Vehicle state data processing method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle state data processing method and device, electronic equipment and a storage medium. According to the vehicle state data processing method, various vehicle state data are obtained, the vehicle state data comprise positioning data, inertia data, speed data and gear data, effective state data are confirmed from the various vehicle state data according to the current alignment state and the current vehicle speed of the positioning data, and the effective state data are transmitted to the vehicle. And carrying out vehicle state observation according to a preset state observation strategy corresponding to the current alignment state based on the effective state data, thereby effectively obtaining state information of the vehicle in different states, accurately estimating the actual state of the vehicle, and facilitating improvement of subsequent vehicle positioning precision.

Description

Vehicle status data processing methods, devices, electronic equipment, and storage media Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to vehicle status data processing methods, devices, electronic devices, and storage media. Background Technology

[0002] With the rapid development of vehicle technology, vehicle navigation has greatly facilitated personal travel, enabling drivers to easily plan optimal routes and avoid problems such as congestion and getting lost. Accurate vehicle status information is essential for vehicle navigation, making the accurate determination of the vehicle's actual condition particularly important.

[0003] When the inventors used positioning data provided by positioning sensors, inertial measurement data provided by inertial sensors, and / or speed data provided by vehicle speed sensors to determine the actual state of a vehicle in related technologies, they found that it was impossible to obtain state information under all states, or that the obtained state information deviated from the actual state information of the vehicle. Summary of the Invention

[0004] This invention provides a vehicle state data processing method, apparatus, electronic device, and storage medium to solve the problem that when using positioning data provided by positioning sensors and / or inertial measurement data provided by inertial sensors to determine the actual state of a vehicle in related technologies, it is impossible to obtain state information for all states, or the obtained state information deviates from the actual state information of the vehicle.

[0005] In a first aspect, embodiments of this application provide a vehicle status data processing method, including:

[0006] Acquire various vehicle status data, including positioning data, inertial data, speed data, and gear data;

[0007] Based on the current alignment status and current vehicle speed of the positioning data, valid status data is identified from the various vehicle status data.

[0008] Based on the valid state data, vehicle state observation is performed according to the preset state observation strategy corresponding to the current alignment state.

[0009] As described above, by combining the current alignment state of the positioning data to determine the effective state data, and based on the effective state data, the vehicle state is observed according to the preset state observation strategy corresponding to the current alignment state. This can effectively obtain the state information of the vehicle in different states, accurately estimate the actual state of the vehicle, and help improve the subsequent vehicle positioning accuracy.

[0010] The step of confirming valid status data from the various vehicle status data based on the current alignment status and current vehicle speed of the positioning data includes:

[0011] If the positioning data is in an misaligned state, the inertial data is determined to be valid state data.

[0012] As mentioned above, when the positioning data is in an unaligned state, the inertial data can be synchronously determined as valid state data for the initial state estimation of the vehicle, providing sufficient state information for the display function during the initial operation of the vehicle.

[0013] The inertial data includes gyroscope data and acceleration data. The process of observing the vehicle state based on the valid state data and a preset state observation strategy corresponding to the current alignment state includes:

[0014] The vehicle roll angle is determined based on the X-axis data from the gyroscope data, and the X-axis and Z-axis data from the acceleration data.

[0015] The vehicle pitch angle is determined based on the Y-axis data from the gyroscope data, as well as the Y-axis and Z-axis data from the acceleration data.

[0016] As mentioned above, by fusing gyroscope data and acceleration data, the vehicle roll angle and vehicle pitch angle can be reasonably determined, which is conducive to outputting vehicle positioning information with more degrees of freedom. This ensures sufficient state information to assist in the development of in-vehicle applications before the positioning module completes alignment.

[0017] The step of confirming valid status data from the various vehicle status data based on the current alignment status and current vehicle speed of the positioning data includes:

[0018] If the positioning data is aligned and the current vehicle speed is not zero, the inertial data, speed data, and gear data are determined as valid state data.

[0019] As mentioned above, when the positioning data is aligned and the current vehicle speed is not zero, relatively reliable speed data, gear data, and inertial data can be selected as valid state data to improve the accuracy of subsequent vehicle state estimation.

[0020] The inertial data includes gyroscope data, and the process of observing the vehicle state based on the valid state data and a preset state observation strategy corresponding to the current alignment state includes:

[0021] Based on the gyroscope data, speed data, and gear data, vehicle speed is observed according to a preset speed observation equation to obtain orientation estimation information and speed estimation information.

[0022] As described above, by using gyroscope data, speed data, and gear data as input data, and performing vehicle speed observation according to a preset speed observation equation, orientation estimation information and speed estimation information can be effectively obtained, thereby improving the accuracy of speed observation.

[0023] The step of confirming valid status data from the various vehicle status data based on the current alignment status and current vehicle speed of the positioning data includes:

[0024] When the positioning data is aligned and the current vehicle speed is zero, the inertial data is determined to be valid state data.

[0025] As mentioned above, when the positioning data is aligned and the current vehicle speed is zero, inertial data can be selected as valid state data to provide reliable reference information for subsequent vehicle state observation.

[0026] The inertial data includes gyroscope data and acceleration data. The process of observing the vehicle state based on the valid state data and a preset state observation strategy corresponding to the current alignment state includes:

[0027] Based on the gyroscope data and acceleration data, determine the effective value of the gyroscope and the effective value of the acceleration;

[0028] Based on the effective values ​​of the gyroscope and acceleration, zero-speed observation of the vehicle is performed according to the preset zero-speed observation equation to obtain gyroscope bias estimation information and acceleration bias estimation information.

[0029] The above describes how, by determining the effective values ​​of the gyroscope and acceleration based on gyroscope and acceleration data, invalid measurement data can be effectively filtered out. Based on the effective values ​​of the gyroscope and acceleration, zero-speed observation of the vehicle can be performed according to the preset zero-speed observation equation, thus accurately observing the vehicle's zero speed and obtaining effective vehicle state information.

[0030] The step of determining the effective value of the gyroscope and the effective value of the acceleration based on the gyroscope data and acceleration data includes:

[0031] Candidate gyroscope data and candidate acceleration data with a vehicle speed of zero within a continuous time range are extracted from the gyroscope data and acceleration data, respectively.

[0032] The candidate gyroscope data is averaged to obtain a first mean value. Based on the first mean value and gyroscope noise information of a first preset multiple, a first reference range is determined. The candidate gyroscope data is filtered according to the first reference range to obtain target gyroscope data. The target gyroscope data is averaged to obtain the effective value of the gyroscope.

[0033] The candidate acceleration data is averaged to obtain a second mean value. Based on the second mean value and acceleration noise information of a second preset multiple, a second reference range is determined. The candidate acceleration data is filtered according to the second reference range to obtain target acceleration data. The target acceleration data is averaged to obtain an effective acceleration value.

[0034] As described above, by defining a first reference range, invalid data in the candidate gyroscope data can be filtered out to obtain the target gyroscope data. The effective value of the gyroscope is obtained by averaging the target gyroscope data, which can provide reliable observation values ​​for zero-velocity observation. Similarly, by defining a second reference range, invalid data in the candidate acceleration data can be filtered out to obtain the target acceleration data. The effective value of the acceleration is obtained by averaging the target acceleration data, which can provide reliable observation values ​​for zero-velocity observation.

[0035] Secondly, embodiments of this application also provide a vehicle status data processing device, including:

[0036] The acquisition unit is used to acquire various vehicle status data, including positioning data, inertial data, speed data, and gear data.

[0037] The valid state data determination unit is used to determine valid state data from the various vehicle state data based on the current alignment state and current vehicle speed of the positioning data;

[0038] The vehicle status observation unit is used to observe the vehicle status based on the valid status data and according to a preset status observation strategy corresponding to the current alignment status.

[0039] The effective state data determination unit includes:

[0040] The first state data determination module is used to determine the inertial data as valid state data when the positioning data is in an unaligned state.

[0041] The inertial data includes gyroscope data and acceleration data, and the vehicle state observation unit includes:

[0042] The first vehicle state observation module is used to determine the vehicle roll angle based on the X-axis data from the gyroscope data and the X-axis and Z-axis data from the acceleration data; and to determine the vehicle pitch angle based on the Y-axis data from the gyroscope data and the Y-axis and Z-axis data from the acceleration data.

[0043] The effective state data determination unit includes:

[0044] The second state data determination module is used to determine the inertial data, speed data, and gear data as valid state data when the positioning data is in an aligned state and the current vehicle speed is not zero.

[0045] The inertial data includes gyroscope data, and the vehicle state observation unit includes:

[0046] The second vehicle status observation module is used to observe vehicle speed based on gyroscope data, speed data, and gear data, according to a preset speed observation equation, in order to obtain orientation estimation information and speed estimation information.

[0047] The effective state data determination unit includes:

[0048] The third state data determination module is used to determine the inertial data as valid state data when the positioning data is in an aligned state and the current vehicle speed is zero.

[0049] The inertial data includes gyroscope data and acceleration data, and the vehicle state observation unit includes:

[0050] The third vehicle state observation module is used to determine the effective values ​​of the gyroscope and acceleration based on gyroscope data and acceleration data; based on the effective values ​​of the gyroscope and acceleration, it performs zero-speed observation of the vehicle according to the preset zero-speed observation equation to obtain gyroscope bias estimation information and acceleration bias estimation information.

[0051] The third vehicle state observation module is specifically used to extract candidate gyroscope data and candidate acceleration data with a vehicle speed of zero within a continuous time range from gyroscope data and acceleration data, respectively; to average the candidate gyroscope data to obtain a first mean value; to determine a first reference range based on the first mean value and gyroscope noise information at a first preset multiple; to filter the candidate gyroscope data according to the first reference range to obtain target gyroscope data; and to average the target gyroscope data to obtain the effective gyroscope value; to average the candidate acceleration data to obtain a second mean value; to determine a second reference range based on the second mean value and acceleration noise information at a second preset multiple; to filter the candidate acceleration data according to the second reference range to obtain target acceleration data; and to average the target acceleration data to obtain the effective acceleration value.

[0052] Thirdly, embodiments of this application also provide an electronic device, including:

[0053] One or more processors;

[0054] Memory, used to store one or more computer programs;

[0055] When one or more computer programs are executed by one or more processors, the display device implements the method as described in any of the first aspects.

[0056] Fourthly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods described in the first aspect. Attached Figure Description

[0057] Figure 1 is a flowchart of a vehicle status data processing method provided in an embodiment of this application.

[0058] Figure 2 is a flowchart of a vehicle state data processing method including a process of determining valid state data, provided in an embodiment of this application.

[0059] Figure 3 is a flowchart of a process for observing vehicle status when the positioning data is misaligned, according to an embodiment of this application.

[0060] Figure 4 is a flowchart of a process for observing vehicle speed when the positioning data is in an aligned state, according to an embodiment of this application.

[0061] Figure 5 is a flowchart of a process for observing a vehicle at zero speed when the positioning data is in an aligned state, according to an embodiment of this application.

[0062] Figure 6 is a flowchart of a process for determining the effective value of a gyroscope and the effective value of acceleration according to an embodiment of this application.

[0063] Figure 7 is a schematic diagram of the vehicle status data processing device provided in the embodiment of this application.

[0064] Figure 8 is a schematic diagram of the structure of the electronic device provided in the embodiment of this application. Detailed Implementation

[0065] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and not for limiting the invention. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention and not the entire structure.

[0066] It should be noted that, due to space limitations, this application specification does not exhaustively list all possible implementation methods. Those skilled in the art should be able to conceive after reading this application specification that, as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method.

[0067] The embodiments of the present invention will be described in detail below.

[0068] Existing vehicles typically have various sensor modules to collect real-time vehicle status data. These include GPS (Global Positioning System) modules, IMU (Inertial Measurement Unit) modules, and vehicle speed sensors. The GPS module provides positioning data, the IMU module provides inertial data, and the vehicle speed sensor provides speed data. The inventors discovered that before the GPS module is aligned, related technologies directly output positioning data without outputting pitch and roll information relevant to the vehicle's status. This lack of status information causes display functions to malfunction, especially in scenarios like vehicle climbing hills. After GPS module alignment, areas with many obstructions, such as central business districts or tree-lined roads, may cause inaccurate speed calculations by the GPS module. Adding constraints to this speed information in existing technologies leads to a loss of positioning accuracy. Furthermore, directly using speed data from the vehicle speed sensor for speed observation can cause problems with speed observation when the vehicle is reversing, resulting in positioning drift, because this speed data lacks directional information. Finally, while related technologies directly use speed data for zero-speed observation, relying solely on whether the speed data is zero for zero-speed detection can lead to situations where the vehicle reaches a zero-speed state when stopping or starting, but the inertial data provided by the IMU module is not zero. Treating this moment as a true zero-speed state results in erroneous zero-speed observations and consequently, a loss of positioning accuracy. Therefore, the inventors believe that related technologies using positioning data from positioning sensors, inertial measurement data from inertial sensors, and / or speed data from vehicle speed sensors to determine the vehicle's actual state cannot obtain state information for all states, or the obtained state information may deviate from the vehicle's actual state information.

[0069] To address the aforementioned technical issues, this application proposes a vehicle state data processing method. By combining the current alignment state of the positioning data to determine valid state data, and based on the valid state data, vehicle state observation is performed according to a preset state observation strategy corresponding to the current alignment state. This method can effectively obtain state information of the vehicle under different states, accurately estimate the actual state of the vehicle, and improve the subsequent vehicle positioning accuracy.

[0070] Figure 1 is a flowchart of a vehicle status data processing method provided in an embodiment of this application. As shown in Figure 1, the vehicle status data processing method includes, but is not limited to, steps S110-S130:

[0071] Step S110: Acquire various vehicle status data, including positioning data, inertial data, speed data, and gear data.

[0072] The vehicle status data can be obtained by collecting real-time measurement data from different sensor modules installed in the vehicle. Specifically, positioning data can be provided by the vehicle's positioning module, such as a GPS module or a BeiDou positioning module. Inertial data can be provided by the vehicle's inertial measurement module, such as an IMU module, accelerometer, or gyroscope. Speed ​​data can be provided by the vehicle's speed sensors, such as Hall effect speed sensors or photoelectric speed sensors. Additionally, vehicle status data can also be obtained by collecting data on the vehicle's functional operating status, such as gear position data, used to characterize different driving states such as forward and reverse gears. Of course, other types of vehicle status data are also possible, and this application does not limit this.

[0073] Step S120: Based on the current alignment status of the positioning data and the current vehicle speed, confirm the valid status data from multiple vehicle status data.

[0074] When the vehicle's positioning module is activated, a preset alignment algorithm is needed to align the vehicle's coordinate system with the world coordinate system, enabling the positioning module to provide more accurate measurement data. It should be noted that unaligned positioning data corresponds to the initial operating state when the vehicle just starts up and enters driving mode, while aligned positioning data corresponds to the normal operating state when the vehicle is driving stably. Different operating states of the vehicle yield different valid state data for determining its actual condition.

[0075] In one specific implementation, as shown in Figure 2, valid state data is identified from various vehicle state data based on the current alignment state of the positioning data and the current vehicle speed, including:

[0076] Step S121: If the positioning data is in an unaligned state, determine the inertial data as valid state data.

[0077] It should be noted that when the positioning data is in an unaligned state, the inertial data can be simultaneously determined as valid state data for the initial state estimation of the vehicle, providing sufficient state information for the display functions during the initial operation of the vehicle, such as displaying the vehicle going uphill or downhill.

[0078] In another specific implementation, as shown in Figure 2, valid status data is identified from various vehicle status data based on the current alignment status of the positioning data and the current vehicle speed, including:

[0079] Step S122: When the positioning data is in an aligned state and the current vehicle speed is not zero, determine the inertial data, speed data, and gear data as valid state data.

[0080] Because the speed information is provided by the positioning module, significant errors can occur when the vehicle is moving slowly or in an environment with many obstructions. Therefore, relatively reliable speed data, gear data, and inertial data can be selected as valid state data to improve the accuracy of subsequent vehicle state estimation. It should be noted that the speed data only provides absolute speed information and lacks speed direction; therefore, by incorporating gear data, speed direction can be provided, ensuring the accuracy of subsequent speed observations.

[0081] In another specific implementation, as shown in Figure 2, valid status data is identified from various vehicle status data based on the current alignment status of the positioning data and the current vehicle speed, including:

[0082] Step S123: When the positioning data is in an aligned state and the current vehicle speed is zero, the inertial data is determined as valid state data.

[0083] Since the current vehicle speed is zero, it does not necessarily correspond to a stationary state of the vehicle. It may also correspond to a running state where the vehicle suddenly stops or starts. Therefore, in order to make the subsequent vehicle state observation more accurate, the inertial data can be determined as the valid state data.

[0084] Step S130: Based on the valid state data, perform vehicle state observation according to the preset state observation strategy corresponding to the current alignment state.

[0085] It should be noted that different alignment states of the positioning data correspond to different state observation strategies. These different state observation strategies reference different vehicle state data, and the specific strategies can be set according to the actual vehicle state estimation requirements.

[0086] In one embodiment, when the positioning data is misaligned, the corresponding state observation strategy can be vehicle body state estimation based on inertial data. Specifically, the inertial data includes gyroscope data and acceleration data. Correspondingly, as shown in Figure 3, based on the valid state data, vehicle state observation is performed according to the preset state observation strategy corresponding to the current alignment state, including:

[0087] Step S131: Determine the vehicle roll angle based on the X-axis data from the gyroscope data, and the X-axis and Z-axis data from the acceleration data;

[0088] Specifically, the formula for calculating the vehicle's roll angle is as follows:

[0089]

[0090]

[0091]

[0092] in, The result of the X-axis angle calculation based on gyroscope data, w x The X-axis data from the gyroscope data, d t For the preset time interval, The result of the X-axis angle calculation based on acceleration data, a x For the X-axis data in the acceleration data, a z For the Z-axis data in the acceleration data, θ x The vehicle roll angle is obtained by complementary filtering fusion, where a1 and b1 are fusion coefficients. For example, a1 = 0.98 and b1 = 0.02.

[0093] Step S132: Determine the vehicle pitch angle based on the Y-axis data from the gyroscope data, and the Y-axis and Z-axis data from the acceleration data.

[0094] Specifically, the formula for calculating the vehicle body pitch angle is as follows:

[0095]

[0096]

[0097]

[0098] in, The result of the Y-axis angle calculation based on gyroscope data, w y The Y-axis data from the gyroscope data, d t For the preset time interval, The result of the Y-axis angle calculation based on acceleration data, a y For the Y-axis data in the acceleration data, a z For the Z-axis data in the acceleration data, θ y The vehicle pitch angle is obtained by complementary filtering fusion, and a2 and b2 are fusion coefficients. In the example, a2 = 0.98 and b2 = 0.02.

[0099] Therefore, by performing complementary filtering and fusion of gyroscope data and acceleration data, the vehicle roll angle and vehicle pitch angle can be reasonably determined, which is conducive to outputting vehicle positioning information with more degrees of freedom and ensuring sufficient state information to assist in the development of in-vehicle applications before the positioning module completes alignment.

[0100] In another embodiment, when the positioning data is aligned and the current vehicle speed is not zero, the corresponding state observation strategy can be to observe the vehicle's body state based on inertial data, speed data, and gear data. Specifically, the inertial data may include gyroscope data. Correspondingly, as shown in Figure 4, based on the valid state data, the vehicle state is observed according to the preset state observation strategy corresponding to the current alignment state, including:

[0101] Step S133: Based on gyroscope data, speed data, and gear data, vehicle speed is observed according to a preset speed observation equation to obtain orientation estimation information and speed estimation information.

[0102] Optionally, the preset velocity observation equation is as follows:

[0103]

[0104] Where s represents the gear position, v m For vehicle speed data, R cb and P bc For the extrinsic parameter calibration data between the inertial sensor and the vehicle body, R ωb For the vehicle's orientation estimation information relative to the world coordinate system, v ωb For the vehicle's velocity estimation information relative to the world coordinate system, ω m This is gyroscope data.

[0105] It should be noted that this gear position data can be used to provide vehicle speed direction. For example, s=1 indicates the current gear is forward, s=-1 indicates the current gear is reverse, and s=0 indicates any other gear. This vehicle speed data can be measurement data provided by the vehicle speed sensor. Specifically, R cb It can represent the rotation matrix from the vehicle coordinate system to the inertial sensor coordinate system, describing the rotational attitude of the inertial sensor relative to the vehicle body. P bc This can represent the translation vector from the inertial sensor coordinate system to the vehicle body coordinate system, describing the translational position of the inertial sensor relative to the vehicle body. Therefore, by using gyroscope data, speed data, and gear position data as input data, and performing vehicle speed observation according to a preset speed observation equation, orientation estimation information and speed estimation information can be effectively obtained, improving the accuracy of speed observation.

[0106] In another embodiment, when the positioning data is aligned and the current vehicle speed is zero, the corresponding state observation strategy can be based on inertial data to observe the vehicle's body state. Specifically, the inertial data includes gyroscope data and acceleration data. Correspondingly, as shown in Figure 5, based on the valid state data, the vehicle state is observed according to a preset state observation strategy corresponding to the current alignment state, including:

[0107] Step S134: Determine the effective values ​​of the gyroscope and acceleration based on the gyroscope data and acceleration data.

[0108] Since gyroscope and acceleration data may fluctuate when the vehicle speed is zero, they can be filtered to determine the effective values ​​of the gyroscope and acceleration, providing reliable reference information for subsequent vehicle status observation.

[0109] Specifically, as shown in Figure 6, based on gyroscope data and acceleration data, the effective values ​​of the gyroscope and acceleration are determined, including:

[0110] Step S1341: Extract candidate gyroscope data and candidate acceleration data where the vehicle speed is zero within a continuous time range from the gyroscope data and acceleration data, respectively.

[0111] It should be noted that, in order to effectively determine the gyroscope and acceleration measurements corresponding to zero vehicle speed, candidate gyroscope and acceleration data with zero vehicle speed within a continuous time range can be extracted as raw data, which is beneficial for subsequently determining the effective range of the gyroscope values.

[0112] Step S1342: Average the candidate gyroscope data to obtain the first mean information. Based on the first mean information and the gyroscope noise information of the first preset multiple, determine the first reference range. Filter the candidate gyroscope data according to the first reference range to obtain the target gyroscope data. Average the target gyroscope data to obtain the effective value of the gyroscope.

[0113] It should be noted that the gyroscope noise information can be the reference calibration information provided by the inertial sensor at the factory, and the first preset multiple can be adaptively set based on the environmental conditions and accuracy requirements of the actual application scenario, which is not limited in this application. Specifically, the relevant calculation formula for determining the first reference range is as follows:

[0114]

[0115] ω min =w mean -k1σ1,

[0116] ω max =w mean +k1σ1,

[0117] Among them, w mean ω represents the first mean information of candidate gyroscope data over a continuous time range. i ω represents the candidate gyroscope measurements over a continuous time range.min ω is the minimum effective gyroscope data. max The maximum effective gyroscope data is given by k1, which is a first preset multiple, and σ1 represents the gyroscope noise information. For example, k1 = 3. It can be understood that the endpoint thresholds of the first reference range are ω... min and ω max .

[0118] Furthermore, by defining a first reference range, invalid data in the candidate gyroscope data can be filtered out to obtain the target gyroscope data. The effective value of the gyroscope can be obtained by averaging the target gyroscope data, which can provide reliable observation values ​​for zero-velocity observation.

[0119] Step S1343: Average the candidate acceleration data to obtain the second mean information. Based on the second mean information and the acceleration noise information of the second preset multiple, determine the second reference range. Filter the candidate acceleration data according to the second reference range to obtain the target acceleration data. Average the target acceleration data to obtain the effective acceleration value.

[0120] It should be noted that the acceleration noise information can be the reference calibration information provided by the inertial sensor at the factory, and the second preset multiple can be adaptively set based on the environmental conditions and accuracy requirements of the actual application scenario, which is not limited in this application. Specifically, the relevant calculation formula for determining the second reference range is as follows:

[0121]

[0122] a min =a mean -k2σ2,

[0123] a max =a mean +k2σ2,

[0124] Among them, a mean For the second mean information of candidate acceleration data over a continuous time range, a i For candidate acceleration measurements over a continuous time range, a min For the minimum effective acceleration data, a max The maximum effective acceleration data is represented by k2, which is a second preset multiple, and σ2 represents acceleration noise information; in the example, k2 = 3. It can be understood that the endpoint thresholds of the second reference range are a... min and a max .

[0125] Furthermore, by defining a second reference range, invalid data in the candidate acceleration data can be filtered out to obtain the target acceleration data. The effective acceleration value can be obtained by averaging the target acceleration data, which can provide reliable observation values ​​for zero-velocity observation.

[0126] Step S135: Based on the effective values ​​of the gyroscope and acceleration, perform zero-speed observation of the vehicle according to the preset zero-speed observation equation to obtain gyroscope bias estimation information and acceleration bias estimation information.

[0127] Optionally, the zero-velocity observation equation is preset as follows:

[0128] 0 = b g -b m ,

[0129] 0 = b a -a m ,

[0130] Where, ω m and a m The effective values ​​of the gyroscope and the effective values ​​of acceleration are respectively, b g and b a These are the gyroscope bias estimation information and the acceleration bias estimation information, respectively. As a result, the zero-speed observation of the vehicle can be accurately performed, and effective vehicle state information can be obtained.

[0131] Figure 7 is a schematic diagram of a vehicle status data processing device provided in an embodiment of this application. As shown in Figure 7, the vehicle status data processing device includes:

[0132] The acquisition unit 110 is used to acquire various vehicle status data, including positioning data, inertial data, speed data, and gear data.

[0133] The valid state data determination unit 120 is used to determine valid state data from multiple vehicle state data based on the current alignment state of the positioning data and the current vehicle speed.

[0134] The vehicle state observation unit 130 is used to observe the vehicle state based on valid state data and according to a preset state observation strategy corresponding to the current alignment state.

[0135] Based on the above embodiments, the valid state data determination unit 120 includes:

[0136] The first state data determination module is used to determine the inertial data as valid state data when the positioning data is in an unaligned state.

[0137] Based on the above embodiments, the inertial data includes gyroscope data and acceleration data, and the vehicle state observation unit 130 includes:

[0138] The first vehicle state observation module is used to determine the vehicle roll angle based on the X-axis data from the gyroscope data and the X-axis and Z-axis data from the acceleration data; and to determine the vehicle pitch angle based on the Y-axis data from the gyroscope data and the Y-axis and Z-axis data from the acceleration data.

[0139] Based on the above embodiments, the valid state data determination unit 120 includes:

[0140] The second state data determination module is used to determine the inertial data, speed data, and gear data as valid state data when the positioning data is in an aligned state and the current vehicle speed is not zero.

[0141] Based on the above embodiments, the inertial data includes gyroscope data, and the vehicle state observation unit 130 includes:

[0142] The second vehicle status observation module is used to observe vehicle speed based on gyroscope data, speed data, and gear data, according to a preset speed observation equation, in order to obtain orientation estimation information and speed estimation information.

[0143] Based on the above embodiments, the preset velocity observation equation is as follows:

[0144]

[0145] Where s represents the gear position, v m For vehicle speed data, R cb and P bc For the extrinsic parameter calibration data between the inertial sensor and the vehicle body, R ωb For the vehicle's orientation estimation information relative to the world coordinate system, v ωb For the vehicle's velocity estimation information relative to the world coordinate system, ω m This is gyroscope data.

[0146] Based on the above embodiments, the valid state data determination unit 120 includes:

[0147] The third state data determination module is used to determine the inertial data as valid state data when the positioning data is in an aligned state and the current vehicle speed is zero.

[0148] Based on the above embodiments, the inertial data includes gyroscope data and acceleration data, and the vehicle state observation unit 130 includes:

[0149] The third vehicle state observation module is used to determine the effective values ​​of the gyroscope and acceleration based on gyroscope data and acceleration data; based on the effective values ​​of the gyroscope and acceleration, it performs zero-speed observation of the vehicle according to the preset zero-speed observation equation to obtain gyroscope bias estimation information and acceleration bias estimation information.

[0150] Based on the above embodiments, the third vehicle state observation module is specifically used to extract candidate gyroscope data and candidate acceleration data with a vehicle speed of zero within a continuous time range from the gyroscope data and acceleration data, respectively; to average the candidate gyroscope data to obtain a first mean value; to determine a first reference range based on the first mean value and gyroscope noise information of a first preset multiple; to filter the candidate gyroscope data according to the first reference range to obtain target gyroscope data; and to average the target gyroscope data to obtain the effective value of the gyroscope; to average the candidate acceleration data to obtain a second mean value; to determine a second reference range based on the second mean value and acceleration noise information of a second preset multiple; to filter the candidate acceleration data according to the second reference range to obtain target acceleration data; and to average the target acceleration data to obtain the effective value of the acceleration.

[0151] It is worth noting that in the embodiments of the above-mentioned vehicle status data processing device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0152] Figure 8 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. As shown in Figure 8, the electronic device includes a processor 210 and a memory 220, and may also include an input device 230, an output device 240, and a communication device 250. The number of processors 210 in the electronic device can be one or more, and Figure 8 shows one processor 210 as an example. The processor 210, memory 220, input device 230, output device 240, and communication device 250 in the electronic device can be connected by a bus or other means, and Figure 8 shows a connection via a bus as an example.

[0153] The memory 220, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle status data processing method in this embodiment. The processor 210 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 220, thereby implementing the above-described method.

[0154] The memory 220 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on the use of the electronic device. Furthermore, the memory 220 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 220 may further include memory remotely located relative to the processor 210, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0155] Input device 230 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 240 may include electronic devices such as a display screen.

[0156] The aforementioned electronic device includes a vehicle status data processing unit, which can be used to execute any vehicle status data processing method and has corresponding functions and beneficial effects.

[0157] This application also provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program performs related operations in the methods provided in any embodiment of this application and has corresponding functions and beneficial effects.

[0158] Those skilled in the art will understand that embodiments of this application may be provided as methods, systems, or computer program products.

[0159] Therefore, this application may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams. These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0160] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0161] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0162] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0163] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for processing vehicle status data, characterized in that, include: Acquire various vehicle status data, including positioning data, inertial data, speed data, and gear data; Based on the current alignment state and current vehicle speed of the positioning data, valid state data is identified from the various vehicle state data; based on the valid state data, vehicle state observation is performed according to the preset state observation strategy corresponding to the current alignment state.

2. The vehicle status data processing method according to claim 1, characterized in that, The step of confirming valid state data from the various vehicle state data based on the current alignment state and current vehicle speed of the positioning data includes: determining the inertial data as valid state data when the positioning data is in an unaligned state.

3. The vehicle status data processing method according to claim 2, characterized in that, The inertial data includes gyroscope data and acceleration data. The vehicle state observation based on the effective state data and the preset state observation strategy corresponding to the current alignment state includes: determining the vehicle roll angle based on the X-axis data in the gyroscope data and the X-axis and Z-axis data in the acceleration data; and determining the vehicle pitch angle based on the Y-axis data in the gyroscope data and the Y-axis and Z-axis data in the acceleration data.

4. The vehicle status data processing method according to claim 1, characterized in that, The step of confirming valid state data from the various vehicle state data based on the current alignment state and current vehicle speed of the positioning data includes: when the positioning data is in an aligned state and the current vehicle speed is not zero, determining the inertial data, speed data, and gear data as valid state data.

5. The vehicle status data processing method according to claim 4, characterized in that, The inertial data includes gyroscope data. The vehicle state observation based on the effective state data and the preset state observation strategy corresponding to the current alignment state includes: observing the vehicle speed based on the gyroscope data, speed data, and gear data according to a preset speed observation equation to obtain orientation estimation information and speed estimation information.

6. The vehicle status data processing method according to claim 1, characterized in that, The step of confirming valid state data from the various vehicle state data based on the current alignment state and current vehicle speed of the positioning data includes: when the positioning data is in an aligned state and the current vehicle speed is zero, determining the inertial data as valid state data.

7. The vehicle status data processing method according to claim 6, characterized in that, The inertial data includes gyroscope data and acceleration data. The process of observing the vehicle state based on the effective state data and a preset state observation strategy corresponding to the current alignment state includes: determining the effective values ​​of the gyroscope and acceleration based on the gyroscope data and acceleration data; and performing zero-speed observation of the vehicle based on the effective values ​​of the gyroscope and acceleration according to a preset zero-speed observation equation to obtain gyroscope bias estimation information and acceleration bias estimation information.

8. The vehicle status data processing method according to claim 7, characterized in that, The step of determining the effective values ​​of the gyroscope and acceleration based on the gyroscope data and acceleration data includes: extracting candidate gyroscope data and candidate acceleration data with a vehicle speed of zero within a continuous time range from the gyroscope data and acceleration data, respectively; averaging the candidate gyroscope data to obtain a first mean value; determining a first reference range based on the first mean value and gyroscope noise information at a first preset multiple; filtering the candidate gyroscope data according to the first reference range to obtain target gyroscope data; averaging the target gyroscope data to obtain the effective value of the gyroscope; averaging the candidate acceleration data to obtain a second mean value; determining a second reference range based on the second mean value and acceleration noise information at a second preset multiple; filtering the candidate acceleration data according to the second reference range to obtain target acceleration data; and averaging the target acceleration data to obtain the effective value of the acceleration.

9. A vehicle status data processing device, characterized in that, include: The acquisition unit is used to acquire various vehicle status data, including positioning data, inertial data, speed data, and gear data. The valid state data determination unit is used to determine valid state data from the various vehicle state data based on the current alignment state and current vehicle speed of the positioning data; The vehicle status observation unit is used to observe the vehicle status based on the valid status data and according to a preset status observation strategy corresponding to the current alignment status.

10. An electronic device, characterized in that, include: One or more processors; A memory for storing one or more computer programs; when the one or more computer programs are executed by the one or more processors, causing the electronic device to perform the method as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-8.

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