that the pitch angle between the front of the vehicle and the horizontal position is positive, and the body of the target vehicle is twisted to the left with the center line of the target vehicle as the reference direction and the positive direction, wherein the center line of the target vehicle is a straight line perpendicular to the body; looking up to the right means that the pitch angle between the front of the vehicle and the horizontal position is positive, and the body of the target vehicle is twisted to the right with the center line of the target vehicle as the reference direction and the positive direction; looking down to the left means that the pitch angle between the front of the vehicle and the horizontal position is negative, and the body of the target vehicle is twisted to the left with the center line of the target vehicle as the reference; looking down to the right means that the pitch angle between the front of the vehicle and the horizontal position is negative, and the body of the target vehicle is twisted to the right with the center line of the target vehicle as the reference direction and the positive direction; the right side means that the lower cantilever of the left front and rear wheels of the target vehicle and the overlap part with the body or the axle are lifted; the left side means that the lower cantilever of the right front and rear wheels of the target vehicle and the overlap part with the body or the axle are lifted.

[0042] Furthermore, if Figure 2 As shown in the figure, the angle enclosed by the blue solid line is the range of the pitch angle, that is, α1 is the elevation angle; α2 is the depression angle; Figure 3 As shown in the figure, the angle enclosed by the red solid line is the range of the target vehicle torsion angle, that is, α3 is the right torsion angle; α4 is the left torsion angle; Figure 4 As shown, the change of the orange solid line is the change h of the target vehicle body height.

[0043] Furthermore, the pitch angle and the torsion angle of the target vehicle are predetermined based on the limit angle of the vehicle rollover.

[0044] The target vehicle's posture in the target state includes: the target vehicle's posture in the process of adjusting from the extreme posture to the stable posture. The stable posture is the posture of the target vehicle in a stable state.

[0045] Specifically, if the posture of the target vehicle in the target state is to maintain an extreme posture, the target vehicle is controlled to operate in the extreme posture; if the posture of the target vehicle in the target state is the posture of the target vehicle in the process of adjusting from an extreme posture to a stable posture, the target vehicle is controlled to adjust from the extreme posture to a stable posture.

[0046] S120: Determine target operating data of the target vehicle according to operating data of each device in the target vehicle.

[0047] Specifically, the operating data generated when each device in the target vehicle operates in the target state is collected by sensors and other detection equipment configured in the target vehicle, and the operating data of each device in the target vehicle is sorted to obtain the target operating data of the target vehicle.

[0048] S130: Determine an evaluation result of the target vehicle according to the target operation data of the target vehicle.

[0049] Specifically, based on the target operation data and preset condition data of the target vehicle, the operation status of each device in the target vehicle and the performance of the target vehicle are evaluated, and based on the obtained evaluation results, a comprehensive evaluation is performed on the target vehicle to obtain an evaluation result of the target vehicle.

[0050] Among them, the preset condition data can be the range of changes in the operating status data corresponding to each device when the target vehicle is driving normally under extreme posture; it can be the data range that can characterize the performance of the target vehicle; it can also be an image of the device, etc.

[0051] For example, the target vehicle performance data range may be a preset rollover threshold range, etc.; in the extreme posture, when the target vehicle is driving normally, the change range of the operating state data corresponding to each device may be the change of the lateral force of the suspension system, wherein the lateral force of the suspension system is used to stabilize the body of the target vehicle when the target vehicle is about to roll over. The image of the device may be an image of a component such as a transmission shaft and a differential shaft.

[0052] For example, assuming that the preset rollover threshold of the target vehicle is 1.1g to 1.5g, if the measured rollover threshold of the target vehicle is 1.0g, it is considered that the anti-rollover capability of the target vehicle is poor; if the measured rollover threshold of the target vehicle is 1.4g, it is considered that the anti-rollover capability of the target vehicle is good. Wherein, g is the acceleration due to gravity.

[0053] Optionally, the posture of the target vehicle in the target state includes: maintaining an extreme posture and / or the posture of the target vehicle in the process of adjusting from an extreme posture to a stable posture.

[0054] Optionally, before controlling the target vehicle to operate in the target state, steps A1-A4 are included:

[0055] Step A1: adjusting the target vehicle through the vehicle height adjustment device according to the stable posture to obtain the current posture.

[0056] Among them, Figure 5 As shown, the vehicle height adjustment device is a set of electric hydraulic jack separated oil cylinder double-acting synchronous stroke mechanism, which is composed of a lifter and a jack controller. Further, the input end H2 of the hydraulic pipeline of the lifter is connected to the output end H1 of the hydraulic pipeline of the jack controller.

[0057] Furthermore, if Figure 6 As shown, the vehicle height adjustment device is installed on the chassis of the target vehicle, and the vehicle height adjustment device is used to lift the body of the target vehicle to complete the adjustment of the height of the target vehicle. For example, the vehicle height adjustment device is represented by A1-A4. Figure 7 , Figure 8 As shown, A1 is installed at the overlap position between the lower cantilever of the right front wheel of the target vehicle and the front axle; A2 is installed at the overlap position between the lower cantilever of the right rear wheel of the target vehicle and the rear axle or the vehicle body; A3 is installed at the overlap position between the lower cantilever of the left rear wheel of the target vehicle and the rear axle or the vehicle body; A4 is installed at the overlap position between the lower cantilever of the left front wheel and the front axle.

[0058] Specifically, it is determined that the target vehicle is in a stable posture and an extreme posture, and the height difference and angle difference are determined according to the stable posture and the extreme posture, and the obtained difference is converted into a reference signal, and the obtained reference signal is transmitted to the vehicle height adjustment device, and the vehicle height adjustment device adjusts the target vehicle according to the reference signal. During the adjustment process, the height detector detects the height of the target vehicle according to a preset frequency, and transmits the obtained height information to the central computing controller, and the central computing controller converts the obtained height information into the posture information of the target vehicle to obtain the current posture of the target vehicle. Among them, the preset frequency can be 0.5s / time.

[0059] Among them, Figure 8 As shown, the high and middle detectors S1-S4 are attached to the body skin above the wheel arch of the target vehicle by using magnetic blocks to fix the body. Fig. 9 As shown, the elevation detector includes: a magnetic block 1, used to adsorb the elevation detector on the target vehicle; a horizontal bubble level 2, used to correct the position of the elevation detector so that the elevation detector remains horizontal in the L direction, wherein the L direction is horizontal to the front and rear of the vehicle body; a vertical freedom rotation hanging rod 3, used to flexibly adjust the elevation detector; a data cable 4, used to connect to the central controller; a vertical bubble level 5, used to correct the position of the elevation detector so that the elevation detector remains horizontal in the W direction, wherein the W direction is horizontal to the left and right of the vehicle body; a laser displacement sensor 6, used to collect the height of the target vehicle.

[0060] Furthermore, the calibration process of the elevation detector is as follows: after the elevation detector is pasted to the wheel arch of the vehicle, the position of the bubble in the horizontal bubble level is confirmed, and the horizontal position of the magnetic block adsorbed in the L direction is adjusted according to the position of the bubble in the horizontal bubble level, so that the bubble in the horizontal bubble level is located in the horizontal position in the L direction. At this time, the vertical degree of freedom rotation hanging rod is released, the position of the bubble in the vertical bubble level is confirmed, and the horizontal position of the vertical bubble level in the W direction is determined according to the position of the bubble in the vertical bubble level. After the adjustment is completed, the laser displacement sensor located at the bottom is in the horizontal center position in the L and W directions.

[0061] Furthermore, if Fig.10As shown, the height detector 11 and the vehicle height adjustment device 12 transmit data through the central controller, that is, the signal port of the height detector 11 is connected to the central controller; the signal port of the vehicle height adjustment device 12 is connected to the central controller.

[0062] Furthermore, the basic posture of the target vehicle is obtained in the following manner: the four-wheel wheelbase (WB) and track width (FT / RT) measurement values ​​of the target vehicle are input through the interactive interface, and the central computing controller establishes the target vehicle body suspension digital model, and the central computing controller simulates the basic model of the target vehicle in a stable posture according to the input four-wheel load height information. For example, the constructed basic model is as follows: Fig.11 As shown, it can be seen from the figure that the vehicle frame is when the target vehicle is in a stable posture.

[0063] Furthermore, the wheelbase (WB) of the target vehicle, such as Fig.12 As shown; wheelbase (FT / RT), as Fig.13 and Fig.14 As shown, FT is the front wheelbase of the vehicle, which represents the distance between the front wheels of the target vehicle; RT is the rear wheelbase of the vehicle, which represents the distance between the rear wheels of the target vehicle; WB is the wheelbase of the vehicle, which represents the distance between the front and rear wheels of the target vehicle.

[0064] Step A2: determining the current posture difference according to the current posture and the limit posture.

[0065] The current posture difference includes a height difference and / or an angle difference.

[0066] Specifically, the height difference and / or angle difference between the current posture and the limit posture is determined according to the posture difference between the current posture and the limit posture of the target vehicle.

[0067] Furthermore, the height value and / or angle value corresponding to the current posture and the height value and / or angle value corresponding to the extreme posture can be subtracted to obtain the current posture difference; the current posture difference can also be obtained by performing image processing based on the basic model corresponding to the current posture difference and the basic model corresponding to the extreme posture difference.

[0068] Step A3: If the current posture difference does not meet the preset error, the current posture difference is converted into a reference signal, and the vehicle height adjustment device is controlled to adjust the target vehicle according to the reference signal.

[0069] The reference signal includes: a boost signal and / or a buck signal and / or an angle rotation signal.

[0070] Further, the vehicle height adjustment device raises the height of the target vehicle according to the boost signal; the vehicle height adjustment device lowers the height of the target vehicle according to the depressurization signal; and the vehicle height adjustment device adjusts the torsion angle of the target vehicle according to the angle rotation signal.

[0071] Specifically, if the height difference does not satisfy the preset height error and / or the angle difference does not satisfy the preset angle error, the height difference is converted into a boost signal and / or a buck signal, and the boost signal and / or the buck signal is sent to the vehicle height adjustment device, and the vehicle height adjustment device adjusts the height of the target vehicle according to the boost signal and / or the buck signal; the angle difference is converted into an angle rotation signal, and the vehicle height adjustment device adjusts the torsion angle of the target vehicle according to the angle rotation signal. After the adjustment is completed, it is continued to determine whether the posture difference satisfies the preset error. If not, the adjustment is continued until the preset error is met, and the corresponding posture is used as the extreme posture.

[0072] Step A4: If the current posture difference satisfies the preset error, the current posture is taken as the limit posture.

[0073] Specifically, if the height difference satisfies a preset height error and / or the angle difference satisfies a preset angle error, the current posture is taken as the limit posture.

[0074] Exemplarily, the elevation detector collects the height of the four wheels of the target vehicle and calculates the vehicle posture of the current state. The central controller determines the height difference and / or angle difference of the target vehicle according to the current posture and the extreme posture, and determines the lifting or lowering trend of the four wheels of the target vehicle according to the obtained height difference and / or angle difference, and sends reference signals to the four vehicle height adjustment devices one by one. The four vehicle height adjustment devices increase and / or reduce the pressure according to the instructions of the central controller to adjust the height of the target vehicle. After the vehicle height adjustment device increases and / or reduces the pressure for a preset time, it waits for a preset time, and then increases and / or reduces the pressure to complete the continuous cycle of the vehicle height adjustment device in execution-wait-execution. When the vehicle height adjustment device adjusts the target vehicle, the elevation detector detects the height of the four wheels at a preset frequency. The central controller continuously updates the reference signal according to the detection value returned by the elevation detector, and sends the obtained reference signal to the elevation detector, and adjusts the target vehicle through the elevation detector until the target vehicle reaches the extreme posture. Among them, the preset time can be 2s.

[0075] The above steps, without the need to modify the vehicle, independently calculate the vehicle adjustment posture through the altitude detector and the vehicle height adjustment device, thereby improving the efficiency of vehicle adjustment. The vehicle height adjustment device and the altitude detector also have the advantages of being independent of the target vehicle, not being restricted by the target vehicle, being simple in layout, and being easy to operate.

[0076] Optionally, controlling the target vehicle to operate in a target state includes steps B1-B2:

[0077] Step B1: matching the operation control mode from the candidate control modes according to the limit attitude.

[0078] The candidate control modes are control modes corresponding to the target vehicle in different vehicle states.

[0079] Specifically, if the current state of the target vehicle is in an extreme posture holding state, the extreme control mode is matched; if the state of the target vehicle is an extreme posture and the first operation data has been collected, the adjustment control mode is matched.

[0080] Furthermore, the adjustment control mode consists of an automatic adjustment mode and an operation mode. The automatic adjustment mode is used to control the target vehicle to automatically adjust from an extreme posture to a stable posture; the operation mode is used to control each device in the target vehicle to operate according to a normal operation mode, and adjust the posture of the target vehicle by controlling the vehicle height adjustment device.

[0081] Furthermore, the normal operating mode is an operating mode corresponding to when the target vehicle is normally traveling on the road.

[0082] Furthermore, the selection of the automatic adjustment mode and the operation mode is determined according to the actual evaluation requirements.

[0083] Furthermore, the second operating data generated in the automatic adjustment mode is used to evaluate the processing capability of the target vehicle when facing an extreme posture; and the second operating data generated in the operation mode is used to evaluate the performance of each device in the target vehicle.

[0084] Step B2: Control the target vehicle to operate in a target state according to the operation control mode.

[0085] If the operation control mode is the extreme control mode, the target vehicle is controlled to operate in the extreme posture according to the extreme control mode; if the operation control mode is the adjustment control mode, the target vehicle is adjusted from the extreme posture to the stable posture according to the adjustment control mode.

[0086] Optionally, determining target operating data of the target vehicle according to operating data of each device in the target vehicle includes steps C1-C2:

[0087] Step C1, determining first operating data of a device in a target vehicle.

[0088] The first operating data is used to represent operating data of equipment in the target vehicle under an extreme posture.

[0089] Specifically, when the target vehicle is running in an extreme posture, a sensor or other detection equipment in the vehicle detects the operation data of each device in the target vehicle in real time, and uses the obtained operation data as the first operation data.

[0090] Step C2: determining first target operating data of the target vehicle according to the first operating data.

[0091] Specifically, data capable of judging vehicle performance is generated for the first operating data, and the obtained data and the first operating data are used as first target operating data of the target vehicle.

[0092] Optionally, determining target operating data of the target vehicle according to operating data of each device in the target vehicle includes steps D1-D2:

[0093] Step D1, determining second operating data of the equipment in the target vehicle.

[0094] The second operating data is used to characterize operating data of equipment in the target vehicle during the process of adjusting the target vehicle from an extreme posture to a stable posture.

[0095] Specifically, when the target vehicle is adjusted from an extreme posture to a stable posture, sensors or other detection devices in the vehicle detect the operating data of each device in the target vehicle in real time, and use the obtained operating data as the second operating data.

[0096] Step D2: determining second target operating data of the target vehicle according to the second operating data.

[0097] Specifically, data capable of judging vehicle performance is generated for the second operating data, and the obtained data and the second operating data are used as second target operating data of the target vehicle.

[0098] Optionally, determining the evaluation result of the target vehicle according to the target operation data of the target vehicle includes steps E1-E2:

[0099] Step E1: If the target operation data of the target vehicle meets the preset condition data, the operation status of each device in the target vehicle is that it can work normally.

[0100] Specifically, if the target operation data of the target vehicle meets the preset condition data, it is considered that the target vehicle and the equipment in the target vehicle can work normally in the extreme posture or in the process of adjusting the extreme posture to the stable posture, and the operating state of the equipment in the target vehicle is that it can work normally.

[0101] For example, assuming that the extreme posture is lowering the head to the left, it indicates that the left and right rear wheels and the right front wheel of the target vehicle are lifted, and the lateral force data of the left front wheel suspension system is obtained from the second target operation data. If the lateral force data change of the left front wheel suspension system is within the preset lateral force change range, it is considered that the left front wheel suspension system can work normally.

[0102] Furthermore, the preset lateral force variation range is a lateral force variation range that is preset according to production requirements when the target vehicle is produced.

[0103] Step E2: If the target operation data of the target vehicle does not meet the preset condition data, the operation status of each device in the target vehicle is abnormal operation.

[0104] Specifically, if the target operation data of the target vehicle does not meet the preset condition data, it is considered that the equipment in the target vehicle cannot work normally in the extreme posture or in the process of adjusting from the extreme posture to the stable posture, and the operation state of the equipment in the target vehicle is abnormal operation.

[0105] Exemplarily, assuming that the extreme posture is lowering the head to the left, the change in the lateral force of the left front wheel suspension system is within the preset lateral force change range. If it is not within the preset lateral force change range, it is considered that the left front wheel suspension system cannot work normally.

[0106] Exemplarily, assuming that the target operating state is the first target operating data, images of the drive shaft and the differential are obtained from the first target operating data, and the images of the drive shaft and the differential are compared with the preset images. If the comparison result shows that there is no deformation or fracture, the drive shaft and the differential are considered to be normal; if the comparison result shows that there is deformation or fracture, the drive shaft and the differential are considered to be damaged, which indicates that the drive shaft and the differential do not meet the requirements.

[0107] Furthermore, the performance of the target vehicle is comprehensively scored according to the determined operating status of each device in the target vehicle to obtain an evaluation result of the target vehicle.

[0108] The technical solution of this embodiment controls the target vehicle to operate in the target state, which can provide a basis for the collection of subsequent operation data; the target operation data of the target vehicle is determined according to the operation data of each device in the target vehicle, and the determination of the target operation data can characterize the operation status of the target vehicle from multiple aspects; the evaluation result of the target vehicle is determined according to the target operation data of the target vehicle, which can improve the efficiency of the target vehicle performance evaluation, and the determination of the evaluation result can also ensure the safety of the target vehicle. This method can improve the efficiency of the target vehicle performance detection, and can also provide an evaluation result, which is convenient for the subsequent tracing of the target vehicle.

[0109] Fig.15The schematic diagram of the structure of a vehicle detection device based on extreme posture provided by an embodiment of the present invention. This embodiment is applicable to the situation where the performance of a vehicle is evaluated under extreme posture. The vehicle detection device based on extreme posture can be implemented in the form of hardware and / or software. The vehicle detection device based on extreme posture can be configured in any electronic device with network communication function. Fig.15 As shown, the device includes: an operation module 210, an operation data determination module 220 and an evaluation result determination module 230, wherein:

[0110] Operation module 210: used to control the target vehicle to operate in a target state, and the posture of the target vehicle in the target state includes: extreme posture; the extreme posture is used to represent the posture of the target vehicle about to flip;

[0111] The operation data determination module 220 is used to determine the target operation data of the target vehicle according to the operation data of each device in the target vehicle;

[0112] The evaluation result determination module 230 is used to determine the evaluation result of the target vehicle according to the target operation data of the target vehicle.

[0113] Optionally, the operation module 210 includes: maintaining the extreme posture and / or the posture of the target vehicle during the process of adjusting from the extreme posture to the stable posture.

[0114] Optional, vehicle detection device based on extreme posture, including:

[0115] Adjustment unit: used to adjust the target vehicle through the vehicle height adjustment device according to the stable posture to obtain the current posture;

[0116] A current posture difference determination unit is used to determine a current posture difference according to the current posture and the limit posture, where the current posture difference includes a height difference and / or an angle difference;

[0117] Adjustment unit: used for converting the current posture difference into a reference signal if the current posture difference does not meet the preset error, and controlling the vehicle height adjustment device to adjust the target vehicle according to the reference signal, the reference signal including: a boost signal and / or a buck signal and / or an angle rotation signal;

[0118] Limit posture determination unit: used to take the current posture as the limit posture if the current posture difference meets the preset error.

[0119] Optionally, the operation module 210 includes:

[0120] A control mode determination unit: used for matching an operation control mode from candidate control modes according to the limit posture, wherein the candidate control modes are control modes corresponding to the target vehicle in different vehicle states;

[0121] Operation unit: used to control the target vehicle to operate in a target state according to the operation control mode.

[0122] Optionally, the operation data determination module 220 includes:

[0123] A first operation data determination unit: used to determine first operation data of the equipment in the target vehicle, the first operation data being used to characterize operation data of the equipment in the target vehicle in an extreme posture of the target vehicle;

[0124] The first target operating data determining unit is configured to determine first target operating data of the target vehicle according to the first operating data.

[0125] Optionally, the operation data determination module 220 includes:

[0126] A second operation data determination unit: used to determine second operation data of the equipment in the target vehicle, the second operation data being used to characterize the operation data of the equipment in the target vehicle during the process of the target vehicle adjusting from the extreme posture to the stable posture;

[0127] The second target operating data determining unit is configured to determine the second target operating data of the target vehicle according to the second operating data.

[0128] Optionally, the evaluation result determination module 230 is specifically configured to:

[0129] If the target operation data of the target vehicle meets the preset condition data, the operation status of each device in the target vehicle is that it can work normally;

[0130] If the target operation data of the target vehicle does not meet the preset condition data, the operation status of each device in the target vehicle is abnormal operation.

[0131] The vehicle detection device based on extreme posture provided in the embodiment of the present invention can execute the vehicle detection method based on extreme posture provided in any embodiment of the present invention mentioned above, and has the corresponding functions and beneficial effects of executing the vehicle detection method based on extreme posture. For detailed process, please refer to the relevant operations of the vehicle detection method based on extreme posture in the above-mentioned embodiment.

[0132] Fig.16A schematic diagram of the structure of an electronic device for implementing a vehicle detection method based on extreme postures according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0133] like Fig.16 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0134] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0135] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a vehicle detection method based on extreme postures.

[0136] In some embodiments, the vehicle detection method based on extreme posture can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle detection method based on extreme posture described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the vehicle detection method based on extreme posture by any other appropriate means (e.g., by means of firmware).

[0137] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0139] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0141] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0142] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0143] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0144] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle detection method based on extreme posture, characterized in that: include: Controlling the target vehicle to operate in a target state, wherein the posture of the target vehicle in the target state includes: an extreme posture; the extreme posture is used to represent the posture of the target vehicle that is about to flip; Determining target operating data of the target vehicle according to operating data of each device in the target vehicle; An evaluation result of the target vehicle is determined according to the target operation data of the target vehicle.

2. The method according to claim 1, characterized in that The posture of the target vehicle in the target state includes: maintaining an extreme posture and / or the posture of the target vehicle in the process of adjusting from an extreme posture to a stable posture.

3. The method according to claim 1, characterized in that: Before controlling the target vehicle to operate in the target state, the method includes: According to the stable posture, the target vehicle is adjusted by a vehicle height adjustment device to obtain a current posture; Determine a current posture difference according to the current posture and the limit posture, wherein the current posture difference includes a height difference and / or an angle difference; If the current posture difference does not meet the preset error, the current posture difference is converted into a reference signal, and the vehicle height adjustment device is controlled to adjust the target vehicle according to the reference signal; the reference signal includes: a boost signal and / or a buck signal and / or an angle rotation signal; If the current posture difference satisfies the preset error, the current posture is taken as the limit posture.

4. The method according to claim 1, characterized in that: The controlling the target vehicle to operate in a target state includes: Matching an operating control mode from candidate control modes according to the limit posture, wherein the candidate control modes are control modes corresponding to the target vehicle in different vehicle states; The target vehicle is controlled to operate in a target state according to the operation control mode.

5. The method according to claim 1, characterized in that Determining target operating data of the target vehicle according to operating data of each device in the target vehicle includes: Determine first operating data of a device in a target vehicle, wherein the first operating data is used to characterize operating data of the device in the target vehicle in an extreme posture of the target vehicle; First target operating data of the target vehicle is determined based on the first operating data.

6. The method according to claim 1, characterized in that Determining target operating data of the target vehicle according to operating data of each device in the target vehicle includes: Determine second operating data of the equipment in the target vehicle, wherein the second operating data is used to characterize operating data of the equipment in the target vehicle during the process of adjusting the target vehicle from an extreme posture to a stable posture; Second target operating data of the target vehicle is determined based on the second operating data.

7. The method according to claim 1, characterized in that Determining the evaluation result of the target vehicle according to the target operation data of the target vehicle includes: If the target operation data of the target vehicle meets the preset condition data, the operation status of each device in the target vehicle is that it can work normally; If the target operation data of the target vehicle does not satisfy the preset condition data, the operation status of each device in the target vehicle is abnormal operation.

8. A vehicle detection device based on extreme posture, characterized in that: include: An operation module, used for controlling the target vehicle to operate in a target state, wherein the posture of the target vehicle in the target state includes: an extreme posture; the extreme posture is used to represent the posture of the target vehicle that is about to flip; An operation data determination module, used to determine target operation data of the target vehicle according to the operation data of each device in the target vehicle; The evaluation result determination module is used to determine the evaluation result of the target vehicle according to the target operation data of the target vehicle.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle detection method based on extreme posture according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle detection method based on extreme posture according to any one of claims 1 to 7 when executed.

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