Vehicle height-limiting anti-collision control method and system

Abstract

The application discloses a vehicle height-limiting anti-collision control method and system, and relates to the technical field of intelligent driving and vehicle safety control. The vehicle height-limiting anti-collision control method comprises the following steps: acquiring restriction height information of a front target height-limiting body; acquiring vehicle height information and real-time driving state information of a vehicle; judging whether there is a collision risk when the vehicle passes through the target height-limiting body according to the restriction height information, the vehicle height information and the real-time driving state information; and if there is a collision risk, automatically controlling the vehicle to slow down. Through the vehicle-road cooperation and / or multi-sensor fusion, the automatic identification and accurate height acquisition of the front height-limiting facility are realized, the collision risk is evaluated in real time in combination with the vehicle state, and the vehicle is automatically controlled to slow down when the risk exists, so that the safety of the vehicle passing through the height-limiting facility is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving and vehicle safety control technology, specifically to a vehicle height limit collision avoidance control method and system. Background Technology

[0002] With the continuous development of urban roads and highway networks, various height restriction facilities (such as bridges, tunnels, toll stations, etc.) are increasing. During the driving process, vehicles, especially high-roofed vehicles such as trucks and buses, are prone to collisions with height restriction facilities due to driver negligence or failure to recognize height restriction signs, resulting in vehicle damage, cargo overturning, and even personal injury.

[0003] Currently, common height restriction warning methods mainly rely on drivers visually recognizing height restriction signs or providing simple audio-visual alerts when vehicles approach height restriction facilities. However, these methods are greatly affected by factors such as driver attention, weather conditions, and sign clarity, and cannot proactively intervene in vehicle movement when a collision risk is assessed, thus limiting their warning effectiveness. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a vehicle height restriction and collision avoidance control method and system to resolve the problems of reliance on manual identification, passive early warning, and insufficient intervention capabilities in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The first technical solution adopted in this application is: providing a vehicle height restriction and collision avoidance control method, including: Obtain the height restriction information of the target height restriction body ahead; Obtain the vehicle's height information and real-time driving status information; Based on the height restriction information, the vehicle height information, and the real-time driving status information, determine whether there is a collision risk when the vehicle passes through the target height restriction body; If there is a risk of collision, the vehicle will automatically slow down.

[0007] In an optional embodiment, obtaining the height restriction information of the target height restriction body in front specifically involves: The vehicle-road cooperative communication method receives a height restriction data packet sent by a roadside device installed at the target height restriction body. The height restriction data packet contains at least the specific geographical location of the target height restriction body and its height restriction value.

[0008] In an optional embodiment, the real-time driving status information includes the vehicle's real-time geographical location and real-time speed; collision risk assessment based on the height restriction information, the vehicle height information, and the real-time driving status information includes: Calculate the distance between the vehicle and the target height restriction body based on the vehicle's real-time geographical location and the target height restriction body's specific geographical location; Based on the height restriction value, the vehicle height, the interval distance, and the real-time vehicle speed, the maximum safe speed allowed for the vehicle to safely pass through the target height restriction body is calculated. Compare the vehicle's real-time speed with the stated maximum safe speed; If the real-time vehicle speed is higher than the maximum safe speed, a collision risk is determined to exist.

[0009] In an optional embodiment, obtaining the height restriction information of the target height restriction body in front specifically involves: The height restriction mark on the target height restriction body is identified by the vehicle-mounted image acquisition device to obtain a first height reference value; The target height restriction body is scanned and detected by a vehicle-mounted lidar to obtain its three-dimensional point cloud data. Based on the analysis and calculation of the three-dimensional point cloud data, a second height reference value of the target height limit body relative to the height of the vehicle is obtained.

[0010] In an optional embodiment, it further includes: Acquire measurement data from a first attitude sensor installed on the vehicle body, the measurement data reflecting the tilt angle of the vehicle body in three-dimensional space; Acquire measurement data from a second attitude sensor mounted on the vehicle wheel, the measurement data reflecting the tilt angle of the wheel in three-dimensional space; The step of calculating the second height reference value based on the three-dimensional point cloud data specifically involves: combining the measurement data from the first attitude sensor and the second attitude sensor, performing coordinate correction and compensation on the three-dimensional point cloud data, and then calculating the height.

[0011] In an optional embodiment, the collision risk assessment includes: The first height reference value and the second height reference value are fused together to determine the effective height limit of the target height limiter. Compare the effective height limit with the vehicle height of this vehicle; If the effective height limit is less than the vehicle height, a collision risk is determined to exist.

[0012] In an optional embodiment, the automatic control of the vehicle to decelerate includes: calculating a target deceleration speed or target deceleration rate based on the severity of the collision risk, and controlling the vehicle to travel to the target deceleration speed or decelerate according to the target deceleration rate through the vehicle control system.

[0013] The second technical solution adopted in this application is: providing a vehicle height limit and collision avoidance control system, applied to a vehicle, the system comprising: The information acquisition module is used to obtain the height restriction information of the target height restriction body ahead, as well as the vehicle height information and real-time driving status information of the vehicle itself; The data processing and risk assessment module is used to determine whether there is a collision risk when the vehicle passes through the target height restriction body based on the height restriction information, the vehicle height information, and the real-time driving status information. The vehicle control execution module is used to automatically control the vehicle to perform a deceleration operation when the data processing and risk assessment module determines that there is a collision risk.

[0014] In an optional embodiment, the information acquisition module includes a vehicle-road cooperative communication unit for communicating with roadside equipment located at the height restriction body and receiving height restriction data packets containing the specific geographical location and height restriction value of the height restriction body.

[0015] In an optional embodiment, the information acquisition module includes: The visual recognition unit is used to acquire height restriction sign information through image recognition technology and output a first height reference value; The lidar detection unit is used to scan and acquire three-dimensional point cloud data of the height restriction object in front. The data fusion processing unit is used to calculate a second height reference value based on the three-dimensional point cloud data, and to fuse the first height reference value and the second height reference value to determine the effective height limit of the target height limit body; The first attitude sensing unit is installed on the vehicle body and is used to detect the vehicle body attitude angle; The second attitude sensing unit is installed on the vehicle wheel to detect the wheel attitude angle; The data fusion processing unit is further configured to process the three-dimensional point cloud data by combining the detection data from the first attitude sensing unit and the second attitude sensing unit.

[0016] This application, by adopting the above technical solution, has at least one of the following beneficial effects compared with the prior art.

[0017] 1. By integrating vehicle-road cooperative communication with onboard multi-sensor perception, the height restriction of the height limit object in front can be verified, improving the accuracy of height restriction data acquisition and environmental adaptability.

[0018] 2. By introducing attitude sensors installed on the vehicle body and wheels, the 3D point cloud data collected by the lidar is corrected and compensated in real time, thereby improving the reliability of collision risk assessment.

[0019] 3. Based on the severity of collision risk (such as height difference, distance, vehicle speed, etc.), the system dynamically calculates the target deceleration or target speed and automatically executes the deceleration operation through the vehicle control system. This effectively avoids collision accidents while reducing the discomfort caused by sudden braking, improving the safety of the intelligent driving system and the user experience. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 A schematic flowchart of a vehicle height restriction and collision avoidance control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the framework of a vehicle height limit and collision avoidance control system provided in an embodiment of this application. 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. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] The terms "first," "second," etc., used in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] In existing technologies, vehicle height restriction warnings often rely on a single information source, such as relying solely on onboard cameras to identify height restriction signs or on static map data. This is easily affected by factors such as lighting conditions, sign occlusion, and map update delays, leading to inaccurate or even invalid height restriction information. At the same time, most systems lack the perception and compensation for the vehicle's own posture (such as slope tilt and load deformation), causing discrepancies between the actual vehicle height and the clearance height of the height restriction body. Furthermore, even if a risk is identified, existing solutions typically only provide audible and visual alarms and cannot actively intervene in the vehicle's driving status, making it difficult to effectively prevent collisions.

[0025] In view of this, this application acquires highly reliable height limit information by integrating vehicle-road cooperative communication and multi-sensor perception, dynamically corrects the height measurement by combining vehicle body and wheel attitude sensing data, and automatically executes graded deceleration control when a collision risk is determined, thereby achieving precise, proactive, and reliable height limit collision avoidance protection; Figure 1 As shown, Figure 1 A flowchart illustrating a vehicle height restriction and collision avoidance control method provided in an embodiment of this application includes: Obtain the height restriction information of the target height restriction body ahead; Obtain the vehicle's height information and real-time driving status information; Based on the height restriction information, vehicle height information, and real-time driving status information, determine whether there is a collision risk when the vehicle passes through the target height restriction object; If there is a risk of collision, the vehicle will automatically slow down. In one embodiment, obtaining the height restriction information of the target height restriction body in front specifically involves: The vehicle-road cooperative communication method is used to receive height restriction data packets sent by roadside equipment installed at the target height restriction body. The height restriction data packets contain at least the specific geographical location of the target height restriction body and its height restriction value.

[0026] Real-time driving status information includes the vehicle's real-time geographical location and real-time speed; collision risk assessment is performed based on height restriction information, vehicle height information, and real-time driving status information, including: Calculate the distance between the vehicle and the target height restriction object based on the vehicle's real-time geographical location and the target height restriction object's specific geographical location; Based on the height restriction value, the vehicle height, the interval distance, and the real-time vehicle speed, the maximum safe speed allowed for the vehicle to safely pass through the target height restriction body is calculated. Compare the vehicle's real-time speed with the maximum safe speed; If the real-time vehicle speed is higher than the maximum safe speed, a collision risk is determined.

[0027] In one embodiment, a logistics truck with a height of 4.8 meters is traveling along a highway. A height restriction barrier is located 500 meters ahead, limiting the height to 4.5 meters, and is equipped with a roadside unit (RSU). The RSU periodically broadcasts height restriction data packets via DSRC or C-V2X communication protocols, including the height restriction of 4.5 meters and geographical coordinates (e.g., latitude and longitude: N39.9042°, E116.4074°).

[0028] After receiving the data packet, the vehicle's V2X receiver module, combined with the real-time position (N39.9035°, E116.4070°) and current vehicle speed (80 km / h) obtained by the vehicle's GNSS positioning system, executes the following judgment process by the vehicle control unit: Calculate the distance between the two locations: Based on the coordinates of the two locations, using the Haversine formula or map matching algorithm, the distance between this vehicle and the height restriction frame is determined to be approximately 480 meters. Calculate the maximum safe speed: Since the vehicle's height of 4.8 m exceeds the height limit of 4.5 m, it cannot pass safely. The system directly determines the maximum safe speed = 0 km / h; (If the height difference is small, for example, the vehicle is 4.4 m high and the height limit is 4.5 m high, the braking performance model can be used to calculate whether it can decelerate to a passable state within the remaining distance, and then the maximum allowable speed can be calculated).

[0029] The current vehicle speed is 80 km / h, which is greater than the maximum safe speed of 0 km / h. The system determines that there is a serious risk of collision. The Advanced Driver Assistance System (ADAS) is activated, which gradually decelerates at a comfortable speed (e.g., -2.0 m / s²) and comes to a complete stop in front of the height restriction barrier. At the same time, the system issues a voice and instrument prompt to the driver that "the height restriction ahead is insufficient, please do not proceed".

[0030] Obtain the height restriction information of the target height restriction body ahead, specifically: The first height reference value is obtained by identifying the height limit markings on the target height limit body using the vehicle-mounted image acquisition device; The target height restriction body is scanned and detected by vehicle-mounted lidar to obtain its three-dimensional point cloud data; Based on the analysis and calculation of 3D point cloud data, a second height reference value of the target height restriction body relative to the height of the vehicle is obtained.

[0031] Also includes: Acquire measurement data from a first attitude sensor installed on the vehicle body; the measurement data reflects the tilt angle of the vehicle body in three-dimensional space. Acquire measurement data from a second attitude sensor mounted on the vehicle wheel, the measurement data reflecting the tilt angle of the wheel in three-dimensional space; The second height reference value is calculated based on the analysis of the three-dimensional point cloud data. Specifically, the three-dimensional point cloud data is calibrated and compensated by combining the measurement data of the first attitude sensor and the second attitude sensor, and then the height is calculated.

[0032] Collision risk assessment includes: The first height reference value and the second height reference value are fused together to determine the effective height limit of the target height limit body; Compare the effective height limit with the vehicle height of this vehicle; If the effective height restriction is less than the vehicle height, a collision risk is deemed to exist.

[0033] In one embodiment, an emergency repair vehicle (registered height of 4.3 meters) was traveling on a suburban road where no V2X roadside equipment was deployed. 150 meters ahead, there was a height restriction frame with a 4.0m height restriction sign on the crossbeam. However, due to long-term exposure to wind and sun, the sign was partially faded and slightly obscured by tree branches.

[0034] After the vehicle activates the height restriction and collision avoidance function, the system performs the following operations: Visual recognition to obtain the first height reference value: The vehicle-mounted forward-looking camera captures the image of the height restriction sign, recognizes the word "4.0m" through a deep learning model, and outputs the first height reference value as 4.00 meters.

[0035] LiDAR scanning to obtain 3D point cloud: The roof-mounted LiDAR scans the height-limiting beam to obtain dense point cloud data, and the bottom of the beam is initially estimated to be about 3.95 meters above the ground.

[0036] Attitude perception and point cloud compensation: The IMU (first attitude sensor) installed in the middle of the vehicle body detects that the vehicle is driving up a gentle slope at a 2° pitch angle; the suspension angle sensors (second attitude sensors) at the four wheels provide feedback that the left front wheel is raised and the right rear wheel is lowered, indicating that there is a slight twist of the vehicle body.

[0037] The above attitude data was used for point cloud coordinate system correction to eliminate the laser height measurement deviation caused by vehicle tilt. Finally, the second height reference value after compensation was calculated to be 3.93 meters.

[0038] The system performs a weighted fusion of the first reference value (4.00 m) and the second reference value (3.93 m) (e.g., assigning weights based on confidence level) to determine the effective height limit of the target height limit body as 3.95 meters.

[0039] Because the vehicle's height is 4.3 meters, which is greater than 3.95 meters, the system determines that there is a risk of collision.

[0040] Automatic deceleration control is activated, and a message indicating insufficient height ahead is displayed on the instrument panel, prompting the driver to stop. A buzzer alarm is also sounded to assist the driver in taking timely action.

[0041] Automatic control of vehicle deceleration includes: calculating the target deceleration speed or target deceleration rate based on the severity of the collision risk, and controlling the vehicle to travel to the target deceleration speed or decelerate according to the target deceleration rate through the vehicle control system.

[0042] In one embodiment, a 4.6-meter-high van approaches a height restriction barrier; the system determines through fusion perception that the effective height limit of the height restriction barrier ahead is 4.2 meters, the vehicle exceeds the limit by 0.4 meters, and the current distance to the height restriction barrier is only 80 meters, with the vehicle speed at 50 km / h.

[0043] The vehicle control unit quantifies the risk level based on a preset risk assessment model, taking into account the following factors: Height difference (0.4 m) → High risk; Distance (80 m) → Short time window; Current vehicle speed (50 km / h ≈ 13.9 m / s) → High kinetic energy.

[0044] Based on this, the system determines there is an emergency collision risk and immediately calculates that the vehicle speed must be reduced to 0 within 60 meters, corresponding to a target deceleration of −1.6 m / s². After receiving the command, the vehicle control system (such as ESP or brake-by-wire system) smoothly applies braking force to achieve controllable deceleration and simultaneously activates the hazard warning lights.

[0045] In another scenario, when the same vehicle approaches the height restriction barrier, the system determines that the height difference is only 0.05 meters, the distance is 300 meters, and the vehicle speed is 40 km / h. At this time, the risk level is low, and the system calculates that it is safe to pass by reducing the vehicle speed to 20 km / h. Therefore, it issues a gentle braking command, with a target deceleration of only −0.3 m / s², which is almost imperceptible to passengers, while maintaining the possibility of passage.

[0046] This application also provides a vehicle height-limiting and collision avoidance control system, applied to vehicles, such as... Figure 2 As shown, Figure 2 This is a schematic diagram of the framework of a vehicle height limit and collision avoidance control system provided in an embodiment of this application. The vehicle height limit and collision avoidance control system includes: The information acquisition module is used to obtain the height restriction information of the target height restriction body ahead, as well as the vehicle height information and real-time driving status information of the vehicle itself; The data processing and risk assessment module is used to determine whether there is a collision risk when the vehicle passes through the target height restriction object based on the height restriction information, vehicle height information, and real-time driving status information. The vehicle control execution module is used to automatically control the vehicle to perform deceleration when the data processing and risk assessment module determines that there is a collision risk.

[0047] The information acquisition module includes a vehicle-road cooperative communication unit, which is used to communicate with roadside equipment installed at the height restriction body and receive height restriction data packets containing the specific geographical location and height restriction value of the height restriction body.

[0048] The information collection module includes: The visual recognition unit is used to acquire height restriction sign information through image recognition technology and output a first height reference value; The lidar detection unit is used to scan and acquire three-dimensional point cloud data of the height restriction object in front. The data fusion processing unit is used to calculate a second height reference value based on the three-dimensional point cloud data, and to fuse the first height reference value and the second height reference value to determine the effective height limit of the target height limit body; The first attitude sensing unit is installed on the vehicle body and is used to detect the vehicle body attitude angle; The second attitude sensing unit is installed on the vehicle wheel to detect the wheel attitude angle; The data fusion processing unit is also used to process the 3D point cloud data by combining the detection data from the first attitude sensing unit and the second attitude sensing unit.

[0049] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0050] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0051] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0052] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle height restriction and collision avoidance control method, characterized in that, include: Obtain the height restriction information of the target height restriction body ahead; Obtain the vehicle's height information and real-time driving status information; Based on the height restriction information, the vehicle height information, and the real-time driving status information, determine whether there is a collision risk when the vehicle passes through the target height restriction body; If there is a risk of collision, the vehicle will automatically slow down.

2. The vehicle height restriction and collision avoidance control method according to claim 1, characterized in that, The specific steps for obtaining the height restriction information of the target height restriction body ahead are as follows: The vehicle-road cooperative communication method receives a height restriction data packet sent by a roadside device installed at the target height restriction body. The height restriction data packet contains at least the specific geographical location of the target height restriction body and its height restriction value.

3. The vehicle height restriction and collision avoidance control method according to claim 2, characterized in that, The real-time driving status information includes the vehicle's real-time geographical location and real-time speed; collision risk assessment is performed based on the height restriction information, the vehicle height information, and the real-time driving status information, including: Calculate the distance between the vehicle and the target height restriction body based on the vehicle's real-time geographical location and the target height restriction body's specific geographical location; Based on the height restriction value, the vehicle height, the interval distance, and the real-time vehicle speed, the maximum safe speed allowed for the vehicle to safely pass through the target height restriction body is calculated. Compare the vehicle's real-time speed with the stated maximum safe speed; If the real-time vehicle speed is higher than the maximum safe speed, a collision risk is determined to exist.

4. The vehicle height restriction and collision avoidance control method according to claim 1, characterized in that, The specific steps for obtaining the height restriction information of the target height restriction body ahead are as follows: The height restriction mark on the target height restriction body is identified by the vehicle-mounted image acquisition device to obtain a first height reference value; The target height restriction body is scanned and detected by a vehicle-mounted lidar to obtain its three-dimensional point cloud data. Based on the analysis and calculation of the three-dimensional point cloud data, a second height reference value of the target height limit body relative to the height of the vehicle is obtained.

5. The vehicle height restriction and collision avoidance control method according to claim 4, characterized in that, Also includes: Acquire measurement data from a first attitude sensor installed on the vehicle body, the measurement data reflecting the tilt angle of the vehicle body in three-dimensional space; Acquire measurement data from a second attitude sensor mounted on the vehicle wheel, the measurement data reflecting the tilt angle of the wheel in three-dimensional space; The step of calculating the second height reference value based on the three-dimensional point cloud data specifically involves: combining the measurement data from the first attitude sensor and the second attitude sensor, performing coordinate correction and compensation on the three-dimensional point cloud data, and then calculating the height.

6. The vehicle height restriction and collision avoidance control method according to claim 5, characterized in that, The collision risk assessment includes: The first height reference value and the second height reference value are fused together to determine the effective height limit of the target height limiter. Compare the effective height limit with the vehicle height of this vehicle; If the effective height limit is less than the vehicle height, a collision risk is determined to exist.

7. The vehicle height restriction and collision avoidance control method according to any one of claims 1 to 6, characterized in that, The automatic control of the vehicle to decelerate includes: calculating a target deceleration speed or target deceleration rate based on the severity of the collision risk, and controlling the vehicle to travel to the target deceleration speed or decelerate according to the target deceleration rate through the vehicle control system.

8. A vehicle height restriction and collision avoidance control system, characterized in that, Applied to vehicles, the system includes: The information acquisition module is used to obtain the height restriction information of the target height restriction body ahead, as well as the vehicle height information and real-time driving status information of the vehicle itself; The data processing and risk assessment module is used to determine whether there is a collision risk when the vehicle passes through the target height restriction body based on the height restriction information, the vehicle height information, and the real-time driving status information. The vehicle control execution module is used to automatically control the vehicle to perform a deceleration operation when the data processing and risk assessment module determines that there is a collision risk.

9. The vehicle height restriction and collision avoidance control system according to claim 8, characterized in that, The information acquisition module includes a vehicle-road cooperative communication unit, which is used to communicate with roadside equipment installed at the height restriction body and receive height restriction data packets containing the specific geographical location and height restriction value of the height restriction body.

10. The vehicle height restriction and collision avoidance control system according to claim 8, characterized in that, The information collection module includes: The visual recognition unit is used to acquire height restriction sign information through image recognition technology and output a first height reference value; The lidar detection unit is used to scan and acquire three-dimensional point cloud data of the height restriction object in front. The data fusion processing unit is used to calculate a second height reference value based on the three-dimensional point cloud data, and to fuse the first height reference value and the second height reference value to determine the effective height limit of the target height limit body; The first attitude sensing unit is installed on the vehicle body and is used to detect the vehicle body attitude angle; The second attitude sensing unit is installed on the vehicle wheel to detect the wheel attitude angle; The data fusion processing unit is further configured to process the three-dimensional point cloud data by combining the detection data from the first attitude sensing unit and the second attitude sensing unit.

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