A vehicle attitude safety early warning method and system

A vehicle posture and safety early warning technology, applied to road network navigators and other directions, can solve problems such as safety hazards, display delays, driver distraction, etc., achieve accurate vehicle posture safety early warning, improve accuracy, and improve attitude calculation accuracy Effect

Active Publication Date: 2020-11-20
BEIJING SANCHI TECHNOOGY DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This device has many defects, such as: serious delay in display, not conducive to observation, distracting the driver, causing potential safety hazards, and low market acceptance

Method used

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  • A vehicle attitude safety early warning method and system
  • A vehicle attitude safety early warning method and system
  • A vehicle attitude safety early warning method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] Such as figure 1 As shown, the present embodiment provides a vehicle attitude safety early warning method, which includes the following steps:

[0054] S1: Use the MEMS gyroscope to measure the angular rate information of the vehicle, use the accelerometer to measure the first acceleration information of the vehicle, and use the GPS output information to calculate the second acceleration information;

[0055] S2: select the attitude error angle, the gyro constant value offset and the accelerometer constant value zero offset as the state vector, use the Kalman filter basic equation to estimate the state vector, and obtain the estimated state vector;

[0056] S3: Use the attitude error angle in the estimated state vector to correct the attitude matrix to obtain the corrected attitude matrix, and calculate the pitch angle, roll angle and heading angle according to the corrected attitude matrix; Deducting the gyro constant value offset in the estimated state vector from an...

Embodiment 2

[0060] The vehicle posture safety early warning method provided in this embodiment not only includes the steps described in Embodiment 1, but also specifically involves the following processes.

[0061] Also include the following steps before step S2:

[0062] Calibrate the angular rate information obtained by the gyroscope on the X, Y, and Z axes and the acceleration information obtained by the accelerometer on the three axes, and obtain the calibrated angular rate information and first acceleration information;

[0063] Delay about 0.6 seconds to match the calibrated first acceleration information with the acceleration information obtained by GPS, that is, compare the calibrated first acceleration information with the second acceleration information calculated according to the GPS output information, and calculate the two Acceleration matching information is obtained, and then orthogonal calibration is performed on the calibrated angular rate information to eliminate errors;...

Embodiment 3

[0112] Based on the above-mentioned vehicle attitude safety early warning method, the present embodiment provides a vehicle attitude safety early warning system, which includes:

[0113] MEMS gyroscope, used to measure the angular rate information of the vehicle;

[0114] an accelerometer for measuring the first acceleration information of the vehicle in real time;

[0115] GPS, for obtaining the second acceleration information of the vehicle;

[0116] The attitude calculation unit is configured to perform attitude calculation according to the angular rate information, the first acceleration information and the second acceleration information, and obtain the attitude of the vehicle.

[0117]After the attitude calculation process, the attitude parameters of the vehicle are obtained, the attitude of the vehicle is judged according to the attitude parameters, and the attitude parameters and vehicle attitude are displayed on the interface through the display unit, and the corresp...

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Abstract

The invention relates to a safety early-warning method and a safety early-warning system for a vehicle altitude. The safety early-warning method comprises the following steps: measuring angular velocity information of the vehicle by utilizing an MEMS (Micro-electromechanical System) gyroscope, measuring first acceleration information of the vehicle by an accelerometer, and calculating by utilizing GPS (Global Positioning System) output information to obtain second acceleration information; selecting altitude error angles, gyroscope constant offset and accelerometer constant zero offset as state vectors, and estimating the state vectors by utilizing a Kalman filtering basic equation to obtain estimated state vectors; correcting an altitude matrix by using the altitude error angles in the estimated state vectors to obtain a corrected altitude matrix, and calculating out a pitching angle, a rolling angle and a course angle according to the corrected altitude matrix; and judging the vehicle altitude according to the pitching angle, the rolling angle, the course angle, an angular velocity value and an acceleration value, and outputting the pitching angle, the rolling angle, the course angle, the angular velocity value, the acceleration value and the vehicle altitude. The safety early-warning method and system have the advantages that by the stable altitude calculation processing process, the vehicle altitude can be really and accurately reflected.

Description

technical field [0001] The invention relates to a vehicle posture measurement system, in particular to a vehicle posture safety early warning method and system. Background technique [0002] The original vehicle attitude measurement device in the market is a gravity suspension mechanical device, and the suspended ball in the dashboard follows the inertia of the vehicle body to rotate after a delay. There are many defects in this device, such as: serious delay in display, which is not conducive to observation, will cause distraction of the driver, cause potential safety hazards, and has low market acceptance. Contents of the invention [0003] In order to overcome the above-mentioned technical problems existing in the prior art, the present invention provides a vehicle attitude safety early warning method, which can truly and accurately reflect the vehicle attitude through a stable attitude calculation process. [0004] The technical solution of the present invention to so...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/26
CPCG01C21/26
Inventor 张宪龙刘海涛张少军张龙
Owner BEIJING SANCHI TECHNOOGY DEV
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