Vehicle body torsion sensing method and device, storage medium, electronic equipment and vehicle
By embedding photoelectric transceiver modules in the straight tubular beams of the vehicle body, and using photoelectric dual-modal technology to monitor vehicle body torsion, the problem of insufficient accuracy of traditional monitoring methods under complex road conditions is solved, and high-precision torsion perception is achieved in dynamic driving scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- VOYAH AUTOMOBILE TECH CO LTD
- Filing Date
- 2026-03-04
- Publication Date
- 2026-05-12
AI Technical Summary
Traditional vehicle torsion monitoring methods cannot accurately monitor dynamic driving under real and complex road conditions and are easily affected by external environmental interference.
An optoelectronic transceiver module is embedded in the straight tubular beam of the vehicle body. Using optoelectronic dual-modal sensing technology, the signal reception information and distance information between the optoelectronic transceiver modules are used to calculate the vehicle body torsion angle.
It enables accurate monitoring of vehicle body torsion in dynamic driving scenarios under real and complex road conditions, reduces external interference, and improves perception accuracy.
Smart Images
Figure CN122009205A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of vehicle detection technology, and in particular relates to a method, device, storage medium, electronic device and vehicle for sensing vehicle body torsion. Background Technology
[0002] In the field of automotive engineering, to improve vehicle handling stability and driving safety, it is necessary to monitor the torsional behavior of the vehicle body in real time. Traditional monitoring methods, such as static bench tests in a laboratory environment, cannot reflect the torsional behavior of a vehicle under dynamic driving conditions in real and complex road conditions. Furthermore, methods such as installing strain gauges on the vehicle body surface are susceptible to interference from the external environment, resulting in unstable signals.
[0003] Therefore, it is necessary to provide a photoelectric dual-modal method for sensing vehicle body torsion in order to solve the problems existing in the prior art. Summary of the Invention
[0004] The embodiments of this application provide a method, device, storage medium, electronic device, and vehicle for sensing vehicle body torsion. An optoelectronic transceiver module can be embedded in the straight tubular beam of the vehicle body. Based on the optoelectronic transceiver module, a dual-modal optoelectronic vehicle body torsion sensing is realized. It is not only applicable to dynamic driving scenarios under real and complex road conditions, but also less susceptible to interference, and the sensing accuracy is greatly improved.
[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.
[0006] According to a first aspect of the embodiments of this application, a method for sensing vehicle body torsion is provided, comprising:
[0007] During the driving process of the target vehicle, acquire the signal reception information corresponding to each optoelectronic transceiver module on the target vehicle; Each optoelectronic transceiver module is embedded in the straight tube beam of the target vehicle body. Each optoelectronic transceiver module includes an optical emitting component and an optical receiving array. The optical emitting component is used to send optical signals to adjacent optoelectronic transceiver modules, and the optical receiving array is used to receive optical signals sent by adjacent optoelectronic transceiver modules. Based on the received signal information and the distance information between adjacent optoelectronic transceiver modules, the torsional angle of the tube beam corresponding to each optoelectronic transceiver module is determined. The torsion angle of the target vehicle body is determined based on the torsion angle of each tube beam.
[0008] In some embodiments of this application, based on the foregoing scheme, the signal receiving information includes signal receiving location information, which is used to characterize the coordinate position information of the optical signal on the optical receiving array; For each first optoelectronic transceiver module, based on the received signal information and the distance information between adjacent optoelectronic transceiver modules, the torsional angle of the tube beam corresponding to each optoelectronic transceiver module is determined, including: Based on the signal receiving position information corresponding to the first optoelectronic transceiver module, the spot offset distance of the target optical signal received by the first optoelectronic transceiver module on the corresponding optical receiving array is calculated. Based on the spot offset distance corresponding to the first optoelectronic transceiver module and the distance information between the first optoelectronic transceiver module and the second optoelectronic transceiver module that transmits the target optical signal, the torsion angle of the tube beam corresponding to the first optoelectronic transceiver module is calculated. The first optoelectronic transceiver module is any one of the optoelectronic transceiver modules, and the second optoelectronic transceiver module is the optoelectronic transceiver module adjacent to the first optoelectronic transceiver module.
[0009] In some embodiments of this application, based on the foregoing scheme, the method further includes: If the light spot offset distance corresponding to any of the first optoelectronic transceiver modules is greater than the preset safety threshold, the stability control system of the target vehicle will be triggered.
[0010] In some embodiments of this application, based on the aforementioned scheme, when each optoelectronic transceiver module is embedded in a straight tube beam of the vehicle body, the torsion angle of the target vehicle body is determined based on the torsion angle of each tube beam, including: When the distance information between adjacent photoelectric transceiver modules is the same, the sum of the torsion angles of each tube beam is determined as the body torsion angle of the target vehicle. When the distance information between adjacent photoelectric transceiver modules is different, the torsion angle of each tube beam is weighted and calculated based on the distance information between adjacent photoelectric transceiver modules to obtain the body torsion angle of the target vehicle.
[0011] In some embodiments of this application, based on the foregoing scheme, for each first optoelectronic transceiver module, the method further includes: Determine the changes in the signal receiving location information corresponding to the first optoelectronic transceiver module within a preset time period; The average torsional energy of the first optoelectronic transceiver module within a preset time period is calculated based on the changing conditions.
[0012] In some embodiments of this application, based on the foregoing scheme, for each first optoelectronic transceiver module, the method further includes: Perform a Fourier transform on the signal receiving location information corresponding to the first optoelectronic transceiver module to obtain the energy percentage within the preset frequency band; whereby the energy percentage is used to characterize the ratio of low-frequency energy to the total energy. If the energy percentage is higher than the preset percentage threshold, the target vehicle is determined to be in a quasi-static torsional state. If the energy percentage is not higher than the preset percentage threshold, the target vehicle is determined to be in a dynamic torsion state.
[0013] According to a second aspect of the embodiments of this application, a vehicle body torsion sensing device is provided, comprising: The receiving information acquisition module is used to acquire the signal receiving information corresponding to each optoelectronic transceiver module on the target vehicle during the vehicle's operation. Each optoelectronic transceiver module is embedded in the straight tube beam of the target vehicle body. Each optoelectronic transceiver module includes an optical emitting component and an optical receiving array. The optical emitting component is used to send optical signals to adjacent optoelectronic transceiver modules, and the optical receiving array is used to receive optical signals sent by adjacent optoelectronic transceiver modules. The tube beam angle determination module is used to determine the tube beam torsion angle corresponding to each optoelectronic transceiver module based on the received signal information and the distance information between each adjacent optoelectronic transceiver module. The vehicle body angle determination module is used to determine the vehicle body torsion angle of the target vehicle based on the torsion angle of each tube beam.
[0014] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, storing computer program instructions that, when loaded and executed by a processor, implement the steps of the vehicle body twisting sensing method as described in any of the first aspects.
[0015] According to a fourth aspect of the embodiments of this application, an electronic device is provided, including a processor and a memory, the memory storing computer program instructions executable by the processor, wherein when the processor executes the computer program instructions, it implements the steps of the vehicle body twisting sensing method as described in any of the first aspects.
[0016] According to a fifth aspect of the embodiments of this application, a vehicle is provided, the vehicle being equipped with a vehicle controller, the vehicle controller being used to implement the steps of the vehicle body torsion sensing method as described in any of the first aspects.
[0017] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the vehicle body twisting sensing method as described in any of the first aspects.
[0018] In this application, during the driving process of the target vehicle, signal reception information corresponding to each optoelectronic transceiver module on the target vehicle is acquired. Each optoelectronic transceiver module is embedded in the straight tubular beam of the target vehicle's body. Each optoelectronic transceiver module includes a light emitting component and a light receiving array. The light emitting component transmits light signals to adjacent optoelectronic transceiver modules, and the light receiving array receives light signals transmitted by adjacent optoelectronic transceiver modules. Based on the signal reception information and the distance information between adjacent optoelectronic transceiver modules, the torsional angle of the tubular beam corresponding to each optoelectronic transceiver module is determined. Based on the torsional angle of the tubular beam, the torsional angle of the target vehicle's body is determined. The technical solution provided in this application allows for the embedding of optoelectronic transceiver modules in the straight tubular beam of the vehicle's body, enabling optoelectronic dual-modal body torsional sensing. This is not only suitable for dynamic driving scenarios under real and complex road conditions but also less susceptible to interference, significantly improving sensing accuracy.
[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description
[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1A A basic structural diagram of the optoelectronic transceiver module in an embodiment of this application is shown; Figure 1B This paper shows a basic structural diagram of the multi-faceted array optoelectronic transceiver module in an embodiment of this application; Figure 1C An internal schematic diagram of the vehicle body straight tube beam in an embodiment of this application is shown; Figure 2 A flowchart of the vehicle body torsion sensing method in an embodiment of this application is shown; Figure 3 A flowchart illustrating the determination of the torsion angle of the tube beam in an embodiment of this application is shown; Figure 4 A flowchart illustrating the determination of the vehicle body torsion angle in an embodiment of this application is shown; Figure 5 A flowchart illustrating the determination of torsional energy in an embodiment of this application is shown; Figure 6 A flowchart illustrating the determination of the torsion state in an embodiment of this application is shown; Figure 7Another flowchart of the vehicle body torsion sensing method in an embodiment of this application is shown; Figure 8 A block diagram of a vehicle body torsion sensing device according to an embodiment of this application is shown; Figure 9 A schematic diagram of the structure of an electronic device in an embodiment of this application is shown. Detailed Implementation
[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0022] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.
[0023] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.
[0024] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.
[0025] To enable those skilled in the art to better understand this application, firstly, in conjunction with Figure 1A A brief description of the optoelectronic transceiver module involved in this application is provided below. Figure 1A The diagram shows the basic structure of the optoelectronic transceiver module in the embodiments of this application.
[0026] Each optoelectronic transceiver module includes ① an optical transmitting component and ② an optical receiving array. The ① optical transmitting component is located at the center of the optoelectronic transceiver module and is used to send optical signals to adjacent optoelectronic transceiver modules. The ② optical receiving array consists of multiple optical receiving components and is used to receive optical signals sent by adjacent optoelectronic transceiver modules.
[0027] Establish a two-dimensional coordinate system corresponding to the optoelectronic transceiver module. ① The optical emitting component can be set at the origin, and the optical receiving components are uniformly distributed in a matrix in the two-dimensional coordinate system, forming ② an optical receiving array. When the optoelectronic transceiver module receives an optical signal sent by an adjacent optoelectronic transceiver module, the optical signal forms a corresponding light spot on ② the optical receiving array, and the coordinate position of the light spot can be represented by (x, y).
[0028] Optionally, the optoelectronic transceiver module also includes a modulation and demodulation unit, which can convert optical signals into electrical signals. The optoelectronic transceiver module converts electrical signals into optical signals through the modulation and demodulation unit, and then transmits the optical signals to adjacent optoelectronic transceiver modules through ① the optical emitting component. The adjacent optoelectronic transceiver modules convert the optical signals back into electrical signals through their modulation and demodulation units, thereby achieving signal transmission between the various optoelectronic transceiver modules.
[0029] Optional, see Figure 1B The diagram shows the basic structure of the multi-faceted array optoelectronic transceiver module in the embodiments of this application.
[0030] Multiple optoelectronic transceiver modules can be combined to form a ③ multi-faceted array optoelectronic transceiver module. The orientation of the light emitting components of each optoelectronic transceiver module is different, so the ③ multi-faceted array optoelectronic transceiver module can transmit light signals in different directions and receive light signals from different directions.
[0031] See Figure 1C The diagram shows an internal schematic of the straight tube beam of the vehicle body in an embodiment of this application.
[0032] Multiple ④ optoelectronic transceiver modules are embedded in the straight tube beam of the vehicle body. Adjacent ④ optoelectronic transceiver modules can send and receive optical signals to each other in the tube beam structure.
[0033] In one exemplary embodiment, refer to Figure 2 The flowchart of the vehicle body torsion sensing method in the embodiments of this application is shown below, and is described in detail below: Step 201: During the driving process of the target vehicle, acquire the signal reception information corresponding to each optoelectronic transceiver module on the target vehicle.
[0034] Each optoelectronic transceiver module is embedded in the straight tube beam of the target vehicle body. Each optoelectronic transceiver module includes an optical emitting component and an optical receiving array. The optical emitting component is used to send optical signals to adjacent optoelectronic transceiver modules, and the optical receiving array is used to receive optical signals sent by adjacent optoelectronic transceiver modules.
[0035] Continuous and stable signal transmission is achieved between adjacent optoelectronic transceiver modules. During the driving process of the target vehicle, when the vehicle body twists, the straight tube beam of the target vehicle body will also twist, resulting in changes in the signal reception information of the optoelectronic transceiver modules. Therefore, by acquiring the signal reception information of each optoelectronic transceiver module and analyzing the signal reception information, the vehicle body twisting situation of the target vehicle can be sensed in reverse.
[0036] The signal reception information may include, but is not limited to, whether an optical signal is received, the signal strength of the received optical signal, the position of the spot of the received optical signal on the optical receiving array, and the transmission time of the optical signal.
[0037] Optionally, the optoelectronic transceiver module also includes a modulation and demodulation unit, which can convert the received optical signal into an electrical signal. Then, when the corresponding signal reception information changes, it actively packages and transmits the signal to the corresponding controller for processing. The corresponding controller can also actively read the signal reception information of each optoelectronic transceiver module, such as by actively sending a read command, and then receiving the reply signal reception information.
[0038] Step 202: Based on the signal reception information and the distance information between adjacent optoelectronic transceiver modules, determine the torsion angle of the tube beam corresponding to each optoelectronic transceiver module.
[0039] The distance information between adjacent photoelectric transceiver modules can be pre-calibrated when the target vehicle is stationary. The distance information between different photoelectric transceiver modules can be the same or different. This embodiment does not impose any restrictions on this.
[0040] For each optoelectronic transceiver module, the torsion angle of the tube beam corresponding to that optoelectronic transceiver module is determined based on the signal reception information corresponding to that optoelectronic transceiver module and the distance information between that optoelectronic transceiver module and the sender of the received optical signal (i.e., another adjacent optoelectronic transceiver module).
[0041] For example, when the signal reception information is the position of the light spot on the optical receiving array of the received optical signal, the torsion angle of the tube beam corresponding to the photoelectric transceiver module is determined based on the ratio between the offset of the light spot position and the distance information.
[0042] For example, when the signal reception information is the signal strength of the received optical signal, the torsion angle of the tube beam corresponding to the photoelectric transceiver module is determined based on the pre-calibrated correlation between the signal strength and the torsion angle of the tube beam, and verified based on the distance information.
[0043] Step 203: Determine the body torsion angle of the target vehicle based on the torsion angle of each tube beam.
[0044] The torsion angle of the tube beam corresponding to a photoelectric transceiver module characterizes the local deformation information. By combining the torsion angles of the tube beams corresponding to all photoelectric transceiver modules, the overall deformation information of the target vehicle can be analyzed, and the body torsion angle can be determined.
[0045] Optionally, the torsion angles of the tube beams corresponding to each optoelectronic transceiver module embedded in the same straight tube beam of the vehicle body are recursively calculated to determine the torsion angle of the tube beam from the first optoelectronic transceiver module to the last optoelectronic transceiver module, ultimately obtaining the vehicle body torsion angle. For example, n optoelectronic transceiver modules are embedded in the same straight tube beam of the vehicle body, denoted as P1, P2, P3, ..., P... n Using P1 as a reference point, the relative position of P2 is determined based on the torsional angle of the tube beam relative to P1. Then, the relative position of P3 is determined based on the torsional angle of the tube beam relative to P2. This process is repeated recursively until P is obtained. n The relative position is used to determine the vehicle body torsion angle.
[0046] Optionally, a global coordinate system for the target vehicle is established, and the torsion angle of the tube beam corresponding to each photoelectric transceiver module is transformed to the global coordinate system based on a preset transformation matrix, and the vehicle body torsion angle is obtained by fitting.
[0047] In this application, during the driving process of the target vehicle, signal reception information corresponding to each optoelectronic transceiver module on the target vehicle is acquired. Each optoelectronic transceiver module is embedded in the straight tubular beam of the target vehicle's body. Each optoelectronic transceiver module includes a light emitting component and a light receiving array. The light emitting component transmits light signals to adjacent optoelectronic transceiver modules, and the light receiving array receives light signals transmitted by adjacent optoelectronic transceiver modules. Based on the signal reception information and the distance information between adjacent optoelectronic transceiver modules, the torsional angle of the tubular beam corresponding to each optoelectronic transceiver module is determined. Based on the torsional angle of the tubular beam, the torsional angle of the target vehicle's body is determined. The technical solution provided in this application allows for the embedding of optoelectronic transceiver modules in the straight tubular beam of the vehicle's body, enabling optoelectronic dual-modal body torsional sensing. This is not only suitable for dynamic driving scenarios under real and complex road conditions but also less susceptible to interference, significantly improving sensing accuracy.
[0048] Based on the above embodiments, in an exemplary embodiment, the signal receiving information includes signal receiving location information, which is used to characterize the coordinate position information of the optical signal on the optical receiving array.
[0049] See Figure 3 This illustrates the method for determining the torsion angle of the tube beam in an embodiment of this application, specifically including: Step 301: Based on the signal receiving position information corresponding to the first optoelectronic transceiver module, calculate the spot offset distance of the target optical signal received by the first optoelectronic transceiver module on the corresponding optical receiving array.
[0050] In this configuration, the first optoelectronic transceiver module can be any one of the optoelectronic transceiver modules, and the second optoelectronic transceiver module is the one adjacent to the first optoelectronic transceiver module. The second optoelectronic transceiver module can also serve as the first optoelectronic transceiver module. The target optical signal is the optical signal received by the first optoelectronic transceiver module and transmitted by the corresponding second optoelectronic transceiver module.
[0051] The light emitting component is set at the origin position. Correspondingly, when the target vehicle does not twist, the coordinate position of the target light signal on the light receiving array should be the origin position. When the target vehicle twists, the coordinate position of the target light signal on the light receiving array changes, shifting from the origin position (0,0) to (x,y). The distance from (0,0) to (x,y) is the offset distance of the light plate.
[0052] For example, for each first optoelectronic transceiver module, based on the signal receiving position information (x, y), the spot offset distance of the target optical signal on the optical receiving array is calculated as follows: .
[0053] Step 302: Based on the spot offset distance corresponding to the first optoelectronic transceiver module and the distance information between the first optoelectronic transceiver module and the second optoelectronic transceiver module that transmits the target optical signal, calculate the pipe beam torsion angle corresponding to the first optoelectronic transceiver module.
[0054] The distance information between each first optoelectronic transceiver module and its corresponding second optoelectronic transceiver module can be the same or different. To eliminate the influence of transmission distance on the target optical signal, normalization processing is performed based on the distance information, and the ratio between the spot offset distance and the corresponding distance information is used as the torsion angle of the tube beam.
[0055] For example, for each first optoelectronic transceiver module, based on the distance information z between the first optoelectronic transceiver module and the corresponding second optoelectronic transceiver module, the torsional angle of the tube beam is calculated as follows: .
[0056] In this application, by analyzing the coordinate position information of the optical signal on the optical receiving array, the torsion angle of the tube beam corresponding to each optoelectronic transceiver module can be accurately quantified. This can effectively sense local deformation information, improve the accuracy of subsequent sensing of overall deformation information, reflect the instantaneous torsion amplitude based on the spot offset distance, and perform material fatigue assessment based on the tube beam torsion angle, thereby optimizing the vehicle detection effect.
[0057] Based on the above embodiments, in an exemplary embodiment, the method of triggering the stability control system in this application embodiment is shown, specifically including: if the light spot offset distance corresponding to any first optoelectronic transceiver module is greater than a preset safety threshold, then the stability control system of the target vehicle is triggered.
[0058] The stability control system is a safety system that automatically intervenes to help the driver regain control of the vehicle when it is about to lose control. When the light spot offset distance is greater than the preset safety threshold, it indicates that the target vehicle has serious local deformation due to body torsion, requiring timely safety control of the target vehicle and actively triggering the target vehicle's stability control system.
[0059] Optionally, when the detected spot offset distance is not greater than a preset safety threshold, and the spot offset distance is determined to be restored to a safe range, the stability control system of the target vehicle can be deactivated.
[0060] In this application, the spot offset distance can be directly quantified by Euclidean torsional displacement, and then combined with the spot offset distance and a preset safety threshold, the target vehicle can be safely controlled to improve the driving safety and reliability of the target vehicle.
[0061] Based on the above embodiments, in an exemplary embodiment, where each optoelectronic transceiver module is embedded in a straight tube beam of the vehicle body, see [reference needed]. Figure 4 This illustrates the method for determining the vehicle body torsion angle in embodiments of this application, specifically including: Step 401: When the distance information between adjacent photoelectric transceiver modules is the same, the sum of the torsion angles of each tube beam is determined as the body torsion angle of the target vehicle.
[0062] For example, n optoelectronic transceiver modules are embedded in the same straight tube beam of the vehicle body, denoted as P1, P2, P3, ..., P n The distance information between any two optoelectronic transceiver modules is the same. The torsion angle of the tube beam corresponding to P2 is denoted as θ1, the torsion angle of the tube beam corresponding to P3 is denoted as θ2, ..., P n The corresponding torsional angle of the tube beam is expressed as θ. n-1 The torsion angle of the vehicle body is obtained by summing the torsion angles of each tube beam.
[0063] Step 402: When the distance information between adjacent photoelectric transceiver modules is different, the torsion angle of each tube beam is weighted and calculated based on the distance information between adjacent photoelectric transceiver modules to obtain the body torsion angle of the target vehicle.
[0064] For example, n optoelectronic transceiver modules are embedded in the same straight tube beam of the vehicle body, denoted as P1, P2, P3, ..., P n The distance information between any two optoelectronic transceiver modules is different. Weight information for each optoelectronic transceiver module is determined based on this distance information, and the weight information is proportional to the distance information. Specifically, P2 to P... n The corresponding weight information is represented as w1, ..., w n-1 Therefore, the torsional angle of the tube beam corresponding to P2 is denoted as θ1, the torsional angle of the tube beam corresponding to P3 is denoted as θ2, ..., P n The corresponding torsional angle of the tube beam is expressed as θ. n-1 The torsional angle of the vehicle body is obtained by weighted calculation.
[0065] In this application, for a straight tube beam of a vehicle body, the specific method for determining the torsion angle of the vehicle body is further defined, which can accurately quantify the overall deformation information of the target vehicle and optimize the vehicle detection effect.
[0066] Based on the above embodiments, in an exemplary embodiment, for each first optoelectronic transceiver module, see [reference needed]. Figure 5 This illustrates the method for determining torsional energy in embodiments of this application, specifically including: Step 501: Determine the changes in the signal receiving location information corresponding to the first optoelectronic transceiver module within a preset time period.
[0067] The second optoelectronic transceiver module periodically transmits the target optical signal. The coordinate position information of the target optical signal on the optical receiving array of the first optoelectronic transceiver module (i.e., signal receiving position information) changes with time t. It can record the changes of (x, y) with time t within a preset time period T, such as frequency and amplitude.
[0068] Step 502: Calculate the average torsional energy of the first optoelectronic transceiver module within a preset time period based on the changes.
[0069] The root mean square of the light spot offset distance is calculated and used as the average torsional energy within a preset time period T, which can be used for fatigue life prediction.
[0070] For example, the average torsional energy within a preset time period T is calculated using the following formula: ; Where T is the preset duration, d rmsLet x and y be the average torsional energy within a preset time period T, and x and y be the horizontal and vertical coordinates of the light spot, respectively.
[0071] In this application, the changes in signal reception location information within a preset time period are recorded, and the vibration parameters of the vehicle body straight tube beam are calculated based on the changes. This enables vibration sensing of the target vehicle, and the average torsional energy can be used for fatigue life prediction, which is beneficial for optimizing vehicle detection results.
[0072] Based on the above embodiments, in an exemplary embodiment, for each first optoelectronic transceiver module, see [reference needed]. Figure 6 This illustrates the method for determining the torsion state in embodiments of this application, specifically including: Step 601: Perform Fourier transform on the signal receiving location information corresponding to the first optoelectronic transceiver module to obtain the energy percentage within the preset frequency band.
[0073] Among them, the energy percentage is used to characterize the ratio of low-frequency energy to total energy.
[0074] Step 602: If the energy percentage is higher than the preset percentage threshold, then the target vehicle is determined to be in a quasi-static torsion state.
[0075] Step 603: If the energy percentage is not higher than the preset percentage threshold, then the target vehicle is determined to be in a dynamic torsion state.
[0076] For example, for each first optoelectronic transceiver module, Perform a Fourier transform to calculate the energy percentage E in the 0 to 10 Hz frequency band. low / E total This will increase the energy ratio E low / E total Compared with a preset percentage threshold, when the energy percentage E low / E total When the energy percentage is above 70%, the target vehicle is determined to be in a quasi-static torsional state, such as during cornering or other driving scenarios. low / E total When the vibration rate is no higher than 70%, the target vehicle is determined to be in a dynamic torsional state dominated by vibration, such as driving scenarios with road surface excitation.
[0077] In this application, Fourier transform is used to calculate the vibration parameters of the straight tube beam of the vehicle body, which can realize the vibration sensing of the target vehicle and determine the torsional state of the target vehicle, which is beneficial to optimizing the vehicle detection effect.
[0078] Based on the above embodiments, in an exemplary embodiment, see [link to example]. Figure 7 Another flowchart of the vehicle body torsion sensing method in this application embodiment is shown below, and is described in detail below: Step 701: During the driving process of the target vehicle, obtain the signal receiving location information corresponding to each optoelectronic transceiver module on the target vehicle.
[0079] Each optoelectronic transceiver module is embedded in the straight tube beam of the target vehicle body. Each optoelectronic transceiver module includes an optical emitting component and an optical receiving array. The optical emitting component is used to send optical signals to adjacent optoelectronic transceiver modules, and the optical receiving array is used to receive optical signals sent by adjacent optoelectronic transceiver modules. Step 702: Based on the signal receiving position information corresponding to each optoelectronic transceiver module, calculate the spot offset distance of the target optical signal received by each optoelectronic transceiver module on the corresponding optical receiving array.
[0080] Step 703: If the light spot offset distance corresponding to any photoelectric transceiver module is greater than the preset safety threshold, the stability control system of the target vehicle is triggered.
[0081] Step 704: Based on the spot offset distance corresponding to each optoelectronic transceiver module and the distance information between each optoelectronic transceiver module and the adjacent optoelectronic transceiver module that transmits the target optical signal, calculate the torsion angle of the tube beam corresponding to each optoelectronic transceiver module.
[0082] Step 705: When the distance information between adjacent photoelectric transceiver modules is the same, the sum of the torsion angles of each tube beam is determined as the body torsion angle of the target vehicle.
[0083] Step 706: When the distance information between adjacent photoelectric transceiver modules is different, the torsion angle of each tube beam is weighted and calculated based on the distance information between adjacent photoelectric transceiver modules to obtain the body torsion angle of the target vehicle.
[0084] Step 707: Determine the changes in the signal receiving location information corresponding to each optoelectronic transceiver module within a preset time period.
[0085] Step 708: Calculate the average torsional energy of each optoelectronic transceiver module within a preset time period based on the changes.
[0086] Step 709: Perform Fourier transform on the signal receiving location information corresponding to each optoelectronic transceiver module to obtain the energy percentage within the preset frequency band.
[0087] Among them, the energy percentage is used to characterize the ratio of low-frequency energy to total energy; Step 710: If the energy percentage is higher than the preset percentage threshold, then the target vehicle is determined to be in a quasi-static torsion state.
[0088] Step 711: If the energy percentage is not higher than the preset percentage threshold, then the target vehicle is determined to be in a dynamic torsion state.
[0089] In this application, an optoelectronic transceiver module can be embedded in the straight tubular beam of the vehicle body. Based on the optoelectronic transceiver module, the vehicle body torsion perception in both optoelectronic and transceiver modes can be realized. This is not only applicable to dynamic driving scenarios under real and complex road conditions, but also less susceptible to interference, and the perception accuracy is greatly improved.
[0090] The following describes an embodiment of the apparatus described in this application, which can be used to execute the vehicle body torsion sensing method described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the vehicle body torsion sensing method described in the above embodiments of this application.
[0091] See Figure 8 A block diagram of a vehicle body torsion sensing device 800 according to an embodiment of this application is shown, specifically including: The receiving information acquisition module 801 is used to acquire the signal receiving information corresponding to each optoelectronic transceiver module on the target vehicle during the driving process of the target vehicle. Each optoelectronic transceiver module is embedded in the straight tube beam of the target vehicle body. Each optoelectronic transceiver module includes an optical emitting component and an optical receiving array. The optical emitting component is used to send optical signals to adjacent optoelectronic transceiver modules, and the optical receiving array is used to receive optical signals sent by adjacent optoelectronic transceiver modules. The tube beam angle determination module 802 is used to determine the tube beam torsion angle corresponding to each optoelectronic transceiver module based on the signal reception information and the distance information between each adjacent optoelectronic transceiver module. The vehicle body angle determination module 803 is used to determine the vehicle body torsion angle of the target vehicle based on the torsion angle of each tube beam.
[0092] In an exemplary embodiment, based on the above embodiments, the signal receiving information includes signal receiving position information, which is used to characterize the coordinate position information of the optical signal on the optical receiving array. The above-mentioned tube beam angle determination module 802 includes: The first angle determination unit is used to calculate the spot offset distance of the target light signal received by the first opto-transceiver module on the corresponding optical receiving array based on the signal receiving position information corresponding to the first opto-transceiver module. The second angle determination unit is used to calculate the tube beam torsion angle corresponding to the first optoelectronic transceiver module based on the spot offset distance corresponding to the first optoelectronic transceiver module and the distance information between the first optoelectronic transceiver module and the second optoelectronic transceiver module that transmits the target light signal. The first optoelectronic transceiver module is any one of the optoelectronic transceiver modules, and the second optoelectronic transceiver module is the optoelectronic transceiver module adjacent to the first optoelectronic transceiver module.
[0093] In an exemplary embodiment, based on the above embodiments, the vehicle body torsion sensing device 800 further includes: The safety control module is used to trigger the stability control system of the target vehicle if the light spot offset distance corresponding to any of the first optoelectronic transceiver modules is greater than a preset safety threshold.
[0094] In an exemplary embodiment, based on the above embodiments, the vehicle body angle determination module 803 includes: The third angle determination unit is used to determine the sum of the torsion angles of each tube beam as the body torsion angle of the target vehicle when the distance information between each adjacent photoelectric transceiver module is the same. The fourth angle determination unit is used to calculate the torsion angle of each tube beam by weighting the distance information between each adjacent photoelectric transceiver module when the distance information between each adjacent photoelectric transceiver module is different, so as to obtain the body torsion angle of the target vehicle.
[0095] In an exemplary embodiment, based on the above embodiments, the vehicle body torsion sensing device 800 further includes: The situation determination module is used to determine the changes in the signal receiving location information corresponding to the first optoelectronic transceiver module within a preset time period; The energy calculation module is used to calculate the average torsional energy of the first optoelectronic transceiver module within a preset time period based on the changing conditions.
[0096] In an exemplary embodiment, based on the above embodiments, the vehicle body torsion sensing device 800 further includes: The energy percentage determination module is used to perform Fourier transform on the signal receiving location information corresponding to the first optoelectronic transceiver module to obtain the energy percentage within a preset frequency band; wherein, the energy percentage is used to characterize the ratio of low-frequency energy to the total energy. The first state determination module is used to determine that the target vehicle is in a quasi-static torsional state if the energy percentage is higher than a preset percentage threshold. The second state determination module is used to determine that the target vehicle is in a dynamic torsion state if the energy percentage is not higher than a preset percentage threshold.
[0097] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing computer program instructions. When the computer program instructions are loaded and executed by a processor, they implement the steps of the vehicle body torsion sensing method described above.
[0098] Based on the same inventive concept, this application provides an electronic device, see [link to relevant documentation]. Figure 9The diagram shows a schematic of the structure of an electronic device in an embodiment of this application. The electronic device includes one or more memories 904, one or more processors 902, and at least one computer program stored in the memory 904 and executable on the processor 902. When the processor 902 executes the computer program, it implements the steps of the vehicle body twisting sensing method described above.
[0099] The bus architecture (represented by bus 900) includes any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 902 and memory represented by memory 904. Bus 900 can also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 905 provides an interface between bus 900 and receiver 901 and transmitter 903. Receiver 901 and transmitter 903 can be the same element, a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 902 is responsible for managing bus 900 and general processing, while memory 904 can be used to store data used by processor 902 during operation.
[0100] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.
[0101] Based on the same inventive concept, this application provides a vehicle equipped with a vehicle controller, which is used to implement the steps of the above-described vehicle body torsion sensing method.
[0102] Based on the same inventive concept, this application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-described vehicle body torsion sensing method.
[0103] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.
[0104] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.
[0105] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0106] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A method for sensing vehicle body torsion, characterized in that, The method includes: During the driving of the target vehicle, acquire the signal reception information corresponding to each optoelectronic transceiver module on the target vehicle; Each optoelectronic transceiver module is embedded in the straight tube beam of the target vehicle body. Each optoelectronic transceiver module includes an optical emitting component and an optical receiving array. The optical emitting component is used to send optical signals to adjacent optoelectronic transceiver modules, and the optical receiving array is used to receive optical signals sent by adjacent optoelectronic transceiver modules. Based on the received signal information and the distance information between adjacent optoelectronic transceiver modules, the torsional angle of the tube beam corresponding to each optoelectronic transceiver module is determined. The torsion angle of the target vehicle body is determined based on the torsion angle of each tube beam.
2. The method according to claim 1, characterized in that, The signal receiving information includes signal receiving location information, which is used to characterize the coordinate position information of the optical signal on the optical receiving array. For each first optoelectronic transceiver module, the determination of the tube beam torsion angle corresponding to each optoelectronic transceiver module based on the received signal information and the distance information between adjacent optoelectronic transceiver modules includes: Based on the signal receiving position information corresponding to the first optoelectronic transceiver module, the spot offset distance of the target optical signal received by the first optoelectronic transceiver module on the corresponding optical receiving array is calculated. Based on the spot offset distance corresponding to the first optoelectronic transceiver module and the distance information between the first optoelectronic transceiver module and the second optoelectronic transceiver module that transmits the target light signal, the pipe beam torsion angle corresponding to the first optoelectronic transceiver module is calculated. Wherein, the first optoelectronic transceiver module is any one of the optoelectronic transceiver modules, and the second optoelectronic transceiver module is the optoelectronic transceiver module adjacent to the first optoelectronic transceiver module.
3. The method according to claim 2, characterized in that, The method further includes: If the light spot offset distance corresponding to any of the first optoelectronic transceiver modules is greater than a preset safety threshold, the stability control system of the target vehicle is triggered.
4. The method according to claim 2, characterized in that, When each optoelectronic transceiver module is embedded in a straight tube beam of the vehicle body, determining the vehicle body torsion angle based on the torsion angle of each tube beam includes: When the distance information between adjacent photoelectric transceiver modules is the same, the sum of the torsion angles of each tube beam is determined as the body torsion angle of the target vehicle. When the distance information between adjacent photoelectric transceiver modules is different, the torsion angle of each tube beam is weighted and calculated based on the distance information between adjacent photoelectric transceiver modules to obtain the body torsion angle of the target vehicle.
5. The method according to claim 2, characterized in that, For each first optoelectronic transceiver module, the method further includes: Determine the changes in the signal receiving location information corresponding to the first optoelectronic transceiver module within a preset time period; Based on the changes, the average torsional energy of the first optoelectronic transceiver module within the preset time period is calculated.
6. The method according to claim 2, characterized in that, For each first optoelectronic transceiver module, the method further includes: Perform a Fourier transform on the signal receiving location information corresponding to the first optoelectronic transceiver module to obtain the energy percentage within a preset frequency band; wherein, the energy percentage is used to characterize the ratio of low-frequency energy to the total energy; If the energy percentage is higher than a preset percentage threshold, then the target vehicle is determined to be in a quasi-static torsional state. If the energy percentage is not higher than the preset percentage threshold, then the target vehicle is determined to be in a dynamic torsional state.
7. A vehicle body torsion sensing device, characterized in that, The device includes: The receiving information acquisition module is used to acquire the signal receiving information corresponding to each optoelectronic transceiver module on the target vehicle during the driving process of the target vehicle. Each optoelectronic transceiver module is embedded in the straight tube beam of the target vehicle body. Each optoelectronic transceiver module includes an optical emitting component and an optical receiving array. The optical emitting component is used to send optical signals to adjacent optoelectronic transceiver modules, and the optical receiving array is used to receive optical signals sent by adjacent optoelectronic transceiver modules. The tube beam angle determination module is used to determine the tube beam torsion angle corresponding to each optoelectronic transceiver module based on the received signal information and the distance information between each adjacent optoelectronic transceiver module. The vehicle body angle determination module is used to determine the vehicle body torsion angle of the target vehicle based on the torsion angle of each tube beam.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when loaded and executed by a processor, perform the operations performed by the method as described in any one of claims 1 to 6.
9. An electronic device comprising a processor and a memory, characterized in that, The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it performs the operation as described in any one of claims 1 to 6.
10. A vehicle, characterized in that, The vehicle is equipped with a vehicle controller, which is used to implement the operations performed by the method as described in any one of claims 1 to 6.