Carriage attitude detection method, device and equipment, storage medium and program product
By installing two inertial measurement units on the vehicle, combining attitude angle difference and hysteresis interval judgment, and using quaternion reconstruction method to correct the attitude angle, the problem of low accuracy of vehicle attitude detection under single IMU detection is solved, and higher detection accuracy and stability are achieved.
Patent Information
- Application Number
- CN202510869812.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-26
- Publication Date
- 2025-10-17
AI Technical Summary
In the existing technology, a single inertial measurement unit (IMU) is used to identify the vehicle state, resulting in low accuracy in vehicle posture detection on sloping roads and prone to false triggering.
Two inertial measurement units are used to collect data from the car body and the vehicle body respectively. The lifting angle is determined by calculating the difference in the attitude angles of the car body and the vehicle body. The attitude of the car body is judged by combining the hysteresis interval and duration. The attitude angle is corrected using the quaternion reconstruction method, and filtering is performed to improve data accuracy.
It improves the accuracy and stability of vehicle posture detection, adapts to complex angle changes during vehicle lifting, and reduces misjudgment and jitter.
Smart Images
Figure CN120800302A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of carriage posture detection, and in particular to a carriage posture detection method, device, equipment, storage medium and program product. BACKGROUND
[0002] In recent years, the urbanization process in China has accelerated significantly. The expansion of urban housing stock and infrastructure demand (such as roads and bridges) have risen simultaneously, directly driving the growth of muck transportation volume. However, vehicles transporting muck pose serious safety hazards. For example, some drivers cause the carriage to move on the road after unloading due to fatigue driving or carelessness, which causes the vehicle's center of gravity to move upward, leading to a rollover when turning, and thus causing a series of traffic accidents and causing great social harm.
[0003] The devices on the current market basically use a single inertial measurement unit (IMU) to detect whether the carriage is in a lifted state. However, the single-IMU detection method is prone to false triggering when the vehicle is on a road section with a slope, resulting in low accuracy of carriage posture detection. SUMMARY
[0004] The present application provides a carriage posture detection method, device, equipment, storage medium and program product to solve the problem of low accuracy of carriage posture detection caused by the use of single-IMU recognition of carriage state in the prior art, and improves the accuracy of carriage posture detection.
[0005] The present application provides a carriage posture detection method, comprising the following steps: At the current time, the first data of the vehicle carriage collected by the first inertial measurement unit and the second data of the vehicle body collected by the second inertial unit are obtained; The first attitude angle of the carriage is determined based on the first data, and the second attitude angle of the body is determined based on the second data; The lifting angle of the carriage relative to the body is determined based on the first attitude angle and the second attitude angle; In the case where the speed of the vehicle is not greater than a preset speed threshold, the posture of the carriage at the current time is determined based on the lifting angle and the posture of the carriage at the previous time.
[0006] According to the carriage posture detection method provided by the present application, the first data includes first acceleration data and first gyroscope data; The first attitude angle of the carriage is determined based on the first data, and the second attitude angle of the body is determined based on the second data; The first measurement attitude angle of the carriage is determined based on the first gyroscope data; According to the first measured attitude angle, a reference gravity vector of the vehicle compartment is reconstructed by using a quaternion reconstruction method, and a first reconstructed gravity vector of the vehicle compartment is obtained; the reference gravity vector refers to a gravity vector of the vehicle compartment in a stationary state of the vehicle; Based on the first acceleration data, a first actual gravity vector of the vehicle compartment is determined; Based on the first reconstructed gravity vector and the first actual gravity vector, a first attitude error of the vehicle compartment is determined; The first measured attitude angle is corrected by using the first attitude error, and a first attitude angle of the vehicle compartment is obtained.
[0007] According to the vehicle compartment attitude detection method provided by the application, based on the first reconstructed gravity vector and the first actual gravity vector, a first attitude error of the vehicle compartment is determined, which comprises: Based on the first reconstructed gravity vector and the first actual gravity vector, a first value and a second value are determined; the first value refers to the length of the cross product of the first reconstructed gravity vector and the first actual gravity vector, and the second value refers to the product of the length of the first reconstructed gravity vector and the length of the first actual gravity vector; The first value is compared with the second value, and a first attitude error is obtained.
[0008] According to the vehicle compartment attitude detection method provided by the application, before the first data is used to determine the first attitude angle of the vehicle compartment, the vehicle compartment attitude detection method provided by the application further comprises: The first data is filtered to obtain filtered first data; The first data is used to determine the first attitude angle of the vehicle compartment, which comprises: The filtered first data is used to determine the first attitude angle of the vehicle compartment.
[0009] According to the vehicle compartment attitude detection method provided by the application, the first data is filtered to obtain filtered first data, which comprises: The first data collected by the first inertial measurement unit at the previous moment is filtered to obtain the filtered first data at the previous moment; The filtered first data at the previous moment and the first data collected at the current moment are weighted and summed based on a preset weight coefficient, and filtered first data at the current moment is obtained.
[0010] According to the vehicle compartment attitude detection method provided by the application, based on the lifting angle and the attitude of the vehicle compartment at the previous moment, the attitude of the vehicle compartment at the current moment is determined, which comprises: In the case that the attitude of the vehicle compartment at the previous moment is in a flat state, if the lifting angle is greater than a preset horizontal angle threshold and less than a preset lifting angle threshold, it is determined that the vehicle compartment is in a hysteresis interval, and the attitude of the vehicle compartment is in a flat state; In a case that the vehicle compartment is in the hysteresis interval and the attitude of the vehicle compartment is in the flat state at the previous moment, if the lifting angle is less than the preset horizontal angle threshold value and the duration of the vehicle compartment in the hysteresis interval is greater than the preset duration, it is determined that the attitude of the vehicle compartment is in the flat state. In a case that the vehicle compartment is in the hysteresis interval and the attitude of the vehicle compartment is in the flat state at the previous moment, if the lifting angle is greater than the preset lifting angle threshold value and the duration of the vehicle compartment in the hysteresis interval is greater than the preset duration, it is determined that the attitude of the vehicle compartment is in the lifting state. In a case that the attitude of the vehicle compartment is in the lifting state at the previous moment, if the lifting angle is greater than the preset horizontal angle threshold value and less than the preset lifting angle threshold value, it is determined that the vehicle compartment is in the hysteresis interval, and it is determined that the attitude of the vehicle compartment is in the lifting state.
[0011] The application further provides a vehicle compartment attitude detection device, comprising: A data acquisition unit is configured to acquire first data of a vehicle compartment collected by a first inertial measurement unit and second data of a vehicle body collected by a second inertial unit at a current moment. An attitude angle determination unit is configured to determine a first attitude angle of the vehicle compartment based on the first data and a second attitude angle of the vehicle body based on the second data. A lifting angle determination unit is configured to determine a lifting angle of the vehicle compartment relative to the vehicle body based on the first attitude angle and the second attitude angle. A vehicle compartment attitude detection unit is configured to determine the attitude of the vehicle compartment at the current moment based on the lifting angle and the attitude of the vehicle compartment at the previous moment in a case that the speed of the vehicle is not greater than a preset speed threshold value.
[0012] The application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and running on the processor, and the processor implements any of the above vehicle compartment attitude detection methods when executing the computer program.
[0013] The application further provides a non-transitory computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement any of the above vehicle compartment attitude detection methods.
[0014] The application further provides a computer program product comprising a computer program, and the computer program is executed by a processor to implement any of the above vehicle compartment attitude detection methods.
[0015] The vehicle compartment posture detection method provided by the application comprises the following steps: setting two IMUs, collecting first data of the vehicle compartment and second data of the vehicle body at the current time, calculating first posture angles and second posture angles of the vehicle compartment and the vehicle body according to the first data and the second data, and calculating the lifting angle of the vehicle compartment according to the first posture angles and the second posture angles, so as to determine the state of the vehicle compartment at the current time according to the lifting angle and the posture of the vehicle compartment at the previous time, and improve the accuracy of the vehicle compartment posture detection. BRIEF DESCRIPTION OF DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.
[0017] Figure 1 Fig. 1 is one of the flowcharts of the vehicle compartment posture detection method provided by the application.
[0018] Figure 2 Fig. 2 is another of the flowcharts of the vehicle compartment posture detection method provided by the application.
[0019] Figure 3 Fig. 3 is a third of the flowcharts of the vehicle compartment posture detection method provided by the application.
[0020] Figure 4 Fig. 4 is a schematic diagram of the principle of the vehicle compartment lifting state machine provided by the application.
[0021] Figure 5 Fig. 5 is a structural schematic diagram of the vehicle compartment posture detection device provided by the application.
[0022] Figure 6 Fig. 6 is a structural schematic diagram of the electronic device provided by the application. DETAILED DESCRIPTION
[0023] In order to make the objects, technical solutions and advantages of the application clearer, the technical solutions in the application will be described clearly and completely below with reference to the drawings in the application. Obviously, the described embodiments are some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.
[0024] The devices on the current market basically use single IMU to obtain the data of the vehicle compartment and detect whether the vehicle compartment is in the lifting state. However, the single IMU detection method is prone to false triggering when the vehicle is on a road section with slope, resulting in low accuracy of the vehicle compartment posture detection.
[0025] To solve the above-mentioned defects, the application provides a vehicle compartment posture detection method, device, equipment, storage medium and program product, which solve the problem of low accuracy of vehicle compartment posture detection caused by the way of using a single IMU to identify the vehicle compartment state in the prior art, and improve the accuracy of vehicle compartment posture detection.
[0026] The vehicle compartment posture detection method provided by the application comprises the following steps: Figure 1 As shown in the figure, the steps are as follows: Step 101, at the current time, acquiring first data of a vehicle compartment collected by a first IMU and second data of a vehicle body collected by a second IMU; In an embodiment, the first IMU is arranged on the compartment and used to collect the first data of the compartment. The second IMU is arranged on the vehicle body and used to collect the second data of the vehicle body.
[0027] In an embodiment, the second IMU can be an IMU built in a mobile digital video recorder (MDVR) of the vehicle. Therefore, the vehicle compartment posture detection method provided by the application can be executed by a microprocessor unit (MPU) built in the MDVR. Specifically, a micro control unit (MCU) of the first IMU acquires the first data collected by the first IMU through an inter-integrated circuit (I2C) bus, and groups the first data into packets through a controller area network (CAN) bus multi-packet protocol, and sends the first data to the MPU of the MDVR. At the same time, the MPU acquires the second data of the second IMU, and performs vehicle compartment posture detection. The CAN bus multi-packet protocol is a method for transmitting data exceeding the CAN standard data length (8 bytes) on the CAN bus. The standard CAN protocol can only transmit 8 bytes of data per data frame, while the CAN bus multi-packet protocol transmits long data packets by segmentation, which makes up for the limitation of the standard CAN protocol in data length, provides a reliable and effective data transmission method, and ensures the reliability of communication between the first IMU and the MPU.
[0028] Step 102, determining a first posture angle of the compartment based on the first data, and determining a second posture angle of the vehicle body based on the second data; In an embodiment, the IMU is a device for measuring three-axis angular velocity and acceleration of an object. The raw data measured by the IMU includes acceleration data and gyroscope data, the acceleration data is used to indicate the acceleration of the detected object in the carrier coordinate system, and the gyroscope data is used to indicate the angular velocity of the detected carrier relative to the navigation coordinate system, and the position and attitude of the detected object can be calculated according to the acceleration and angular velocity of the detected object in the three-dimensional space.
[0029] In an embodiment, the acceleration data and the gyroscope data are raw data collected by the IMU, and the position and attitude of the detected object (such as a vehicle body) can be output data of the IMU, such as the attitude angle of the detected object.
[0030] Step 103, determining the lifting angle of the vehicle body relative to the vehicle body based on the first attitude angle and the second attitude angle; In an embodiment, the difference or absolute value of the difference between the first attitude angle and the second attitude angle can be used as the lifting angle of the vehicle body relative to the vehicle body.
[0031] Step 104, determining the attitude of the vehicle body at the current time based on the lifting angle and the attitude of the vehicle body at the previous time, under the condition that the speed of the vehicle is not greater than a preset speed threshold.
[0032] In an embodiment, the actual state of the vehicle body changes dynamically, such as changing from a flat state to a lifted state, or changing from a lifted state to a flat state, and there is a hysteresis interval during the state transition. For example, at the initial time when the vehicle body changes from a flat state to a lifted state, the vehicle body has not been completely lifted; for another example, at the initial time when the vehicle body changes from a lifted state to a flat state, the vehicle body has not been completely flat. Therefore, on the premise of knowing the lifting angle, the state of the vehicle body at the current time needs to be determined in combination with the state of the vehicle body at the previous time.
[0033] The vehicle body attitude detection method provided by the application can improve the accuracy of vehicle body attitude detection.
[0034] In an embodiment, as shown in step 102, the first data includes first acceleration data and first gyroscope data. Further, as shown in step 102, the first attitude angle of the vehicle body is determined based on the first data, including the following steps: Figure 2 Step 201, determining the first measured attitude angle of the vehicle body based on the first gyroscope data. In an embodiment, the first measured attitude angle of the vehicle cabin can be directly outputted by the first IMU.
[0035] In an embodiment, the first measured attitude angle of the vehicle cabin can be directly outputted by the first IMU.
[0036] In an embodiment, the first measured attitude angle of the vehicle cabin can be directly outputted by the first IMU.
[0037] Step 202, reconstructing the reference gravity vector of the vehicle cabin by using the quaternion reconstruction method according to the first measured attitude angle, to obtain the first reconstructed gravity vector of the vehicle cabin; In an embodiment, the reference gravity vector refers to the gravity vector of the vehicle cabin in the stationary state of the vehicle; wherein the stationary state of the vehicle refers to the gravity vector of the vehicle cabin in the flat state of the vehicle cabin in the carrier coordinate system.
[0038] In an embodiment, the quaternion in the quaternion reconstruction method is used to describe the rotation of the vehicle cabin from the flat state to the current state attitude. The first IMU can determine the quaternion by an internal algorithm, and then calculate the first reconstructed gravity vector of the vehicle cabin based on the quaternion, the reference gravity vector of the vehicle cabin and the quaternion rotation formula.
[0039] Step 203, determining the first actual gravity vector of the vehicle cabin based on the first acceleration data; In an embodiment, the first acceleration data includes not only the acceleration of the vehicle cabin due to gravity, but also the acceleration caused by the state change of the vehicle cabin. Therefore, in order to obtain the first actual gravity vector caused by the state change of the vehicle cabin, the acceleration of the vehicle cabin due to gravity should be stripped from the first acceleration data.
[0040] Step 204, determining the first attitude error of the vehicle cabin based on the first reconstructed gravity vector and the first actual gravity vector; In an embodiment, according to the formula of cross multiplication operation, the modulus of the cross product of two vectors is equal to the product of the modulus of the two vectors and the sine value of the included angle.
[0041] Based on this, step 205 includes: determining the first value and the second value based on the first reconstructed gravity vector and the first actual gravity vector; the first value refers to the modulus of the cross product of the first reconstructed gravity vector and the first actual gravity vector, and the second value refers to the product of the modulus of the first reconstructed gravity vector and the modulus of the first actual gravity vector; comparing the first value with the second value to obtain the first attitude error.
[0042] Step 205, correcting the first measured attitude angle by the first attitude error to obtain the first attitude angle of the carriage.
[0043] In an embodiment, a Proportional-Integral-Derivative Controller (PID) can be used to correct the first measured attitude angle based on the first attitude error to obtain the first attitude angle of the carriage.
[0044] The scheme shown in steps 201 to 205 acquires the first measured attitude angle of the carriage through the first gyroscope data; and reconstructs the reference gravity vector of the carriage through the quaternion, and determines the first attitude error of the carriage in combination with the first actual gravity vector calculated from the first acceleration data to correct the first attitude angle of the carriage. Therefore, the accurate first attitude angle can be acquired, the errors such as gyroscope drift are eliminated, the measurement accuracy and stability of the first attitude angle of the carriage are improved, and reliable technical support is provided for the carriage attitude detection.
[0045] In order to further eliminate the measurement error of the first IMU caused by noise, the first data needs to be filtered before the first attitude angle of the carriage is determined based on the first data. Specifically, before the first attitude angle of the carriage is determined based on the first data, the carriage attitude detection method provided by the present application further comprises the following steps: filtering the first data to obtain filtered first data; Correspondingly, determining the first attitude angle of the carriage based on the first data comprises: determining the first attitude angle of the carriage based on the filtered first data.
[0046] In an embodiment, as shown in Figure 3 filtering the first data to obtain filtered first data comprises the following steps: Step 301, acquiring the first data filtered at the previous moment; In an embodiment, the first data filtered at the previous moment refers to the data filtered after the first data collected by the first inertial measurement unit at the previous moment; Step 302, weighting and summing the first data filtered at the previous moment and the first data collected at the current moment based on a preset weight coefficient to obtain the first data filtered at the current moment.
[0047] In an embodiment, the first data filtered at the previous moment is defined as , and the first data collected at the current moment is defined as , then the first data filtered at the current moment is which can be expressed by the following mathematical formula: .
[0048] wherein, is a preset weight coefficient.
[0049] In an embodiment, wherein, is a cutoff frequency, is a sampling time. It should be noted that the cutoff frequency is set according to actual needs.
[0050] The scheme shown in steps 301 to 302 realizes filtering by obtaining the first data filtered at the previous moment, and combining the preset weight and the first data collected at the current moment to perform weighted summation. The stability of the historical filtered data can be effectively utilized to smooth the noise and mutation of the first data collected at the current moment, avoid errors caused by single-time data fluctuation, and improve the continuity and reliability of the first data. Moreover, the calculation complexity is low, the real-time performance is good, and the scheme is suitable for real-time filtering processing of inertial measurement unit data.
[0051] It should be noted that the process of calculating the second attitude angle of the vehicle body by using the second data can refer to the process of calculating the first attitude angle of the vehicle compartment by using the first data, which will not be described here.
[0052] In an embodiment, step 104 comprises: In the case that the attitude of the vehicle compartment at the previous moment is in the flat state, if the lifting angle is greater than the preset horizontal angle threshold and less than the preset lifting angle threshold, it is determined that the vehicle compartment is in the hysteresis interval, and it is determined that the attitude of the vehicle compartment is in the flat state. In the case that the vehicle compartment is in the hysteresis interval at the previous moment, and the attitude of the vehicle compartment is in the flat state, if the lifting angle is less than the preset horizontal angle threshold, and the duration of the vehicle compartment in the hysteresis interval is greater than the preset duration, it is determined that the attitude of the vehicle compartment is in the flat state. In the case that the vehicle compartment is in the hysteresis interval at the previous moment, and the attitude of the vehicle compartment is in the flat state, if the lifting angle is greater than the preset lifting angle threshold, and the duration of the vehicle compartment in the hysteresis interval is greater than the preset duration, it is determined that the attitude of the vehicle compartment is in the lifting state. In the case that the attitude of the vehicle compartment at the previous moment is in the lifting state, if the lifting angle is greater than the preset horizontal angle threshold and less than the preset lifting angle threshold, it is determined that the vehicle compartment is in the hysteresis interval, and it is determined that the attitude of the vehicle compartment is in the lifting state.
[0053] It should be noted that, since the attitude of the vehicle compartment is a dynamic changing process, the above scheme adopts a finite state machine (FSM) design. Specifically, the vehicle compartment lifting state machine is as shown in Figure 4 . Figure 4In the formula, Speed represents the speed of the vehicle at the current time, V represents a preset speed threshold, and AT represents the duration of the hysteresis interval, represents the duration, Pitch represents the lifting angle, a represents a preset horizontal angle threshold, and β represents a preset lifting angle threshold.
[0054] The above scheme sets the hysteresis interval and the duration threshold, combines the carriage posture at the previous time and the lifting angle to determine the posture of the carriage at the current time, can avoid the posture determination jitter and misjudgment of the carriage caused by the fluctuation of the lifting angle near the threshold, ensures the determination accuracy of the carriage when switching between the flat and the lifting state, effectively improves the stability and reliability of the carriage posture detection, and adapts to the complex angle change scene in the vehicle lifting process.
[0055] The carriage posture detection device provided by the present application is described below, and the carriage posture detection device described below can be correspondingly referred to the carriage posture detection method described above.
[0056] As shown in Figure 5 The carriage posture detection device 500 provided by the present application comprises: A data acquisition unit 501 is configured to acquire first data of a vehicle carriage collected by a first inertial measurement unit and second data of a vehicle body collected by a second inertial unit at a current time; An attitude angle determination unit 502 is configured to determine a first attitude angle of the carriage based on the first data and a second attitude angle of the vehicle body based on the second data; A lifting angle determination unit 503 is configured to determine a lifting angle of the carriage relative to the vehicle body based on the first attitude angle and the second attitude angle; A carriage posture detection unit 504 is configured to determine the posture of the carriage at the current time based on the lifting angle and the posture of the carriage at the previous time, in a case where the speed of the vehicle is not greater than a preset speed threshold.
[0057] In an embodiment, the first data comprises first acceleration data and first gyroscope data; The lifting angle determination unit 503 is specifically configured to: determine a first measured attitude angle of the carriage based on the first gyroscope data; reconstruct a reference gravity vector of the carriage by using a quaternion reconstruction method according to the first measured attitude angle, to obtain a first reconstructed gravity vector of the carriage; the reference gravity vector refers to the gravity vector of the carriage in a stationary state of the vehicle; determine a first actual gravity vector of the carriage based on the first acceleration data; determine a first attitude error of the carriage based on the first reconstructed gravity vector and the first actual gravity vector; The first measured attitude angle is corrected using the first attitude error to obtain a first attitude angle of the carriage.
[0058] The lifting angle determination unit 503 is further specifically configured to: Determining a first value and a second value based on the first reconstructed gravity vector and the first actual gravity vector; the first value refers to a modulus of a cross product of the first reconstructed gravity vector and the first actual gravity vector, and the second value refers to a product of the modulus of the first reconstructed gravity vector and the modulus of the first actual gravity vector; The first value is compared with the second value to obtain a first attitude error.
[0059] In one embodiment, the vehicle carriage posture detection device 500 provided by the present invention further includes a filtering unit, which is configured to: performing filtering processing on the first data to obtain filtered first data; Accordingly, determining a first attitude angle of the carriage based on the first data includes: A first attitude angle of the vehicle body is determined based on the filtered first data.
[0060] In one embodiment, the filtering unit is specifically configured to: Acquire first filtered data at a previous moment, where the first filtered data at a previous moment refers to first data collected by the first inertial measurement unit at a previous moment after being filtered; Based on a preset weight coefficient, the first data filtered at the previous moment and the first data collected at the current moment are weighted and summed to obtain the first data filtered at the current moment.
[0061] In one embodiment, the carriage posture detection unit 504 is specifically configured to: When the carriage is in a horizontal position at the previous moment, if the lifting angle is greater than a preset horizontal angle threshold and less than a preset lifting angle threshold, it is determined that the carriage is in a hysteresis interval and the carriage is in a horizontal position; If the car is in the hysteresis interval at the previous moment and the car is in a horizontal position, if the lifting angle is less than a preset horizontal angle threshold and the duration of the car in the hysteresis interval is greater than a preset time, then the car is determined to be in a horizontal position; If the car is in the hysteresis interval at the previous moment and the car is in the flat state, if the lifting angle is greater than the preset lifting angle threshold and the duration of the car in the hysteresis interval is greater than the preset duration, then the car is determined to be in the lifted state; When the posture of the car body is in the lifted state at the previous moment, if the lifting angle is greater than the preset horizontal angle threshold and less than the preset lifting angle threshold, it is determined that the car body is in the hysteresis interval and the posture of the car body is determined to be in the lifted state.
[0062] Figure 6 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 6 As shown, the electronic device can include a processor 601, a communications interface 602, a memory 603 and a communications bus 604, wherein the processor 601, the communications interface 602 and the memory 603 complete communications with each other through the communications bus 604. The processor 601 can invoke a logic instruction in the memory 603 to execute the wavelength channel configuration method provided by the present application.
[0063] In addition, the logic instruction in the memory 603 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the method of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.
[0064] On the other hand, the present application also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by the processor, the computer can execute to execute the wavelength channel configuration method provided by the present application.
[0065] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by the processor to implement the wavelength channel configuration method provided by the present application.
[0066] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.
[0067] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and necessary general hardware platforms through the description of the above embodiments, and of course, the implementation can also be through hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of the various embodiments or some parts of the embodiments.
[0068] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.
Claims
1. A method for detecting a carriage posture, characterized in that: include: At a current moment, obtaining first data of the vehicle compartment collected by the first inertial measurement unit and second data of the vehicle body collected by the second inertial measurement unit; determining a first attitude angle of the vehicle body based on the first data, and determining a second attitude angle of the vehicle body based on the second data; determining a lifting angle of the vehicle body relative to the vehicle body based on the first attitude angle and the second attitude angle; When it is determined that the speed of the vehicle is not greater than a preset speed threshold, the posture of the vehicle compartment at a current moment is determined based on the lifting angle and the posture of the vehicle compartment at a previous moment.
2. The method according to claim 1, characterized in that The first data includes first acceleration data and first gyroscope data; The determining the first attitude angle of the carriage based on the first data includes: determining a first measured attitude angle of the vehicle body based on the first gyroscope data; reconstructing a reference gravity vector of the vehicle compartment using a quaternion reconstruction method according to the first measured attitude angle to obtain a first reconstructed gravity vector of the vehicle compartment; the reference gravity vector refers to the gravity vector of the vehicle compartment when the vehicle is stationary; determining a first actual gravity vector of the vehicle cabin based on the first acceleration data; determining a first posture error of the vehicle compartment based on the first reconstructed gravity vector and the first actual gravity vector; The first measured attitude angle is corrected using the first attitude error to obtain a first attitude angle of the carriage.
3. The method according to claim 2, characterized in that The determining, based on the first reconstructed gravity vector and the first actual gravity vector, a first posture error of the vehicle compartment includes: determining a first value and a second value based on the first reconstructed gravity vector and the first actual gravity vector; the first value being a modulus of a cross product of the first reconstructed gravity vector and the first actual gravity vector, and the second value being a product of the modulus of the first reconstructed gravity vector and the modulus of the first actual gravity vector; The first value is compared with the second value to obtain the first posture error.
4. The method according to claim 2, characterized in that Before determining the first attitude angle of the carriage based on the first data, the method further includes: performing filtering processing on the first data to obtain filtered first data; The determining the first attitude angle of the carriage based on the first data includes: A first attitude angle of the vehicle body is determined based on the filtered first data.
5. The method according to claim 4, characterized in that The filtering the first data to obtain filtered first data includes: Acquire first data after filtering at a previous moment, where the first data after filtering at a previous moment refers to first data collected by the first inertial measurement unit at a previous moment after being filtered; Based on a preset weight coefficient, the first data filtered at the previous moment and the first data collected at the current moment are weighted and summed to obtain the first data filtered at the current moment.
6. The method according to any one of claims 1 to 5, characterized in that The determining the posture of the carriage at a current moment based on the lifting angle and the posture of the carriage at a previous moment includes: When the carriage is in a horizontal position at a previous moment, if the lifting angle is greater than a preset horizontal angle threshold and less than a preset lifting angle threshold, it is determined that the carriage is in a hysteresis interval and the carriage is in a horizontal position; If the car body is in the hysteresis interval at the previous moment and the car body is in the horizontal position, if the lifting angle is less than a preset horizontal angle threshold and the duration of the car body in the hysteresis interval is greater than a preset time, then the car body is determined to be in the horizontal position; When the car body is in the hysteresis interval at the previous moment and the posture of the car body is in the flat state, if the lifting angle is greater than a preset lifting angle threshold and the duration of the car body in the hysteresis interval is greater than a preset duration, then the posture of the car body is determined to be in the lifted state; When the posture of the car body is in the lifted state at the previous moment, if the lifting angle is greater than the preset horizontal angle threshold and less than the preset lifting angle threshold, it is determined that the car body is in the hysteresis interval and the posture of the car body is in the lifted state.
7. A carriage posture detection device, characterized in that: include: a data acquisition unit, configured to acquire, at a current moment, first data of the vehicle compartment collected by the first inertial measurement unit and second data of the vehicle body collected by the second inertial measurement unit; an attitude angle determining unit, configured to determine a first attitude angle of the vehicle body based on the first data, and to determine a second attitude angle of the vehicle body based on the second data; a lifting angle determining unit, configured to determine a lifting angle of the vehicle body relative to the vehicle body based on the first attitude angle and the second attitude angle; The carriage posture detection unit is used to determine the posture of the carriage at a current moment based on the lifting angle and the posture of the carriage at a previous moment when it is determined that the speed of the vehicle is not greater than a preset speed threshold.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the vehicle carriage posture detection method according to any one of claims 1 to 6 is implemented.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle carriage posture detection method according to any one of claims 1 to 6 is implemented.
10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle carriage posture detection method according to any one of claims 1 to 6 is implemented.