Pitch angle calibration method, vehicle, storage medium and program product
By fixedly connecting the sensor module and attitude angle measurement module in the vehicle and using the accelerometer and gyroscope to calculate the pitch angle offset, the pitch angle accuracy problem of the infrared module is solved, the calibration efficiency and ranging accuracy are improved, and the cost of increasing the target calibration equipment is avoided.
Patent Information
- Application Number
- CN202510862605.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-25
- Publication Date
- 2025-09-19
AI Technical Summary
In the existing technology, the infrared module requires high pitch angle accuracy during vehicle installation, resulting in inaccurate ranging. Adding target calibration equipment to calibrate the pitch angle will extend production time and increase costs.
The pitch angle is calibrated by using an attitude angle measurement module fixedly connected to the sensor module, and the pitch angle offset is calculated by combining accelerometer and gyroscope data. This avoids adding target calibration equipment and allows calibration to be performed directly in the production process.
The efficiency of pitch angle calibration is improved, production cost and time are reduced, and ranging accuracy is ensured.
Smart Images
Figure CN120668085A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle technology, and in particular to a pitch angle calibration method, a vehicle, a storage medium, and a program product. Background Art
[0002] Vehicles are typically equipped with infrared modules (such as thermal imaging sensors) to measure the distance between the vehicle and the target object. The infrared module's ranging algorithm typically calculates the distance between the vehicle and the target object based on the module's attitude angles. These angles include pitch, yaw, and roll.
[0003] During the installation process of the infrared module in the vehicle, the infrared module's attitude angle may be inaccurate. This will affect the accuracy of the infrared module's ranging algorithm, resulting in inaccurate ranging distance and a certain deviation. Generally, the accuracy of the infrared module's yaw and roll angles can be improved by adjusting the assembly process of the infrared module in the vehicle. However, since the accuracy requirements for the infrared module's pitch angle are higher than those for the yaw and roll angles, the pitch angle of the infrared module can generally be calibrated using a target calibration device.
[0004] However, production workshops all have fixed production processes. If a production process of calibrating the pitch angle through target calibration equipment is added to the fixed production process, the time the vehicle spends in the production process will be extended, reducing the vehicle's production efficiency. In addition, the newly added target calibration equipment will increase the production input cost. Summary of the Invention
[0005] The embodiments of the present application provide a pitch angle calibration method, vehicle, storage medium and program product, which can improve calibration efficiency without adding new target calibration equipment, thereby reducing the investment cost of vehicle production.
[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:
[0007] In a first aspect, a pitch angle calibration method is provided, which is applied to a vehicle, the vehicle including a sensor module and an attitude angle measurement module, the sensor module being fixedly connected to the attitude angle measurement module, and comprising: upon receiving a pitch angle calibration instruction, obtaining a pitch angle offset between a first pitch angle of the attitude angle measurement module and an optical axis of the sensor module; wherein the first pitch angle is an inclination angle of the attitude angle measurement module relative to a horizontal plane; obtaining a second pitch angle of the attitude angle measurement module; wherein the second pitch angle is an inclination angle of the attitude angle measurement module relative to a horizontal plane; and determining a target pitch angle after calibration of the sensor module based on the second pitch angle and the pitch angle offset.
[0008] In the present application, the pitch angle of the sensor module is calibrated by an attitude angle measurement module fixedly connected to the sensor module and used to measure the pitch angle. Compared with calibrating the pitch angle through a target calibration device, no production process of calibrating the pitch angle through a target calibration device is added in addition to the fixed production process, which saves the time of the vehicle in the production process of calibrating the pitch angle, improves the calibration efficiency, and does not add new target calibration equipment, thereby reducing the investment cost of vehicle production.
[0009] In combination with the first aspect, in a possible design, before obtaining the pitch angle offset between the first pitch angle of the sensor module and the second pitch angle of the attitude angle measurement module, the method includes: obtaining a third pitch angle of the sensor module; wherein the third pitch angle is the inclination angle of the sensor module relative to the horizontal plane, and the first pitch angle and the third pitch angle are obtained through target calibration and stored in the sensor module; and determining the pitch angle offset based on the first pitch angle and the third pitch angle.
[0010] In this application, target calibration is a high-precision measurement method that can more accurately measure the first pitch angle of the attitude angle measurement module and the third pitch angle of the sensor module, thereby obtaining a more accurate pitch angle deviation and improving the accuracy of pitch angle calibration.
[0011] In conjunction with the first aspect, in one possible design, the pitch angle offset is determined by the following formula:
[0012] Pitch angle offset=first pitch angle-second pitch angle.
[0013] In conjunction with the first aspect, in one possible design, the target pitch angle is determined by the following formula:
[0014] Target pitch angle = third pitch angle + pitch angle offset.
[0015] In combination with the first aspect, in one possible design, the sensor module includes an infrared sensor module and / or a thermal imaging sensor module.
[0016] In combination with the first aspect, in one possible design, the attitude angle measurement module includes an accelerometer and a gyroscope.
[0017] In the embodiment of the present application, the data of the accelerometer and the gyroscope are combined to calculate the pitch angle, which can improve the calculation accuracy of the pitch angle.
[0018] In combination with the first aspect, in a possible design, the attitude angle measurement module is a six-axis sensor module or an inertial measurement unit.
[0019] In the second aspect, a pitch angle calibration device is provided, including: a first acquisition module, used to obtain the pitch angle offset between the first pitch angle of the attitude angle measurement module and the optical axis of the sensor module when a pitch angle calibration instruction is received; wherein the first pitch angle is the inclination angle of the attitude angle measurement module relative to the horizontal plane; a second acquisition module, used to obtain the second pitch angle of the attitude angle measurement module; wherein the second pitch angle is the inclination angle of the attitude angle measurement module relative to the horizontal plane; and a determination module, used to determine the target pitch angle after calibration of the sensor module based on the second pitch angle and the pitch angle offset.
[0020] In a third aspect, a vehicle is provided, comprising: a sensor module, an attitude angle measurement module and a central control module, the central control module comprising a processor and a memory for storing executable instructions of the processor, wherein the processor is used to execute an information display method as in any possible design method in the first aspect.
[0021] In a fourth aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the pitch angle calibration method in any possible design method in the first aspect.
[0022] In a fifth aspect, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to perform a pitch angle calibration method in any possible design method in the first aspect.
[0023] Among them, the technical effects brought about by any design method in the second to fifth aspects can refer to the technical effects brought about by different design methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 Shown is a table diagram of pitch angles, actual distances between a vehicle and a target object, and measured distances provided by an exemplary embodiment of the present application;
[0025] Figure 2 FIG2 is a schematic diagram of pitch angle calibration provided by an exemplary embodiment of the present application;
[0026] Figure 3 FIG2 is a flow chart of a pitch angle calibration method provided by an exemplary embodiment of the present application;
[0027] Figure 4 FIG2 is a schematic structural diagram of a pitch angle calibration device provided by an exemplary embodiment of the present application;
[0028] Figure 5Shown is a schematic structural diagram of a vehicle provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION
[0029] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0030] Application Overview
[0031] As described in the background technology section above, the accuracy of the infrared module's yaw and roll angles can generally be improved through the infrared module's assembly process within the vehicle. However, because the required accuracy of the infrared module's pitch angle is higher than that of the yaw and roll angles, the infrared module's pitch angle is generally calibrated using a target calibration device.
[0032] However, production workshops all have fixed production processes. If a production process of calibrating the pitch angle through target calibration equipment is added to the fixed production process, the time the vehicle spends in the production process will be extended, reducing the vehicle's production efficiency. In addition, the newly added target calibration equipment will increase the production input cost.
[0033] Specifically, the yaw angle represents the infrared module's horizontal rotation angle, meaning the angle at which the module rotates left or right. Generally, the yaw angle accuracy requirement is that the deviation from the design or calibration value should not exceed ±2.5 degrees, where degrees are the units of angle. For example, if the infrared module's calibrated yaw angle is 0 degrees, the actual yaw angle should range from -2.5 degrees to 2.5 degrees.
[0034] The roll angle represents the rotation angle of the infrared module about its axis, that is, the angle at which the infrared module tilts left or right. Generally, the roll angle accuracy requirement is: the deviation between the design value or calibration value and the rotation angle about the infrared module's axis should not exceed ±2.5 degrees. For example, if the infrared module's calibrated roll angle is 0 degrees, the actual roll angle range should be between -2.5 degrees and 2.5 degrees.
[0035] The accuracy requirements for yaw and roll angles ensure that the infrared module's ranging direction aligns with the actual target direction, thereby improving ranging accuracy. If the yaw and roll angles deviate by more than ±2.5 degrees, significant deviations may occur in the ranging results, affecting the infrared module's ranging performance. Generally, ensuring that the yaw and roll angles meet the accuracy requirements can be achieved through improved assembly processes.
[0036] The pitch angle indicates the infrared module's vertical tilt, that is, the angle at which the infrared module is tilted upward or downward. Generally, the pitch angle accuracy requirement is: the deviation between the infrared module's vertical rotation angle and the design or calibration value should not exceed ±0.1 degrees.
[0037] For example, if the calibrated yaw angle of the infrared module is 0 degrees, then in actual use, the yaw angle range should be -0.1 degrees to 0.1 degrees. In this case, if the yaw angle is outside of -0.1 degrees to 0.1 degrees, it may cause inaccurate ranging distance and a certain deviation. For example, Figure 1 Shown is a table diagram of the pitch angle, the actual distance between the vehicle and the target object, and the measured distance provided by an exemplary embodiment of the present application.
[0038] like Figure 1 As shown, if the actual distance between the vehicle and the target object is 10 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 9.74 meters.
[0039] If the actual distance between the vehicle and the target object is 20 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 19.58 meters.
[0040] If the actual distance between the vehicle and the target object is 30 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 28.76 meters.
[0041] If the actual distance between the vehicle and the target object is 40 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 37.02 meters.
[0042] If the actual distance between the vehicle and the target object is 50 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 45.18 meters.
[0043] If the actual distance between the vehicle and the target object is 60 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 53.67 meters.
[0044] If the actual distance between the vehicle and the target object is 70 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 61.92 meters.
[0045] If the actual distance between the vehicle and the target object is 80 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 69.74 meters.
[0046] If the actual distance between the vehicle and the target object is 90 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 77.98 meters.
[0047] If the actual distance between the vehicle and the target object is 100 meters and the pitch angle is 0.1 degrees, the measured distance between the vehicle and the target object is 85.76 meters.
[0048] If the actual distance between the vehicle and the target object is 10 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 10.31 meters.
[0049] If the actual distance between the vehicle and the target object is 20 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 20.41 meters.
[0050] If the actual distance between the vehicle and the target object is 30 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 31.42 meters.
[0051] If the actual distance between the vehicle and the target object is 40 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 43.01 meters.
[0052] If the actual distance between the vehicle and the target object is 50 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 54.72 meters.
[0053] If the actual distance between the vehicle and the target object is 60 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 66.42 meters.
[0054] If the actual distance between the vehicle and the target object is 70 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 79.27 meters.
[0055] If the actual distance between the vehicle and the target object is 80 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 91.23 meters.
[0056] If the actual distance between the vehicle and the target object is 90 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 103.11 meters.
[0057] If the actual distance between the vehicle and the target object is 100 meters and the pitch angle is negative 0.1 degrees, the measured distance between the vehicle and the target object is 115.11 meters.
[0058] The target calibration device can calibrate the pitch angle of the infrared module more accurately. Since the pitch angle accuracy requirement is higher than the yaw angle and roll angle accuracy requirement, the pitch angle of the infrared module can generally be calibrated by the target calibration device to ensure that the pitch angle accuracy meets the requirements.
[0059] However, production workshops all have fixed production processes. If a production process of calibrating the pitch angle through target calibration equipment is added to the fixed production process, the time the vehicle spends in the production process will be extended, reducing the vehicle's production efficiency. In addition, the newly added target calibration equipment will increase the production input cost.
[0060] In response to the above technical problems, an embodiment of the present application provides a pitch angle calibration method, which is applied to a vehicle, wherein the vehicle includes a sensor module and an attitude angle measurement module, and the sensor module is fixedly connected to the attitude angle measurement module. The method includes: obtaining a first pitch angle of the attitude angle measurement module and a pitch angle offset between the optical axis of the sensor module, wherein the aforementioned first pitch angle is the inclination angle of the attitude angle measurement module relative to the horizontal plane; then, obtaining a second pitch angle of the attitude angle measurement module, wherein the aforementioned second pitch angle is the inclination angle of the attitude angle measurement module relative to the horizontal plane; then, determining the target pitch angle after the sensor module is calibrated based on the aforementioned second pitch angle obtained and the aforementioned determined pitch angle offset.
[0061] The sensor module and the attitude angle measurement module are fixedly connected and installed together as a whole in the vehicle 100. The principle of calibrating the pitch angle based on this structure is as follows:
[0062] During the production process, the relative positions of the sensor module and the attitude angle measurement module are fixed. This fixed relationship ensures that the relative positional relationship between the sensor module's optical axis and the attitude angle measurement module's axis is known and stable. Therefore, the pitch angle offset between the sensor module's optical axis and the attitude angle measurement module's axis is a fixed value. This fixed relationship forms the basis for subsequent pitch angle calibration.
[0063] Because the sensor module and attitude angle measurement module are installed as a single unit, the relative position relationship between the sensor module's optical axis and the attitude angle measurement module's axis, i.e., the pitch angle offset, only needs to be determined before the sensor module and attitude angle measurement module are installed as a single unit on the vehicle. After the vehicle is assembled in the workshop, the pitch angle of the attitude angle measurement module is recalculated. Based on this pitch angle and the previously determined pitch angle offset, the target pitch angle of the sensor module can be calculated.
[0064] In the embodiment of the present application, the pitch angle of the sensor module is calibrated by using an attitude angle measurement module fixedly connected to the sensor module and used to measure the pitch angle. Compared with calibrating the pitch angle through a target calibration device, no additional production process of calibrating the pitch angle through a target calibration device is added to the fixed production process, which saves time in the production process of calibrating the pitch angle of the vehicle, improves calibration efficiency, and does not require additional target calibration equipment, thereby reducing the investment cost of vehicle production. Moreover, vehicle repair shops can also calibrate the pitch angle of the sensor module without adding target calibration equipment, reducing the investment cost of calibrating the pitch angle of the vehicle in the vehicle repair shop.
[0065] Example scenarios
[0066] The pitch angle calibration method provided in the embodiment of the present application can be applied to vehicles. Figure 2 FIG. 1 is a schematic diagram of pitch angle calibration provided by an exemplary embodiment of the present application. Figure 2 As shown, the scene includes a diagnostic workshop 1, a vehicle 100, diagnostic equipment 200, and a physical connection line 300. Among the fixed production processes of the production workshop, there is a vehicle diagnostic process. Diagnostic workshop 1 is the place where vehicle diagnosis is performed, and the vehicle diagnostic process of vehicle 100 is completed in diagnostic workshop 1.
[0067] A module 101 is provided in the vehicle 100 . The module 101 includes a sensor module and an attitude angle measurement module. The sensor module and the attitude angle measurement module are fixedly connected.
[0068] The vehicle 100 has a diagnostic interface 102. After the diagnostic interface 102 is connected to the diagnostic device 200 via a physical connection line 300, the diagnostic device 200 can send a pitch angle calibration instruction to the vehicle 100. After the vehicle 100 receives the pitch angle calibration instruction sent by the diagnostic device 200, it can execute the pitch angle calibration method provided in the embodiment of the present application. Specifically, after the vehicle 100 receives the pitch angle calibration instruction sent by the diagnostic device 200, it obtains the pitch angle offset between the first pitch angle of the attitude angle measurement module and the optical axis of the sensor module, the aforementioned first pitch angle being the inclination angle of the attitude angle measurement module relative to the horizontal plane; then, it obtains the second pitch angle of the attitude angle measurement module, the aforementioned second pitch angle being the inclination angle of the attitude angle measurement module relative to the horizontal plane; then, based on the aforementioned second pitch angle obtained and the aforementioned determined pitch angle offset, it determines the target pitch angle after the sensor module is calibrated.
[0069] In one example, the target pitch angle can be stored in a memory of the sensor module. The target pitch angle can more accurately reflect the pitch angle of the sensor module on the vehicle and be used as a reference during vehicle driving, thereby ensuring the accuracy of ranging to a certain extent.
[0070] In one example, the vehicle 100 may have built-in software or algorithms that can automatically complete the pitch angle calibration after receiving a pitch angle calibration instruction.
[0071] In one example, the diagnostic interface 102 may be a vehicle's On-Board Diagnostics (OBD) interface, which is a standardized interface used to connect the vehicle 100 and the diagnostic device 200. Once the vehicle 100 and the diagnostic device 200 are connected via the diagnostic interface 102, the diagnostic device 200 can communicate with the ECU of the vehicle 100. Furthermore, in one example, the diagnostic interface 102 is used to connect the vehicle 100's Electronic Control Unit (ECU) to the diagnostic device 200.
[0072] In one example, the OBD interface is typically located inside a vehicle cab, with common locations including under a dashboard, under a driver's seat, and in a center console.
[0073] In one example, the physical connection line 300 is a cable. For example, the OBD interface is a standardized 16-pin interface (DLC, Data Link Connector), and the connection line is usually a cable with a 16-pin plug, one end of which is connected to the OBD interface and the other end is connected to the diagnostic device 200.
[0074] It should be understood that the above application scenario examples are only provided to facilitate understanding of the spirit and principles of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any applicable scenario.
[0075] Exemplary Methods
[0076] Figure 3 FIG2 is a flow chart of a pitch angle calibration method provided by an exemplary embodiment of the present application. Figure 3 The method can be performed by a vehicle, which includes a sensor module and an attitude angle measurement module, the attitude angle measurement module is used to measure the pitch angle, and the sensor module is fixedly connected to the attitude angle measurement module. Figure 3 As shown, the pitch angle calibration method may include steps 301-340.
[0077] 310: When the vehicle receives a pitch angle calibration instruction, it obtains a pitch angle offset between a first pitch angle of the attitude angle measurement module and an optical axis of the sensor module; wherein the first pitch angle is an inclination angle of the attitude angle measurement module relative to a horizontal plane.
[0078] The pitch angle of an attitude angle measurement module refers to the module's pitch angle in space. It indicates the module's overall tilt relative to the horizontal plane. The horizontal plane is a plane perpendicular to the direction of gravity. In one example, a level can be used to measure whether a plane is horizontal.
[0079] According to the principle described above, there is a fixed relationship between the pitch angle of the sensor module and the pitch angle of the attitude angle measurement module. In other words, there is a fixed pitch angle offset between the pitch angle of the sensor module and the pitch angle of the attitude angle measurement module, which can also be called an offset.
[0080] In one example, the pitch angle offset can be measured and stored in the sensor module before the sensor module and attitude angle measurement module are installed as a whole in the vehicle. Thus, after the sensor module and attitude angle measurement module are installed as a whole in the vehicle, i.e., after vehicle assembly is complete, the pitch angle offset between the first pitch angle of the attitude angle measurement module and the optical axis of the sensor module is obtained during pitch angle calibration.
[0081] Specifically, in one example, before the sensor module and attitude angle measurement module are installed as a whole on a vehicle, the fixed assembly of the sensor module and attitude angle measurement module is fixed to a bracket at the same height as the vehicle. A first pitch angle of the attitude angle measurement module and a third pitch angle of the sensor module are obtained using target calibration. After the sensor module and attitude angle measurement module are installed as a whole on the vehicle, during the pitch angle calibration process, the first and third pitch angles stored in the sensor module are obtained, a pitch angle offset is determined based on the first and third pitch angles, and the pitch angle offset is stored in the sensor module.
[0082] 320: The vehicle obtains a second pitch angle of the attitude angle measurement module; wherein the second pitch angle is an inclination angle of the attitude angle measurement module relative to the horizontal plane.
[0083] In one example, after the sensor module and the attitude angle measurement module are installed in a vehicle as a whole, a second pitch angle of the attitude angle measurement module is obtained.
[0084] 330: The vehicle determines a target pitch angle after calibration of the sensor module based on the second pitch angle and the pitch angle offset.
[0085] The target pitch angle can be stored in the memory of the sensor module. The target pitch angle can accurately reflect the pitch angle of the sensor module relative to the horizontal plane on the vehicle and is used as a reference during vehicle driving, thereby ensuring the accuracy of ranging to a certain extent.
[0086] In an embodiment of the present application, the pitch angle of the sensor module is calibrated by an attitude angle measurement module fixedly connected to the sensor module and used to measure the pitch angle. Compared with calibrating the pitch angle through a target calibration device, no production process of calibrating the pitch angle through a target calibration device is added in addition to the fixed production process, which saves the time of the vehicle in the production process of calibrating the pitch angle, improves the calibration efficiency, and does not add new target calibration equipment, thereby reducing the investment cost of vehicle production.
[0087] According to one embodiment of the present application, before obtaining the pitch angle offset between the first pitch angle of the sensor module and the second pitch angle of the attitude angle measurement module, the method includes: obtaining a third pitch angle of the sensor module; wherein the third pitch angle is the inclination angle of the sensor module relative to the horizontal plane, and the first pitch angle and the third pitch angle are obtained through target calibration and stored in the sensor module; and determining the pitch angle offset based on the first pitch angle and the third pitch angle.
[0088] In one example, before the sensor module and attitude angle measurement module are installed as a whole on a vehicle, the fixed assembly of the sensor module and attitude angle measurement module is secured to a bracket at the same height as the vehicle. A first pitch angle of the attitude angle measurement module and a third pitch angle of the sensor module are acquired using target calibration and stored in the sensor module.
[0089] After the sensor module and the attitude angle measurement module are installed on the vehicle as a whole, during the pitch angle calibration process, the first pitch angle and the third pitch angle stored in the sensor module are obtained, and the pitch angle offset is determined based on the first pitch angle and the third pitch angle.
[0090] In the embodiment of the present application, target calibration is a high-precision measurement method that can more accurately measure the first pitch angle of the attitude angle measurement module and the third pitch angle of the sensor module, thereby obtaining a more accurate pitch angle deviation and improving the accuracy of pitch angle calibration.
[0091] According to an embodiment of the present application, the pitch angle offset is determined by the following formula: pitch angle offset=first pitch angle−second pitch angle.
[0092] According to an embodiment of the present application, the target pitch angle is determined by the following formula:
[0093] Target pitch angle = third pitch angle + pitch angle offset.
[0094] For example, if the third pitch angle of the attitude angle measurement module is 0 degrees, the pitch angle of the sensor module is equal to the pitch angle offset.
[0095] According to an embodiment of the present application, the sensor module includes an infrared sensor module and / or a thermal imaging sensor module.
[0096] According to an embodiment of the present application, the attitude angle measurement module includes an accelerometer and a gyroscope.
[0097] In one example, the attitude angle measurement module includes an accelerometer, a gyroscope, and a processor. The accelerometer can measure acceleration along three axes (X, Y, Z). In a stationary state, the accelerometer mainly measures the acceleration due to gravity, whose direction is perpendicular to the ground. The inclination angle of the attitude angle measurement module relative to the horizontal plane (such as the ground) can be calculated based on the data from the accelerometer. The accelerometer can measure acceleration along three axes (X, Y, Z). In a stationary state, the accelerometer mainly measures the acceleration due to gravity, whose direction is perpendicular to the ground. The gyroscope can measure angular velocity around three axes (X, Y, Z). By integrating the angular velocity data of the gyroscope, the real-time attitude angle of the attitude angle measurement module can be obtained. The processor can obtain accelerometer data and gyroscope data, and calculate the pitch angle based on the accelerometer data and gyroscope data.
[0098] Calculating pitch angle using either an accelerometer or a gyroscope alone has certain limitations. Accelerometers are easily affected by acceleration under dynamic conditions, while gyroscope integration is prone to cumulative errors. Therefore, in the embodiments of the present application, combining data from the accelerometer and gyroscope to calculate pitch angle can improve pitch angle calculation accuracy.
[0099] According to an embodiment of the present application, the attitude angle measurement module is a six-axis sensor module or an inertial measurement unit.
[0100] In one example, the attitude angle measurement module may be a six-axis sensor or an inertial measurement unit, but is not limited thereto. Any module including an accelerometer, a gyroscope, and a processor may be used.
[0101] The following introduces the verification through simulation calculation that the above pitch angle calibration method meets the accuracy requirements.
[0102] Input parameters into the simulation software: device sampling frequency, attitude calibration time, attitude angle theoretical value, and number of simulations.
[0103] The simulation software outputs the following standard deviations of the pitch angle error at different calibration times (10 seconds, 20 seconds, 30 seconds, 60 seconds, and 100 seconds):
[0104] 10 seconds: 0.001146298 degrees; 20 seconds: 0.000748939 degrees; 30 seconds: 0.00069987 degrees; 60 seconds: 0.00045148 degrees; 100 seconds: 0.00036078 degrees.
[0105] The pitch angle error standard deviation is less than 0.1 degrees, which indicates that the pitch angle calibration method meets the accuracy requirement.
[0106] The following describes the verification process of how the above-mentioned pitch angle calibration method can replace the target calibration method.
[0107] The verification environment used 50 sensor modules from different batches with non-consecutive numbers to verify consistency. The mounting bracket was set to a vehicle height of 811 mm. The horizontal environment was a level surface with an inclinometer test angle of less than 0.01 degrees.
[0108] In the above-mentioned verification environment, the target pitch angle of the pitch angle calibration scheme provided in the embodiment of the present application and the target pitch angle determined by target calibration are first determined, and then the target pitch angle of the pitch angle calibration scheme provided in the embodiment of the present application and the target pitch angle determined by target calibration are compared to verify the feasibility of the pitch angle calibration scheme provided in the embodiment of the present application to replace the target pitch angle determined by target calibration.
[0109] The verification results show that the pitch angle calibration scheme provided in the embodiment of the present application is consistent with the target pitch angle scheme determined by target calibration. The pitch angle calibration scheme provided in the embodiment of the present application can be used as an effective alternative method for pitch angle calibration of vehicle sensor modules.
[0110] Exemplary devices
[0111] Figure 4 FIG. 1 is a schematic diagram of the structure of a pitch angle calibration device provided by an exemplary embodiment of the present application. Figure 4 As shown, the pitch angle calibration device 400 is applied to a vehicle, which includes a sensor module and an attitude angle measurement module. The sensor module is fixedly connected to the attitude angle measurement module. The pitch angle calibration device 400 includes: a first acquisition module 410, a second acquisition module 420 and a determination module 430.
[0112] The first acquisition module 410 is used to obtain the pitch angle offset between the first pitch angle of the attitude angle measurement module and the optical axis of the sensor module when a pitch angle calibration instruction is received; wherein the first pitch angle is the inclination angle of the attitude angle measurement module relative to the horizontal plane; the second acquisition module 420 is used to obtain the second pitch angle of the attitude angle measurement module; wherein the second pitch angle is the inclination angle of the attitude angle measurement module relative to the horizontal plane; the determination module 430 is used to determine the target pitch angle after the sensor module is calibrated based on the second pitch angle and the pitch angle offset.
[0113] According to one embodiment of the present application, before obtaining the pitch angle offset between the first pitch angle of the sensor module and the second pitch angle of the attitude angle measurement module, the method includes: obtaining a third pitch angle of the sensor module; wherein the third pitch angle is the inclination angle of the sensor module relative to the horizontal plane, and the first pitch angle and the third pitch angle are obtained through target calibration and stored in the sensor module; and determining the pitch angle offset based on the first pitch angle and the third pitch angle.
[0114] According to an embodiment of the present application, the pitch angle offset is determined by the following formula: pitch angle offset=first pitch angle−second pitch angle.
[0115] According to an embodiment of the present application, the target pitch angle is determined by the following formula: target pitch angle=third pitch angle+pitch angle offset.
[0116] According to an embodiment of the present application, the sensor module includes an infrared sensor module and / or a thermal imaging sensor module.
[0117] According to an embodiment of the present application, the attitude angle measurement module includes an accelerometer and a gyroscope.
[0118] According to an embodiment of the present application, the attitude angle measurement module is a six-axis sensor module or an inertial measurement unit.
[0119] An embodiment of the present application provides a pitch angle calibration device, which calibrates the pitch angle of a sensor module through an attitude angle measurement module fixedly connected to the sensor module and used to measure the pitch angle. Compared with calibrating the pitch angle through a target calibration device, no production process of calibrating the pitch angle through a target calibration device is added in addition to the fixed production process, which saves the time of the vehicle in the production process of calibrating the pitch angle, improves the calibration efficiency, and does not add new target calibration equipment, thereby reducing the investment cost of vehicle production.
[0120] It should be understood that the operations and functions of the first acquisition module 410, the second acquisition module 420 and the determination module 430 in the above embodiment can refer to the above Figure 3 To avoid repetition, the description of the pitch angle calibration method provided in the embodiment will not be repeated here.
[0121] Figure 5 FIG. 1 is a schematic diagram of a vehicle structure provided by an exemplary embodiment of the present application. Figure 5As shown, the vehicle 500 includes: a sensor module, an attitude angle measurement module and a central control module. The sensor module and the attitude angle measurement module are fixedly connected and installed together as a whole in the vehicle 500. The sensor module and the attitude angle measurement module are respectively connected to the central control module. The central control module can obtain data detected by the sensor module and the attitude angle measurement module, as well as the sensor module and the data stored in the sensor module. The central control module includes a processor 501 and a memory 502, wherein the memory 502 stores an executable program code 503, and the processor 501 is used to call and execute the executable program code 503 to perform the pitch angle calibration method provided in the embodiment of the present application.
[0122] In this embodiment, the electronic device can be divided into functional modules according to the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.
[0123] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is able to execute the pitch angle calibration method or model training method provided in any of the above embodiments.
[0124] All of the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described in detail here.
[0125] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0126] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.
[0127] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0128] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.
[0129] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0130] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program check codes.
[0131] It should be noted that, in the description of this application, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.
[0132] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.
[0133] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.
Claims
1. A pitch angle calibration method, characterized in that: The method is applied to a vehicle, the vehicle comprising a sensor module and an attitude angle measurement module, the sensor module being fixedly connected to the attitude angle measurement module, and comprising: Upon receiving a pitch angle calibration instruction, obtaining a pitch angle offset between a first pitch angle of the attitude angle measurement module and an optical axis of the sensor module; wherein the first pitch angle is an inclination angle of the attitude angle measurement module relative to a horizontal plane; Acquire a second pitch angle of the attitude angle measurement module; wherein the second pitch angle is an inclination angle of the attitude angle measurement module relative to a horizontal plane; A target pitch angle after calibration of the sensor module is determined based on the second pitch angle and the pitch angle offset.
2. The pitch angle calibration method according to claim 1, wherein: Before obtaining the pitch angle offset between the first pitch angle of the sensor module and the second pitch angle of the attitude angle measurement module, the method includes: Acquire a third pitch angle of the sensor module; wherein the third pitch angle is an inclination angle of the sensor module relative to a horizontal plane, and the first pitch angle and the third pitch angle are acquired through target calibration and stored in the sensor module; The pitch angle offset is determined based on the first pitch angle and a third pitch angle.
3. The pitch angle calibration method according to claim 2, wherein: The pitch angle offset is determined by the following formula: Pitch angle offset=first pitch angle-second pitch angle.
4. The pitch angle calibration method according to claim 3, characterized in that: The target pitch angle is determined by the following formula: Target pitch angle = third pitch angle + pitch angle offset.
5. The pitch angle calibration method according to any one of claims 2 to 4, characterized in that: The sensor module includes an infrared sensor module and / or a thermal imaging sensor module.
6. The pitch angle calibration method according to claim 5, characterized in that: The attitude angle measurement module includes an accelerometer and a gyroscope.
7. The pitch angle calibration method according to claim 5, characterized in that: The attitude angle measurement module is a six-axis sensor module or an inertial measurement unit.
8. A vehicle, characterized in that: include: A sensor module, an attitude angle measurement module and a central control module, wherein the central control module includes a processor and a memory for storing instructions executable by the processor, wherein the processor is used to execute the pitch angle calibration method described in any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and the computer program is used to execute the pitch angle calibration method according to any one of claims 1 to 7.
10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer device is enabled to perform the pitch angle calibration method according to any one of claims 1 to 7.