Data processing method and related equipment

Abstract

The embodiment of the invention discloses a data processing method and related equipment, the method can be used for obtaining angular velocity information of first equipment, and the method comprises the steps that the first equipment obtains at least two pieces of acceleration information, and the at least two pieces of acceleration information are obtained through at least two sensors, different sensors in the at least two sensors are arranged at different positions in the first equipment; according to the at least two pieces of acceleration information and position information, angular velocity information of the first equipment is determined, and the position information indicates the relative position between different sensors in the at least two sensors; the positions of the at least two sensors only need to be different and do not need to be installed at the central position of the vehicle, so that the installation requirement is low; and the sensor for measuring the acceleration information is low in cost, so that the cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a data processing method and related equipment. Background Art

[0002] The positioning system of an autonomous vehicle is used to determine the location of the vehicle and provide the most basic information for the vehicle's path planning and navigation. The performance of the positioning system will directly determine the stability and reliability of the autonomous vehicle. At present, the positioning system is generally a combination of multiple sensors, such as the inertial measurement unit (IMU) used by the inertial navigation system (INS), the global navigation satellite system (GNSS) receiver, the laser radar (light detection and ranging, LiDAR), the odometer, the visual sensor, etc. Among them, the IMU can be used to determine the vehicle's posture information.

[0003] Currently, IMU includes a gyroscope, which is used to obtain the angular velocity of the vehicle in one or more directions. However, the gyroscope needs to be deployed at the center of the vehicle, has high installation requirements, and the cost of the gyroscope is high. Summary of the invention

[0004] The present application provides a data processing method and related equipment, which determine the angular velocity information of a first device based on at least two acceleration information and position information obtained by at least two sensors; the positions of the at least two sensors only need to be different, and do not need to be installed at the center of the vehicle, and the installation requirements are low; and the sensor used to measure the acceleration information is low in cost, which is conducive to reducing costs.

[0005] In order to solve the above technical problems, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a data processing method, which can be used to obtain angular velocity information of a first device. Exemplarily, the first device can be a vehicle, a mobile robot, a mobile phone, a tablet, a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a monitoring device, or other devices that need to measure the angular velocity information of the first device. The method includes: the first device obtains at least two acceleration information, the at least two acceleration information is obtained by at least two sensors, and different sensors of the at least two sensors are deployed at different positions in the first device; each of the at least two sensors can be an accelerometer or other sensor for measuring acceleration information.

[0007] The first device determines the angular velocity information of the first device based on at least two acceleration information and position information, where the position information indicates the relative position between different sensors among the at least two sensors; illustratively, if the at least two sensors include two sensors, the two sensors include a first sensor and a second sensor, the position information indicates the relative position between the first sensor and the second sensor; if the at least two sensors include three or more sensors, the position information indicates the relative position between any two different sensors among the at least three sensors.

[0008] In this implementation, at least two sensors are deployed at different positions of the first device, and acceleration information of the sensor is obtained by each of the at least two sensors, and then the angular velocity information of the first device is determined according to the at least two acceleration information and position information. Since the at least two sensors are located in the first device, the angular velocities at different positions in the first device are the same, but due to the different positions of different sensors, the accelerations measured at different positions of the first device are different under the same angular velocity, so "determining the angular velocity information of the first device based on the acceleration information obtained by sensors at different positions and the relative positions between different sensors" is feasible. The positions of the at least two sensors only need to be different, and they do not need to be installed at the center of the vehicle, so the installation requirements are low. Moreover, the sensor used to measure the acceleration information is low in cost, which is conducive to reducing costs.

[0009] In a possible implementation, the at least two sensors include two sensors, and the two sensors are deployed on the same plane; illustratively, the two sensors can be deployed on the same board in the first device. In this implementation, a simple deployment method of at least two sensors is provided, which further reduces the difficulty of installation and improves the feasibility of this solution; in addition, the design of "deploying two sensors on the same plane" reduces the number of sensors used as much as possible, further reducing the cost.

[0010] In a possible implementation, the target acceleration information is any one of at least two acceleration information, and the target acceleration information is obtained by measuring the target sensor; if the angular velocity information of the first device includes the angular velocity of the first device in the yaw direction, the target acceleration information may include the acceleration of the target sensor in the x-axis direction of the first device and the acceleration of the target sensor in the y-axis direction of the first device. If the angular velocity information of the first device includes the angular velocity of the first device in the pitch direction, the target acceleration information may include the acceleration of the target sensor in the x-axis direction of the first device and the acceleration of the target sensor in the z-axis direction of the first device. If the angular velocity information of the first device includes the angular velocity of the first device in the roll direction, the target acceleration information may include the acceleration of the target sensor in the y-axis direction of the first device and the acceleration of the target sensor in the z-axis direction of the first device.

[0011] In a possible implementation, the angular velocity information includes the angular velocity of the first device in the yaw direction. For example, when the first device moves in the Yaw direction, the rotation axis corresponding to the movement in the Yaw direction is parallel to the z-axis of the first device. The two sensors include a first sensor and a second sensor. The first device determines the angular velocity information of the first device according to at least two acceleration information, including: the first device determines the angular velocity of the first device in the Yaw direction according to the acceleration of the first sensor in the x-axis direction and the y-axis direction, the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information. Among them, the at least two acceleration information include the first acceleration information and the second acceleration information. The first acceleration information is obtained by the first sensor, and the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the y-axis direction. The second acceleration information is obtained by the second sensor, and the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the y-axis direction. The position information indicates the relative position between the first sensor and the second sensor. For example, the position information may include a first distance value between the first sensor and the second sensor. The first distance value can be understood as the distance value of the straight line between the first sensor and the second sensor.

[0012] In this implementation, a specific implementation method is provided for generating the angular velocity of the first device in the Yaw direction based on the first acceleration information obtained by the first sensor and the second acceleration information obtained by the second sensor, which is beneficial to improving the accuracy of the generation process of "the angular velocity of the first device in the Yaw direction".

[0013] In a possible implementation, the angular velocity information includes the angular velocity of the first device in the pitch direction, and the rotation axis corresponding to the movement in the pitch direction is parallel to the y-axis of the first device; the two sensors include a first sensor and a second sensor. The first device determines the angular velocity information of the first device according to at least two acceleration information, including: the first device determines the angular velocity of the first device in the pitch direction according to the acceleration of the first sensor in the x-axis direction and the z-axis direction, the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information. Among them, the at least two acceleration information include the first acceleration information and the second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, and the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the z-axis direction; the position information indicates the relative position between the first sensor and the second sensor, for example, the position information includes the second distance value of the first sensor and the second sensor in the x-axis direction of the first device, that is, the distance value obtained by projecting the first distance value onto the x-axis of the first device.

[0014] In this implementation, a specific implementation method is provided for generating the angular velocity of the first device in the Pitch direction according to the first acceleration information and the second acceleration information, which is conducive to improving the accuracy of the generation process of "the angular velocity of the first device in the Pitch direction".

[0015] In a possible implementation, the angular velocity information includes the angular velocity of the first device in the roll direction, and the rotation axis corresponding to the movement in the Roll direction is parallel to the x-axis of the first device; the two sensors include a first sensor and a second sensor. The first device determines the angular velocity information of the first device according to at least two acceleration information, including: the first device determines the angular velocity of the first device in the Roll direction according to the acceleration of the first sensor in the y-axis direction and the z-axis direction, the acceleration of the second sensor in the y-axis direction and the z-axis direction, and the position information. Among them, the at least two acceleration information include the first acceleration information and the second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the y-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, and the second acceleration information includes the acceleration of the second sensor in the y-axis direction and the z-axis direction; the position information indicates the relative position between the first sensor and the second sensor, for example, the position information includes the third distance value of the first sensor and the second sensor in the y-axis direction of the first device, that is, the distance value obtained by projecting the first distance value onto the y-axis of the first device.

[0016] In this implementation, a specific implementation method is provided for generating the angular velocity of the first device in the Roll direction based on the first acceleration information and the second acceleration information, which is beneficial to improving the accuracy of the generation process of "the angular velocity of the first device in the Roll direction".

[0017] In a possible implementation, the angular velocity information includes the angular velocity of the first device in at least one direction. Exemplarily, the aforementioned at least one direction may include any one or more of a yaw direction, a pitch direction, or a roll direction. Before the first device determines the angular velocity information of the first device based on at least two acceleration information, the method further includes: when the first device determines that the first device does not have an angular velocity in a first direction based on at least two acceleration information, canceling the generation operation of the angular velocity of the first device in the first direction, the first direction being one of the at least one direction. Then, the first device determines the angular velocity information of the first device based on at least two acceleration information, which may include: the first device determines the angular velocity of the first device in at least one second direction based on at least two acceleration information to obtain the angular velocity information of the first device, the second direction and the first direction being different directions in the aforementioned at least one direction.

[0018] In this implementation, the angular velocity information of the first device includes the angular velocity in at least one direction. Before generating the angular velocity of the first device in each of the aforementioned at least one direction, it can be determined whether the first device has an angular velocity in each direction. If the first device does not have an angular velocity in the first direction, if the first device continues to perform the operation of generating the angular velocity of the first device in the first direction, the aforementioned generation operation will fail. In this solution, when it is determined that the first device does not have an angular velocity in the first direction, the operation of generating the angular velocity of the first device in the first direction is canceled, which not only avoids the waste of computer resources, but also avoids the failure of the generation operation of the first device as much as possible, which is beneficial to improving the stability of the operation process of the first device; when the first device is a vehicle, the safety of the operation process of the vehicle is also improved.

[0019] In a possible implementation, when the first device is a vehicle, the at least two sensors may be integrated into a domain controller of the vehicle (i.e., the first device). Exemplarily, multiple domain controllers in the vehicle may share the angular velocity information of the vehicle obtained through a certain domain controller, and / or, a group of sensors (i.e., including the at least two sensors) may be separately deployed in a domain controller in the vehicle that has a relatively high real-time requirement for the aforementioned angular velocity information, so as to obtain the angular velocity information of the vehicle through the at least two sensors.

[0020] In the present implementation, since it is generally the domain controller in the vehicle that needs to use the angular velocity information of the vehicle, for example, the domain controller determines whether the current state of the vehicle is safe based on the angular velocity of the vehicle in the rolling direction, and for another example, the domain controller determines the arc size when the vehicle turns based on the angular velocity of the vehicle in the yaw direction, etc., at least two sensors for obtaining the angular velocity information of the vehicle are directly integrated into at least one domain controller, which is beneficial for at least one domain controller in the vehicle to obtain the angular velocity information of the vehicle more quickly, thereby facilitating improving the safety of the vehicle during driving.

[0021] In a possible implementation, the method further includes: the first device determines the third acceleration information of the first device based on the at least two acceleration information; illustratively, the first device may average the acceleration components on each coordinate axis in the at least two acceleration information to obtain the third acceleration information of the first device, and the third acceleration information of the first device includes the acceleration on the x-axis of the first device, the acceleration on the y-axis of the first device, and the acceleration on the z-axis of the first device. The above method is conducive to improving the accuracy of the acceleration information of the first device finally obtained.

[0022] In a second aspect, the present application provides a data processing device that can be used in a first device. Exemplarily, the aforementioned first device can be a vehicle, a mobile robot, a mobile phone, a tablet, a wearable device, a VR device, an AR device, a monitoring device, or other devices that need to measure the angular velocity information of the first device. The data processing device includes: an acquisition module, which is used to acquire at least two acceleration information, the at least two acceleration information is obtained by at least two sensors, and different sensors of the at least two sensors are deployed at different positions in the first device; a determination module, which is used to determine the angular velocity information of the first device based on the at least two acceleration information and position information, and the position information indicates the relative position between different sensors of the at least two sensors.

[0023] In the second aspect, the data processing device can also execute the steps performed by the first device in the first aspect and various possible implementation methods of the first aspect. For the specific implementation steps of the second aspect of this application and the various possible implementation methods of the second aspect, as well as the beneficial effects brought about by each possible implementation method, you can refer to the description of the various possible implementation methods in the first aspect, and they will not be repeated here one by one.

[0024] In a third aspect, the present application provides a device, comprising a processor, the processor and a memory are coupled, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the data processing method described in the first aspect is implemented.

[0025] In a possible implementation, the above-mentioned device may be a vehicle, a mobile robot, a mobile phone, a tablet, a wearable device, a virtual reality VR device, an augmented reality AR device or a monitoring device.

[0026] In a fourth aspect, the present application provides a vehicle, which may include a memory, a processor, and a bus system, wherein the memory is used to store programs, and the processor is used to execute programs in the memory, including the following steps: the bus system is used to connect the memory and the processor so that the memory and the processor communicate. In the fourth aspect of the present application, the processor may also be used to execute the steps executed by the first device in each possible implementation of the first aspect, and the details may all be referred to the first aspect, which will not be repeated here.

[0027] In a fifth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer-readable storage medium is executed on a computer, the computer executes the data processing method described in the first aspect above.

[0028] In a sixth aspect, the present application provides a circuit system, which includes a processing circuit, and the processing circuit is configured to execute the data processing method described in the first aspect above.

[0029] In a seventh aspect, the present application provides a computer program which, when executed on a computer, enables the computer to execute the data processing method described in the first aspect above.

[0030] In an eighth aspect, the present application provides a chip system, which includes a processor for supporting the implementation of the functions involved in the above aspects, for example, sending or processing the data and / or information involved in the above methods. In one possible design, the chip system also includes a memory, which is used to store program instructions and data necessary for a server or communication device. The chip system can be composed of a chip, or it can include a chip and other discrete devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flowchart of a data processing method provided in an embodiment of the present application;

[0032] Figure 2 Another flowchart of the data processing method provided in the embodiment of the present application;

[0033] Figure 3 A schematic diagram of the deployment positions of at least two sensors provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of at least two acceleration information provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of the yaw direction provided in an embodiment of the present application;

[0036] Figure 6 Another schematic diagram of the yaw direction provided in an embodiment of the present application;

[0037] Figure 7 Another schematic diagram of the yaw direction provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the pitch direction provided in an embodiment of the present application;

[0039] Fig. 9 Another schematic diagram of the pitch direction provided in an embodiment of the present application;

[0040] Fig.10 Another schematic diagram of the pitch direction provided in an embodiment of the present application;

[0041] Fig.11 A schematic diagram of the rolling direction provided in an embodiment of the present application;

[0042] Fig.12 Another schematic diagram of the rolling direction provided in an embodiment of the present application;

[0043] Fig.13 Another schematic diagram of the rolling direction provided in an embodiment of the present application;

[0044] Fig.14 A schematic diagram of the structure of a data processing device provided in an embodiment of the present application;

[0045] Fig.15 A schematic diagram of the structure of a device provided in an embodiment of the present application;

[0046] Fig.16 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The terms "first", "second", etc. in the specification and claims of the present application 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 terms used in this way can be interchanged under appropriate circumstances. This is merely a way of distinguishing objects with the same properties when describing the embodiments of the present application. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, so that a process, method, system, product, or device that includes a series of units is not necessarily limited to those units, but may include other units that are not explicitly listed or inherent to these processes, methods, products, or devices.

[0048] The embodiments of the present application can be applied to various scenarios where the angular velocity information of a certain device (hereinafter referred to as the "first device") needs to be obtained. Optionally, the first device can be a terminal device. For example, the aforementioned first device can be a vehicle, a mobile robot, a mobile phone, a tablet, a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a monitoring device or other device that needs to measure the angular velocity information of the first device, etc., which is not limited in the embodiments of the present application. For example, the vehicle can be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an entertainment vehicle, a playground vehicle, construction equipment, a tram, a golf cart, a train or other types of vehicles, etc., which are not limited in the embodiments of the present application.

[0049] For example, in one application scenario, if the first device is an autonomous driving vehicle, the autonomous driving vehicle may need to obtain the angular velocity information of the autonomous driving vehicle when planning its own path. In another application scenario, if the first device is a mobile robot, the mobile robot may need to obtain the angular velocity information of the mobile robot when planning its path. In another application scenario, if the first device is a mobile phone or a tablet, the user may need to obtain the angular velocity information of the mobile phone or tablet when playing games.

[0050] In another application scenario, if the first device is a VR device or an AR device, the user may need to obtain the angular velocity information of the VR device or the AR device during the use of the VR device or the AR device. In another application scenario, if the first device is a monitoring device, since the monitoring device is rotatable, it may be necessary to obtain the angular velocity information of the monitoring device during the use of the monitoring device.

[0051] It should be noted that the above examples of application scenarios of this application are only for the convenience of understanding this solution and are not used to limit this solution. Currently, the angular velocity information of the first device is measured by a gyroscope, but the gyroscope needs to be deployed at the center of the first device, which has high installation requirements and high cost. In order to solve the above problems, this application provides a data processing method. For details, please refer to Figure 1 , Figure 1 A flow chart of a data processing method provided in an embodiment of the present application. The aforementioned method is applied to a first device, and the method may include: 101, the first device obtains at least two acceleration information, the at least two acceleration information are obtained by at least two sensors, and different sensors of the at least two sensors are deployed at different positions in the first device.

[0052] 102. The first device determines angular velocity information of the first device based on at least two acceleration information and position information, where the aforementioned position information indicates a relative position between different sensors of the at least two sensors.

[0053] Exemplarily, the angular velocity information of the first device may include the angular velocity of the first device in at least one direction, and the angular velocity of the first device in at least one direction may include any one or more of the following: the angular velocity of the first device in a yaw direction, the angular velocity of the first device in a pitch direction, or the angular velocity of the first device in a roll direction.

[0054] In an embodiment of the present application, at least two sensors are deployed at different positions of the first device, and acceleration information of the sensor is obtained by each of the at least two sensors, and then the angular velocity information of the first device is determined based on the at least two acceleration information and position information. Since the at least two sensors are located in the first device, the angular velocities at different positions in the first device are the same, but due to the different positions of different sensors, the accelerations measured at different positions of the first device are different under the same angular velocity, so "determining the angular velocity information of the first device based on the acceleration information obtained by sensors at different positions and the relative positions between different sensors" is feasible. The positions of the at least two sensors only need to be different, and they do not need to be installed at the center of the vehicle, so the installation requirements are low. Moreover, the sensor used to measure the acceleration information is low in cost, which is conducive to reducing costs.

[0055] Based on the above description, the data processing method provided by this application is described in detail below. For details, please refer to Figure 2 , Figure 2 Another flow chart of the data processing method provided in the embodiment of the present application is as follows. The data processing method provided in the embodiment of the present application may include:

[0056] 201. Obtain at least two acceleration information, where the at least two acceleration information are obtained through at least two sensors, and different sensors of the at least two sensors are deployed at different positions in a first device.

[0057] In the embodiment of the present application, the first device can obtain one piece of acceleration information through each of the at least two sensors included in the first device, and at least two pieces of acceleration information can be obtained by measuring at least two sensors. Exemplarily, each of the at least two sensors can be an accelerometer or other sensor for measuring acceleration information, etc., which is not limited in the present application.

[0058] Exemplarily, in one case, the at least two sensors may include two sensors, the two sensors may be deployed on the same plane, and the two sensors may be deployed at different positions on the aforementioned same plane. Exemplarily, the aforementioned two sensors may be deployed on the same single board in the first device. In an embodiment of the present application, a simple deployment method for at least two sensors is provided, which further reduces the difficulty of installation and improves the feasibility of the present solution; in addition, the design of "deploying two sensors on the same plane" reduces the number of sensors used as much as possible, further reducing costs.

[0059] Optionally, the greater the distance between the two sensors, the higher the accuracy of the angular velocity obtained based on the two sensors, but the larger the area of ​​the single board used to deploy the two sensors; the smaller the distance between the two sensors, the lower the accuracy of the angular velocity obtained based on the two sensors, but the smaller the area of ​​the single board used to deploy the two sensors. The specific position between the two sensors can be determined according to the actual product form, and is not limited in the embodiments of the present application.

[0060] For a more intuitive understanding of this solution, please refer to Figure 3 , Figure 3 A schematic diagram of the deployment positions of at least two sensors provided in an embodiment of the present application, such as Figure 3 As shown, the at least two sensors may include a first sensor and a second sensor, and the first sensor and the second sensor may be deployed on the same plane (ie Figure 3 It should be understood that Figure 3 The examples are only for facilitating the understanding of this solution and are not intended to limit this solution.

[0061] In another case, the at least two sensors may include three or more sensors, and the three or more sensors are deployed at different positions in the first device. The three or more sensors may be deployed on the same plane or on different planes.

[0062] Optionally, when the first device is a vehicle, the at least two sensors mentioned above can be integrated into the domain controller of the vehicle (i.e., the first device). The at least two sensors mentioned above can be integrated into at least one domain controller in the vehicle to obtain the angular velocity information of the first device through the at least two sensors mentioned above; illustratively, multiple domain controllers in the vehicle can share the angular velocity information of the vehicle obtained through a certain domain controller, and / or, a group of sensors (i.e., including the at least two sensors mentioned above) can be separately deployed in a domain controller in the vehicle that has a relatively high real-time requirement for the angular velocity information mentioned above, so as to obtain the angular velocity information of the vehicle through the at least two sensors mentioned above, etc. It should be noted that which domain controllers of the vehicle are integrated with the at least two sensors mentioned above can be determined in combination with the actual situation of the vehicle, and is not limited in the embodiments of the present application.

[0063] In the embodiments of the present application, since it is generally the domain controller in the vehicle that needs to use the angular velocity information of the vehicle, for example, the domain controller determines whether the current state of the vehicle is safe based on the angular velocity of the vehicle in the rolling direction, and for another example, the domain controller determines the arc size when the vehicle turns based on the angular velocity of the vehicle in the yaw direction, etc., at least two sensors for obtaining the angular velocity information of the vehicle are directly integrated into at least one domain controller, which is beneficial for at least one domain controller in the vehicle to obtain the angular velocity information of the vehicle more quickly, thereby facilitating improving the safety of the vehicle during driving.

[0064] For the meaning of any one of the above-mentioned at least two acceleration information (hereinafter referred to as target acceleration information for the convenience of description), the target acceleration information is obtained by measuring the target sensor of the at least two sensors. For example, if the angular velocity information of the first device includes the angular velocity of the first device in the yaw direction, the target acceleration information may include the acceleration of the target sensor in the x-axis direction of the first device and the acceleration of the target sensor in the y-axis direction of the first device. If the angular velocity information of the first device includes the angular velocity of the first device in the pitch direction, the target acceleration information may include the acceleration of the target sensor in the x-axis direction of the first device and the acceleration of the target sensor in the z-axis direction of the first device. If the angular velocity information of the first device includes the angular velocity of the first device in the roll direction, the target acceleration information may include the acceleration of the target sensor in the y-axis direction of the first device and the acceleration of the target sensor in the z-axis direction of the first device.

[0065] Exemplarily, when the first device moves in the Yaw direction, the rotation axis corresponding to the movement in the Yaw direction is parallel to the z-axis of the first device; when the first device moves in the Pitch direction, the rotation axis corresponding to the movement in the Pitch direction is parallel to the y-axis of the first device; when the first device moves in the Roll direction, the rotation axis corresponding to the movement in the Roll direction is parallel to the x-axis of the first device.

[0066] For example, if the first device is a vehicle or a mobile robot, the x-axis direction of the first device, the y-axis direction of the first device, and the z-axis direction of the first device are all perpendicular to each other, the x-axis direction of the first device can be the forward direction of the first device; the plane formed by the y-axis direction of the first device and the x-axis direction of the first device is parallel to the ground where the first device is located; the plane formed by the z-axis direction of the first device and the x-axis direction of the first device is perpendicular to the ground where the first device is located.

[0067] For another example, if the first device is a mobile phone or a tablet, the x-axis direction of the first device, the y-axis direction of the first device, and the z-axis direction of the first device are all perpendicular to each other, the plane formed by the y-axis direction of the first device and the x-axis direction of the first device is parallel to the screen of the first device, the x-axis direction of the first device can be parallel to the long side of the first device, the z-axis direction of the first device can be perpendicular to the screen of the first device, and so on. It should be noted that the examples here are only for the convenience of understanding the concept of "the x-axis direction of the first device, the y-axis direction of the first device, and the z-axis direction of the first device". When the first device is manifested as other types of devices, the x-axis direction of the first device, the y-axis direction of the first device, and the z-axis direction of the first device can be flexibly determined based on the product form, and are not limited in the embodiments of the present application.

[0068] For a more intuitive understanding of this solution, please refer to Figure 4 , Figure 4 A schematic diagram of at least two acceleration information provided in an embodiment of the present application, Figure 4 Can be combined Figure 3 To understand, Figure 4 In the example, the first device is equipped with a first sensor U1 and a second sensor U2. The at least two acceleration information include first acceleration information obtained by the first sensor U1 and second acceleration information obtained by the second sensor. The first acceleration information includes a′ x , a′ y and a′ z , the acceleration of the first sensor in the x-axis direction of the first device is a′ x , the acceleration of the first sensor in the y-axis direction of the first device is a′ y , the acceleration of the first sensor in the z-axis direction of the first device is a′ x , the acceleration of the first sensor in the y-axis direction of the first device is a′ z .

[0069] The second acceleration information includes a″ x , a″ y and a″ z , the acceleration of the second sensor in the x-axis direction of the first device is a″ x , the acceleration of the second sensor in the y-axis direction of the first device is a″ y , the acceleration of the second sensor in the z-axis direction of the first device is a″ z , it should be understood that Figure 4 The examples are only for facilitating the understanding of this solution and are not intended to limit this solution.

[0070] 202. Determine whether the first device has an angular velocity in the target direction based on at least two pieces of acceleration information. If the determination result is no, proceed to step 203; if the determination result is yes, determine to execute an operation of generating the angular velocity of the first device in the target direction.

[0071] In the embodiment of the present application, step 202 is an optional step. The angular velocity information of the first device includes the angular velocity of the first device in at least one direction. For the judgment process of "whether the first device has an angular velocity in any one of the at least one direction (hereinafter referred to as "target direction")", exemplarily, after the first device determines which directions the angular velocity information includes and obtains at least two acceleration information through at least two sensors, it can judge whether the first device has an angular velocity in the target direction according to the at least two acceleration information obtained above. If the judgment result is no, then step 203 is entered, that is, the generation operation of the angular velocity of the first device in the target direction is canceled. The first direction is one of the at least one target direction. It should be noted that, in order to facilitate distinction in the present application, the target direction in which the first device does not have an angular velocity is referred to as "the first direction"; if the judgment result is yes, it can be determined to perform the generation operation of the angular velocity of the first device in the second direction. The second direction is one of the at least one target direction. In order to facilitate distinction in the present application, the target direction in which the first device has an angular velocity is referred to as "the second direction".

[0072] Exemplarily, the at least two acceleration information include acceleration information of each sensor of the at least two sensors. If the target direction is the yaw direction, the first device can obtain the acceleration of each sensor in the y-axis direction from the at least two acceleration information. If the acceleration of each sensor in the y-axis direction is 0, it may represent that the first device has no angular velocity in the Yaw direction.

[0073] If the target direction is the pitch direction, the first device may obtain the acceleration of each sensor in the x-axis direction from at least two acceleration information. If the acceleration of each sensor in the x-axis direction is 0, it may represent that the first device has no angular velocity in the pitch direction.

[0074] If the target direction is a roll direction, the first device may obtain the acceleration of each sensor in the z-axis direction from at least two acceleration information. If the acceleration of each sensor in the z-axis direction is 0, it may represent that the first device has no angular velocity in the Roll direction.

[0075] It should be noted that the first device may also use other methods to implement “determining whether the first device has angular velocity in the target direction based on at least two acceleration information”. The example here is only to prove the feasibility of this solution and is not used to limit this solution.

[0076] 203. Cancel the operation of generating the angular velocity of the first device in the first direction.

[0077] In the embodiment of the present application, step 203 is an optional step. If step 202 is not performed, step 203 is not performed; if step 202 is performed, step 203 can be performed. After determining that the first device does not have an angular velocity in a first direction, the first device can determine to cancel the generation operation of the angular velocity of the first device in the first direction.

[0078] The first device may repeat steps 202 and 203 at least once to determine whether the first device has an angular velocity in each of at least one target direction, that is, to determine in which second directions the angular velocity of the first device needs to be generated in step 204 .

[0079] For example, if the angular velocity information of the first device includes the angular velocity of the first device in the Yaw direction, the Pitch direction and the Roll direction, and it is determined through steps 202 and 203 that the first device does not have an angular velocity in the Roll direction, and the first device has angular velocities in the Yaw direction and the Pitch direction, then in the subsequent step 204, only the angular velocity of the first device in the Yaw direction and the Pitch direction may be generated, and the generation operation of the angular velocity of the first device in the Roll direction is no longer performed, that is, the two second directions include the Yaw direction and the Pitch direction, and one first direction includes the Roll direction.

[0080] For another example, if the angular velocity information of the first device includes the angular velocities of the first device in the Yaw direction, the Pitch direction, and the Roll direction, and it is determined through steps 202 and 203 that the first device does not have angular velocities in the Pitch direction and the Roll direction, and the first device has an angular velocity in the Yaw direction, then in the subsequent step 204, only the angular velocity of the first device in the Yaw direction may be generated, and the generation operation of the angular velocities of the first device in the Pitch direction and the Roll direction may no longer be performed, that is, one second direction includes the Yaw direction, two first directions include the Pitch direction and the Roll direction, etc. It should be understood that the example here is only for the convenience of understanding the present solution, and the specific needs need to be determined in combination with the actual situation, and are not limited in the embodiments of the present application.

[0081] In an embodiment of the present application, the angular velocity information of the first device includes the angular velocity in at least one direction. Before generating the angular velocity of the first device in each of the aforementioned at least one direction, it can be determined whether the first device has an angular velocity in each direction. If the first device does not have an angular velocity in the first direction, if the first device continues to perform the operation of generating the angular velocity of the first device in the first direction, the aforementioned generation operation will fail. In the present solution, when it is determined that the first device does not have the angular velocity in the first direction, the operation of generating the angular velocity of the first device in the first direction is canceled, which not only avoids the waste of computer resources, but also avoids the failure of the generation operation of the first device as much as possible, which is beneficial to improving the stability of the operation process of the first device; when the first device is a vehicle, the safety of the operation process of the vehicle is also improved.

[0082] 204. Determine angular velocity information of the first device according to at least two acceleration information and position information, where the position information indicates relative positions between different sensors of the at least two sensors.

[0083] In the embodiment of the present application, the meanings of “at least two acceleration information” and “angular velocity information of the first device” can be understood by referring to the above description and will not be repeated here.

[0084] In one case, if the aforementioned at least two sensors include a first sensor and a second sensor, the position information indicates the relative position between the first sensor and the second sensor; exemplarily, the position information may include a first distance value between the first sensor and the second sensor, and the first distance value may be understood as a distance value of a straight line between the first sensor and the second sensor.

[0085] Optionally, the position information also includes a second distance value between the first sensor and the second sensor in the x-axis direction of the first device, that is, a distance value obtained by projecting the first distance value onto the x-axis of the first device. Optionally, the position information also includes a third distance value between the first sensor and the second sensor in the y-axis direction of the first device, that is, a distance value obtained by projecting the first distance value onto the y-axis of the first device.

[0086] In another case, if the aforementioned at least two sensors include three or more sensors, the aforementioned position information indicates the relative position between any two different sensors among the aforementioned at least three sensors. Exemplarily, the aforementioned position information may include coordinate information of each sensor, for example, the coordinate information of each sensor may be the three-dimensional coordinates of each sensor in the vehicle body coordinate system. Alternatively, the aforementioned position information may include the distance value between any two different sensors among the at least three sensors, etc. The specific position information to be used may be determined in combination with the actual application situation, and is not limited in the embodiments of the present application.

[0087] In an embodiment of the present application, steps 202 and 203 are optional steps. In one implementation, if steps 202 and 203 are executed, in one case, if the first device determines through steps 202 and 203 that the first device has no angular velocity in each target direction, that is, each target direction is the first direction, then the first device may not execute step 204, and directly determine that the angular velocity of the first device in each target direction is 0, so as to obtain the angular velocity information of the first device.

[0088] In another case, if the first device determines through steps 202 and 203 that the first device has no angular velocity in at least one first direction and no angular velocity in at least one second direction, that is, the at least one target direction is divided into at least one first direction and at least one second direction through steps 202 and 203, then step 204 may include: the first device can generate an angular velocity of the first device in each second direction based on at least two acceleration information and position information, and determine the angular velocity of the first device in each first direction to be 0, so as to obtain the angular velocity information of the first device.

[0089] In another case, if the first device determines through steps 202 and 203 that the first device has an angular velocity in each target direction, that is, each target direction is a second direction, then step 204 may include: the first device can generate an angular velocity of the first device in each target direction (that is, each second direction) based on at least two acceleration information and position information to obtain the angular velocity information of the first device.

[0090] The following takes at least two sensors including a first sensor and a second sensor deployed on the same plane as an example to introduce the detailed process of "generating the angular velocity of the first device in each second direction according to at least two acceleration information and position information". The three cases where the second direction is the Yaw direction, the Pitch direction and the Roll direction are explained respectively below.

[0091] (1) The second direction is the yaw direction

[0092] The first device may determine the angular velocity of the first device in the Yaw direction according to the accelerations of the first sensor in the x-axis direction and the y-axis direction, the accelerations of the second sensor in the x-axis direction and the y-axis direction, and the position information.

[0093] Among them, at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the y-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

[0094] Exemplarily, the first device can determine the angular velocity of the first device in the Yaw direction based on the acceleration of the first sensor in the x-axis and y-axis directions, the acceleration of the second sensor in the x-axis and y-axis directions, and the first distance value in the position information, where the first distance value is the distance value of the straight line between the first sensor and the second sensor.

[0095] To further understand this solution, the following is a detailed description of the generation process of "the angular velocity of the first device in the Yaw direction" in combination with the accompanying drawings and formulas. Let the first sensor be U1, the second sensor be U2, and the acceleration of the first sensor in the x-axis direction of the first device be a' x , the acceleration of the first sensor in the y-axis direction of the first device is a′ y ; The acceleration of the second sensor in the x-axis direction of the first device is a″ x , the acceleration of the second sensor in the y-axis direction of the first device is a″ y .

[0096] When the first device moves in the Yaw direction, the first sensor and the second sensor make a first circular motion along the first rotation axis corresponding to the Yaw direction. Since the first sensor and the second sensor are deployed on the same plane, the actual center of motion of the first sensor and the second sensor when making the first circular motion is the center A1, and the direction of the resultant external force on the first sensor and the direction of the resultant external force on the second sensor both point to the center A1'. If the rotational motion of the first device in the Yaw direction is uniform, the positions of the center A1 and the center A1' coincide; if the rotational motion of the first device in the Yaw direction is variable, the positions of the center A1 and the center A1' are different.

[0097] The angle between the first line between the first sensor and the circle center A1′ and the y-axis direction of the first device is called α1; the angle between the second line between the second sensor and the circle center A1′ and the y-axis direction of the first device is called β1.

[0098] Case (1): The first rotation axis is outside the plane formed by the first sensor U1, the second sensor U2, and the z-axis of the first device.

[0099] Exemplarily, the installation plane of the first sensor U1 and the second sensor U2 is parallel to the plane formed by the x-axis and the y-axis of the first device. If α1≠β1 and α1+β1≠180, it can represent that the first rotation axis is outside the plane formed by U1, U2 and the z-axis of the first device; wherein α1 and β1 can be obtained by the following formula:

[0100]

[0101] Among them, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a′ y Represents the acceleration of the first sensor in the y-axis direction of the first device, a″ x represents the acceleration of the second sensor in the x-axis direction of the first device, a″ y Represents the acceleration of the second sensor in the y-axis direction of the first device.

[0102] For a more intuitive understanding of this solution, please refer to Figure 5 , Figure 5 A schematic diagram of the yaw direction provided in an embodiment of the present application. Since the acceleration of the first sensor and the second sensor in the z-axis direction is not required when calculating the angular velocity of the first device in the Yaw direction, in order to make the entire schematic diagram clearer, Figure 5 The z-axis direction of the first device is no longer shown. Figure 5 It is shown in FIG. 1 that the first rotation axis is outside the plane formed by the first sensor U1 , the second sensor U2 and the z-axis of the first device.

[0103] like Figure 5 As shown, d represents the length of the line between the first sensor U1 and the second sensor U2, that is, d represents the first distance value, and θ represents the angle between the line between the first sensor U1 and the second sensor U2 and the y-axis of the first device, and d and θ are known.

[0104] r1 ′ represents the length of the line between the first sensor U1 and the center A1, r1″ represents the length of the line between the second sensor U2 and the center A1. γ1 represents the angle between the line between the first sensor U1 and the center A1 and the line between the second sensor U2 and the center A1, γ1′ represents the angle between the line between the first sensor U1 and the center A1 and the line between the second sensor U2 and the center A1, and δ1 represents the angle between the first line (i.e., the line between the first sensor U1 and the center A1′) and the line between the first sensor U1 and the center A1.

[0105] exist Figure 5Based on the figure, through the theorem related to the angles of triangles, it can be deduced that: γ1=α1-β1, α1 represents the angle between the first line between the first sensor and the center A1′ and the y-axis direction of the first device, and β1 represents the angle between the second line between the second sensor and the center A1′ and the y-axis direction of the first device.

[0106] Let the total acceleration of the first sensor in the Yaw direction be a′ H1 , the total acceleration of the second sensor in the Yaw direction is a″ H1 , we can calculate a′ along the direction of the center A1 and its orthogonal direction respectively. H1 and a″ H1 Decompose it and get Among them, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a′ y Represents the acceleration of the first sensor in the y-axis direction of the first device, a″ x represents the acceleration of the second sensor in the x-axis direction of the first device, a″ y Represents the acceleration of the second sensor in the y-axis direction of the first device.

[0107] From another angle, H1 and a″ H1 Decompose it and get Where ω′1 represents the angular velocity of the first sensor and the second sensor in the Yaw direction, represents the angular acceleration obtained by derivation of ω′1, r′1 represents the length of the line between the first sensor and the center A1, r1″ represents the length of the line between the second sensor and the center A1, represents the tangential acceleration of the first sensor when it moves in the Yaw direction, ω′1 2 r′1 represents the centripetal acceleration of the first sensor when it moves in the Yaw direction, represents the tangential acceleration of the second sensor when it moves in the Yaw direction, ω′1 2 r1″ represents the centripetal acceleration of the second sensor when it moves in the Yaw direction. H1 and a″ H1 The decomposition of can be obtained:

[0108]

[0109]

[0110] From the above formulas (2) and (3), we can get:

[0111]

[0112] make That is to say

[0113] δ1 represents the angle between the first line (i.e., the line between the first sensor U1 and the center A1′) and the line between the first sensor U1 and the center A1. Let the angle between the second line (i.e., the line between the second sensor U1 and the center A1′) and the line between U2 and the center A1 be δ1′. Based on the principle of vector decomposition, we can get: Then δ1=δ1′, so it can be known that the first sensor U1, the circle center A1, the circle center A1′ and the second sensor U2 are located on the same circle, and γ1=γ1′.

[0114] From the cosine theorem we can get:

[0115] d 2 = r′1 2 +r1″ 2 -2r′1r″1cos(γ1); (5)

[0116] Substituting γ1=α1-β1 into the above formula (5) for derivation, we can obtain:

[0117]

[0118] Combining the above description, it can be seen that r′1=k1r″1(7).

[0119] After further deduction based on various theorems related to triangle angles, we can get:

[0120]

[0121] Due to the centripetal acceleration of the first sensor when it moves in the Yaw direction Therefore, the angular velocity of the first sensor in the Yaw direction is:

[0122]

[0123] Since the first device is a rigid device, when the first device generates a rotational motion in the Yaw direction, the angular velocity at each position in the first device is the same, that is, the angular velocity of the first device in the Yaw direction can be obtained by the above formula (9). The formula for obtaining each letter in formula (9) and its meaning can be understood by referring to the above description. Figure 5The description not only discloses the formula used by the first device when calculating the angular velocity of the first device in the Yaw direction (that is, the above formula (4), formula (6), formula (7), formula (8) and formula (9)), but also discloses the derivation process of formula (9). It should be noted that when the first rotation axis is outside the plane formed by the first sensor U1, the second sensor U2 and the z-axis of the first device, the first device can use the above formula (4), formula (6), formula (7), formula (8) and formula (9) to generate the angular velocity of the first device in the Yaw direction. The derivation process and formula (9) are disclosed in the embodiments of the present application. Figure 5 This is to prove the feasibility of this solution, and does not mean that the first device needs to store the entire derivation process and Figure 5 , nor is it used to limit this solution.

[0124] Case (2): The first rotation axis is within the plane formed by the first sensor U1, the second sensor U2, and the z-axis of the first device, and the first sensor U1 and the second sensor U2 are on the same side of the first rotation axis.

[0125] For example, if α1=β1 and |r′1-r″1|=d, it can represent that the first rotation axis is within the plane formed by U1, U2 and the z-axis of the first device, and the first sensor U1 and the second sensor U2 are on the same side of the first rotation axis, wherein the meanings and generation methods of α1, β1, r′1, r″1 and d can be found in the above descriptions of formulas (1) to (9), which will not be repeated here.

[0126] For a more intuitive understanding of this solution, please refer to Figure 6 , Figure 6 Another schematic diagram of the yaw direction provided in the embodiment of the present application is provided. To make the entire schematic diagram clearer, Figure 6 The z-axis direction of the first device is no longer shown. Figure 6 It is shown in FIG. 1 that the first rotation axis is within a plane formed by the first sensor U1 , the second sensor U2 , and the z-axis of the first device, and the first sensor U1 and the second sensor U2 are on the same side of the first rotation axis.

[0127] like Figure 6 As shown, d represents the length of the line between the first sensor U1 and the second sensor U2, θ represents the angle between the line between the first sensor U1 and the second sensor U2 and the y-axis of the first device, and d and θ are known. r′1 represents the length of the line between the first sensor U1 and the center A1, and r″1 represents the length of the line between the second sensor U2 and the center A1.

[0128] exist Figure 6Since |r′1-r″1|=d, r′1=k1r″1, which can be further deduced as In this case, δ1 = 180 - α1 - θ, because the centripetal acceleration of the first sensor when moving in the Yaw direction Therefore, the angular velocity of the first sensor in the Yaw direction is:

[0129]

[0130] Wherein, ω′1 represents the angular velocity of the first sensor in the Yaw direction, and may also represent the angular velocity of the first device in the Yaw direction; δ1=180-α1-θ, The meaning of θ can be found in the description of formula (1) to formula (9) above, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a′ y represents the acceleration of the first sensor in the y-axis direction of the first device. The meaning and calculation method of k1 can refer to the description of formulas (1) to (9) above. The meaning of δ1 can refer to the description of formulas (1) to (9) above, which will not be repeated here.

[0131] Case (3): The first rotation axis is within the plane formed by the first sensor U1, the second sensor U2, and the z-axis of the first device, and the first sensor U1 and the second sensor U2 are on both sides of the first rotation axis.

[0132] For example, if α1+β1=180 and r1 ′ +r1″=d, which means that the first rotation axis is within the plane formed by U1, U2 and the z-axis of the first device, and the first sensor U1 and the second sensor U2 are on both sides of the first rotation axis, α1, β1, r1 ′ The meanings and generation methods of , r1″ and d can be found in the above descriptions of formula (1) to formula (9), which will not be elaborated here.

[0133] For a more intuitive understanding of this solution, please refer to Figure 7 , Figure 7 Another schematic diagram of the yaw direction provided in the embodiment of the present application is provided. To make the entire schematic diagram clearer, Figure 7 The z-axis direction of the first device is no longer shown. Figure 7 It is shown in FIG. 1 that the first rotation axis is within a plane formed by the first sensor U1 , the second sensor U2 , and the z-axis of the first device, and the first sensor U1 and the second sensor U2 are on the same side of the first rotation axis.

[0134] like Figure 7As shown, d represents the length of the line between the first sensor U1 and the second sensor U2, and θ represents the angle between the line between the first sensor U1 and the second sensor U2 and the y-axis of the first device, and d and θ are known. ′ represents the length of the line between the first sensor U1 and the center A1, and r1″ represents the length of the line between the second sensor U2 and the center A1.

[0135] exist Figure 7 In the ′ +r1″=d, then r1 ′ =k1r1″ can be further deduced as In this case, δ1 = 180 - α1 - θ, because the centripetal acceleration of the first sensor when moving in the Yaw direction Therefore, the angular velocity of the first sensor in the Yaw direction is:

[0136]

[0137] Wherein, ω′1 represents the angular velocity of the first sensor in the Yaw direction, and may also represent the angular velocity of the first device in the Yaw direction; δ1=180-α1-θ, The meaning of θ can be found in the description of formula (1) to formula (9) above, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a′ y represents the acceleration of the first sensor in the y-axis direction of the first device. The meaning and calculation method of k1 can refer to the description of formulas (1) to (9) above. The meaning of δ1 can refer to the description of formulas (1) to (9) above, which will not be repeated here.

[0138] In an embodiment of the present application, a specific implementation method is provided for generating the angular velocity of the first device in the Yaw direction based on the first acceleration information obtained by the first sensor and the second acceleration information obtained by the second sensor, which is beneficial to improving the accuracy of the generation process of the "angular velocity of the first device in the Yaw direction".

[0139] (2) The second direction is the pitch direction

[0140] The first device may determine the angular velocity of the first device in the Pitch direction according to the acceleration of the first sensor in the x-axis direction and the z-axis direction, the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information.

[0141] The first acceleration information includes the acceleration of the first sensor in the x-axis direction and the z-axis direction, and the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the z-axis direction.

[0142] Exemplarily, the first device can determine the angular velocity of the first device in the Pitch direction based on the acceleration of the first sensor in the x-axis direction and the z-axis direction, the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the second distance value in the position information, where the second distance value represents the distance value between the first sensor and the second sensor in the x-axis direction of the first device.

[0143] To further understand this solution, the following is a detailed description of the generation process of "the angular velocity of the first device in the Pitch direction" in combination with the accompanying drawings and formulas. Let the first sensor be U1, the second sensor be U2, and the acceleration of the first sensor in the x-axis direction of the first device be a' x , the acceleration of the first sensor in the z-axis direction of the first device is a′ z ; The acceleration of the second sensor in the x-axis direction of the first device is a″ x , the acceleration of the second sensor in the z-axis direction of the first device is a″ z .

[0144] When the first device moves in the Pitch direction, the first sensor and the second sensor perform a second circular motion along the second rotation axis corresponding to the Pitch direction. Since the first sensor and the second sensor are deployed on the same plane, the actual center of motion of the first sensor and the second sensor when performing the second circular motion is the center A2, and the direction of the resultant external force on the first sensor and the direction of the resultant external force on the second sensor both point to the center A2'. If the rotational motion of the first device in the Pitch direction is uniform, the positions of the center A2 and the center A2' coincide; if the rotational motion of the first device in the Pitch direction is variable, the positions of the center A2 and the center A2' are different.

[0145] Case (1): The second rotation axis is outside the installation plane of the first sensor U1 and the second sensor U2.

[0146] Exemplarily, the installation plane of the first sensor U1 and the second sensor U2 is parallel to the plane formed by the x-axis and y-axis of the first device, and the angle between the third line between the first sensor U1 and the center A2′ and the y-axis direction of the first device is α2; the angle between the fourth line between the second sensor U2 and the center A2′ and the y-axis direction of the first device is β2.

[0147] If α2≠β2, it can represent that the second rotation axis is outside the installation plane of the first sensor U1 and the second sensor U2; wherein α2 and β2 can be obtained by the following formula:

[0148]

[0149] Among them, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a″ z Represents the acceleration of the second sensor in the z-axis direction of the first device, a″ x Represents the acceleration of the second sensor in the x-axis direction of the first device.

[0150] For a more intuitive understanding of this solution, please refer to Figure 8 , Figure 8 A schematic diagram of the pitch direction provided in an embodiment of the present application, Figure 8 Shown in side view, Figure 8 FIG. 4 shows that the second rotation axis is outside the mounting plane of the first sensor U1 and the second sensor U2. Figure 8 As shown, h represents the distance between the first sensor U1 and the second sensor U2 in the x-axis direction, that is, h is the second distance value, and h is known.

[0151] r′2 represents the length of the line between the first sensor U1 and the center A2, r2″ represents the length of the line between the second sensor U2 and the center A2. γ2 represents the angle between the line between the first sensor U1 and the center A2 and the line between the second sensor U2 and the center A2, γ2′ represents the angle between the line between the first sensor U1 and the center A2 and the line between the second sensor U2 and the center A2, and δ2 represents the angle between the third line (i.e., the line between the first sensor U1 and the center A2′) and the line between U1 and the center A2.

[0152] exist Figure 8 Based on the figure, through the theorem related to the angles of triangles, it can be deduced that: γ2=α2-β2; α2 represents the angle between the third line between the first sensor U1 and the center A2′ and the y-axis direction of the first device, and β2 represents the angle between the fourth line between the second sensor U2 and the center A2′ and the y-axis direction of the first device.

[0153] Let the total acceleration of the first sensor moving in the Pitch direction be a′ H2 , the total acceleration of the second sensor in the Pitch direction is a″ H2 , we can calculate a′ along the direction of the center A1 and its orthogonal direction respectively.H2 and a″ H2 Decompose it and get a′ H2 = Among them, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device, a″ x represents the acceleration of the second sensor in the x-axis direction of the first device, a″ z Represents the acceleration of the second sensor in the z-axis direction of the first device.

[0154] From another angle, H2 and a″ H2 Decompose it and get Where ω′2 represents the angular velocity of the first sensor and the second sensor in the Pitch direction, represents the angular acceleration obtained by derivation of ω′2, r′2 represents the length of the line between the first sensor and the center A2, r2″ represents the length of the line between the second sensor and the center A2, Represents the tangential acceleration of the first sensor when it moves in the Pitch direction, ω′2 2 r′2 represents the centripetal acceleration of the first sensor when it moves in the Pitch direction. Represents the tangential acceleration of the second sensor when it moves in the Pitch direction, ω′2 2 r2″ represents the centripetal acceleration of the second sensor when it moves in the Pitch direction. H2 and a″ H2 The decomposition of can be obtained:

[0155]

[0156]

[0157] From the above formulas (13) and (14), we can get:

[0158]

[0159] make That is to say

[0160] δ2 represents the angle between the third line (i.e., the line between the first sensor U1 and the center A2′) and the line between U2 and the center A2. Let the angle between the fourth line (i.e., the line between the second sensor U2 and the center A2′) and the line between U2 and the center A2 be δ2′. Based on the principle of vector decomposition, we can get: Then δ2=δ2′, so it can be known that the first sensor U1, the center A2, the center A2′ and the second sensor U2 are located on the same circle, and γ2=γ2′.

[0161] From the cosine theorem we can get:

[0162] h 2 = r′2 2 +r2″ 2 -2r′2r2″cos(γ2); (16)

[0163] Substituting γ2=β2-α2 into the above formula (16) for derivation, we can obtain:

[0164]

[0165] Combining the above description, we can know that r2 ′ =k2r2″(18).

[0166] After further deduction based on various theorems related to triangle angles, we can get:

[0167]

[0168] Due to the centripetal acceleration of the first sensor when it moves in the Pitch direction Therefore, the angular velocity of the first sensor in the Pitch direction is:

[0169]

[0170] Since the first device is a rigid device, when the first device generates a rotational motion in the Pitch direction, the angular velocity at each position in the first device is the same, that is, the angular velocity of the first device in the Pitch direction can be obtained by the above formula (20). The formula for obtaining each letter in formula (20) and its meaning can be understood by referring to the above description. Figure 8 The description not only discloses the formula used by the first device when calculating the angular velocity of the first device in the Pitch direction (that is, the above formula (15), formula (17), formula (18), formula (19) and formula (20)), but also discloses the derivation process of formula (20). It should be noted that when the second rotation axis is outside the installation plane of the first sensor U1 and the second sensor U2, the first device can use the above formula (15), formula (17), formula (18), formula (19) and formula (20) to generate the angular velocity of the first device in the Pitch direction. The derivation process and formula (20) are disclosed in the embodiments of the present application. Figure 8 This is to prove the feasibility of this solution, and does not mean that the first device needs to store the entire derivation process and Figure 8, nor is it used to limit this solution.

[0171] Case (2): The second rotation axis is within the installation plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on the same side of the second rotation axis.

[0172] For example, if α2=β2 and |r2 ′ -r2″|=h, which can represent that the second rotation axis is in the installation plane of U2, U2, and the first sensor U1 and the second sensor U2 are on the same side of the second rotation axis, where α2, β2, r2 ′ The meanings and generation methods of , r2″ and h can be found in the above descriptions of formula (12) to formula (20), which will not be elaborated here.

[0173] For a more intuitive understanding of this solution, please refer to Fig. 9 , Fig. 9 Another schematic diagram of the pitch direction provided in an embodiment of the present application, Fig. 9 , it is shown that the second rotation axis is within the mounting plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on the same side of the second rotation axis. Fig. 9 As shown, h represents the distance between the first sensor U1 and the second sensor U2 in the x-axis direction, that is, h is the second distance value, and h is known. ′ represents the length of the line between the first sensor U1 and the center A2, and r2″ represents the length of the line between the second sensor U2 and the center A2.

[0174] exist Fig. 9 In the case of |r2 ′ -r2″|=h, then r2 ′ =k2r2″ can be further deduced as In this case, δ2 = α2, because the centripetal acceleration of the first sensor when moving in the Pitch direction Therefore, the angular velocity of the first sensor in the Pitch direction is:

[0175]

[0176] Wherein, ω′2 represents the angular velocity of the first sensor in the Pitch direction, and may also represent the angular velocity of the first device in the Pitch direction; the meaning and calculation method of k2 may refer to the descriptions of formulas (12) to (20) above, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a′ zrepresents the acceleration of the first sensor in the z-axis direction of the first device. The meanings and calculation methods of k2 and δ2 can be found in the above descriptions of formulas (12) to (20), which will not be repeated here.

[0177] Case (3): The second rotation axis is within the installation plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on both sides of the second rotation axis.

[0178] For example, if α2=β2 and r2 ′ +r2″=h, which means that the second rotation axis is in the installation plane of U2, U2, and the first sensor U1 and the second sensor U2 are on both sides of the second rotation axis, α2, β2, r2 ′ The meanings and generation methods of , r2″ and h can be found in the above descriptions of formula (12) to formula (20), which will not be elaborated here.

[0179] For a more intuitive understanding of this solution, please refer to Fig.10 , Fig.10 Another schematic diagram of the pitch direction provided in an embodiment of the present application, Fig.10 , it is shown that the second rotation axis is within the mounting plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on the same side of the second rotation axis. Fig.10 As shown, h represents the distance between the first sensor U1 and the second sensor U2 in the x-axis direction, that is, h is the second distance value, and h is known. ′ represents the length of the line between the first sensor U1 and the center A2, r2″ represents the length of the line between the second sensor U2 and the center A2. δ2 represents the angle between the third line (i.e., the line between the first sensor U1 and the center A2′) and the line between the first sensor U1 and the center A2.

[0180] exist Fig.10 In the case of r2 ′ +r2″=h, then r2 ′ =k2r2″ can be further deduced as In this case, δ2=α2=β2, because the centripetal acceleration of the first sensor when moving in the Pitch direction Therefore, the angular velocity of the first sensor in the Pitch direction is:

[0181]

[0182] Wherein, ω′2 represents the angular velocity of the first sensor in the Pitch direction, and may also represent the angular velocity of the first device in the Pitch direction; δ2=α2, a′x represents the acceleration of the first sensor in the x-axis direction of the first device, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device. The calculation method of k2 can refer to the description of formulas (12) to (20) above and will not be repeated here.

[0183] In an embodiment of the present application, a specific implementation method for generating the angular velocity of the first device in the Pitch direction according to the first acceleration information and the second acceleration information is provided, which is conducive to improving the accuracy of the generation process of "the angular velocity of the first device in the Pitch direction".

[0184] (3) The second direction is the rolling direction

[0185] The first device can determine the angular velocity of the first device in the Roll direction according to the acceleration of the first sensor in the y-axis direction and the z-axis direction, the acceleration of the second sensor in the y-axis direction and the z-axis direction, and the position information.

[0186] The first acceleration information includes the acceleration of the first sensor in the y-axis direction and the z-axis direction, and the second acceleration information includes the acceleration of the second sensor in the y-axis direction and the z-axis direction.

[0187] Exemplarily, the first device can determine the angular velocity of the first device in the Roll direction based on the acceleration of the first sensor in the y-axis and z-axis directions, the acceleration of the second sensor in the y-axis and z-axis directions, and the third distance value in the position information, where the third distance value represents the distance value between the first sensor and the second sensor in the y-axis direction of the first device.

[0188] To further understand this solution, the following is a detailed description of the generation process of "the angular velocity of the first device in the Roll direction" in combination with the accompanying drawings and formulas. Let the first sensor be U1, the second sensor be U2, and the acceleration of the first sensor in the y-axis direction of the first device be a' y , the acceleration of the first sensor in the z-axis direction of the first device is a′ z ; The acceleration of the second sensor in the y-axis direction of the first device is a″ y , the acceleration of the second sensor in the z-axis direction of the first device is a″ z .

[0189] When the first device moves in the Roll direction, the first sensor and the second sensor make a second circular motion along the third rotation axis corresponding to the Roll direction. Since the first sensor and the second sensor are deployed on the same plane, the actual center of motion of the first sensor and the second sensor when making the second circular motion is the center A3, and the direction of the resultant external force on the first sensor and the direction of the resultant external force on the second sensor both point to the center A3'. If the rotational motion of the first device in the Roll direction is uniform, the positions of the center A3 and the center A3' coincide; if the rotational motion of the first device in the Roll direction is variable, the positions of the center A3 and the center A3' are different.

[0190] Case (1): The third rotation axis is outside the installation plane of the first sensor U1 and the second sensor U2.

[0191] Exemplarily, the installation plane of the first sensor U1 and the second sensor U2 is parallel to the plane formed by the x-axis and y-axis of the first device, and the angle between the fifth line between the first sensor U1 and the center A3′ and the y-axis direction of the first device is α3; the angle between the sixth line between the second sensor U2 and the center A3′ and the y-axis direction of the first device is β3.

[0192] If α3≠β3, it can represent that the third rotation axis is outside the installation plane of the first sensor U1 and the second sensor U2; wherein α3 and β3 can be obtained by the following formula:

[0193]

[0194] Among them, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device, a′ y Represents the acceleration of the first sensor in the y-axis direction of the first device, a″ z Represents the acceleration of the second sensor in the z-axis direction of the first device, a″ y Represents the acceleration of the second sensor in the y-axis direction of the first device.

[0195] For a more intuitive understanding of this solution, please refer to Fig.11 , Fig.11 A schematic diagram of the rolling direction provided in an embodiment of the present application, Fig.11 Displayed in front view. Fig.11 FIG. 4 shows that the third rotation axis is outside the mounting plane of the first sensor U1 and the second sensor U2. Fig.11 As shown, l represents the distance between the first sensor U1 and the second sensor U2 in the y-axis direction, that is, l is the third distance value, and l is known.

[0196] r3 ′ represents the length of the line between the first sensor U1 and the center A3, r3″ represents the length of the line between the second sensor U2 and the center A3. γ3 represents the angle between the line between the first sensor U1 and the center A3 and the line between the second sensor U2 and the center A3, γ3′ represents the angle between the line between the first sensor U1 and the center A3′ and the line between the second sensor U2 and the center A3′, and δ3 represents the angle between the fifth line (i.e., the line between the first sensor U1 and the center A3′) and the line between U2 and the center A3.

[0197] exist Fig.11 Based on this, through the theorem related to the angles of triangles, it can be deduced that: γ3=α3-β3; α3 represents the angle between the fifth line between the first sensor U1 and the center A3′ and the y-axis direction of the first device, and β3 represents the angle between the sixth line between the second sensor U2 and the center A3′ and the y-axis direction of the first device.

[0198] Let the total acceleration of the first sensor in the Roll direction be a′ H3 , the total acceleration of the second sensor in the Roll direction is a″ H3 , then according to the direction of the center A1 and its orthogonal direction, a′ H3 and a″ H3 Decompose it and get Among them, a′ y represents the acceleration of the first sensor in the y-axis direction of the first device, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device, a″ y Represents the acceleration of the second sensor in the y-axis direction of the first device, a″ z Represents the acceleration of the second sensor in the z-axis direction of the first device.

[0199] From another angle, H3 and a″ H3 Decompose it and get Wherein, ω′3 represents the angular velocity of the first sensor and the second sensor in the Roll direction, represents the angular acceleration obtained by derivation of ω′3, r′3 represents the length of the line between the first sensor and the center A3, r″3 represents the length of the line between the second sensor and the center A3, Represents the tangential acceleration of the first sensor when it moves in the Roll direction, ω′3 2 r′3 represents the centripetal acceleration of the first sensor when it moves in the Roll direction, Represents the tangential acceleration of the second sensor when it moves in the Roll direction, ω′3 2 r″3 represents the centripetal acceleration of the second sensor when it moves in the Roll direction. H3 and a″ H3 The decomposition of can be obtained:

[0200]

[0201]

[0202] From the above formulas (24) and (25), we can get:

[0203]

[0204] make That is to say

[0205] δ3 represents the angle between the fifth line (i.e., the line between the first sensor U1 and the center A3′) and the line between U2 and the center A3. Let the angle between the sixth line (i.e., the line between the second sensor U2 and the center A3′) and the line between U2 and the center A3 be δ3′. Based on the principle of vector decomposition, we can get: Then δ3=δ3′, so it can be known that the first sensor U1, the center A3, the center A3′ and the second sensor U2 are located on the same circle, and γ3=γ3′.

[0206] From the cosine theorem we can get:

[0207] l 2 = r′3 2 +r″3 2 -2r′3r″3cos(γ3); (27)

[0208] Substituting γ3=α3-β3 into the above formula (16) for derivation, we can obtain:

[0209]

[0210] Combined with the above description, it can be seen that r′3=k3r″3(29).

[0211] After further deduction based on various theorems related to triangle angles, we can get:

[0212]

[0213] Due to the centripetal acceleration of the first sensor when it moves in the Roll direction Therefore, the angular velocity of the first sensor in the Roll direction is:

[0214]

[0215] Since the first device is a rigid device, when the first device generates a rotational motion in the Roll direction, the angular velocity at each position in the first device is the same, that is, the angular velocity of the first device in the Roll direction can be obtained by the above formula (31). The formula for obtaining each letter in formula (31) and its meaning can be understood by referring to the above description. Fig.11 The description not only discloses the formula used by the first device when calculating the angular velocity of the first device in the Roll direction (that is, the above formula (26), formula (28), formula (29), formula (31) and formula (31)), but also discloses the derivation process of formula (31). It should be noted that when the third rotation axis is outside the installation plane of the first sensor U1 and the second sensor U2, the first device can use the above formula (26), formula (28), formula (29), formula (31) and formula (31) to generate the angular velocity of the first device in the Roll direction. The derivation process and formula (31) are disclosed in the embodiments of the present application. Fig.11 This is to prove the feasibility of this solution, and does not mean that the first device needs to store the entire derivation process and Fig.11 , nor is it used to limit this solution.

[0216] Case (2): The third rotation axis is within the installation plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on the same side of the third rotation axis.

[0217] For example, if α3=β3 and |r3 ′ -r3″|=l, which can represent that the third rotation axis is in the installation plane of U2, U2, and the first sensor U1 and the second sensor U2 are on the same side of the third rotation axis, where α3, β3, r3 ′ The meanings and generation methods of , r3″ and l can be found in the above descriptions of formula (23) to formula (31), which will not be elaborated here.

[0218] For a more intuitive understanding of this solution, please refer to Fig.12 , Fig.12 Another schematic diagram of the rolling direction provided in the embodiment of the present application, Fig.12 , it is shown that the third rotation axis is within the installation plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on the same side of the third rotation axis. Fig.12 As shown, l represents the distance between the first sensor U1 and the second sensor U2 in the y-axis direction, that is, l is the third distance value, and l is known. ′represents the length of the line between the first sensor U1 and the center A3, and r3″ represents the length of the line between the second sensor U2 and the center A3.

[0219] exist Fig.12 In the case of |r3 ′ -r3″|=l, then r3 ′ =k3r3″ can be further deduced as In this case, δ3 = 180 - α3, because the centripetal acceleration of the first sensor when moving in the Roll direction Therefore, the angular velocity of the first sensor in the Roll direction is:

[0220]

[0221] Wherein, ω′3 represents the angular velocity of the first sensor in the Roll direction, and may also represent the angular velocity of the first device in the Roll direction; δ3=180-α3, a′ y represents the acceleration of the first sensor in the y-axis direction of the first device, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device. The calculation method of k3 can refer to the description of formulas (23) to (31) above and will not be repeated here.

[0222] Case (3): The third rotation axis is within the installation plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on both sides of the third rotation axis.

[0223] For example, if α3=β3 and r3 ′ +r3″=l, which means that the third rotation axis is in the installation plane of U2 and U2, and the first sensor U1 and the second sensor U2 are on both sides of the third rotation axis, α3, β3, r3 ′ The meanings and generation methods of , r3″ and l can be found in the above descriptions of formula (23) to formula (31), which will not be elaborated here.

[0224] For a more intuitive understanding of this solution, please refer to Fig.13 , Fig.13 Another schematic diagram of the rolling direction provided in the embodiment of the present application, Fig.13 , it is shown that the third rotation axis is within the installation plane of the first sensor U1 and the second sensor U2, and the first sensor U1 and the second sensor U2 are on the same side of the third rotation axis. Fig.13 As shown, l represents the distance between the first sensor U1 and the second sensor U2 in the y-axis direction, that is, l is the third distance value, and l is known. ′represents the length of the line between the first sensor U1 and the center A3, and r3″ represents the length of the line between the second sensor U2 and the center A3.

[0225] exist Fig.13 In the case of r3 ′ +r3″=l, then r3 ′ =k3r3″ can be further deduced as In this case, δ3 = 180 - α3, because the centripetal acceleration of the first sensor when moving in the Roll direction Therefore, the angular velocity of the first sensor in the Roll direction is:

[0226]

[0227] Wherein, ω′3 represents the angular velocity of the first sensor in the Roll direction, and may also represent the angular velocity of the first device in the Roll direction; δ3=180-α3, a′ y represents the acceleration of the first sensor in the y-axis direction of the first device, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device. The calculation method of k3 can refer to the description of formulas (23) to (31) above and will not be repeated here.

[0228] In an embodiment of the present application, a specific implementation method is provided for generating the angular velocity of the first device in the Roll direction based on the first acceleration information and the second acceleration information, which is beneficial to improving the accuracy of the generation process of "the angular velocity of the first device in the Roll direction".

[0229] It should be noted that, in the above, taking the at least two sensors including the first sensor and the second sensor deployed on the same plane as an example, the introduction of the specific implementation method of "generating the angular velocity of the first device in the Yaw direction, Pitch direction and Roll direction according to at least two acceleration information and position information" is only to prove the feasibility of this scheme, and is not used to limit this scheme. When the at least two sensors include three or more sensors, the first device can generate the angular velocity of the first device in the Yaw direction, Pitch direction and / or Roll direction according to at least three acceleration information and position information obtained by the at least three sensors, which will not be elaborated in the embodiments of the present application.

[0230] In another implementation, if steps 202 and 203 are not performed, the first device may directly perform step 204 after performing step 201, and the first device generates an angular velocity of the first device in each target direction of at least one target direction based on at least two acceleration information and position information.

[0231] Optionally, in the process of generating the angular velocity of the first device in any target direction based on at least two acceleration information and position information, if the first device has an angular velocity in the aforementioned target direction (also referred to as the second direction), the first device can successfully generate the angular velocity of the first device in the second direction; if the first device does not have an angular velocity in the aforementioned target direction (also referred to as the first direction), then in the process of generating the angular velocity of the first device in the first direction, the first device will fail to generate the angular velocity, and the first device can terminate the "generation operation of the angular velocity of the first device in the aforementioned first direction" and determine the angular velocity of the first device in the aforementioned first direction as null, or determine the angular velocity of the first device in the aforementioned first direction as 0, and the first device can continue to execute the "generation operation of the angular velocity of the first device in the next target direction".

[0232] It should be noted that the specific implementation method for the first device to generate the angular velocity of the first device in each target direction (ie, Yaw direction, Pitch direction or Roll direction) based on at least two acceleration information and position information can be found in the above description and will not be repeated here.

[0233] The first device repeats the above steps at least once to complete the "operation of generating the angular velocity of the first device in each target direction" according to at least two acceleration information and position information, thereby obtaining the angular velocity information of the first device.

[0234] In an embodiment of the present application, at least two sensors are deployed at different positions of the first device, and acceleration information of the sensor is obtained by each of the at least two sensors, and then the angular velocity information of the first device is determined based on the at least two acceleration information and position information. Since the at least two sensors are located in the first device, the angular velocities at different positions in the first device are the same, but due to the different positions of different sensors, the accelerations measured at different positions of the first device are different under the same angular velocity, so "determining the angular velocity information of the first device based on the acceleration information obtained by sensors at different positions and the relative positions between different sensors" is feasible. The positions of the at least two sensors only need to be different, and they do not need to be installed at the center of the vehicle, so the installation requirements are low. Moreover, the sensor used to measure the acceleration information is low in cost, which is conducive to reducing costs.

[0235] 205. Determine third acceleration information of the first device according to the at least two acceleration information.

[0236] In the embodiment of the present application, step 205 is an optional step. After the first device obtains at least two acceleration information, it can average the acceleration components on each coordinate axis in the at least two acceleration information to obtain the third acceleration information of the first device, and the third acceleration information of the first device includes the acceleration on the x-axis of the first device, the acceleration on the y-axis of the first device, and the acceleration on the z-axis of the first device. The above method is conducive to improving the accuracy of the acceleration information of the first device finally obtained.

[0237] Exemplarily, the third acceleration information may include a x 、a y and a z , a x Represents the acceleration on the x-axis of the first device, a y Represents the acceleration on the y-axis of the first device, a z Represents the acceleration on the z-axis of the first device, a x 、a y and a z The calculation formula can be as follows:

[0238]

[0239]

[0240]

[0241] Among them, a′ x represents the acceleration of the first sensor in the x-axis direction of the first device, a″ x represents the acceleration of the second sensor in the x-axis direction of the first device, a′ y Represents the acceleration of the first sensor in the y-axis direction of the first device, a″ y represents the acceleration of the second sensor in the y-axis direction of the first device, a′ z represents the acceleration of the first sensor in the z-axis direction of the first device, a″ z Represents the acceleration of the second sensor in the z-axis direction of the first device. It should be understood that the example here is only for the convenience of understanding this solution and is not used to limit this solution.

[0242] exist Figures 1 to 13 On the basis of the corresponding embodiments, in order to better implement the above solutions of the embodiments of the present application, the following also provides related devices for implementing the above solutions. Fig.14 , Fig.14A structural schematic diagram of a data processing device provided in an embodiment of the present application. The data processing device 1400 may include an acquisition module 1401 and a determination module 1402, wherein the acquisition module 1401 is used to acquire at least two acceleration information, the at least two acceleration information are obtained by at least two sensors, and different sensors of the at least two sensors are deployed at different positions in the first device; the determination module 1402 is used to determine the angular velocity information of the first device based on the at least two acceleration information and position information, and the position information indicates the relative position between different sensors of the at least two sensors.

[0243] Optionally, the at least two sensors include two sensors, and the two sensors are deployed on the same plane.

[0244] Optionally, the angular velocity information includes the angular velocity of the first device in the yaw direction, and the two sensors include a first sensor and a second sensor; the determination module 1402 is specifically used to determine the angular velocity of the first device in the Yaw direction according to the acceleration of the first sensor in the x-axis direction and the y-axis direction, the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information; wherein, at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the y-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

[0245] Optionally, the angular velocity information includes the angular velocity of the first device in the pitch direction, and the two sensors include a first sensor and a second sensor; the determination module is specifically used to determine the angular velocity of the first device in the pitch direction according to the acceleration of the first sensor in the x-axis direction and the z-axis direction, the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information; wherein, at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

[0246] Optionally, the angular velocity information includes the angular velocity of the first device in the rolling direction, and the two sensors include a first sensor and a second sensor; the determination module is specifically used to determine the angular velocity of the first device in the Roll direction according to the acceleration of the first sensor in the y-axis direction and the z-axis direction, the acceleration of the second sensor in the y-axis direction and the z-axis direction, and the position information; wherein, at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the y-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the y-axis direction and the z-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

[0247] Optionally, the angular velocity information includes the angular velocity of the first device in at least one direction; the device 1400 may also include: a cancellation module 1403, used to cancel the generation operation of the angular velocity of the first device in the first direction when it is determined based on at least two acceleration information that the first device does not have an angular velocity in the first direction, the first direction being one of the at least one directions.

[0248] Optionally, the first device is a vehicle, and the at least two sensors are integrated into a domain controller of the vehicle.

[0249] Optionally, the determination module 1402 is further configured to determine third acceleration information of the first device according to the at least two acceleration information.

[0250] It should be noted that the information interaction, execution process, etc. between the modules / units in the data processing device 1400 are the same as those in the present application. Figures 1 to 13 The corresponding method embodiments are based on the same concept. For specific contents, please refer to the description in the method embodiments shown above in this application, which will not be repeated here.

[0251] The present application also provides a device. For example, the device may be a vehicle, a mobile robot, a mobile phone, a tablet, a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a monitoring device, or other device that needs to measure the angular velocity information of the first device. Fig.15 , Fig.15 A schematic diagram of a structure of a device provided in an embodiment of the present application, wherein the device 1500 includes: a receiver 1501, a transmitter 1502, a processor 1503, and a memory 1504 (wherein the number of processors 1503 in the execution device 1500 may be one or more, Fig.15In the example of FIG. 1501 , the processor 1503 may include an application processor 15031 and a communication processor 15032. In some embodiments of the present application, the receiver 1501, the transmitter 1502, the processor 1503 and the memory 1504 may be connected via a bus or other means.

[0252] The memory 1504 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1503. A portion of the memory 1504 may also include a non-volatile random access memory (NVRAM). The memory 1504 stores processor and operation instructions, executable modules or data structures, or subsets thereof, or extended sets thereof, wherein the operation instructions may include various operation instructions for implementing various operations.

[0253] The processor 1503 controls the operation of the execution device. In a specific application, the various components of the execution device are coupled together through a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus, and a status signal bus, etc. However, for the sake of clarity, various buses are referred to as bus systems in the figure.

[0254] The method disclosed in the above embodiment of the present application can be applied to the processor 1503, or implemented by the processor 1503. The processor 1503 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 1503. The above processor 1503 can be a general processor, a digital signal processor (digital signal processing, DSP), a microprocessor or a microcontroller, and can further include an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The processor 1503 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to execute, or the hardware and software modules in the decoding processor can be combined and executed. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 1504, and the processor 1503 reads the information in the memory 1504 and completes the steps of the above method in combination with its hardware.

[0255] The receiver 1501 can be used to receive input digital or character information and generate signal input related to the relevant settings and function control of the execution device. The transmitter 1502 can be used to output digital or character information through the first interface; the transmitter 1502 can also be used to send instructions to the disk group through the first interface to modify the data in the disk group; the transmitter 1502 can also include a display device such as a display screen.

[0256] In one embodiment of the present application, the processor 1503 is configured to execute Figures 1 to 13 The data processing method executed by the first device in the corresponding embodiment. It should be noted that the specific manner in which the application processor 15031 executes the above steps is the same as that in the present application. Figures 1 to 13 The corresponding method embodiments are based on the same concept, and the technical effects they bring are the same as those in this application. Figures 1 to 13 The corresponding method embodiments are the same. For specific contents, please refer to the description in the method embodiments shown above in this application, which will not be repeated here.

[0257] Please continue reading Fig.16 , Fig.16 A schematic diagram of a structure of a vehicle provided in an embodiment of the present application, wherein the vehicle 10 is configured in a fully or partially automatic driving mode, for example, the vehicle 10 can control itself while in the automatic driving mode, and can determine the current state of the vehicle and its surrounding environment through human operation, determine the possible behavior of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the possibility of other vehicles performing possible behaviors, and control the vehicle 10 based on the determined information. When the vehicle 10 is in the automatic driving mode, the vehicle 10 can also be set to operate without human interaction.

[0258] The vehicle 10 may include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, and a power source 110, a computer system 112, and a user interface 116. Optionally, the vehicle 10 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle 10 may be interconnected by wire or wirelessly.

[0259] The travel system 102 may include components that provide powered movement to the vehicle 10. In one embodiment, the travel system 102 may include an engine 118, a power source 119, a transmission 120, and wheels / tires 121.

[0260] Among them, the engine 118 can be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, for example, a hybrid engine consisting of a gasoline engine and an electric motor, and a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy. Examples of energy sources 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 119 can also provide energy for other systems of the vehicle 10. The transmission 120 can transmit the mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 121.

[0261] The sensor system 104 may include several sensors that sense information about the environment surrounding the vehicle 10. For example, the sensor system 104 may include a positioning system 122 (the positioning system may be a global positioning GPS system, or may be a Beidou system or other positioning systems), an accelerometer 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 may also include sensors of the internal systems of the monitored vehicle 10 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). The sensing data from one or more of these sensors may be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of the autonomous vehicle 10.

[0262] Among them, the positioning system 122 can be used to estimate the geographic location of the vehicle 10. The accelerometer 124 is used to measure and obtain the acceleration information of the vehicle 10. The radar 126 can use radio signals to sense objects in the surrounding environment of the vehicle 10, and can be specifically manifested as a millimeter wave radar or a laser radar. In some embodiments, in addition to sensing objects, the radar 126 can also be used to sense the speed and / or direction of travel of the object. The laser rangefinder 128 can use lasers to sense objects in the environment where the vehicle 10 is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components. The camera 130 can be used to capture multiple images of the surrounding environment of the vehicle 10. The camera 130 can be a static camera or a video camera.

[0263] The control system 106 is for controlling the operation of the vehicle 10 and its components. The control system 106 may include various components, including a steering system 132 , a throttle 134 , a brake unit 136 , a computer vision system 140 , a lane control system 142 , and an obstacle avoidance system 144 .

[0264] Among them, the steering system 132 can be operated to adjust the forward direction of the vehicle 10. For example, it can be a steering wheel system in one embodiment. The throttle 134 is used to control the operating speed of the engine 118 and thus control the speed of the vehicle 10. The brake unit 136 is used to control the deceleration of the vehicle 10. The brake unit 136 can use friction to slow down the wheel 121. In other embodiments, the brake unit 136 can convert the kinetic energy of the wheel 121 into electric current. The brake unit 136 can also take other forms to slow down the rotation speed of the wheel 121 to control the speed of the vehicle 10. The computer vision system 140 can be operated to process and analyze the images captured by the camera 130 in order to identify objects and / or features in the surrounding environment of the vehicle 10. The objects and / or features may include traffic signals, road boundaries and obstacles. The computer vision system 140 can use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking and other computer vision technologies. In some embodiments, the computer vision system 140 can be used to map the environment, track objects, estimate the speed of objects, and so on. The route control system 142 is used to determine the route and speed of the vehicle 10. In some embodiments, the route control system 142 may include a lateral planning module 1421 and a longitudinal planning module 1422, which are respectively used to determine the route and speed of the vehicle 10 in combination with data from the obstacle avoidance system 144, GPS 122, and one or more predetermined maps. The obstacle avoidance system 144 is used to identify, evaluate, and avoid or otherwise cross obstacles in the environment of the vehicle 10, and the aforementioned obstacles can be specifically manifested as actual obstacles and virtual moving bodies that may collide with the vehicle 10. In one example, the control system 106 may include components other than those shown and described in addition or in an alternative manner. Alternatively, a portion of the components shown above may be reduced.

[0265] The vehicle 10 interacts with external sensors, other vehicles, other computer systems, or users through the peripheral device 108. The peripheral device 108 may include a wireless communication system 146, an onboard computer 148, a microphone 150, and / or a speaker 152. In some embodiments, the peripheral device 108 provides a means for the user of the vehicle 10 to interact with the user interface 116. For example, the onboard computer 148 may provide information to the user of the vehicle 10. The user interface 116 may also operate the onboard computer 148 to receive user input. The onboard computer 148 may be operated through a touch screen. In other cases, the peripheral device 108 may provide a means for the vehicle 10 to communicate with other devices located in the vehicle. For example, the microphone 150 may receive audio (e.g., voice commands or other audio input) from the user of the vehicle 10. Similarly, the speaker 152 may output audio to the user of the vehicle 10. The wireless communication system 146 may communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 146 may use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system 146 may communicate using a wireless local area network (WLAN). In some embodiments, the wireless communication system 146 may communicate directly with the device using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 146 may include one or more dedicated short range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0266] The power source 110 can provide power to various components of the vehicle 10. In one embodiment, the power source 110 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the vehicle 10. In some embodiments, the power source 110 and the energy source 119 can be implemented together, such as in some all-electric vehicles.

[0267] Some or all of the functions of the vehicle 10 are controlled by a computer system 112. The computer system 112 may include at least one processor 113 that executes instructions 115 stored in a non-transitory computer-readable medium such as a memory 114. The computer system 112 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 10 in a distributed manner. The processor 113 may be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor 113 may be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Although Fig.16 The processor, memory, and other components of the computer system 112 in the same block are functionally illustrated, but it will be appreciated by those skilled in the art that the processor, or memory, may actually include multiple processors, or memories that are not stored in the same physical housing. For example, the memory 114 may be a hard drive or other storage medium located in a housing different from the computer system 112. Therefore, references to the processor 113 or memory 114 will be understood to include references to a collection of processors or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as the steering assembly and the deceleration assembly may each have their own processor that performs only calculations related to the functions specific to the component.

[0268] In various aspects described herein, the processor 113 may be located remotely from the vehicle 10 and in wireless communication with the vehicle 10. In other aspects, some of the processes described herein are performed on a processor 113 disposed within the vehicle 10 while others are performed by the remote processor 113, including taking the necessary steps to perform a single maneuver.

[0269] In some embodiments, the memory 114 may include instructions 115 (e.g., program logic) that can be executed by the processor 113 to perform various functions of the vehicle 10, including those described above. The memory 114 may also include additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the travel system 102, the sensor system 104, the control system 106, and the peripheral devices 108. In addition to the instructions 115, the memory 114 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. This information can be used by the vehicle 10 and the computer system 112 during the operation of the vehicle 10 in autonomous, semi-autonomous, and / or manual modes. A user interface 116 is used to provide information to or receive information from a user of the vehicle 10. Optionally, the user interface 116 may include one or more input / output devices within the set of peripheral devices 108, such as a wireless communication system 146, an onboard computer 148, a microphone 150, and a speaker 152.

[0270] The computer system 112 may control functions of the vehicle 10 based on input received from various subsystems (e.g., the travel system 102, the sensor system 104, and the control system 106) and from the user interface 116. For example, the computer system 112 may utilize input from the control system 106 in order to control the steering system 132 to avoid obstacles detected by the sensor system 104 and the obstacle avoidance system 144. In some embodiments, the computer system 112 may be operable to provide control over many aspects of the vehicle 10 and its subsystems.

[0271] Alternatively, one or more of the above-mentioned components may be installed or associated separately from the vehicle 10. For example, the memory 114 may exist partially or completely separate from the vehicle 10. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0272] Optionally, the above components are only examples. In actual applications, the components in the above modules may be added or deleted according to actual needs. Fig.16 It should not be construed as limiting the embodiments of the present application. An autonomous vehicle traveling on a road, such as vehicle 10 above, can identify objects in its surrounding environment to determine adjustments to the current speed. The objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, spacing from the vehicle, etc., it can be used to determine the speed to be adjusted by the autonomous vehicle.

[0273] Optionally, the vehicle 10 or a computing device associated with the vehicle 10 may be Fig.16 The computer system 112, computer vision system 140, and memory 114 can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each of the identified objects depends on the behavior of each other, so all the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 10 can adjust its speed based on the predicted behavior of the identified objects. In other words, the vehicle 10 can determine what stable state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors can also be considered to determine the speed of the vehicle 10, such as the lateral position of the vehicle 10 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, etc. In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device can also provide instructions to modify the steering angle of the vehicle 10 so that the vehicle 10 follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the vehicle 10 (e.g., cars in adjacent lanes on the road).

[0274] The vehicle 10 may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an amusement vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, etc., and the embodiments of the present application are not particularly limited thereto.

[0275] Specifically, the processor 113 in the vehicle 10 can obtain at least two acceleration information through at least two accelerometers 124, and the at least two accelerometers 124 are deployed at different positions of the vehicle 10. The processor 113 in the vehicle 10 can determine the angular velocity information of the vehicle 10 based on the at least two acceleration information and position information, and the position information indicates the relative positions between different accelerometers 124 in the at least two accelerometers 124.

[0276] It should be noted that the specific manner in which the processor 113 performs the above steps is different from the specific manner in which the processor 113 performs the above steps. Figures 1 to 13 The corresponding method embodiments are based on the same concept, and the technical effects they bring are the same as those in this application. Figures 1 to 13 The corresponding method embodiments are the same. For specific contents, please refer to the description in the method embodiments shown above in this application, which will not be repeated here.

[0277] The present application also provides a computer-readable storage medium in which a program is stored. When the program is executed on a computer, the computer executes the above-mentioned Figures 1 to 13 The illustrated embodiment describes the steps performed by the first device in the method.

[0278] The present application also provides a computer program product, which includes a computer program. When the computer program is executed on a computer, the computer executes the above Figures 1 to 13 The illustrated embodiment describes the steps performed by the first device in the method.

[0279] The present application also provides a circuit system, which includes a processing circuit, wherein the processing circuit is configured to perform the above Figures 1 to 13 The illustrated embodiment describes the steps performed by the first device in the method.

[0280] The first device or data processing apparatus provided in the embodiment of the present application may be a chip, which includes: a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, a pin or a circuit. The processing unit may execute the computer execution instructions stored in the storage unit to enable the chip to execute the above Figures 1 to 13 The data processing method described in the embodiment shown. Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, etc., and the storage unit can also be a storage unit located outside the chip in the wireless access device, such as a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), etc.

[0281] The processor mentioned in any of the above places may be a general-purpose central processing unit, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the above-mentioned first aspect method.

[0282] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0283] Through the description of the above implementation mode, the technicians in the relevant field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CLUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, U disk, mobile hard disk, ROM, RAM, disk or optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0284] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0285] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A data processing method, characterized in that: The method is used for a first device, and the method includes: Acquire at least two pieces of acceleration information, where the at least two pieces of acceleration information are obtained by at least two sensors, and different sensors of the at least two sensors are deployed at different positions in the first device; The angular velocity information of the first device is determined according to the at least two acceleration information and the position information, wherein the position information indicates the relative positions between different sensors of the at least two sensors.

2. The method according to claim 1, characterized in that The at least two sensors include two sensors, and the two sensors are disposed on the same plane.

3. The method according to claim 2, characterized in that The angular velocity information includes an angular velocity of the first device in a yaw direction, the two sensors include a first sensor and a second sensor, and determining the angular velocity information of the first device according to the at least two acceleration information includes: Determine the angular velocity of the first device in the Yaw direction according to the acceleration of the first sensor in the x-axis direction and the y-axis direction, the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information; The at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the y-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

4. The method according to claim 2, characterized in that: The angular velocity information includes an angular velocity of the first device in a pitch direction, the two sensors include a first sensor and a second sensor, and determining the angular velocity information of the first device according to the at least two acceleration information includes: Determine an angular velocity of the first device in a pitch direction according to the acceleration of the first sensor in the x-axis direction and the z-axis direction, the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information; The at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

5. The method according to claim 2, characterized in that: The angular velocity information includes an angular velocity of the first device in a rolling direction, the two sensors include a first sensor and a second sensor, and determining the angular velocity information of the first device according to the at least two acceleration information includes: Determine an angular velocity of the first device in a Roll direction according to the accelerations of the first sensor in the y-axis direction and the z-axis direction, the accelerations of the second sensor in the y-axis direction and the z-axis direction, and the position information; The at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the y-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the y-axis direction and the z-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

6. The method according to any one of claims 1 to 5, characterized in that: The angular velocity information includes an angular velocity of the first device in at least one direction. Before determining the angular velocity information of the first device according to the at least two acceleration information, the method further includes: In a case where it is determined according to the at least two acceleration information that the first device does not have an angular velocity in a first direction, the generation operation of the angular velocity of the first device in the first direction is canceled, and the first direction is one of the at least one direction.

7. The method according to any one of claims 1 to 5, characterized in that: The first device is a vehicle, and the at least two sensors are integrated into a domain controller of the vehicle.

8. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: The third acceleration information of the first device is determined according to the at least two acceleration information.

9. A data processing device, characterized in that: The device is used in a first device, and the data processing device includes: An acquisition module, used to acquire at least two pieces of acceleration information, where the at least two pieces of acceleration information are acquired through at least two sensors, and different sensors of the at least two sensors are deployed at different positions in the first device; A determination module is used to determine angular velocity information of the first device according to the at least two acceleration information and position information, wherein the position information indicates a relative position between different sensors of the at least two sensors.

10. The device according to claim 9, characterized in that The at least two sensors include two sensors, and the two sensors are disposed on the same plane.

11. The device according to claim 10, characterized in that The angular velocity information includes the angular velocity of the first device in the yaw direction, and the two sensors include a first sensor and a second sensor; The determination module is specifically configured to determine the angular velocity of the first device in the Yaw direction according to the acceleration of the first sensor in the x-axis direction and the y-axis direction, the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information; The at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the y-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the y-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

12. The device according to claim 10, characterized in that The angular velocity information includes an angular velocity of the first device in a pitch direction, and the two sensors include a first sensor and a second sensor; The determination module is specifically configured to determine the angular velocity of the first device in the Pitch direction according to the acceleration of the first sensor in the x-axis direction and the z-axis direction, the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information; The at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the x-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the x-axis direction and the z-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

13. The device according to claim 10, characterized in that The angular velocity information includes an angular velocity of the first device in a rolling direction, and the two sensors include a first sensor and a second sensor; The determination module is specifically configured to determine the angular velocity of the first device in the Roll direction according to the acceleration of the first sensor in the y-axis direction and the z-axis direction, the acceleration of the second sensor in the y-axis direction and the z-axis direction, and the position information; The at least two acceleration information include first acceleration information and second acceleration information, the first acceleration information is obtained by the first sensor, the first acceleration information includes the acceleration of the first sensor in the y-axis direction and the z-axis direction, the second acceleration information is obtained by the second sensor, the second acceleration information includes the acceleration of the second sensor in the y-axis direction and the z-axis direction, and the position information indicates the relative position between the first sensor and the second sensor.

14. The device according to any one of claims 9 to 13, characterized in that The angular velocity information includes an angular velocity of the first device in at least one direction; The apparatus further includes: a cancelling module for cancelling the operation of generating the angular velocity of the first device in a first direction when it is determined according to the at least two acceleration information that the first device does not have an angular velocity in the first direction, wherein the first direction is one of the at least one direction.

15. The device according to any one of claims 9 to 13, characterized in that The first device is a vehicle, and the at least two sensors are integrated into a domain controller of the vehicle.

16. The device according to any one of claims 9 to 13, characterized in that The determination module is further configured to determine third acceleration information of the first device according to the at least two pieces of acceleration information.

17. A device, characterized in that The device comprises a processor, the processor is coupled to a memory, the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the method according to any one of claims 1 to 8 is implemented.

18. The device according to claim 17, characterized in that The device is a vehicle, a mobile robot, a mobile phone, a tablet, a wearable device, a virtual reality VR device, an augmented reality AR device or a monitoring device.

19. A computer-readable storage medium comprising a program, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 8.

20. A circuit system, characterized in that: The circuit system comprises a processing circuit configured to perform the method of any one of claims 1 to 8.

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