CN113993116B - Vehicle deformation detection method and device, vehicle and storage medium - Google Patents
Vehicle deformation detection method and device, vehicle and storage medium Download PDFInfo
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- H—ELECTRICITY
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The embodiment of the application discloses a vehicle deformation detection method, a device, a vehicle and a storage medium, wherein the method is applied to a vehicle-mounted terminal of the vehicle, and the vehicle further comprises: at least two wireless communication positioning modules arranged at different positions of the vehicle; the method comprises the following steps: when the collision of the vehicle is detected, controlling each wireless communication positioning module included in the vehicle to emit wireless signals so as to calculate the measurement distance between different wireless communication positioning modules based on the transmission time length of the wireless signals between the different wireless communication positioning modules; and calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle. By implementing the embodiment of the application, the deformation degree of the vehicle can be automatically and efficiently detected, manual measurement is not needed, and the detection efficiency is improved.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle deformation detection method, a device, a vehicle and a storage medium.
Background
As the number of vehicles increases, the vehicles are more and more susceptible to collision accidents. Vehicle collision often leads to damaged deformation of the vehicle, and the deformation of the vehicle can affect the appearance of the vehicle, and can also lead to the reduction of the structural strength of the vehicle and the weakening of the safety of the vehicle.
However, in the existing vehicle deformation detection method, the vehicle can only be dragged back to a factory or a maintenance factory, the shape of the vehicle is manually measured by a maintenance staff, and the detection efficiency is low.
Disclosure of Invention
The embodiment of the application discloses a vehicle deformation detection method, device, vehicle and storage medium, can detect the deformation degree of vehicle automatically and efficiently, need not artifical manual measurement, improves detection efficiency.
The embodiment of the application discloses a vehicle deformation detection method, which is applied to a vehicle-mounted terminal of a vehicle, and the vehicle further comprises: at least two wireless communication positioning modules arranged at different positions of the vehicle; the method comprises the following steps: when the collision of the vehicle is detected, controlling each wireless communication positioning module included in the vehicle to emit wireless signals so as to calculate the measurement distance between different wireless communication positioning modules based on the transmission time length of the wireless signals between the different wireless communication positioning modules; and calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle.
In one embodiment, the calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules includes: comparing the measured distance between the first wireless communication positioning module and the second wireless communication positioning module with the original distance between the first wireless communication positioning module and the second wireless communication positioning module before the collision of the vehicle to obtain a first comparison result; the first wireless communication positioning module and the second wireless communication positioning module are any two wireless communication positioning modules included in the vehicle; and calculating the deformation degree of the vehicle according to the first comparison result.
In one embodiment, the calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle includes: receiving distance data fed back by one or more wireless communication positioning modules; wherein, distance data of first wireless communication positioning module feedback includes: the measuring distance between the first wireless communication positioning module and one or more second wireless communication positioning modules is measured, wherein the first wireless communication positioning module is any wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module; calculating a target shape of the vehicle after collision according to the received distance data; and comparing the target shape with the original shape of the vehicle before collision to obtain a second comparison result, and calculating the deformation degree of the vehicle according to the second comparison result.
In one embodiment, the distance data is sent by an undamaged wireless communication positioning module; and calculating a target shape of the vehicle after the collision according to the received distance data, including: identifying damaged wireless communication positioning modules and undamaged wireless communication positioning modules in the wireless communication positioning modules according to the received distance data; and when the number of the undamaged wireless communication positioning modules is greater than or equal to a number threshold, calculating the target shape of the vehicle after collision according to the distance data fed back by each undamaged wireless communication positioning module.
In one embodiment, the calculating the target shape of the vehicle after the collision according to the distance data fed back by each undamaged wireless communication positioning module includes: calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module; acquiring the original position of the damaged wireless communication positioning module on the vehicle; and calculating the target shape of the vehicle after collision according to the target positions corresponding to the undamaged wireless communication positioning modules and the original positions of the damaged wireless communication positioning modules.
In one embodiment, the calculating the target shape of the vehicle after the collision according to the distance data fed back by each undamaged wireless communication positioning module includes: calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module; and inquiring the deformed shape of the vehicle matched with each target position from a database to serve as the target shape of the vehicle after collision.
In one embodiment, each of the wireless communication modules is connected to at least two power sources; and after said identifying each of said wireless communication location modules that has been damaged and that has not been damaged, the method further comprises: controlling a standby power supply connected with the damaged wireless communication positioning module to supply power to the damaged wireless communication positioning module; the standby power supply is one of the at least two power supplies, which does not supply power to the damaged wireless communication positioning module before the vehicle collides.
In one embodiment, the method further comprises: generating alarm information comprising the deformation degree of the vehicle; and sending the alarm information to service equipment so that the service equipment can send the alarm information to a mobile terminal bound with the vehicle.
In one embodiment, the sending the alarm information to a service device includes: and when the communication connection between the vehicle and the service equipment is detected to be disconnected, sending the alarm information to other vehicles through the wireless communication positioning module, so that the other vehicles send the alarm information to the service equipment.
In one embodiment, the wireless communication positioning module includes: an ultra-wideband communication module; the at least two wireless communication positioning modules arranged at different positions of the vehicle comprise: the vehicle front bumper comprises a wireless communication positioning module arranged in the vehicle and positioned on the roof, two wireless communication positioning modules respectively arranged at two ends of the vehicle front bumper, and two wireless communication positioning modules respectively arranged at two ends of the vehicle rear bumper.
The embodiment of the application discloses vehicle deformation detection device is applied to the vehicle-mounted terminal of vehicle, the vehicle still includes: at least two wireless communication positioning modules arranged at different positions of the vehicle; the device comprises: the control module is used for controlling each wireless communication positioning module to emit wireless signals when the collision of the vehicle is detected, so as to calculate the measurement distance between each wireless communication positioning module based on the transmission time length of the wireless signals between each wireless communication positioning module; and the calculation module is used for calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules.
The embodiment of the application discloses a vehicle, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor realizes any vehicle deformation detection method disclosed by the embodiment of the application.
The embodiment of the application discloses a computer storage medium, on which a computer program is stored, which when executed by a processor, implements any one of the vehicle deformation detection methods disclosed in the embodiment of the application.
Compared with the related art, the embodiment of the application has the following beneficial effects:
after the vehicle collides, wireless signals can be transmitted through a plurality of wireless communication positioning modules arranged at different positions of the vehicle, so that the measurement distance between the different wireless communication positioning modules is calculated based on the transmission time length of the wireless signals, and the deformation degree of the vehicle is calculated. The calculation of the deformation degree of the whole vehicle can be automatically carried out, manual measurement is not needed, and the detection efficiency can be improved. And moreover, the calculation can be completed by means of the wireless communication positioning module arranged on the vehicle without depending on other external tools or equipment, so that the deformation degree of the vehicle can be calculated in time at the first time of the collision of the vehicle, and timely and effective vehicle deformation data support is provided for subsequent alarm, rescue, damage assessment and other processes.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a vehicle according to one embodiment of the disclosure;
FIG. 2 is a flow chart of a method for detecting deformation of a vehicle according to one embodiment of the disclosure;
FIG. 3 is an exemplary diagram of ToF-based ranging as disclosed in one embodiment;
FIG. 4 is a schematic diagram of a vehicle deformation detection system according to one embodiment of the present disclosure;
FIG. 5 is a flow chart of another method for detecting vehicle deformation according to one embodiment;
FIG. 6 is a schematic diagram showing a configuration of a deformation detecting apparatus for a vehicle according to an embodiment of the present disclosure;
fig. 7 is a schematic view of a vehicle according to an embodiment of the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments and figures herein are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses a vehicle deformation detection method, a device, a vehicle and a storage medium, which can automatically and efficiently detect the deformation degree of the vehicle without manual measurement, and improve the detection efficiency. The following will describe in detail.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle according to an embodiment of the disclosure. As shown in fig. 1, a vehicle 100 may include an in-vehicle terminal 110 and a wireless communication location module 120.
The in-vehicle terminal 110 may be any computing device having an arithmetic capability in a vehicle, such as a microcontroller (Micro Control Unit, MCU), a car networking communication module (TBOX), etc., but is not limited thereto.
The wireless communication positioning module 120 may be any communication module having a short-range wireless communication capability, such as a bluetooth communication module, an Ultra Wideband (UWB) communication module, a Zigbee communication module, etc., but is not limited thereto.
The vehicle 100 may include at least two wireless communication location modules 120, and each wireless communication location module 120 may be disposed in a different location of the vehicle 100.
Alternatively, as shown in fig. 1, the vehicle 100 may include 5 wireless communication modules respectively disposed inside the vehicle and on the roof, respectively disposed at both ends of the front side bumper of the vehicle, and respectively disposed at both ends of the rear side bumper of the vehicle. The front bumper can refer to a bumper at one side of a vehicle head, and the rear bumper can refer to a bumper at one side of a vehicle tail.
The vehicle 100 may also include other sensors, such as cameras, inertial measurement units (Inertial Measurement Unit, IMU), etc.
Referring to fig. 2, fig. 2 is a flow chart illustrating a method for detecting deformation of a vehicle according to an embodiment. The method shown in fig. 2 may be applied to the aforementioned vehicle-mounted terminal, and as shown in fig. 2, the method may include the following steps:
210. when the collision of the vehicle is detected, each wireless communication positioning module included in the vehicle is controlled to emit wireless signals, so that the measurement distance between different wireless communication positioning modules is calculated based on the transmission time length of the wireless signals between the different wireless communication positioning modules.
The vehicle-mounted terminal can acquire data acquired by the camera or the IMU and other sensors, and judge whether the vehicle is collided or not according to the acquired data.
For example, the IMU may be used to detect motion information such as acceleration and angular velocity of the vehicle. When abrupt changes exist in acceleration or angular velocity of the vehicle acquired by the IMU in a certain direction, the vehicle-mounted terminal may determine that the vehicle is collided. Optionally, the vehicle-mounted terminal can also optimize the abrupt change detection condition, so as to eliminate the interference of small-amplitude vibration of the vehicle on collision detection caused by factors such as strong wind, heavy vehicle passing and the like.
For example, a camera may be used to capture objects around the vehicle. The vehicle can carry out image recognition on the image shot by the camera, and if the vehicle is recognized to be contacted with other vehicles, roadblocks and other obstacles, the vehicle can be judged to be collided.
When the vehicle-mounted terminal detects that the vehicle is collided, the vehicle-mounted terminal can send a shape measurement instruction to each wireless communication positioning module. If the wireless communication positioning module receives the shape measurement instruction, the wireless communication positioning module can respond to the shape measurement instruction and transmit a wireless signal; meanwhile, the signal receiving function of the wireless communication positioning module is started, and the wireless communication positioning module can receive wireless signals.
Based on the transmission time length of the wireless signal between different wireless communication positioning modules, the measurement distance between different wireless communication positioning modules can be calculated. The different wireless communication positioning modules can refer to different setting positions on the vehicle, but belong to the same type of wireless communication positioning module.
For example, ranging may be performed based on a Time of Flight (ToF) of the wireless signal, ranging may be performed based on a Time difference of arrival (Time D of Arrival, TDoA) of the wireless signal, or the like, which is not particularly limited.
For example, referring to fig. 3, fig. 3 is an exemplary diagram of ToF-based ranging as disclosed in one embodiment. As shown in fig. 3, the wireless signal transceiver of the wireless communication positioning module a may send a first wireless signal to the wireless communication positioning module B at time T0, and the wireless communication positioning module B may receive the first wireless signal at time T1. The wireless communication positioning module B can send a second wireless signal to the wireless signal transceiver of the wireless communication positioning module A at the time T2, and the wireless signal transceiver of the wireless communication positioning module A can receive the second wireless signal at the time T3.
The transmission time duration ToF of the first wireless signal and the second wireless signal can be calculated by the following formula:
The distance L=tof×c between the wireless communication positioning module A and the wireless communication positioning module B; where c may be a transmission speed of the wireless signal.
It should be noted that, in the embodiment of the present application, each wireless communication positioning module may actively send a wireless signal to other communication modules included in the vehicle after receiving a shape measurement instruction sent by the vehicle-mounted terminal; and each wireless communication positioning module can also send a feedback signal to the communication module sending the wireless signal after receiving the wireless signal sent by other communication modules, so that distance measurement is carried out based on the transmission of the wireless signal between different communication modules.
220. And calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle.
In some embodiments, the wireless communication positioning module may send the receiving and transmitting time of the wireless signal to the vehicle-mounted terminal, and the vehicle-mounted terminal calculates the transmission time length of the wireless signal and calculates the measurement distance between different wireless signal communication modules based on the transmission time length.
In other embodiments, a certain wireless communication positioning module may also calculate the transmission duration of the wireless signal by itself, calculate the measurement distance with other wireless communication positioning modules based on the transmission duration, and send the calculated measurement distance to the vehicle-mounted terminal.
For example, the vehicle-mounted terminal may receive distance data fed back by one or more wireless communication positioning modules. Wherein, distance data of first wireless communication positioning module feedback includes: the first wireless communication positioning module is used for measuring the distance between the first wireless communication positioning module and one or more second wireless communication positioning modules. The first wireless communication positioning module can be any wireless communication positioning module included in the vehicle, the second wireless communication positioning module is different from the first wireless communication positioning module, and the second wireless communication positioning module is also a wireless communication positioning module arranged on the vehicle.
It is assumed that an original distance between the set positions of the first wireless communication positioning module and the second wireless communication positioning module is L1 before the vehicle is collided. If the area between the first wireless communication positioning module and the second wireless communication positioning module is deformed after the vehicle is collided, the measured distance L2 between the first wireless communication positioning module and the second wireless communication positioning module acquired by the vehicle may be different from the original distance L1, and there is a large difference. Therefore, the vehicle-mounted terminal can calculate the deformation degree of the vehicle after being collided by using the measurement distances among different wireless communication positioning modules. The deformation degree can be expressed by means of percentage, grade and the like. For example, the degree of deformation may include slight deformation and severe deformation; alternatively, the degree of deformation may include: 80%, 50% or 20% of the vehicle loss, etc., wherein the higher the percentage of the vehicle loss, the lower the degree of damage to the vehicle.
In one embodiment, the vehicle-mounted terminal may compare the measured distance between the first wireless communication positioning module and the second wireless communication positioning module with the original distance between the first wireless communication positioning module and the second wireless communication positioning module before the collision of the vehicle, obtain a first comparison result, and calculate the deformation degree of the vehicle according to the first comparison result.
For example, the vehicle-mounted terminal may store the original distance between the first wireless communication positioning module and the second wireless communication positioning module as L1 in advance. After the collision, the vehicle may compare the calculated or obtained measured distance L2 between the first wireless communication positioning module and the second wireless communication positioning module with the original distance L1.
If the first comparison result includes that L2 is far smaller or far larger than L1, the vehicle-mounted terminal can determine that the vehicle is deformed, and the vehicle-mounted terminal can calculate the deformation degree of the vehicle by using the difference between L2 and L1 and a pre-constructed vehicle deformation model. Wherein, the larger the absolute value of the difference between L2 and L1, the higher the deformation degree of the vehicle. If the first comparison result includes that L2 is approximately equal to L1, the vehicle terminal may determine that the deformation degree of the vehicle is not deformed.
In one embodiment, the vehicle-mounted terminal may calculate the target shape of the vehicle after the collision according to the distance data fed back by each wireless communication positioning module, compare the target shape after the collision with the original shape of the vehicle before the collision, and calculate the deformation degree of the vehicle based on a first comparison result obtained by the comparison.
For example, the vehicle-mounted terminal may construct a vehicle coordinate system in advance, where the vehicle coordinate system may have a center point of two front wheels of the vehicle as an origin, a forward direction of the vehicle head as an x-axis direction, a right side of the forward direction of the vehicle as a y-axis direction, and a direction in which the vehicle points to the sky as a z-axis direction. Before collision, the vehicle-mounted terminal can record initial position coordinates of each wireless communication positioning module in a vehicle coordinate system in advance. After the collision, the vehicle can calculate the target position coordinates of each wireless communication positioning module after the collision of the vehicle according to the distance data fed back by each wireless communication positioning module and the initial position coordinates of each wireless communication positioning module, so as to calculate the target shape of the vehicle according to the target position coordinates of each wireless communication positioning module.
For example, the initial position coordinates of the first wireless communication positioning module may be (xa, ya), the initial coordinates of the second wireless communication positioning module may be (xb, yb), and the original distance between the first wireless communication positioning module and the second wireless communication positioning module may be L. After collision occurs, the first wireless communication positioning module and the second wireless communication positioning module both feed back the distance data. In the distance data fed back by the first wireless communication positioning module, the measurement distance between the first wireless communication positioning module and the second wireless communication positioning module can be Lab; in the distance data fed back by the second wireless communication positioning module, the measured distance between the first wireless communication positioning module and the second wireless communication positioning module can be Lba.
The vehicle-mounted terminal can select any one of Lab or Lba to measure the distance as a target distance L' between the first wireless communication positioning module and the second wireless communication positioning module; alternatively, the in-vehicle terminal may calculate an average value between Lab and Lba as the target distance L' between the first wireless communication positioning module and the second wireless communication positioning module, but is not limited thereto. The target distance L' can be used to calculate the target position coordinates with the initial position coordinates of each wireless communication positioning module.
Alternatively, the vehicle-mounted terminal may select a measurement distance with a larger difference from the original distance L in Lab or Lba as the target distance L', so that the calculated vehicle deformation degree is consistent with or more serious than the actual vehicle damage, but the calculated vehicle deformation degree is lighter than the actual vehicle damage, so that the safety of personnel or property in the vehicle can be ensured as much as possible by the subsequent processing operation performed on the vehicle deformation degree.
After calculating the target distance L 'according to the distance data fed back by the first wireless communication positioning module and the second wireless communication positioning module, the vehicle-mounted terminal can calculate the target position coordinate (xb', yb ') of the second wireless communication positioning module by taking the initial position coordinate (xa, ya) of the first wireless communication positioning module as an anchor point and combining the target distance L', and the target position coordinate of the first wireless communication positioning module is consistent with the initial position coordinate. Or, the vehicle-mounted terminal may also calculate the target position coordinate of the first wireless communication positioning module by using the initial position coordinate of the second wireless communication positioning module as an anchor point and combining the target distance L', which is not particularly limited.
Optionally, the vehicle-mounted terminal may record in advance or learn a large amount of collision data, so as to determine, among the wireless communication positioning modules included in the vehicle, a wireless communication positioning module having a smallest probability of being impacted when the collision occurs. For example, the wireless communication location module disposed at the roof reading light location may be the wireless communication location module with the least probability of being bumped. When calculating the target shape of the vehicle, if the vehicle-mounted terminal can receive the distance data fed back by the wireless communication positioning module with the smallest possibility of being impacted or the received distance data fed back by other wireless communication positioning modules comprises the measured distance between the vehicle-mounted terminal and the wireless communication positioning module with the smallest possibility of being impacted, the vehicle-mounted terminal can calculate the target position coordinates of other wireless communication positioning modules by taking the initial position coordinates of the wireless communication positioning module with the smallest possibility of being impacted as anchor points.
The vehicle-mounted terminal can average the target distance L ', and the vehicle-mounted terminal can simultaneously adjust the initial position coordinates of the first wireless communication positioning module and the second wireless communication positioning module until the distance between the target position coordinates of the first wireless communication positioning module and the second wireless communication positioning module is consistent with the target distance L'.
The above are two embodiments examples of calculating the vehicle target shape by the vehicle-mounted terminal using the distance data fed back by each wireless communication positioning module, and are not particularly limited thereto.
After calculating the target shape of the vehicle, the in-vehicle terminal may compare the target shape of the vehicle with the original shape of the vehicle before the collision. For example, the vehicle-mounted terminal may calculate a second comparison result between the target shape and the original shape of the vehicle based on an algorithm such as dynamic time warping (Dynamic Time Warping, DTW), fei Leixie Distance (Frechet Distance), hausdorff Distance (Hausdorff Distance), etc., so as to calculate the deformation degree of the vehicle according to the second comparison result. If the second comparison result includes the similarity between the target shape and the original shape, the higher the similarity is, the lower the deformation degree of the vehicle is.
It can be seen that, in the foregoing embodiment, after the vehicle collides, wireless signals may be transmitted through a plurality of wireless communication positioning modules disposed at different positions of the vehicle to calculate the measured distances between the different wireless communication positioning modules based on the transmission time periods of the wireless signals, thereby calculating the degree of deformation of the vehicle. The calculation of the deformation degree of the whole vehicle can be automatically performed without manual measurement. And moreover, the calculation can be completed by means of the wireless communication positioning module arranged on the vehicle without depending on other external tools or equipment, so that the deformation degree of the vehicle can be calculated in time at the first time of the collision of the vehicle, and timely and effective vehicle deformation data support is provided for subsequent alarm, rescue, damage assessment and other processes.
In one embodiment, after performing the foregoing step 220, the vehicle-mounted terminal may further generate alarm information including the deformation degree of the vehicle, and send the alarm information to a service device communicatively connected to the vehicle, so that the service device sends the alarm information to a mobile terminal bound to the vehicle. The vehicle can establish communication connection with the service equipment through the vehicle-mounted terminal, and the communication connection can be network connection based on mobile cellular network access.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a deformation detection system for a vehicle according to an embodiment of the disclosure. As shown in fig. 4, the system may include: vehicle 40, cloud service device 50, mobile terminal 60.
The vehicle 40 may include, among other things, a network of vehicles communication module (TBOX) 410, a UWB communication module 411, a UWB communication module 412, a UWB communication module 413, a UWB communication module 414, a UWB communication module 415, and an Inertial Measurement Unit (IMU) 420.
The Inertial Measurement Unit (IMU) 420 may collect motion information such as angular velocity and/or acceleration of the vehicle in real time and transmit the collected motion information to the internet of vehicles communication module (TBOX) 410.
The internet of vehicle communication module (TBOX) 410 may determine that the vehicle 40 is crashed upon recognizing that there is a sudden change in motion information transmitted by the Inertial Measurement Unit (IMU) 420, and send shape measurement instructions to the UWB communication modules 411 to 415.
Taking the UWB communication module 411 as an example, the UWB communication module 411 transmits UWB signals after receiving the shape measurement instruction, so that the remaining four UWB communication modules reflect feedback signals after receiving the UWB signals transmitted by the UWB communication module 411. After receiving the feedback signal, the UWB communication module 411 calculates the measured distances between the UWB communication module 411 and the remaining four UWB communication modules, and feeds back the calculated distance data to the internet of vehicles communication module (TBOX) 410.
After the internet of vehicles communication module (TBOX) 410 receives the distance data respectively fed back by the five UWB communication modules, the deformation degree of the vehicle can be calculated according to the measured distance between at least two UWB communication modules, and corresponding alarm information is generated.
The internet of vehicles communication module (TBOX) 410 may send alert information to the cloud service apparatus 50.
The cloud service device 50 may forward the alarm information to the mobile terminal 60, so that a user of the mobile terminal 60 may learn the alarm information sent by the internet of vehicles communication module (TBOX) 410, so as to perform subsequent processing such as alarm, rescue, damage assessment, etc. according to the deformation degree of the vehicle included in the alarm information.
When the vehicle is crashed, part of the wireless communication positioning modules may be damaged, so that the number of wireless communication positioning modules capable of feeding back the distance data to the vehicle-mounted terminal may be less than or equal to the total number of wireless communication positioning modules included in the vehicle; in the distance data fed back by each wireless communication positioning module, a part of the measured distance may be absent. The embodiment of the application discloses another vehicle deformation detection method, which can accurately calculate the deformation degree of a vehicle under the condition that part of wireless communication positioning modules are damaged.
Referring to fig. 5, fig. 5 is a flowchart illustrating another method for detecting deformation of a vehicle according to an embodiment, and the method may be applied to the vehicle terminal described above. As shown in fig. 5, the method may include the steps of:
510. when the collision of the vehicle is detected, each wireless communication positioning module included in the vehicle is controlled to emit wireless signals, so that the measurement distance between different wireless communication positioning modules is calculated based on the transmission time length of the wireless signals between the different wireless communication positioning modules.
520. And receiving the distance data fed back by the one or more wireless communication positioning modules.
530. And identifying damaged wireless communication positioning modules and undamaged wireless communication positioning modules in the wireless communication positioning modules according to the received distance data.
The distance data fed back by the first wireless communication positioning module may include: the distance between the first wireless communication positioning module and one or more second wireless communication positioning modules is measured. The first wireless communication positioning module can be any wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module.
The vehicle-mounted terminal can identify the wireless communication positioning module missing in the received distance data as the damaged wireless communication positioning module.
Illustratively, the first wireless communication location module may be the UWB communication module 411 shown in fig. 4. The distance data fed back by the UWB communication module 411 may include: the measured distances between UWB communication module 411 and UWB communication modules 412, 414, 415, respectively, are absent, but the measured distances between UWB communication module 411 and UWB communication module 413 are absent.
After identifying that the measured distance between the UWB communication module 411 and the UWB communication module 413 is absent from the distance data fed back by the UWB communication module 411, the vehicle-mounted terminal may first determine whether the measured data fed back by the UWB communication module 413 is received.
If the vehicle-mounted terminal does not receive the measurement data fed back by the UWB communication module 413, the vehicle-mounted terminal may identify the UWB communication module 413 as a damaged UWB communication module; alternatively, if the vehicle-mounted terminal does not receive the measurement data fed back by the UWB communication module 413, and the measurement distance between the vehicle-mounted terminal and the UWB communication module 413 is not included in the measurement data fed back by the other UWB communication modules, the vehicle-mounted terminal may identify the UWB communication module 413 as a damaged UWB communication module.
If the vehicle-mounted terminal has received the measurement data fed back by the UWB communication module 413, the vehicle-mounted terminal may identify the UWB communication module 413 as an undamaged UWB communication module; if the vehicle-mounted terminal does not receive the measurement data fed back by the UWB communication module 413, but the measurement data fed back by other UWB communication modules includes the measurement distance from the UWB communication module 413, the vehicle-mounted terminal may identify the UWB communication module 413 as an undamaged UWB communication module.
540. Judging whether the number of undamaged wireless communication positioning modules is larger than or equal to a number threshold; if yes, go to step 550; if not, the process is ended.
After the vehicle-mounted terminal identifies the damaged and undamaged wireless communication positioning modules according to the distance data fed back by each wireless communication module, whether the number of the undamaged wireless communication positioning modules is larger than or equal to a number threshold value can be further judged. The number threshold may be set according to actual service requirements, and may be set to be slightly smaller than the total number of wireless communication modules included in the vehicle. For example, if the vehicle includes 5 wireless communication modules, the number threshold may be set to 3 or 4, and is not particularly limited.
The more undamaged wireless communication positioning modules are, the more effective distance data the vehicle-mounted terminal can receive, the more accurate the vehicle target shape is calculated based on the effective distance data. Therefore, when the number of undamaged wireless communication positioning modules is greater than or equal to the number threshold, the vehicle-mounted terminal may continue to execute step 550 to calculate the target shape of the vehicle based on the received distance data; otherwise, the process is ended so as to avoid the overlarge gap between the calculated target shape and the actual shape of the vehicle.
In some embodiments, the vehicle terminal may also determine the deformation degree of the vehicle as serious deformation when the number of undamaged wireless communication positioning modules is less than the number threshold.
In some embodiments, each wireless communication location module included in the vehicle may be connected to at least two power sources. After the vehicle-mounted terminal identifies the damaged wireless communication positioning module, the standby power supply connected with the damaged wireless communication positioning module can be controlled to supply power to the damaged wireless communication positioning module so as to try to recover the wireless signal receiving and transmitting capability of the damaged wireless communication positioning module, and the distance data fed back by all the wireless communication positioning modules included in the vehicle can be conveniently obtained. The standby power supply may refer to a power supply that does not supply power to the damaged wireless communication positioning module before the collision, and the standby power supplies connected to different wireless communication positioning modules may be the same or different, which is not specifically limited.
The vehicle-mounted terminal can send a shape measurement instruction to the damaged wireless communication positioning module again after controlling the standby power supply to supply power, and wait for a period of time, for example, wait for 1 second. If the waiting is finished, the damaged distance data fed back by the wireless communication positioning module can be received, and the vehicle-mounted terminal can calculate the target shape of the vehicle by using any method disclosed in the embodiment; if the waiting is finished and the distance data fed back by the damaged wireless communication positioning module is not received, the vehicle terminal may continue to identify the wireless communication positioning module as the damaged wireless communication positioning module, and execute step 550 described below.
550. And calculating the target shape of the vehicle after collision according to the distance data fed back by each undamaged wireless communication positioning module.
Because part of the wireless communication positioning modules are damaged under the impact, the vehicle-mounted terminal can calculate the more accurate vehicle target shape through any one of the following embodiments.
Mode one: the vehicle-mounted terminal calculates the target position of each undamaged wireless communication positioning module after the collision of the vehicle according to the distance data fed back by each undamaged wireless communication positioning module; the vehicle-mounted terminal can acquire the original positions of the damaged wireless communication positioning modules on the vehicle, and calculate the target shape of the vehicle after collision according to the target positions respectively corresponding to the undamaged wireless communication positioning modules and the original positions of the damaged wireless communication positioning modules.
That is, the vehicle-mounted terminal may calculate the target position of the undamaged wireless communication positioning module according to the distance data fed back by each undamaged wireless communication positioning module according to any of the methods disclosed in the foregoing embodiments. And aiming at the damaged wireless communication positioning module, directly connecting the original position of the damaged wireless communication positioning module with the target position of the undamaged wireless communication positioning module, so that the target shape of the vehicle can be obtained. The calculation method can calculate a more accurate target shape when the vehicle is slightly collided or the wireless communication module is arranged at the right time of the collision position.
Mode two: and the vehicle-mounted terminal calculates the target positions of the undamaged wireless communication positioning modules after the collision of the vehicle according to the distance data fed back by the undamaged wireless communication positioning modules, and queries the deformed shapes of the vehicle matched with the target positions from the database to serve as the target shapes of the vehicle after the collision.
The database can store a plurality of matching relations between the target positions of the wireless communication positioning modules and the deformed shapes of the vehicles, and the matching relations can be uploaded to the database after each collision accident of different vehicles. In addition, the target positions of the wireless communication positioning modules in the matching relations are complete and have no loss.
The vehicle-mounted terminal can query the matched vehicle deformation shape in the database according to the target positions of the wireless communication positioning modules which are not damaged currently. For example, if the UWB module 411 shown in fig. 4 is damaged, the vehicle-mounted terminal may have a matching relationship corresponding to the target positions of the remaining four UWB modules after the collision from the database, where the target positions of the wireless communication positioning module are similar to the target positions of the remaining four UWB modules, and the shape of the target after the collision of the vehicle should be similar to the shape of the deformed vehicle in the matching relationship. Therefore, the in-vehicle terminal can take the deformed shape of the vehicle in the matching relationship as the target shape after the collision of the vehicle.
Because the matching relation in the database is relatively accurate, the target shape inquired based on the database is similar to the actual shape of the vehicle.
560. Generating alarm information including a degree of deformation of the vehicle.
In some embodiments, the alarm information generated by the vehicle terminal may further include information of the damaged wireless communication positioning module. For example, the alarm information may include "the vehicle collides, the deformation degree is moderate, and the UWB anchor a is damaged". UWB anchor point is wireless communication location module.
570. When the communication connection between the vehicle and the service equipment is detected to be disconnected, the wireless communication positioning module is used for sending alarm information to other vehicles, so that the other vehicles can send the alarm information to the service equipment, and the service equipment sends the alarm information to the mobile terminal bound with the vehicle.
The collision may cause damage to the antenna, radio frequency circuit, etc. of the vehicle, which are related to signal transmission, resulting in disconnection of the communication connection of the vehicle with the service device. At this time, the vehicle-mounted terminal may search for other vehicles nearby capable of supporting wireless communication, and transmit the generated alarm information to other vehicles through wireless communication positioning modules, such as UWB communication, and the other vehicles transmit the alarm information to the mobile terminal bound to the vehicle via the service device, so that the alarm information may be transmitted through other vehicles in time when the communication connection between the vehicle and the service device is damaged by collision.
It can be seen that, in the foregoing embodiment, when a part of the wireless communication positioning modules of the vehicle is damaged due to a collision, the vehicle-mounted terminal can calculate a more accurate vehicle target shape by using the target positions of the undamaged wireless communication positioning modules. And the wireless communication module can be further lightened by starting a standby power supply to supply power, completing remedial measures such as alarm information transmission and data uploading by means of nearby vehicles and the like.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a vehicle deformation detecting device according to an embodiment, which can be applied to any of the vehicle terminals described above. As shown in fig. 6, the vehicle deformation detection apparatus 600 may include: a control module 610 and a calculation module 620.
The control module 610 may be configured to control each of the wireless communication positioning modules to transmit a wireless signal when a collision of the vehicle is detected, so as to calculate a measurement distance between each of the wireless communication positioning modules based on a transmission time period of the wireless signal between each of the wireless communication positioning modules;
the calculating module 620 may be configured to calculate a deformation degree of the vehicle according to a measured distance between at least two wireless communication positioning modules.
In one embodiment, the calculating module 620 is further configured to compare the measured distances between the first wireless communication positioning module and the second wireless communication positioning module with the original distances between the first wireless communication positioning module and the second wireless communication positioning module before the collision of the vehicle, obtain a first comparison result, and calculate the deformation degree of the vehicle according to the first comparison result. The first wireless communication positioning module and the second wireless communication positioning module are any two wireless communication positioning modules included in the vehicle.
In one embodiment, the calculating module 620 may be further configured to receive distance data fed back by one or more wireless communication positioning modules; wherein, distance data of first wireless communication positioning module feedback includes: the measuring distance between the first wireless communication positioning module and one or more second wireless communication positioning modules is measured, the first wireless communication positioning module is any wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module; and calculating a target shape of the vehicle after the collision according to the received distance data; and comparing the target shape with the original shape of the vehicle before collision to obtain a second comparison result, and calculating the deformation degree of the vehicle according to the second comparison result.
In one embodiment, the distance data is transmitted by an undamaged wireless communication location module. The computing module 620 may include: receiving unit, recognition unit, calculation unit.
The receiving unit can be used for receiving the distance data fed back by the undamaged wireless communication positioning module;
the identification unit can be used for identifying damaged wireless communication positioning modules and undamaged wireless communication positioning modules in the wireless communication positioning modules according to the received distance data;
The calculating unit can be used for calculating the target shape of the vehicle after collision according to the distance data fed back by each undamaged wireless communication positioning module when the number of the undamaged wireless communication positioning modules is greater than or equal to the number threshold.
In one embodiment, the calculating unit is further configured to calculate, according to the distance data fed back by each undamaged wireless communication positioning module, a target position of each undamaged wireless communication positioning module after the vehicle collides; the original position of the damaged wireless communication positioning module on the vehicle is obtained; and calculating the target shape of the vehicle after collision according to the target positions corresponding to the undamaged wireless communication positioning modules and the original positions of the damaged wireless communication positioning modules.
In one embodiment, the calculating unit is further configured to calculate, according to the distance data fed back by each undamaged wireless communication positioning module, a target position of each undamaged wireless communication positioning module after the vehicle collides; and inquiring the deformed shape of the vehicle matched with each target position from the database as the target shape of the vehicle after collision.
In one embodiment, each wireless communication module is connected to at least two power sources. The control module 610 is further configured to control a standby power supply connected to the damaged wireless communication positioning module to supply power to the damaged wireless communication positioning module after the identification unit identifies the damaged wireless communication positioning module and the undamaged wireless communication positioning module in the wireless communication positioning modules; the standby power supply is one of at least two power supplies which does not supply power to the damaged wireless communication positioning module before the vehicle collides.
In one embodiment, the vehicle deformation detection apparatus 600 may further include: a generating module and a transmitting module.
The generation module can be used for generating alarm information comprising the deformation degree of the vehicle;
and the sending module can be used for sending the alarm information to the service equipment so that the service equipment can send the alarm information to the mobile terminal bound with the vehicle.
In one embodiment, the sending module is further configured to send, when detecting that the communication connection between the vehicle and the service device is disconnected, alarm information to the other vehicle through the wireless communication positioning module, so that the other vehicle sends the alarm information to the service device.
Therefore, after the vehicle collides, the vehicle deformation detection device can emit wireless signals through the plurality of wireless communication positioning modules arranged at different positions of the vehicle so as to calculate the measurement distance between the different wireless communication positioning modules based on the transmission time length of the wireless signals, thereby calculating the deformation degree of the vehicle. The calculation of the deformation degree of the whole vehicle can be automatically performed without manual measurement. And moreover, the calculation can be completed by means of the wireless communication positioning module arranged on the vehicle without depending on other external tools or equipment, so that the deformation degree of the vehicle can be calculated in time at the first time of the collision of the vehicle, and timely and effective vehicle deformation data support is provided for subsequent alarm, rescue, damage assessment and other processes.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the disclosure. As shown in fig. 7, the vehicle 700 may include:
a memory 710 storing executable program code;
a processor 720 coupled to the memory 710;
the processor 720 invokes executable program codes stored in the memory 710 to execute any of the vehicle deformation detection methods disclosed in the embodiments of the present application.
The embodiment of the application discloses a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements any one of the vehicle deformation detection methods disclosed in the embodiment of the application.
Embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to implement any of the vehicle deformation detection methods disclosed in the embodiments of the present application.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required in the present application.
In various embodiments of the present application, it should be understood that the size of the sequence numbers of the above processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, including several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in the computer device) to perform part or all of the steps of the above-mentioned method of the various embodiments of the present application.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.
The foregoing describes in detail a method, an apparatus, a vehicle and a storage medium for detecting deformation of a vehicle, which are disclosed in the embodiments of the present application, and specific examples are applied herein to illustrate the principles and embodiments of the present application, where the foregoing description of the embodiments is only for helping to understand the method and core ideas of the present application. Meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (12)
1. A vehicle deformation detection method, characterized by being applied to a vehicle-mounted terminal of a vehicle, the vehicle further comprising: at least two wireless communication positioning modules arranged at different positions of the vehicle; the method comprises the following steps:
when the collision of the vehicle is detected, controlling each wireless communication positioning module included in the vehicle to emit wireless signals so as to calculate the measurement distance between different wireless communication positioning modules based on the transmission time length of the wireless signals between the different wireless communication positioning modules;
calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules in the vehicle;
according to the measured distance between at least two wireless communication positioning modules in the vehicle, the deformation degree of the vehicle is calculated, and the method comprises the following steps:
receiving distance data fed back by one or more wireless communication positioning modules; wherein, distance data of first wireless communication positioning module feedback includes: the measuring distance between the first wireless communication positioning module and one or more second wireless communication positioning modules is measured, wherein the first wireless communication positioning module is any wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module;
Calculating a target shape of the vehicle after collision according to the received distance data;
and comparing the target shape with the original shape of the vehicle before collision to obtain a second comparison result, and calculating the deformation degree of the vehicle according to the second comparison result.
2. The method of claim 1, wherein calculating the degree of deformation of the vehicle based on the measured distance between at least two of the wireless communication location modules comprises:
comparing the measured distance between the first wireless communication positioning module and the second wireless communication positioning module with the original distance between the first wireless communication positioning module and the second wireless communication positioning module before the collision of the vehicle to obtain a first comparison result; the first wireless communication positioning module and the second wireless communication positioning module are any two wireless communication positioning modules included in the vehicle;
and calculating the deformation degree of the vehicle according to the first comparison result.
3. The method of claim 1, wherein the distance data is transmitted by an undamaged wireless communication location module; and calculating a target shape of the vehicle after the collision according to the received distance data, including:
Identifying damaged wireless communication positioning modules and undamaged wireless communication positioning modules in the wireless communication positioning modules according to the received distance data;
and when the number of the undamaged wireless communication positioning modules is greater than or equal to a number threshold, calculating the target shape of the vehicle after collision according to the distance data fed back by each undamaged wireless communication positioning module.
4. A method according to claim 3, wherein calculating the target shape of the vehicle after the collision based on the distance data fed back by each of the undamaged wireless communication positioning modules comprises:
calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module;
acquiring the original position of the damaged wireless communication positioning module on the vehicle;
and calculating the target shape of the vehicle after collision according to the target positions corresponding to the undamaged wireless communication positioning modules and the original positions of the damaged wireless communication positioning modules.
5. A method according to claim 3, wherein calculating the target shape of the vehicle after the collision based on the distance data fed back by each of the undamaged wireless communication positioning modules comprises:
calculating the target position of each undamaged wireless communication positioning module after the vehicle collides according to the distance data fed back by each undamaged wireless communication positioning module;
and inquiring the deformed shape of the vehicle matched with each target position from a database to serve as the target shape of the vehicle after collision.
6. The method of any of claims 3-5, wherein each of the wireless communication location modules is connected to at least two power sources; and after said identifying each of said wireless communication location modules that has been damaged and that has not been damaged, the method further comprises:
controlling a standby power supply connected with the damaged wireless communication positioning module to supply power to the damaged wireless communication positioning module; the standby power supply is one of the at least two power supplies, which does not supply power to the damaged wireless communication positioning module before the vehicle collides.
7. The method according to claim 1, wherein the method further comprises:
generating alarm information comprising the deformation degree of the vehicle;
and sending the alarm information to service equipment so that the service equipment can send the alarm information to a mobile terminal bound with the vehicle.
8. The method of claim 7, wherein the sending the alert information to a service device comprises:
and when the communication connection between the vehicle and the service equipment is detected to be disconnected, sending the alarm information to other vehicles through the wireless communication positioning module, so that the other vehicles send the alarm information to the service equipment.
9. The method of claim 1, wherein the wireless communication positioning module comprises: an ultra-wideband communication module; the at least two wireless communication positioning modules arranged at different positions of the vehicle comprise: the vehicle front bumper comprises a wireless communication positioning module arranged in the vehicle and positioned on the roof, two wireless communication positioning modules respectively arranged at two ends of the vehicle front bumper, and two wireless communication positioning modules respectively arranged at two ends of the vehicle rear bumper.
10. A vehicle deformation detection device, characterized by being applied to a vehicle-mounted terminal of a vehicle, the vehicle further comprising: at least two wireless communication positioning modules arranged at different positions of the vehicle; the device comprises:
the control module is used for controlling each wireless communication positioning module to emit wireless signals when the collision of the vehicle is detected, so as to calculate the measurement distance between each wireless communication positioning module based on the transmission time length of the wireless signals between each wireless communication positioning module;
the calculation module is used for calculating the deformation degree of the vehicle according to the measured distance between at least two wireless communication positioning modules;
the computing module is also used for receiving the distance data fed back by the one or more wireless communication positioning modules; wherein, distance data of first wireless communication positioning module feedback includes: the measuring distance between the first wireless communication positioning module and one or more second wireless communication positioning modules is measured, wherein the first wireless communication positioning module is any wireless communication positioning module included in the vehicle, and the second wireless communication positioning module is different from the first wireless communication positioning module; calculating a target shape of the vehicle after collision according to the received distance data; and comparing the target shape with the original shape of the vehicle before collision to obtain a second comparison result, and calculating the deformation degree of the vehicle according to the second comparison result.
11. A vehicle comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to implement the method of any of claims 1-9.
12. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-9.
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| US5295073A (en) * | 1989-03-24 | 1994-03-15 | Celette S.A. | Device for checking the position of various points of a vehicle |
| CN105652265A (en) * | 2014-11-17 | 2016-06-08 | 胡乐乐 | Mobile range finding method, equipment and system |
| DE102017211734A1 (en) * | 2017-07-10 | 2019-01-10 | Bayerische Motoren Werke Aktiengesellschaft | Distance measurement in the vehicle interior |
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| US5295073A (en) * | 1989-03-24 | 1994-03-15 | Celette S.A. | Device for checking the position of various points of a vehicle |
| CN105652265A (en) * | 2014-11-17 | 2016-06-08 | 胡乐乐 | Mobile range finding method, equipment and system |
| DE102017211734A1 (en) * | 2017-07-10 | 2019-01-10 | Bayerische Motoren Werke Aktiengesellschaft | Distance measurement in the vehicle interior |
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