CN115655286B - A vehicle-mounted height and posture data fusion device and method - Google Patents
A vehicle-mounted height and posture data fusion device and method Download PDFInfo
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- CN115655286B CN115655286B CN202211396298.3A CN202211396298A CN115655286B CN 115655286 B CN115655286 B CN 115655286B CN 202211396298 A CN202211396298 A CN 202211396298A CN 115655286 B CN115655286 B CN 115655286B
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Abstract
本发明公开了一种车载高度与姿态数据融合装置，包括：数据采集端和相对运动端，所述数据采集端和所述相对运动端通过第一连杆和第二连杆实现相对转动，所述数据采集端设置有霍尔角度传感模块、IMU模块和数据处理模块，其中，所述霍尔角度传感模块与所述数据处理模块双向通信连接，所述IMU模块与所述数据处理模块双向通信连接。
The present invention discloses a vehicle-mounted height and posture data fusion device, comprising: a data acquisition end and a relative motion end, wherein the data acquisition end and the relative motion end realize relative rotation through a first connecting rod and a second connecting rod, and the data acquisition end is provided with a Hall angle sensor module, an IMU module and a data processing module, wherein the Hall angle sensor module is bidirectionally connected to the data processing module for communication, and the IMU module is bidirectionally connected to the data processing module for communication.
Description
Technical Field
The invention relates to the technical field of vehicle suspension state detection, in particular to a vehicle-mounted height and attitude data fusion device and a method thereof.
Background
In a vehicle system equipped with active suspension lift functionality and damping control, a height sensor would be used to measure the lift height of the vehicle suspension, while an acceleration sensor would be used to measure sprung or unsprung acceleration data for controlling the damping of the vehicle. In terms of measurement quality, the measurement data of the acceleration sensor can be influenced by the posture and the gravity acceleration of the vehicle, the acceleration sensor and the height sensor are respectively sampled, the sampling time is difficult to synchronize, the data are scattered, the CPU of the controller is required to process and calculate the data, and the calculation load of the controller is increased due to inaccurate data.
Specifically, in the current measurement environment, the calibration technology of the vehicle-mounted mobile measurement device is limited by the influence of multiple factors such as the conditions of the sensor, environmental factors and an optimization method, and the like, and the calibration technology of the vehicle-mounted mobile measurement device mainly has the following aspects that 1) the calibration parameters of the vision system are changed due to the fact that the sensor continuously works for a long time, so that the calibration result has instability, the flexibility of the parameters is low, the calibration precision is low, 2) in the calibration of the relative pose parameters of the inertial measurement unit, the IMU drifts, and the parameter calibration lacks adaptive constraint, 3) the vehicle-mounted system of the multiple sensors can vibrate in a motion state, the relative position parameters among the multiple sensors can be changed to a certain extent, meanwhile, the acquisition time is difficult to achieve synchronization, and further the robustness, reliability and other overall performances of the vehicle-mounted system of the multiple sensors are reduced.
In summary, the conventional vehicle-mounted mobile measurement device has the problems of poor synchronization of different types of data and low accuracy of measurement results.
Disclosure of Invention
In view of the above, the invention provides a vehicle-mounted height and gesture data fusion device and a method thereof, which solve the problems of poor synchronism of different types of data and low accuracy of measurement results of the traditional vehicle-mounted mobile measurement equipment by improving the construction modes of a height detection device and a gesture detection device.
In order to solve the problems, the technical scheme of the invention is that the vehicle-mounted height and gesture data fusion device comprises a data acquisition end and a relative movement end, wherein the data acquisition end and the relative movement end realize relative rotation through a first connecting rod and a second connecting rod, the data acquisition end is provided with a Hall angle sensing module, an IMU module and a data processing module, the Hall angle sensing module is in bidirectional communication connection with the data processing module, and the IMU module is in bidirectional communication connection with the data processing module.
Optionally, when the hall angle sensing module obtains rotation angle data of the first link relative to the data acquisition end and the IMU module obtains acceleration data and angular velocity data of the data acquisition end, the data processing module generates relative displacement data of the data acquisition end and the relative movement end based on the rotation angle data, the length of the first link and the length of the second link which are calibrated in advance, calculates speed data and acceleration data of relative movement between the data acquisition end and the relative movement end based on the relative displacement data, and generates attitude angle data, vertical velocity data and vertical displacement data of the data acquisition end based on the acceleration data and the angular velocity data of the data acquisition end, and the data processing module generates vertical displacement data of the relative movement end based on the relative displacement amount between the data acquisition end and the relative movement end and the vertical displacement data of the data acquisition end, and calculates acceleration data and vertical velocity data of the relative movement end based on the vertical displacement data.
Optionally, the data processing module is further capable of generating the vertical velocity data and the vertical displacement data of the data acquisition end based on the calibrated acceleration data and the calibrated angular velocity data after calibrating the acceleration data and the angular velocity data of the data acquisition end obtained by the IMU module based on the vehicle chassis motion relation.
Optionally, the vehicle-mounted height and gesture data fusion device further comprises a power supply module and a communication module which are arranged at the data acquisition end, and the communication module is in bidirectional communication connection with the data processing module.
Optionally, the data acquisition end is arranged at a position of the chassis of the vehicle body, which is relatively fixed with the vehicle body, and the relative movement end is arranged at a position of synchronously moving with the wheels.
The vehicle-mounted height and attitude data fusion method comprises the steps of obtaining rotation angle data of a first connecting rod relative to a data acquisition end based on a Hall angle sensing module, obtaining acceleration data and angular velocity data of the data acquisition end based on an IMU module, generating relative displacement data of the data acquisition end and the relative movement end based on the rotation angle data, the length of the first connecting rod and the length of a second connecting rod which are calibrated in advance, calculating speed data and acceleration data of relative movement between the data acquisition end and the relative movement end based on the relative displacement data, generating attitude angle data, vertical velocity data and vertical displacement data of the data acquisition end based on the acceleration data and the angular velocity data of the data acquisition end, generating vertical displacement data of the relative movement end based on the relative displacement data between the data acquisition end and the relative movement end, and calculating vertical displacement data of the relative movement end based on the vertical displacement data.
Optionally, the vehicle-mounted height and attitude data fusion method further comprises the steps of calibrating acceleration data and angular velocity data of the data acquisition end based on a vehicle chassis motion relation after the acceleration data and the angular velocity data of the data acquisition end are acquired based on the IMU module, and generating vertical velocity data and vertical displacement data of the data acquisition end based on the calibrated acceleration data and angular velocity data.
Optionally, the vehicle-mounted height and attitude data fusion method further comprises the step of transmitting vehicle motion data to a rear-end vehicle control system through a communication module after the data processing module generates the vehicle motion data, wherein the vehicle motion data at least comprises relative displacement, speed data and acceleration data of relative motion between the data acquisition end and the relative motion end, attitude angle data, vertical speed data and vertical displacement data of the data acquisition end, and vertical displacement data, vertical speed data and vertical acceleration data of the relative motion end.
The primary improvement of the invention is that the Hall angle sensing module and the IMU module are integrated into one sensor, the synchronous height data and IMU data are synchronously acquired, the synchronous height data and IMU data are fused based on the data processing module, and the data transmission is carried out through the communication module, so that the motion data of the data acquisition end and the opposite motion end can be output by a single sensor, the detection precision is higher than that of the prior art, fewer devices and wiring harnesses are required, the whole vehicle integration is simpler, and the problems of poor synchronism of different types of data and low accuracy of measurement results of the traditional vehicle-mounted mobile measurement equipment are solved.
Drawings
FIG. 1 is a simplified device structural connection diagram of the vehicle height and attitude data fusion device of the present invention;
FIG. 2 is a simplified modular connection diagram of the vehicle height and attitude data fusion apparatus of the present invention;
FIG. 3 is a simplified flow chart of the vehicle height and attitude data fusion method of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
The vehicle-mounted height and gesture data fusion device comprises a data acquisition end 1 and a relative movement end 2, wherein the data acquisition end 1 and the relative movement end 2 realize relative rotation through a first connecting rod 3 and a second connecting rod 4, the data acquisition end 1 is provided with a Hall angle sensing module, an IMU module and a data processing module, the Hall angle sensing module is in bidirectional communication connection with the data processing module, the IMU module is in bidirectional communication connection with the data processing module, the data acquisition end 1 is arranged at a position of a chassis of a vehicle body, which is relatively fixed with the vehicle body, and the relative movement end 2 is arranged at a position of synchronous movement with wheels.
Further, when the hall angle sensing module obtains the rotation angle data θ of the first link 3 relative to the data acquisition end 1 and the acceleration data a A(aAX,aAY,aAZ and the angular velocity data ω A of the data acquisition end 1, where a AZ is a vertical acceleration of the a end, and a AX and a AY are accelerations of the left hand system and the other two directions of the right hand system of the data acquisition end 1. The data processing module generates a relative displacement x between the data acquisition end 1 and the relative movement end 2 based on the rotation angle data theta, the length l 1 of the first connecting rod 3 and the length l 2 of the second connecting rod 4 which are calibrated in advance, And calculates velocity data Deltav and acceleration data Deltaa of the relative motion between the data collection end 1 and the relative motion end 2 based on the relative displacement x, the data processing module generates attitude angle data roll A,pitchA,yawA, vertical velocity data v A and vertical displacement data x A of the data collection end 1 based on the acceleration data a A(aAX,aAY,aAZ) and angular velocity data omega A of the data collection end 1, and generates vertical displacement data x B of the relative motion end 2 based on the relative displacement x between the data collection end 1 and the relative motion end 2 and the vertical displacement data x A of the data collection end 1, wherein x B＝xA -x, and calculates vertical velocity data v B and vertical acceleration data a B of the relative motion end 2 based on the vertical displacement data x B.
Furthermore, the data processing module can also calibrate the acceleration data and the angular velocity data of the data acquisition end 1 obtained by the IMU module based on the vehicle chassis motion relationship (the change rate of the vehicle body vertical motion displacement, the speed and the acceleration value is lower than the change rate of the wheel vertical motion displacement, the speed and the acceleration value, namely v A＜vB,aAZ＜aB,aAZ′＜aB ', wherein a AZ ' and a B ' are the change rates of a AZ and a B), and then generate the vertical velocity data v A and the vertical displacement data x A of the data acquisition end 1 based on the calibrated acceleration data and the calibrated angular velocity data. The specific calibration method comprises calculating average value of absolute values of corresponding data in T (1-5 s) time period for various collected data, and taking speed as an example to obtainAndWhen (when)During the time, the speed data collected at this time is reasonable, so that no calibration processing is performed, whenWhen v A and last participate in calculationThe new v A is generated after the weighted average of the vertical velocity data (i.e. v A_old) at the time, and the calculation formula is thatWherein λ ε [0,1] is a weighting coefficient, and v B is recalculated according to the geometric relationship based on new v A after generating calibrated v A.
Furthermore, the vehicle-mounted height and gesture data fusion device further comprises a power supply module and a communication module which are arranged at the data acquisition end 1, and the communication module is in bidirectional communication connection with the data processing module. Wherein the communication module may be constituted by a CAN/CANFD bus.
The primary improvement of the invention is that the Hall angle sensing module and the IMU module are integrated into one sensor, the synchronous height data and IMU data are synchronously acquired, the synchronous height data and IMU data are fused based on the data processing module, and the data transmission is carried out through the communication module, so that the motion data of the data acquisition end and the opposite motion end can be output by a single sensor, the detection precision is higher than that of the prior art, fewer devices and wiring harnesses are required, the whole vehicle integration is simpler, and the problems of poor synchronism of different types of data and low accuracy of measurement results of the traditional vehicle-mounted mobile measurement equipment are solved.
Correspondingly, as shown in fig. 3, the invention provides a vehicle-mounted height and gesture data fusion method, which comprises the steps of acquiring rotation angle data theta of a first connecting rod 3 relative to a data acquisition end 1, a length l 1 of the first connecting rod 3 and a length l 2 of a second connecting rod 4 which are pre-calibrated based on a Hall angle sensing module, generating a relative displacement x between the data acquisition end 1 and the relative movement end 2, And calculates velocity data Deltav and acceleration data Deltaa of the relative motion between the data collection end 1 and the relative motion end 2 based on the relative displacement x, the data processing module generates attitude angle data roll A,pitchA,yawA, vertical velocity data v A and vertical displacement data x A of the data collection end 1 based on the acceleration data a A(aAX,aAY,aAZ) and angular velocity data omega A of the data collection end 1, and generates vertical displacement data x B of the relative motion end 2 based on the relative displacement x between the data collection end 1 and the relative motion end 2 and the vertical displacement data x A of the data collection end 1, wherein x B＝xA -x, and calculates vertical velocity data v B and vertical acceleration data a B of the relative motion end 2 based on the vertical displacement data x B.
Further, the vehicle-mounted height and attitude data fusion method further comprises the step that after the acceleration data and the angular velocity data of the data acquisition end 1 are acquired based on the IMU module, the data processing module can also generate the vertical velocity data v A and the vertical displacement data x A of the data acquisition end 1 based on the vehicle chassis motion relation (the change rate of the vehicle body vertical motion displacement, the speed and the acceleration value is lower than the change rate of the wheel vertical motion displacement, the speed and the acceleration value, namely v A＜vB,aAZ＜aB,aAZ′＜aB ', wherein a AZ ' and a B ' are the change rates of a AZ and a B), after the acceleration data and the angular velocity data of the data acquisition end 1 are acquired by the IMU module, the data processing module is calibrated, and the vertical velocity data v A and the vertical displacement data x A of the data acquisition end 1 are generated based on the calibrated acceleration data and the angular velocity data. The specific calibration method comprises calculating average value of absolute values of corresponding data in T (1-5 s) time period for various collected data, and taking speed as an example to obtainAndWhen (when)During the time, the speed data collected at this time is reasonable, so that no calibration processing is performed, whenWhen v A and last participate in calculationThe new v A is generated after the weighted average of the vertical velocity data (i.e. v A_old) at the time, and the calculation formula is thatWherein λ ε [0,1] is a weighting coefficient, and v B is recalculated according to the geometric relationship based on new v A after generating calibrated v A.
Further, the vehicle-mounted height and attitude data fusion method further comprises the step of transmitting vehicle motion data to a rear-end vehicle control system through a communication module after the data processing module generates the vehicle motion data, wherein the vehicle motion data at least comprises relative displacement, speed data and acceleration data of relative motion between the data acquisition end 1 and the relative motion end 2, the attitude angle data, the vertical speed data and the vertical displacement data of the data acquisition end 1, and the vertical displacement data, the vertical speed data and the vertical acceleration data of the relative motion end 2.
The vehicle-mounted height and gesture data fusion device and the method thereof are provided by the embodiment of the invention. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
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