Vehicle body attitude sensing test method, system and program product

Abstract

The invention belongs to the technical field of vehicle testing, and particularly discloses a vehicle body attitude sensing testing method and system and a program product, and the method comprises the steps: carrying out the corresponding data analysis through collecting the laser radar ranging data of each first vehicle body testing point and the attitude sensing data of each second vehicle body testing point in real time; the method comprises the following steps: firstly, calculating attitude angle parameters and sensing attitude angle parameters at all time points according to the attitude angle parameters, then respectively constructing corresponding attitude curves based on the two attitude angle parameters to carry out attitude matching, and finally judging whether an attitude sensing test is qualified or not according to an attitude matching result, so as to realize dynamic and high-time-efficiency vehicle body attitude sensing test. According to the invention, the problem that the attitude sensing accumulative error of the vehicle body attitude sensor is difficult to measure can be effectively solved, efficient and reliable vehicle body attitude sensing test can be realized, the problem of sensor drift in the vehicle movement process can be accurately tested, and the method can be applied in a fixed test environment without depending on an expensive optical motion capture system.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle testing, and particularly relates to a vehicle body attitude sensing test method, system and program product. Background Technique

[0002] A vehicle body attitude sensor is a sensor used to measure the attitude (position and direction) of a vehicle, and mainly realizes high-precision vehicle body attitude measurement through a combination of multiple sensors such as an accelerometer, a gyroscope and a magnetometer. By testing the vehicle body attitude sensor, it can be ensured that the attitude information of the vehicle is accurate, so as to help the vehicle control system make correct decisions, improve the stability and safety of the vehicle, and through vehicle body attitude sensing test and calibration, the vehicle's suspension system, braking system, etc. can be optimized to improve the overall performance.

[0003] However, the vehicle body attitude sensor uses inertial elements to measure the angular velocity and acceleration of the vehicle, and then obtains attitude parameters through integral operation over time. The sensor drift problem caused by the cumulative error generated in the continuous integral statistical process is difficult to detect. To solve this problem, the existing test method uses an optical motion capture system to capture the vehicle attitude, and then uses a static calibration method to test and compare the vehicle body attitude sensing parameters based on the optical vehicle attitude capture parameters. Such a test method has low efficiency, is difficult to achieve real-time and dynamic test evaluation, and is costly. Summary of the Invention

[0004] The purpose of the present invention is to provide a vehicle body attitude sensing test method, system and program product to solve the above problems existing in the prior art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: In the first aspect, a vehicle body attitude sensing test method is provided, including: Real-time acquisition of the ground distance measurement data of the lidar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point, where the first vehicle body test points and the second vehicle body test point are in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point; Based on the ground distance measurement data of each lidar at the current time point, determine the spatial position parameters of each first vehicle body test point at the current time point, and determine the measured attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point; Calculate the sensed attitude angle parameters of the test plane at the current time point according to the attitude sensing data of the attitude sensor; Construct a measured motion attitude curve based on the measured attitude angle parameters of the test plane at each time point, and construct a sensed motion attitude curve based on the sensed attitude angle parameters of the test plane at each time point; Intercept a segment of the measured motion attitude curve within a set time window from the measured motion attitude curve, and intercept a segment of the sensed motion attitude curve within the set time window from the sensed motion attitude curve; Compare the sensed motion attitude curve segment with the measured motion attitude curve segment to determine the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment; When the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not meet the set matching degree condition, determine that the attitude sensing test of the attitude sensor is unqualified and output the corresponding test result.

[0006] In a possible design, determining the spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each lidar at the current time point includes: Determine the test route point where the vehicle body is located at the current time point, retrieve the route model of the test route in the set spatial coordinate system, and mark the test route point where the vehicle body is located at the current time point in the route model. The set spatial coordinate system takes the starting point of the route model as the origin and includes a horizontal plane coordinate axis and a horizontal height direction coordinate axis; Take the test route point marked in the route model as a reference point, and determine the horizontal height coordinate of the reference point in the set spatial coordinate system; Take the average value of the ground distance measurement data of each lidar at the current time point as the horizontal height increment, keep the horizontal plane coordinate of the reference point unchanged, and raise the horizontal height coordinate of the reference point by the horizontal height increment to obtain the spatial position parameters of the second vehicle body test point at the current time point; Based on the spatial position parameters of the second vehicle body test point at the current time point and the positional relationship between each first vehicle body test point and the second vehicle body test point, determine the spatial position parameters of each first vehicle body test point at the current time point.

[0007] In a possible design, determining the measured attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point includes: Calibrate each first vehicle body test point in the set spatial coordinate system according to the spatial position parameters of each first vehicle body test point at the current time point, and construct a test plane surrounded by each first vehicle body test point in the set spatial coordinate system; Determine the included angles between the test plane and each coordinate axis in the set spatial coordinate system, and combine the included angles between the test plane and each coordinate axis to obtain the measured attitude angle parameters of the test plane at the current time point.

[0008] In a possible design, calculating the sensing attitude angle parameter of the test plane at the current time point based on the attitude sensing data of the attitude sensor includes: Extract the angular velocity parameter from the attitude sensing data of the attitude sensor, and integrate the time using the angular velocity parameter to obtain the angle change parameter of the second vehicle body test point at the current time point relative to the previous time point; Obtain the attitude angle parameter of the second vehicle body test point in the set space coordinate system at the previous time point. The attitude angle parameter includes the included angles of the test plane where the second vehicle body test point is located relative to each coordinate axis, and determine the attitude angle parameter of the second vehicle body test point in the set space coordinate system at the current time point according to the attitude angle parameter at the previous time point and the angle change parameter at the current time point relative to the previous time point; Use the attitude angle parameter of the second vehicle body test point in the set space coordinate system at the current time point as the sensing attitude angle parameter of the test plane at the current time point.

[0009] In a possible design, constructing a measured motion attitude curve based on the measured attitude angle parameters of the test plane at each time point, and constructing a sensing motion attitude curve based on the sensing attitude angle parameters of the test plane at each time point, includes: Calibrate the first attitude points corresponding to the measured attitude angle parameters at each time point in the motion attitude coordinate system, and calibrate the second attitude points corresponding to the sensing attitude angle parameters at each time point in the motion attitude coordinate system. The coordinate axis parameters of the motion attitude coordinate system respectively correspond to the included angles of the test plane and each coordinate axis of the set space coordinate system; In the motion attitude coordinate system, sequentially and smoothly connect the first attitude points corresponding to each time point to obtain a measured motion attitude curve, and sequentially and smoothly connect the second attitude points corresponding to each time point to obtain a sensing motion attitude curve.

[0010] In a possible design, comparing the sensing motion attitude curve segment and the measured motion attitude curve segment to determine the attitude matching degree between the sensing motion attitude curve segment and the measured motion attitude curve segment includes: Randomly select several time points as selected time points within the set time window, and calibrate the corresponding first target positions on the measured motion attitude curve segment for each selected time point, and calibrate the corresponding second target positions on the sensing motion attitude curve segment for each selected time point; Determine the measured attitude angle parameters corresponding to each first target position, sequentially combine the measured attitude angle parameters corresponding to each first target position to obtain a measured attitude feature vector, determine the sensing attitude angle parameters corresponding to each second target position, and sequentially combine the sensing attitude angle parameters corresponding to each second target position to obtain a sensing attitude feature vector; Substitute the sensing attitude feature vector and the measured attitude feature vector into a preset attitude matching degree calculation formula for calculation to obtain the attitude matching degree between the sensing motion attitude curve segment and the measured motion attitude curve segment. The attitude matching degree calculation formula is as follows:

[0011] where P represents the attitude matching degree between the sensing motion attitude curve segment and the measured motion attitude curve segment, i represents the component number of the sensing attitude feature vector and the measured attitude feature vector, n represents the total number of components of the sensing attitude feature vector and the measured attitude feature vector, A i represents the i-th component of the sensing attitude feature vector, and B i represents the i-th component of the measured attitude feature vector.

[0012] In a possible design, the method further includes: Directly compare the sensing motion attitude curve and the measured motion attitude curve to determine the attitude matching degree between the sensing motion attitude curve and the measured motion attitude curve; When the attitude matching degree between the sensing motion attitude curve and the measured motion attitude curve does not reach the set matching degree condition, determine that the attitude sensing test of the attitude sensor is unqualified and output the corresponding test result.

[0013] In a second aspect, a vehicle body attitude sensing test system is provided, including a data acquisition unit, an attitude measurement unit, a sensing calculation unit, a curve construction unit, a line segment intercepting unit, an attitude matching unit, and a result determination unit, where: The data acquisition unit is configured to obtain in real time the ground distance measurement data of the lidar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point. The first vehicle body test points and the second vehicle body test point are in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point; The attitude measurement unit is configured to determine the spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each lidar at the current time point, and determine the measured attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point; The sensing calculation unit is configured to calculate the sensed attitude angle parameters of the test plane at the current time point according to the attitude sensing data of the attitude sensor; The curve construction unit is configured to construct a measured motion attitude curve based on the measured attitude angle parameters of the test plane at each time point, and construct a sensing motion attitude curve based on the sensed attitude angle parameters of the test plane at each time point; A line segment intercepting unit, configured to intercept a measured motion attitude curve segment within a set time window from the measured motion attitude curve, and intercept a sensed motion attitude curve segment within the set time window from the sensed motion attitude curve; An attitude matching unit, configured to compare the sensed motion attitude curve segment and the measured motion attitude curve segment, and determine the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment; A result determination unit, configured to determine that the attitude sensing test of the attitude sensor is unqualified and output a corresponding test result when the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not reach the set matching degree condition.

[0014] In a third aspect, a vehicle body attitude sensing test system is provided, including: A memory, configured to store instructions; A processor, configured to read the instructions stored in the memory and execute any one of the vehicle body attitude sensing test methods in the first aspect according to the instructions.

[0015] In a fourth aspect, a computer-readable storage medium is provided, on which instructions are stored. When the instructions run on a computer, the computer is caused to execute any one of the vehicle body attitude sensing test methods in the first aspect. At the same time, a computer program product is also provided. When the computer program product runs on a computer, it executes any one of the vehicle body attitude sensing test methods in the first aspect.

[0016] Advantageous effects: By collecting the lidar ranging data of each first vehicle body test point and the attitude sensing data of each second vehicle body test point in real time and performing corresponding data analysis, the present invention obtains the measured attitude angle parameters and the sensed attitude angle parameters at each time point, then constructs corresponding attitude curves based on the two types of attitude angle parameters for attitude matching, and finally determines whether the attitude sensing test is qualified according to the attitude matching result, so as to achieve dynamic and highly efficient vehicle body attitude sensing test and facilitate the calibration of the vehicle body attitude sensor. The present invention can effectively solve the problem that the cumulative error of the attitude sensing of the vehicle body attitude sensor is difficult to measure, realize efficient and reliable vehicle body attitude sensing test, can accurately detect the sensor drift problem during the vehicle movement process, and can be applied in a fixed test environment without relying on a costly optical motion capture system. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the steps of the method in Embodiment 1 of the present invention; Figure 2 It is a schematic diagram of the composition of the system in Embodiment 2 of the present invention; Figure 3 It is a schematic diagram of the composition of the system in Embodiment 3 of the present invention. Detailed implementation manners

[0019] It should be noted here that the description of these implementation manners is used to help understand the present invention, but does not constitute a limitation to the present invention. The specific structural and functional details disclosed herein are only used to describe the exemplary embodiments of the present invention. However, the present invention can be embodied in many alternative forms and should not be construed as limited to the embodiments described herein.

[0020] It should be understood that unless otherwise clearly defined and limited, the corresponding terms should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments can be understood according to specific situations.

[0021] Specific details are provided in the following description to facilitate a complete understanding of the exemplary embodiments. However, those of ordinary skill in the art should understand that the exemplary embodiments can be implemented without these specific details. For example, the device can be shown in a block diagram to avoid making the example unclear with unnecessary details. In other embodiments, well-known processes, structures, and technologies can be shown without unnecessary details to avoid making the embodiments unclear.

[0022] Embodiment 1: This embodiment provides a method for testing the body attitude sensing, which can be applied to a corresponding test terminal, such as Figure 1 As shown, the method includes the following steps: S1. Real-time obtain the ground distance measurement data of the lidar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point. The first vehicle body test points and the second vehicle body test point are in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point.

[0023] In specific implementation, several first vehicle body test points can be set on the vehicle body. For example, first vehicle body test points are respectively set on the four-wheel suspensions. Lidar is installed at the first vehicle body test points. The lidar is used to detect the distance from the ground to obtain the ground clearance ranging data of the corresponding points. And a second vehicle body test point is set on the vehicle body. An attitude sensor (the attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology, including motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass) is installed at the second vehicle body test point. The attitude sensor is used to measure attitude sensing data. Each first vehicle body test point and the second vehicle body test point are in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point. The vehicle can be tested in a fixed test environment (including a fixed test road). During the test, the test terminal collects and analyzes the ground clearance ranging data of the lidar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point in real time.

[0024] S2. Determine the spatial position parameters of each first vehicle body test point at the current time point based on the ground clearance ranging data of each lidar at the current time point, and determine the calculated attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point.

[0025] In specific implementation, the test terminal first determines the test route point where the vehicle body is located at the current time point (such as positioning the vehicle through an in-site positioning device, or positioning the vehicle during driving through pressure sensors buried in the road, etc.), and retrieves the pre-constructed route model of the test route in the set spatial coordinate system. Mark the test route point where the vehicle body is located at the current time point in the route model. The set spatial coordinate system takes the starting point of the route model as the origin, and includes the horizontal plane coordinate axes x, y and the horizontal height direction coordinate axis z. Then, take the test route point marked in the route model as a reference point, and determine the horizontal height coordinate of the reference point in the set spatial coordinate system. Then, take the average value of the ground clearance ranging data of each lidar at the current time point as the horizontal height increment. Keeping the horizontal plane coordinates of the reference point unchanged, raise the horizontal height coordinate of the reference point by the horizontal height increment to obtain the spatial position parameters of the second vehicle body test point at the current time point. Finally, based on the spatial position parameters of the second vehicle body test point at the current time point and the positional relationship between each first vehicle body test point and the second vehicle body test point, determine the spatial position parameters of each first vehicle body test point at the current time point.

[0026] Next, the test terminal can calibrate each first vehicle body test point in the set space coordinate system according to the spatial position parameters of each first vehicle body test point at the current time point, and construct a test plane surrounded by each first vehicle body test point in the set space coordinate system. Then, determine the angles between the test plane and the x, y, and z axes in the set space coordinate system, and combine the angles between the test plane and each axis to obtain the measurement attitude angle parameters of the test plane at the current time point.

[0027] S3. Calculate the sensing attitude angle parameters of the test plane at the current time point according to the attitude sensing data of the attitude sensor.

[0028] In specific implementation, the test terminal extracts the angular velocity parameters from the attitude sensing data of the attitude sensor, and integrates the time using the angular velocity parameters to obtain the angle change parameters of the second vehicle body test point at the current time point relative to the previous time point. Then, obtain the attitude angle parameters of the second vehicle body test point in the set space coordinate system at the previous time point. The attitude angle parameters include the angles between the test plane where the second vehicle body test point is located and each axis, and determine the attitude angle parameters of the second vehicle body test point in the set space coordinate system at the current time point according to the attitude angle parameters at the previous time point and the angle change parameters at the current time point relative to the previous time point; then use the attitude angle parameters of the second vehicle body test point in the set space coordinate system at the current time point as the sensing attitude angle parameters of the test plane at the current time point.

[0029] S4. Construct a measurement motion attitude curve based on the measurement attitude angle parameters of the test plane at each time point, and construct a sensing motion attitude curve based on the sensing attitude angle parameters of the test plane at each time point.

[0030] In specific implementation, the test terminal calibrates the first attitude points corresponding to the measurement attitude angle parameters at each time point in the set motion attitude coordinate system, and calibrates the second attitude points corresponding to the sensing attitude angle parameters at each time point in the motion attitude coordinate system. The axis parameters of the motion attitude coordinate system respectively correspond to the angles between the test plane and the x, y, and z axes of the set space coordinate system. At the same time, in the motion attitude coordinate system, connect the first attitude points corresponding to each time point smoothly in sequence to obtain a measurement motion attitude curve, and connect the second attitude points corresponding to each time point smoothly in sequence to obtain a sensing motion attitude curve.

[0031] S5. Intercept the measurement motion attitude curve segment within the set time window from the measurement motion attitude curve, and intercept the sensing motion attitude curve segment within the set time window from the sensing motion attitude curve.

[0032] During specific implementation, after constructing the measured motion attitude curve and the sensed motion attitude curve, the test terminal can intercept the measured motion attitude curve segment within a set time window from the measured motion attitude curve, and intercept the sensed motion attitude curve segment within the set time window from the sensed motion attitude curve.

[0033] S6. Compare the sensed motion attitude curve segment with the measured motion attitude curve segment to determine the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment.

[0034] During specific implementation, the test terminal randomly selects several time points within the set time window as the selected time points, calibrates the corresponding first target points on the measured motion attitude curve segment for each selected time point, and calibrates the corresponding second target points on the sensed motion attitude curve segment for each selected time point. Then, determine the measured attitude angle parameters corresponding to each first target point, combine the measured attitude angle parameters corresponding to each first target point in sequence to obtain a measured attitude feature vector, determine the sensed attitude angle parameters corresponding to each second target point, and combine the sensed attitude angle parameters corresponding to each second target point in sequence to obtain a sensed attitude feature vector. Next, substitute the sensed attitude feature vector and the measured attitude feature vector into a preset attitude matching degree formula for calculation to obtain the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment. The attitude matching degree formula is:

[0035] where P represents the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment, i represents the component number of the sensed attitude feature vector and the measured attitude feature vector, n represents the total number of components of the sensed attitude feature vector and the measured attitude feature vector, A i represents the i-th component of the sensed attitude feature vector, and B i represents the i-th component of the measured attitude feature vector.

[0036] S7. When the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not meet the set matching degree condition, determine that the attitude sensing test of the attitude sensor is unqualified and output the corresponding test result.

[0037] During specific implementation, when the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not meet the set matching degree condition (such as the attitude matching degree does not exceed the set matching degree threshold), the test terminal determines that the attitude sensing test of the attitude sensor is unqualified and outputs the corresponding test result, which is convenient for subsequent calibration of the vehicle body attitude sensor according to the test result.

[0038] Meanwhile, instead of segmenting and comparing the measured motion attitude curve and the sensed motion attitude curve, the test terminal can directly compare the sensed motion attitude curve and the measured motion attitude curve using the same comparison and matching method to determine the attitude matching degree between the sensed motion attitude curve and the measured motion attitude curve. If the attitude matching degree between the sensed motion attitude curve and the measured motion attitude curve does not meet the set matching degree condition, it is determined that the attitude sensing test of the attitude sensor is unqualified, and the corresponding test result is output, facilitating subsequent calibration of the vehicle body attitude sensor according to the test result.

[0039] This method can effectively solve the problem that the cumulative error of attitude sensing of the vehicle body attitude sensor is difficult to measure, realize efficient and reliable vehicle body attitude sensing test, accurately detect the sensor drift problem during vehicle movement, and can be applied in a fixed test environment without relying on a costly optical motion capture system.

[0040] Embodiment 2: This embodiment provides a vehicle body attitude sensing test system, as Figure 2 shown, including a data acquisition unit, an attitude measurement unit, a sensing calculation unit, a curve construction unit, a segment intercepting unit, an attitude matching unit, and a result determination unit, where: The data acquisition unit is used to obtain in real time the ground distance measurement data of the lidar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point. The first vehicle body test points and the second vehicle body test point are in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point; The attitude measurement unit is used to determine the spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each lidar at the current time point, and determine the measured attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point; The sensing calculation unit is used to calculate the sensed attitude angle parameters of the test plane at the current time point according to the attitude sensing data of the attitude sensor; The curve construction unit is used to construct a measured motion attitude curve based on the measured attitude angle parameters of the test plane at each time point, and construct a sensed motion attitude curve based on the sensed attitude angle parameters of the test plane at each time point; The segment intercepting unit is used to intercept a measured motion attitude curve segment within a set time window from the measured motion attitude curve, and intercept a sensed motion attitude curve segment within a set time window from the sensed motion attitude curve; The attitude matching unit is used to compare the sensed motion attitude curve segment and the measured motion attitude curve segment to determine the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment; A result determination unit is configured to determine that the attitude sensing test of the attitude sensor is unqualified and output a corresponding test result when the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not meet the set matching degree condition.

[0041] Embodiment 3: This embodiment provides a vehicle body attitude sensing test system. As Figure 3 shown, at the hardware level, it includes: A data interface for establishing data docking between the processor, lidar, and attitude sensor; A memory for storing instructions; A processor for reading the instructions stored in the memory and executing the vehicle body attitude sensing test method in Embodiment 1 according to the instructions.

[0042] Optionally, the system further includes an internal bus. The processor, memory, and data interface can be interconnected through the internal bus. The internal bus can be a PCIe (Peripheral Component Interconnect Eexpress) bus, and the bus can be divided into an address bus, a data bus, a control bus, etc. The memory can include, but is not limited to, a random access memory (Random Access Memory, RAM), a read-only memory (Read Only Memory, ROM), a flash memory (Flash Memory), a first-in first-out memory (First Input First Output, FIFO), and / or a first-in last-out memory (First In Last Out, FILO), etc. The processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application SpecificIntegrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0043] Embodiment 4: This embodiment provides a computer-readable storage medium, on which instructions are stored. When the instructions run on a computer, the computer is made to execute the vehicle body attitude sensing test method in Embodiment 1. Among them, the computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, floppy disks, optical discs, hard disks, flash memories, USB flash drives, and / or memory sticks, etc. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0044] This embodiment also provides a computer program product. When the computer program product runs on a computer, it executes the vehicle body attitude sensing test method in Embodiment 1. Among them, the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0045] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle body attitude sensing and testing method, characterized in that, Including: Obtaining in real time the ground distance measurement data of the lidar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point, where each first vehicle body test point and the second vehicle body test point are in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point; Determining the spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each lidar at the current time point, and determining the measured attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point; Calculating the sensed attitude angle parameters of the test plane at the current time point according to the attitude sensing data of the attitude sensor; Constructing a measured motion attitude curve based on the measured attitude angle parameters of the test plane at each time point, and constructing a sensed motion attitude curve based on the sensed attitude angle parameters of the test plane at each time point; Intercepting a measured motion attitude curve segment within a set time window from the measured motion attitude curve, and intercepting a sensed motion attitude curve segment within a set time window from the sensed motion attitude curve; Comparing the sensed motion attitude curve segment with the measured motion attitude curve segment to determine the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment; When the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not meet the set matching degree condition, determining that the attitude sensing test of the attitude sensor is unqualified and outputting the corresponding test result.

2. The body attitude sensing test method according to claim 1, characterized in that The determining the spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each lidar at the current time point includes: Determining the test route point where the vehicle body is located at the current time point, retrieving the route model of the test route in the set spatial coordinate system, and calibrating the test route point where the vehicle body is located at the current time point in the route model. The set spatial coordinate system takes the starting point of the route model as the origin and includes a horizontal plane coordinate axis and a horizontal height direction coordinate axis; Taking the test route point calibrated in the route model as a reference point and determining the horizontal height coordinate of the reference point in the set spatial coordinate system; Taking the average value of the ground distance measurement data of each lidar at the current time point as the horizontal height increment, keeping the horizontal plane coordinates of the reference point unchanged, and raising the horizontal height coordinate of the reference point by the horizontal height increment to obtain the spatial position parameters of the second vehicle body test point at the current time point; Based on the spatial position parameters of the second vehicle body test point at the current time point and the positional relationship between each first vehicle body test point and the second vehicle body test point, determining the spatial position parameters of each first vehicle body test point at the current time point.

3. The vehicle body attitude sensing test method according to claim 2, wherein, The determining the measured attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point includes: Calibrating each first vehicle body test point in the set spatial coordinate system according to the spatial position parameters of each first vehicle body test point at the current time point, and constructing a test plane surrounded by each first vehicle body test point in the set spatial coordinate system; Determining the angles between the test plane and each coordinate axis in the set spatial coordinate system, and combining the angles between the test plane and each coordinate axis to obtain the measured attitude angle parameters of the test plane at the current time point.

4. The vehicle body attitude sensing test method according to claim 2, characterized in that, Calculating the sensing attitude angle parameters of the test plane at the current time point based on the attitude sensing data of the attitude sensor, including: Extracting the angular velocity parameters from the attitude sensing data of the attitude sensor, and integrating the time using the angular velocity parameters to obtain the angle change parameters of the second vehicle body test point at the current time point relative to the previous time point; Obtaining the attitude angle parameters of the second vehicle body test point in the set space coordinate system at the previous time point, where the attitude angle parameters include the included angles of the test plane where the second vehicle body test point is located relative to each coordinate axis, and determining the attitude angle parameters of the second vehicle body test point in the set space coordinate system at the current time point according to the attitude angle parameters at the previous time point and the angle change parameters at the current time point relative to the previous time point; Taking the attitude angle parameters of the second vehicle body test point in the set space coordinate system at the current time point as the sensing attitude angle parameters of the test plane at the current time point.

5. A method for sensing and testing the body attitude according to claim 1, characterized in that, Constructing a measured motion attitude curve based on the measured attitude angle parameters of the test plane at each time point, and constructing a sensing motion attitude curve based on the sensing attitude angle parameters of the test plane at each time point, including: Calibrating the first attitude points corresponding to the measured attitude angle parameters at each time point in the motion attitude coordinate system, and calibrating the second attitude points corresponding to the sensing attitude angle parameters at each time point in the motion attitude coordinate system, where the coordinate axis parameters of the motion attitude coordinate system respectively correspond to the included angles between the test plane and the coordinate axes of the set space coordinate system; In the motion attitude coordinate system, sequentially and smoothly connecting the first attitude points corresponding to each time point to obtain a measured motion attitude curve, and sequentially and smoothly connecting the second attitude points corresponding to each time point to obtain a sensing motion attitude curve.

6. The body attitude sensing test method according to claim 1, characterized in that Comparing the sensing motion attitude curve segment and the measured motion attitude curve segment to determine the attitude matching degree between the sensing motion attitude curve segment and the measured motion attitude curve segment, including: Randomly selecting several time points as selected time points within the set time window, calibrating the first target points corresponding to the selected time points on the measured motion attitude curve segment, and calibrating the second target points corresponding to the selected time points on the sensing motion attitude curve segment; Determining the measured attitude angle parameters corresponding to each first target point, sequentially combining the measured attitude angle parameters corresponding to each first target point to obtain a measured attitude feature vector, determining the sensing attitude angle parameters corresponding to each second target point, and sequentially combining the sensing attitude angle parameters corresponding to each second target point to obtain a sensing attitude feature vector; Substituting the sensing attitude feature vector and the measured attitude feature vector into a preset attitude matching degree calculation formula for calculation to obtain the attitude matching degree between the sensing motion attitude curve segment and the measured motion attitude curve segment, and the attitude matching degree calculation formula is: Among them, P represents the attitude matching degree between the sensing motion attitude curve segment and the measured motion attitude curve segment, i represents the component number of the sensing attitude feature vector and the measured attitude feature vector, n represents the total number of components of the sensing attitude feature vector and the measured attitude feature vector, A i represents the i-th component of the sensing attitude feature vector, B i represents the i-th component of the measured attitude feature vector.

7. A method for sensing and testing vehicle body attitude according to claim 1, characterized in that, The method further includes: Directly comparing the sensing motion attitude curve and the measured motion attitude curve to determine the attitude matching degree between the sensing motion attitude curve and the measured motion attitude curve; When the attitude matching degree between the sensing motion attitude curve and the measured motion attitude curve does not reach the set matching degree condition, determining that the attitude sensing test of the attitude sensor is unqualified and outputting the corresponding test result.

8. A vehicle body attitude sensing and testing system, characterized in that, It includes a data acquisition unit, an attitude calculation unit, a sensing calculation unit, a curve construction unit, a line segment intercepting unit, an attitude matching unit, and a result determination unit, where: The data acquisition unit is configured to obtain in real time the ground distance measurement data of the lidar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point. Each of the first vehicle body test points and the second vehicle body test point is in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point; The attitude calculation unit is configured to determine the spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each lidar at the current time point, and determine the calculated attitude angle parameters of the test plane at the current time point according to the spatial position parameters of each first vehicle body test point at the current time point; The sensing calculation unit is configured to calculate the sensed attitude angle parameters of the test plane at the current time point according to the attitude sensing data of the attitude sensor; The curve construction unit is configured to construct a calculated motion attitude curve based on the calculated attitude angle parameters of the test plane at each time point, and construct a sensed motion attitude curve based on the sensed attitude angle parameters of the test plane at each time point; The line segment intercepting unit is configured to intercept a calculated motion attitude curve segment within a set time window from the calculated motion attitude curve, and intercept a sensed motion attitude curve segment within a set time window from the sensed motion attitude curve; The attitude matching unit is configured to compare the sensed motion attitude curve segment and the calculated motion attitude curve segment to determine the attitude matching degree between the sensed motion attitude curve segment and the calculated motion attitude curve segment; The result determination unit is configured to determine that the attitude sensing test of the attitude sensor is unqualified and output the corresponding test result when the attitude matching degree between the sensed motion attitude curve segment and the calculated motion attitude curve segment does not meet the set matching degree condition.

9. A vehicle body attitude sensing and testing system, characterized in that, It includes: A memory for storing instructions; A processor for reading the instructions stored in the memory and executing the vehicle body attitude sensing test method according to any one of claims 1-7.

10. A computer program product, characterized in that, When the computer program product runs on a computer, it executes the vehicle body attitude sensing test method according to any one of claims 1-7.

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