Vehicle body posture sensing test method, system and program product

Abstract

The present invention belongs to the field of vehicle testing technology and specifically discloses a vehicle body posture sensing test method, system, and program product. The method collects laser radar ranging data from each first vehicle body test point and posture sensing data from a second vehicle body test point in real time, performs corresponding data analysis, and obtains the measured posture angle parameters and sensing posture angle parameters at each time point. Then, based on the two posture angle parameters, corresponding posture curves are constructed for posture matching. Finally, the posture matching result determines whether the posture sensing test is qualified, thereby achieving dynamic and time-efficient vehicle body posture sensing testing. The present invention can effectively solve the problem of difficulty in measuring the cumulative posture sensing error of a vehicle body posture sensor, achieve efficient and reliable vehicle body posture sensing testing, accurately test sensor drift during vehicle motion, and can be applied in a fixed test environment without relying on a costly optical motion capture system.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle testing, and in particular relates to a vehicle body posture sensing testing method, system and program product. Background Art

[0002] A vehicle attitude sensor measures vehicle attitude (position and orientation). It achieves high-precision vehicle attitude measurement through a combination of multiple sensors, including accelerometers, gyroscopes, and magnetometers. Testing the vehicle attitude sensor ensures accurate vehicle attitude information, helping the vehicle control system make correct decisions and improving vehicle stability and safety. Furthermore, testing and calibration of the vehicle attitude sensor can optimize the vehicle's suspension and braking systems, improving overall performance.

[0003] However, the vehicle body attitude sensor uses inertial elements to measure the vehicle's angular velocity and acceleration, and then obtains attitude parameters through time integration operations. However, the sensor drift problem caused by the cumulative error generated by the continuous integration statistical process is difficult to detect. To address this problem, the existing testing method uses an optical motion capture system to capture the vehicle's attitude, and then uses a static calibration method based on the optical vehicle attitude capture parameters to test and compare the vehicle body attitude sensor parameters. This testing method is inefficient, 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 posture sensing test method, system and program product to solve the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, a vehicle body posture sensing test method is provided, comprising:

[0007] acquiring in real time ground distance measurement data from a laser radar at each first vehicle body test point and attitude sensing data from an attitude sensor at a second vehicle body test point, wherein each first vehicle body test point and each second vehicle body test point are located in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point;

[0008] Determining spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each laser radar at the current time point, and determining a measured attitude angle parameter of the test plane at the current time point based on the spatial position parameters of each first vehicle body test point at the current time point;

[0009] 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;

[0010] A measured motion posture curve is constructed based on the measured posture angle parameters of the test plane at each time point, and a sensed motion posture curve is constructed based on the sensed posture angle parameters of the test plane at each time point;

[0011] intercepting a calculated motion posture curve segment within a set time window from the measured motion posture curve, and intercepting a sensed motion posture curve segment within a set time window from the sensed motion posture curve;

[0012] Comparing the sensed motion posture curve segment with the measured motion posture curve segment to determine the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment;

[0013] When the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not reach a set matching degree condition, it is determined that the attitude sensing test of the attitude sensor fails, and the corresponding test result is output.

[0014] In one 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 laser radar at the current time point includes:

[0015] Determining the test route point at which the vehicle body is located at the current time point, and retrieving a route model of the test route in a set spatial coordinate system, and calibrating the test route point at which the vehicle body is located at the current time point in the route model, wherein the set spatial coordinate system has a starting point of the route model as an origin and includes a horizontal plane coordinate axis and a horizontal height direction coordinate axis;

[0016] The test route points marked in the route model are used as reference points to determine the horizontal height coordinates of the reference points in the set spatial coordinate system;

[0017] The average of the ground distance measurement data of each lidar at the current time point is taken as the horizontal height increment. The horizontal plane coordinate of the reference point is kept unchanged, and the horizontal height coordinate of the reference point is raised by the horizontal height increment to obtain the spatial position parameters of the second vehicle body test point at the current time point.

[0018] The spatial position parameters of each first vehicle body test point at the current time point are determined 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.

[0019] In one possible design, determining the calculated attitude angle parameters of the test plane at the current time point based on the spatial position parameters of each first vehicle body test point at the current time point includes:

[0020] calibrating each first vehicle body test point in a set spatial coordinate system according to the spatial position parameters of each first vehicle body test point at a current time point, and constructing a test plane surrounded by each first vehicle body test point in the set spatial coordinate system;

[0021] Determine the angles between the test plane and each coordinate axis in the set spatial coordinate system, and combine 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.

[0022] In one possible design, the step of 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:

[0023] Extracting angular velocity parameters from the attitude sensing data of the attitude sensor, and integrating the angular velocity parameters with time to obtain an angle change parameter of the second vehicle body test point at the current time point relative to the previous time point;

[0024] Obtaining an attitude angle parameter of the second vehicle body test point at a previous time point in the set spatial coordinate system, the attitude angle parameter including an angle between a test plane on which the second vehicle body test point is located and each coordinate axis, and determining the attitude angle parameter of the second vehicle body test point at a current time point in the set spatial coordinate system based on the attitude angle parameter at the previous time point and an angle change parameter at the current time point relative to the previous time point;

[0025] The attitude angle parameter of the second vehicle body test point at the current time point in the set space coordinate system is used as the sensing attitude angle parameter of the test plane at the current time point.

[0026] In one possible design, the step of constructing a measured motion posture curve based on the measured posture angle parameters of the test plane at each time point, and constructing a sensed motion posture curve based on the sensed posture angle parameters of the test plane at each time point, includes:

[0027] Calibrate the first posture point corresponding to the measured posture angle parameter at each time point in the motion posture coordinate system, and calibrate the second posture point corresponding to the sensed posture angle parameter at each time point in the motion posture coordinate system, wherein each coordinate axis parameter of the motion posture coordinate system corresponds to the angle between the test plane and each coordinate axis of the set space coordinate system;

[0028] In the motion posture coordinate system, the first posture points corresponding to each time point are smoothly connected in sequence to obtain a measured motion posture curve, and the second posture points corresponding to each time point are smoothly connected in sequence to obtain a sensed motion posture curve.

[0029] In one possible design, comparing the sensed motion posture curve segment and the measured motion posture curve segment to determine the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment includes:

[0030] Randomly select a number of time points within a set time window as selected time points, and calibrate the first target point position corresponding to each selected time point on the measured motion posture curve segment, and calibrate the second target point position corresponding to each selected time point on the sensed motion posture curve segment;

[0031] 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 sensing attitude angle parameters corresponding to each second target point, and combine the sensing attitude angle parameters corresponding to each second target point in sequence to obtain a sensing attitude feature vector;

[0032] Substitute the sensing posture feature vector and the measured posture feature vector into the preset posture matching degree formula for calculation to obtain the posture matching degree between the sensing motion posture curve segment and the measured motion posture curve segment. The posture matching degree formula is:

[0033]

[0034] Among them, P represents the attitude matching degree between the sensing motion posture curve segment and the measured motion posture curve segment, i represents the component number of the sensing posture feature vector and the measured posture feature vector, n represents the total number of components of the sensing posture feature vector and the measured posture feature vector, A i The i-th component of the sensor posture feature vector, B i Represents the i-th component of the measured posture feature vector.

[0035] In one possible design, the method further includes:

[0036] Directly compare the sensed motion posture curve with the measured motion posture curve to determine the posture matching degree between the sensed motion posture curve and the measured motion posture curve;

[0037] When the attitude matching degree between the sensed motion attitude curve and the measured motion attitude curve does not reach the set matching degree condition, the attitude sensing test of the attitude sensor is determined to be unqualified, and the corresponding test result is output.

[0038] In a second aspect, a vehicle body posture sensing test system is provided, comprising a data acquisition unit, a posture measurement unit, a sensing calculation unit, a curve construction unit, a line segment interception unit, a posture matching unit, and a result determination unit, wherein:

[0039] a data acquisition unit, configured to acquire, in real time, ground distance measurement data from a laser radar at each first vehicle body test point and attitude sensing data from an attitude sensor at a second vehicle body test point, wherein each first vehicle body test point and each second vehicle body test point are located on the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point;

[0040] an attitude measurement unit, configured to determine, based on the ground distance measurement data of each laser radar at the current time point, the spatial position parameters of each first vehicle body test point at the current time point, and determine, based on the spatial position parameters of each first vehicle body test point at the current time point, the measured attitude angle parameters of the test plane at the current time point;

[0041] A sensing calculation unit, used to calculate the sensing attitude angle parameters of the test plane at the current time point based on the attitude sensing data of the attitude sensor;

[0042] A curve construction unit, configured to construct a measured motion posture curve based on the measured posture angle parameters of the test plane at each time point, and to construct a sensed motion posture curve based on the sensed posture angle parameters of the test plane at each time point;

[0043] A line segment interception unit, used for intercepting a measured motion posture curve segment within a set time window from the measured motion posture curve, and intercepting a sensed motion posture curve segment within a set time window from the sensed motion posture curve;

[0044] a posture matching unit, configured to compare the sensed motion posture curve segment with the measured motion posture curve segment, and determine a posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment;

[0045] The result determination unit is used to determine that the posture sensing test of the posture sensor fails when the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment does not meet the set matching degree condition, and output the corresponding test result.

[0046] In a third aspect, a vehicle body posture sensing test system is provided, comprising:

[0047] a memory for storing instructions;

[0048] A processor is used to read the instructions stored in the memory and execute the vehicle body posture sensing test method described in any one of the first aspects according to the instructions.

[0049] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform any one of the vehicle posture sensing test methods described in the first aspect. Also provided is a computer program product that, when executed on a computer, performs any one of the vehicle posture sensing test methods described in the first aspect.

[0050] Beneficial effects: The present invention collects the laser radar ranging data of each first vehicle body test point and the posture sensing data of the second vehicle body test point in real time and performs corresponding data analysis to obtain the measured posture angle parameters and the sensing posture angle parameters at each time point, and then constructs corresponding posture curves based on the two posture angle parameters to perform posture matching. Finally, it determines whether the posture sensing test is qualified based on the posture matching result, so as to realize dynamic and high-efficiency vehicle body posture sensing test and facilitate calibration of the vehicle body posture sensor. The present invention can effectively solve the problem that the posture sensing cumulative error of the vehicle body posture sensor is difficult to measure, realize efficient and reliable vehicle body posture sensing test, accurately test 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 Schematic diagram of the steps of the method in Example 1 of the present invention;

[0053] Figure 2 Schematic diagram of the system structure in Example 2 of the present invention;

[0054] Figure 3 This is a schematic diagram of the system structure in Example 3 of the present invention. DETAILED DESCRIPTION

[0055] It should be noted that the description of these embodiments is intended to help understand the present invention, but does not constitute a limitation of the present invention. The specific structural and functional details disclosed herein are merely intended to describe exemplary embodiments of the present invention. However, the present invention may be embodied in a variety of alternative forms, and should not be construed as being limited to the embodiments set forth herein.

[0056] It should be understood that, unless otherwise expressly specified or limited, the corresponding terms should be understood in a broad sense. For example, "connection" can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments based on specific circumstances.

[0057] In the following description, certain details are provided to facilitate a thorough understanding of the example embodiments. However, one skilled in the art will appreciate that the example embodiments may be practiced without these specific details. For example, devices may be shown in block diagrams to avoid obscuring the examples with unnecessary detail. In other embodiments, well-known processes, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.

[0058] Example 1:

[0059] This embodiment provides a vehicle body posture sensing test method, which can be applied to corresponding test terminals, such as Figure 1 As shown, the method includes the following steps:

[0060] S1. Acquire in real time the ground distance measurement data of the laser radar at each first vehicle body test point and the attitude sensing data of the attitude sensor at the second vehicle body test point, wherein 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.

[0061] In specific implementation, several first-body test points can be set up on the vehicle body, such as on each of the four-wheel suspensions. These first-body test points are equipped with lidar sensors, which detect the distance to the ground and obtain distance-to-ground data for the corresponding points. Second-body test points are also set up on the vehicle body, equipped with attitude sensors (a high-performance three-dimensional motion attitude measurement system based on MEMS technology, including a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and other motion sensors) to measure attitude sensing data. Each first-body test point and each second-body test point are located on the same test plane, with the second-body test point serving as the center point of each first-body test point. The vehicle can be tested in a fixed test environment (including a fixed test road). During testing, the test terminal collects real-time distance-to-ground data from the lidar sensors at each first-body test point and attitude sensing data from the attitude sensors at the second-body test points for analysis.

[0062] S2. 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 laser radar at the current time point, and determine the measured attitude angle parameters of the test plane at the current time point based on the spatial position parameters of each first vehicle body test point at the current time point.

[0063] In specific implementation, the test terminal first determines the test route point at the current time (e.g., using on-site positioning equipment or pressure sensors embedded in the road to locate the vehicle during travel). It then retrieves a pre-built test route model in a pre-set spatial coordinate system and calibrates the test route point at the current time within the model. The pre-set spatial coordinate system, with the starting point of the model as its origin, includes horizontal coordinate axes x and y and a height coordinate axis z. The calibrated test route point in the model is then used as a reference point to determine the height coordinate of the reference point in the pre-set spatial coordinate system. The average of the ground clearance data from each lidar at the current time is then taken as the height increment. While maintaining the horizontal coordinate of the reference point unchanged, the height coordinate of the reference point is increased by the height increment to obtain the spatial position parameters of the second vehicle test point at the current time. Finally, based on the spatial position parameters of the second vehicle test point at the current time and the positional relationship between each first vehicle test point and the second vehicle test point, the spatial position parameters of each first vehicle test point at the current time are determined.

[0064] Next, the test terminal can calibrate each first vehicle body test point in a set spatial coordinate system based on the spatial position parameters of each first vehicle body test point at the current time, and construct a test plane enclosed by each first vehicle body test point in the set spatial coordinate system. The test terminal then determines the angles between the test plane and each of the x, y, and z coordinate axes in the set spatial coordinate system, and combines the angles between the test plane and each of the coordinate axes to obtain the measured attitude angle parameters of the test plane at the current time.

[0065] S3. Calculate the sensing attitude angle parameters of the test plane at the current time point based on the attitude sensing data of the attitude sensor.

[0066] In specific implementations, the test terminal extracts angular velocity parameters from the attitude sensing data of the attitude sensor and integrates the angular velocity parameters over time to obtain an angular change parameter of the second vehicle body test point at the current time point relative to the previous time point. The test terminal then obtains the attitude angle parameters of the second vehicle body test point at the previous time point in a set spatial coordinate system. The attitude angle parameters include the angles of the test plane where the second vehicle body test point is located relative to each coordinate axis. The test terminal then determines the attitude angle parameters of the second vehicle body test point at the current time point in the set spatial coordinate system based on the attitude angle parameters at the previous time point and the angular change parameters at the current time point relative to the previous time point. The test terminal then uses the attitude angle parameters of the second vehicle body test point at the current time point in the set spatial coordinate system as the sensing attitude angle parameters of the test plane at the current time point.

[0067] S4. Constructing a measured motion posture curve based on the measured posture angle parameters of the test plane at each time point, and constructing a sensed motion posture curve based on the sensed posture angle parameters of the test plane at each time point.

[0068] During implementation, the test terminal calibrates the first posture point corresponding to the measured posture angle parameter at each time point in a set motion posture coordinate system, and calibrates the second posture point corresponding to the sensed posture angle parameter at each time point in the motion posture coordinate system. The coordinate axis parameters of the motion posture coordinate system correspond to the angles between the test plane and the x, y, and z coordinate axes of the set spatial coordinate system. Simultaneously, in the motion posture coordinate system, the first posture points corresponding to each time point are smoothly connected in sequence to obtain a measured motion posture curve, and the second posture points corresponding to each time point are smoothly connected in sequence to obtain a sensed motion posture curve.

[0069] S5. intercepting a calculated motion posture curve segment within a set time window from the calculated motion posture curve, and intercepting a sensed motion posture curve segment within a set time window from the sensed motion posture curve.

[0070] In specific implementation, after constructing the measured motion posture curve and the sensed motion posture curve, the test terminal can intercept the measured motion posture curve segment within the set time window from the measured motion posture curve, and intercept the sensed motion posture curve segment within the set time window from the sensed motion posture curve.

[0071] S6. Compare the sensed motion posture curve segment and the measured motion posture curve segment to determine the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment.

[0072] During specific implementation, the test terminal randomly selects several time points as selected time points within a set time window, and calibrates the first target point corresponding to each selected time point on the measured motion posture curve segment, and calibrates the second target point corresponding to each selected time point on the sensed motion posture curve segment. Then, the measured posture angle parameters corresponding to each first target point are determined, and the measured posture angle parameters corresponding to each first target point are sequentially combined to obtain a measured posture feature vector, and the sensing posture angle parameters corresponding to each second target point are determined, and the sensing posture angle parameters corresponding to each second target point are sequentially combined to obtain a sensing posture feature vector. Then, the sensing posture feature vector and the measured posture feature vector are substituted into a preset posture matching degree formula for calculation to obtain the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment. The posture matching degree formula is:

[0073]

[0074] Among them, P represents the attitude matching degree between the sensing motion posture curve segment and the measured motion posture curve segment, i represents the component number of the sensing posture feature vector and the measured posture feature vector, n represents the total number of components of the sensing posture feature vector and the measured posture feature vector, A i The i-th component of the sensor posture feature vector, B iRepresents the i-th component of the measured posture feature vector.

[0075] 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, the attitude sensing test of the attitude sensor is determined to be unqualified, and the corresponding test result is output.

[0076] In specific implementation, when the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment does not meet the set matching degree condition (such as the posture matching degree does not exceed the set matching degree threshold), the test terminal determines that the posture sensing test of the posture sensor fails and outputs the corresponding test results, so as to facilitate the subsequent calibration of the vehicle body posture sensor based on the test results.

[0077] At the same time, the test terminal may not perform segmented interception and comparison on the measured motion posture curve and the sensed motion posture curve, but instead use the same comparison and matching method to directly compare the sensed motion posture curve and the measured motion posture curve to determine the posture matching degree between the sensed motion posture curve and the measured motion posture curve. If the posture matching degree between the sensed motion posture curve and the measured motion posture curve does not meet the set matching degree condition, the posture sensing test of the posture sensor is judged to be unqualified, and the corresponding test results are output to facilitate subsequent calibration of the vehicle body posture sensor based on the test results.

[0078] This method can effectively solve the problem that the cumulative error of the posture sensing of the vehicle body posture sensor is difficult to measure, realize efficient and reliable vehicle body posture sensing testing, accurately test the sensor drift problem during vehicle movement, and can be applied in a fixed test environment without relying on expensive optical motion capture systems.

[0079] Example 2:

[0080] This embodiment provides a vehicle body posture sensing test system, such as Figure 2 As shown, it includes a data acquisition unit, a posture measurement unit, a sensor calculation unit, a curve construction unit, a line segment interception unit, a posture matching unit and a result judgment unit, wherein:

[0081] a data acquisition unit, configured to acquire, in real time, ground distance measurement data from a laser radar at each first vehicle body test point and attitude sensing data from an attitude sensor at a second vehicle body test point, wherein each first vehicle body test point and each second vehicle body test point are located on the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point;

[0082] an attitude measurement unit, configured to determine, based on the ground distance measurement data of each laser radar at the current time point, the spatial position parameters of each first vehicle body test point at the current time point, and determine, based on the spatial position parameters of each first vehicle body test point at the current time point, the measured attitude angle parameters of the test plane at the current time point;

[0083] A sensing calculation unit, used to calculate the sensing attitude angle parameters of the test plane at the current time point based on the attitude sensing data of the attitude sensor;

[0084] A curve construction unit, configured to construct a measured motion posture curve based on the measured posture angle parameters of the test plane at each time point, and to construct a sensed motion posture curve based on the sensed posture angle parameters of the test plane at each time point;

[0085] A line segment interception unit, used for intercepting a measured motion posture curve segment within a set time window from the measured motion posture curve, and intercepting a sensed motion posture curve segment within a set time window from the sensed motion posture curve;

[0086] a posture matching unit, configured to compare the sensed motion posture curve segment with the measured motion posture curve segment, and determine a posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment;

[0087] The result determination unit is used to determine that the posture sensing test of the posture sensor fails when the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment does not meet the set matching degree condition, and output the corresponding test result.

[0088] Example 3:

[0089] This embodiment provides a vehicle body posture sensing test system, such as Figure 3 As shown, at the hardware level, it includes:

[0090] Data interface, used to establish data connection between the processor and the lidar and attitude sensor;

[0091] a memory for storing instructions;

[0092] The processor is used to read the instructions stored in the memory and execute the vehicle body posture sensing test method in embodiment 1 according to the instructions.

[0093] Optionally, the system further includes an internal bus, through which the processor, memory, and data interface can be interconnected. The internal bus may be a PCIe (Peripheral Component Interconnect Eexpress) bus, which may be divided into an address bus, a data bus, a control bus, etc. The memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in first-out (FIFO), and / or first-in last-out (FILO). The processor may be a general-purpose processor, including a central processing unit (CPU) or a network processor (NP); it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0094] Example 4:

[0095] This embodiment provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed on a computer, the computer executes the vehicle body posture sensing test method of Embodiment 1. The computer-readable storage medium refers to a data storage medium and may include, but is not limited to, a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive, and / or a memory stick. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable device.

[0096] This embodiment further provides a computer program product, which, when executed on a computer, executes the vehicle body posture sensing test method of embodiment 1. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0097] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A vehicle body posture sensing test method, characterized in that: include: acquiring in real time ground distance measurement data from a laser radar at each first vehicle body test point and attitude sensing data from an attitude sensor at a second vehicle body test point, wherein each first vehicle body test point and each second vehicle body test point are located in the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point; Determining spatial position parameters of each first vehicle body test point at the current time point based on the ground distance measurement data of each laser radar at the current time point, and determining a measured attitude angle parameter of the test plane at the current time point based on the spatial position parameters of each first vehicle body test point at the current time point; The method of 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 laser radar at the current time point includes: determining the test route point where the vehicle body is located at the current time point, and calling the route model of the test route in the set spatial coordinate system, 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; using the test route point calibrated in the route model as a reference point, 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 laser radar at the current time point as the horizontal height increment, keeping the horizontal plane coordinate of the reference point unchanged, and raising the horizontal height coordinate of the reference point by the horizontal height increment to obtain the current spatial position parameters of the second vehicle body test point at a previous time point; determining the spatial position parameters of each first 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 measured attitude angle parameters of the test plane at the current time point based on the spatial position parameters of each first vehicle body test point at the current time point, including: calibrating each first vehicle body test point in a set spatial coordinate system based on 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 angle 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; 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; A measured motion posture curve is constructed based on the measured posture angle parameters of the test plane at each time point, and a sensed motion posture curve is constructed based on the sensed posture angle parameters of the test plane at each time point; intercepting a calculated motion posture curve segment within a set time window from the measured motion posture curve, and intercepting a sensed motion posture curve segment within a set time window from the sensed motion posture curve; Comparing the sensed motion posture curve segment with the measured motion posture curve segment to determine the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment; When the attitude matching degree between the sensed motion attitude curve segment and the measured motion attitude curve segment does not reach a set matching degree condition, it is determined that the attitude sensing test of the attitude sensor fails, and the corresponding test result is output.

2. A vehicle body posture sensing test method according to claim 1, characterized in that: The step of calculating the sensing attitude angle parameter of the test plane at the current time point according to the attitude sensing data of the attitude sensor includes: Extracting angular velocity parameters from the attitude sensing data of the attitude sensor, and integrating the angular velocity parameters with time to obtain an angle change parameter of the second vehicle body test point at the current time point relative to the previous time point; Obtaining an attitude angle parameter of the second vehicle body test point at a previous time point in the set spatial coordinate system, the attitude angle parameter including an angle between a test plane on which the second vehicle body test point is located and each coordinate axis, and determining the attitude angle parameter of the second vehicle body test point at a current time point in the set spatial coordinate system based on the attitude angle parameter at the previous time point and an angle change parameter at the current time point relative to the previous time point; The attitude angle parameter of the second vehicle body test point at the current time point in the set space coordinate system is used as the sensing attitude angle parameter of the test plane at the current time point.

3. The vehicle body posture sensing test method according to claim 1, characterized in that: The method of constructing a measured motion posture curve based on the measured attitude angle parameters of the test plane at each time point, and constructing a sensed motion posture curve based on the sensed attitude angle parameters of the test plane at each time point, includes: Calibrate the first posture point corresponding to the measured posture angle parameter at each time point in the motion posture coordinate system, and calibrate the second posture point corresponding to the sensed posture angle parameter at each time point in the motion posture coordinate system, wherein each coordinate axis parameter of the motion posture coordinate system corresponds to the angle between the test plane and each coordinate axis of the set space coordinate system; In the motion posture coordinate system, the first posture points corresponding to each time point are smoothly connected in sequence to obtain a measured motion posture curve, and the second posture points corresponding to each time point are smoothly connected in sequence to obtain a sensed motion posture curve.

4. The vehicle body posture sensing test method according to claim 1, characterized in that: The comparing the sensed motion posture curve segment and the measured motion posture curve segment to determine the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment includes: Randomly select a number of time points within a set time window as selected time points, and calibrate the first target point position corresponding to each selected time point on the measured motion posture curve segment, and calibrate the second target point position corresponding to each selected time point on the sensed motion posture curve segment; 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 sensing attitude angle parameters corresponding to each second target point, and combine the sensing attitude angle parameters corresponding to each second target point in sequence to obtain a sensing attitude feature vector; Substitute the sensing posture feature vector and the measured posture feature vector into the preset posture matching degree formula for calculation to obtain the posture matching degree between the sensing motion posture curve segment and the measured motion posture curve segment. The posture matching degree formula is: Among them, P represents the attitude matching degree between the sensing motion posture curve segment and the measured motion posture curve segment, i represents the component number of the sensing posture feature vector and the measured posture feature vector, n represents the total number of components of the sensing posture feature vector and the measured posture feature vector, A i The i-th component of the sensor posture feature vector, B i Represents the i-th component of the measured posture feature vector.

5. The vehicle body posture sensing test method according to claim 1, characterized in that: The method further comprises: Directly compare the sensed motion posture curve with the measured motion posture curve to determine the posture matching degree between the sensed motion posture curve and the measured motion posture curve; When the attitude matching degree between the sensed motion attitude curve and the measured motion attitude curve does not reach the set matching degree condition, it is determined that the attitude sensing test of the attitude sensor fails, and the corresponding test result is output.

6. A vehicle body posture sensing test system, characterized in that: It includes a data acquisition unit, a posture measurement unit, a sensor calculation unit, a curve construction unit, a line segment interception unit, a posture matching unit and a result judgment unit, wherein: a data acquisition unit, configured to acquire, in real time, ground distance measurement data from a laser radar at each first vehicle body test point and attitude sensing data from an attitude sensor at a second vehicle body test point, wherein each first vehicle body test point and each second vehicle body test point are located on the same test plane, and the second vehicle body test point is the center point of each first vehicle body test point; An 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 laser radar at the current time point, and determine the measurement 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 determination of 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 laser radar at the current time point includes: determining the test route point where the vehicle body is located at the current time point, and calling the route model of the test route in the set spatial coordinate system, 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; using the test route point calibrated in the route model as a reference point, determining the horizontal height coordinate of the reference point in the set spatial coordinate system; taking the average ground distance measurement data of each laser radar at the current time point The mean is used as the horizontal height increment, the horizontal plane coordinate of the reference point is kept unchanged, the horizontal height coordinate of the reference point is raised by the horizontal height increment, and the spatial position parameter of the second vehicle body test point at the current time point is obtained; based on the spatial position parameter 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, the spatial position parameter of each first vehicle body test point at the current time point is determined; the determination of the measured attitude angle parameter of the test plane at the current time point according to the spatial position parameter of each first vehicle body test point at the current time point includes: calibrating each first vehicle body test point in a set spatial coordinate system according to the spatial position parameter 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 angle 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 parameter of the test plane at the current time point; A sensing calculation unit, used to calculate the sensing attitude angle parameters of the test plane at the current time point based on the attitude sensing data of the attitude sensor; A curve construction unit, configured to construct a measured motion posture curve based on the measured posture angle parameters of the test plane at each time point, and to construct a sensed motion posture curve based on the sensed posture angle parameters of the test plane at each time point; A line segment interception unit, used for intercepting a measured motion posture curve segment within a set time window from the measured motion posture curve, and intercepting a sensed motion posture curve segment within a set time window from the sensed motion posture curve; a posture matching unit, configured to compare the sensed motion posture curve segment with the measured motion posture curve segment, and determine a posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment; The result determination unit is used to determine that the posture sensing test of the posture sensor fails when the posture matching degree between the sensed motion posture curve segment and the measured motion posture curve segment does not meet the set matching degree condition, and output the corresponding test result.

7. A vehicle body posture sensing test system, characterized in that: include: a memory for storing instructions; A processor is used to read the instructions stored in the memory and execute the vehicle body posture sensing test method described in any one of claims 1 to 5 according to the instructions.

8. A computer program product, characterized in that When the computer program product is run on a computer, the vehicle body posture sensing test method according to any one of claims 1 to 5 is executed.

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