CN117889785A - Vehicle parameter detection method, device, terminal equipment and medium - Google Patents
Vehicle parameter detection method, device, terminal equipment and medium Download PDFInfo
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Abstract
The application is applicable to the technical field of automobiles, and provides a vehicle parameter detection method, a device, terminal equipment and a medium, wherein the method comprises the following steps: acquiring point cloud data corresponding to each wheel of a vehicle; according to the point cloud data corresponding to each wheel, determining a target point cloud plane corresponding to the front of each wheel, and determining circle center coordinates corresponding to each wheel; calculating a target plane normal vector of a target point cloud plane corresponding to each wheel; and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate. Compared with the prior art, the method can realize accurately determined plane normal vector and circle center coordinate of the point cloud plane of the wheel through the obtained point cloud data of the wheel, so that the four-wheel positioning parameter of the vehicle can be conveniently and accurately detected and calculated, contact measurement is not needed, the measurement accuracy of the four-wheel positioning parameter of the vehicle is improved, and the measurement efficiency of the four-wheel positioning parameter of the vehicle is improved.
Description
Technical Field
The application belongs to the technical field of automobiles, and particularly relates to a vehicle parameter detection method, a device, terminal equipment and a medium.
Background
Currently, the four-wheel alignment parameters of an automobile are a set of relative positional relationships between the wheels and axles of the automobile, including camber angle, toe-in, caster angle and caster angle. The reasonable selection and the guarantee of four-wheel positioning parameters are significant for improving driving comfort, reducing gasoline consumption, prolonging the service life of tires and improving driving safety.
However, in the prior art, contact measurement is generally adopted when determining four-wheel positioning parameters of a vehicle, so that the measurement speed is low, and when a contact probe in a measuring tool is used for measurement, the force of the contact probe causes local deformation between the probe tip part and a tire to be measured to influence actual reading of the measured value. Therefore, the prior art has the problems of low measurement accuracy and low measurement efficiency.
Disclosure of Invention
The embodiment of the application provides a vehicle parameter detection method, a device, terminal equipment and a medium, which improve the accuracy and efficiency of measuring four-wheel positioning parameters of a vehicle.
In a first aspect, an embodiment of the present application provides a vehicle parameter detection method, including:
acquiring point cloud data corresponding to each wheel of a vehicle;
Determining a target point cloud plane corresponding to the front face of each wheel according to the point cloud data corresponding to each wheel, and determining circle center coordinates corresponding to each wheel;
calculating a target plane normal vector of a target point cloud plane corresponding to each wheel;
and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate.
Optionally, the point cloud data includes tire line laser point cloud data corresponding to a plurality of tire line lasers, and determining, according to the point cloud data corresponding to each wheel, a target point cloud plane corresponding to a front face of each wheel includes:
performing least square fitting on each wheel according to tire line laser point cloud data corresponding to multiple tire line lasers of the wheel to obtain a first point cloud plane corresponding to the front face of each wheel;
for each wheel, traversing and calculating the distance between each point in the tire line lasers and the first point cloud plane;
and determining a target point cloud plane corresponding to each wheel according to the distance between each point in the tire line lasers and the first point cloud plane for each wheel.
Optionally, the determining, according to a distance between each point in the plurality of tire line lasers and the first point cloud plane, a target point cloud plane corresponding to the wheel includes:
for each tire line laser in the plurality of tire line lasers, determining a point with the largest forward distance between all points of the tire line lasers and the first point cloud plane as a target point of the tire line laser;
performing least square fitting according to target points of the tire line lasers to obtain a second point cloud plane;
if the included angle between the second point cloud plane and the first point cloud plane is larger than or equal to a set threshold value, continuing to determine, for each of the plurality of tire line lasers, a point with the largest forward distance between the point of the tire line laser and the second point cloud plane as a new target point of the tire line laser, performing least square fitting based on the new target points of the plurality of tire line lasers, generating a new second point cloud plane until the included angle between the generated new second point cloud plane and a previous second point cloud plane before the new second point cloud plane is smaller than the set threshold value, and determining the generated new second point cloud plane as a target point cloud plane corresponding to the wheel.
Optionally, the determining, according to the point cloud data corresponding to each wheel, the center coordinates corresponding to each wheel includes:
performing circle fitting on the new target points corresponding to the wheels and generating the new second point cloud plane to obtain fitted circles corresponding to the wheels;
for each wheel, determining the center coordinates of a fitting circle corresponding to the wheel, and determining the center coordinates of the fitting circle as the center coordinates of the wheel.
Optionally, the calculating to obtain the four-wheel positioning parameter of the vehicle according to the normal vector of each target plane and each center coordinate includes:
performing least square fitting according to the circle center coordinates to obtain a vehicle body plane of the vehicle;
adjusting each target plane normal vector according to the vehicle body plane to obtain each adjusted target plane normal vector;
and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each adjusted target plane.
Optionally, the adjusting the normal vector of each target plane according to the vehicle body plane to obtain each adjusted normal vector of each target plane includes:
Calculating a rotation matrix between the vehicle body plane and the horizontal ground;
and respectively adjusting each target plane normal vector according to the rotation matrix to obtain each adjusted target plane normal vector.
Optionally, the four-wheel positioning parameters of each vehicle comprise a camber angle and a toe angle; and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each adjusted target plane, wherein the four-wheel positioning parameters comprise:
calculating to obtain the camber angles of the wheels according to the vertical coordinates and the horizontal coordinates of the normal vectors of the target planes after the adjustment;
and calculating the toe-in angles of the wheels according to the ordinate and the abscissa of the normal vector of the target plane after adjustment.
In a second aspect, an embodiment of the present application provides a vehicle parameter detection apparatus, including:
the acquisition unit is used for acquiring point cloud data corresponding to each wheel of the vehicle;
the first plane determining unit is used for determining a target point cloud plane corresponding to the front face of each wheel according to the point cloud data corresponding to each wheel and determining circle center coordinates corresponding to each wheel;
the first calculation unit is used for calculating a target plane normal vector of a target point cloud plane corresponding to each wheel;
And the second calculation unit is used for calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate.
In a third aspect, an embodiment of the present application provides a terminal device, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the vehicle parameter detection method according to any one of the first aspects when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a vehicle parameter detection method as in any one of the first aspects above.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a terminal device, enables the terminal device to perform the vehicle parameter detection method of any one of the first aspects above.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
according to the vehicle parameter detection method, point cloud data corresponding to each wheel of a vehicle are obtained; according to the point cloud data corresponding to each wheel, determining a target point cloud plane corresponding to the front of each wheel, and determining circle center coordinates corresponding to each wheel; calculating a target plane normal vector of a target point cloud plane corresponding to each wheel; and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate. Compared with the scheme that the prior art needs contact measurement, and the accuracy of the measured value is affected by local deformation caused by the contact measurement instrument and the measured tire, the method and the device can accurately determine the plane normal vector and the circle center coordinate of the point cloud plane of the wheel through the obtained point cloud data of the wheel, further facilitate accurate detection and calculation to obtain the four-wheel positioning parameter of the vehicle, do not need contact measurement, improve the measurement accuracy of the four-wheel positioning parameter of the vehicle, and improve the measurement efficiency of the four-wheel positioning parameter of the vehicle.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, 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 flowchart of an implementation of a method for detecting vehicle parameters according to an embodiment of the present application;
FIG. 2 is a flowchart of an implementation of a method for detecting vehicle parameters according to another embodiment of the present application;
FIG. 3 is a schematic plan view of a first point cloud according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of forward distance provided by an embodiment of the present application;
FIG. 5 is a flowchart of an implementation of a method for detecting vehicle parameters according to yet another embodiment of the present application;
FIG. 6 is a schematic view of a fitted circle provided in an embodiment of the present application;
FIG. 7 is a flowchart of an implementation of a method for detecting vehicle parameters according to yet another embodiment of the present application;
FIG. 8 is a schematic representation of a target plane normal vector provided in an embodiment of the present application;
FIG. 9 is a schematic diagram of a vehicle parameter detecting apparatus according to an embodiment of the present application;
Fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a vehicle parameter detection method according to an embodiment of the present application. In the embodiment of the present application, the execution body of the vehicle parameter detection method is a terminal device. Wherein the terminal device includes, but is not limited to: notebook, desktop, computer, and other electronic devices.
As shown in fig. 1, the method for detecting a vehicle parameter according to an embodiment of the present application may include S101 to S104, which are described in detail as follows:
in S101, point cloud data corresponding to each wheel of the vehicle is acquired.
In practical applications, in order to obtain accurate four-wheel alignment parameters of the vehicle for each wheel of the vehicle, the user may send a four-wheel alignment parameter determination request of the vehicle to the terminal device. Among other four wheel alignment parameters of the vehicle include, but are not limited to, toe angle and camber angle.
The toe-in angle refers to an angle between a horizontal diameter of the wheel and a vertical longitudinal plane of the vehicle. The vertical plane is the other plane perpendicular to one plane, which is the vertical plane of the vertical plane, in two mutually perpendicular planes, with the one plane as a reference standard.
The camber angle of the wheel means the angle between the plane in which the wheel is located and the vertical plane when the wheel is installed and the end face of the wheel is inclined outwards. The tire exhibits a "splay" in opening, referred to as a negative camber, and a "V" in opening, referred to as a positive camber.
In this embodiment of the present application, the four-wheel positioning parameter determination request for detecting the vehicle by the terminal device may be: a preset operation for the terminal device is detected. The preset operation may be set according to actual needs, and is not limited herein. The preset operation may be, for example, clicking on a preset control on the terminal device. Based on the above, when the terminal device detects that the preset control of the terminal device is clicked, the terminal device indicates that the preset operation aiming at the terminal device is detected, namely, the four-wheel positioning parameter determination request of the vehicle is detected.
After detecting the four-wheel positioning parameter determining request of the vehicle, the terminal device can acquire point cloud data corresponding to each wheel of the vehicle.
In an implementation manner of the embodiment of the application, the terminal device can acquire the point cloud data corresponding to each wheel in real time through the laser radar connected with the terminal device in a wireless communication manner.
In S102, according to the point cloud data corresponding to each wheel, a target point cloud plane corresponding to the front face of each wheel is determined, and a center coordinate corresponding to each wheel is determined.
In this embodiment, for any one wheel, the terminal device may perform least square fitting on the obtained point cloud data corresponding to the wheel, and directly determine a point cloud plane obtained by fitting and used for characterizing the front surface of the wheel as a target point cloud plane. Meanwhile, the terminal equipment can also determine the center coordinates corresponding to the wheel according to the point cloud data corresponding to the wheel.
Based on the above, the terminal device can obtain the cloud plane of the target point corresponding to each wheel and the center coordinates corresponding to each wheel.
The front surface of the wheel specifically refers to a plane with a round wheel edge. The circle center coordinates corresponding to the wheels concretely refer to the three-dimensional coordinates of the circle center corresponding to the wheels.
In one embodiment of the present application, the point cloud data of each wheel includes tire line laser point cloud data corresponding to a plurality of tire line lasers, so, in order to improve accuracy of determining a target point cloud plane, to improve accuracy of determining four-wheel positioning parameters of a vehicle, the terminal device may specifically obtain the target point cloud plane through steps S201 to S203 shown in fig. 2, which is described in detail as follows:
in S201, for each wheel, performing least square fitting according to tire line laser point cloud data corresponding to multiple tire line lasers of the wheel, to obtain a first point cloud plane corresponding to the front surface of each wheel.
In S202, for each wheel, a distance between each point in the plurality of tire line lasers and the first point cloud plane is calculated in a traversal manner.
In S203, for each wheel, a target point cloud plane corresponding to the wheel is determined according to a distance between each point in the plurality of tire line lasers and the first point cloud plane.
In this embodiment, for each wheel, the terminal device may perform least square fitting on the obtained tire line laser point cloud data corresponding to the plurality of tire line lasers corresponding to the wheel, to obtain a first point cloud plane on the front surface of the wheel, where the wheel is initially fitted.
Based on the above, the terminal device can obtain the first point cloud plane corresponding to each wheel.
For example, referring to fig. 3, fig. 3 is a schematic plan view of a first point cloud according to an embodiment of the present application.
In practice, when detecting four-wheel-positioning parameters of individual vehicles of a vehicle, the vehicle is usually located on the floor of a four-wheel-positioning device, and a measuring unit is placed at each wheel of the vehicle. Each measuring unit is provided with a laser which is used for emitting laser beams to corresponding wheels, the laser beams form a plurality of tire line lasers when contacting the wheels, and each tire line laser comprises a plurality of points.
For example, with continued reference to FIG. 3, the arcs in FIG. 3 are all tire line lasers.
Based on this, in order to accurately determine the point cloud plane on the front surface of each wheel, after obtaining the first point cloud plane of each wheel, the terminal device may calculate, for each wheel, a distance between each point in the multiple tire line lasers corresponding to the wheel and the first point cloud plane corresponding to the wheel in a traversing manner.
In this embodiment, for each wheel, after obtaining a plurality of distances corresponding to each of the plurality of tire line lasers of the wheel, the terminal device may select, according to a set condition, a target distance from the plurality of distances corresponding to each of the plurality of tire line lasers, and determine a target point location corresponding to the target distance.
Based on the above, for each wheel, the terminal device can obtain the target points corresponding to the tire line lasers of the wheel, and perform least square fitting on each target point to obtain the target point cloud plane corresponding to the wheel.
The setting conditions may be set according to actual needs, and are not limited herein.
In some possible embodiments, the set conditions may be: and selecting the point position with the largest distance.
In other possible embodiments, the distance includes, but is not limited to, a positive distance and a negative distance. Wherein the forward direction refers to a direction pointing in a first direction toward the first point cloud plane, and the reverse direction refers to a direction pointing in a direction opposite to the first direction toward the first point cloud plane. The first direction may be determined according to actual needs, and is not limited herein.
For example, referring to fig. 4, fig. 4 is a schematic diagram illustrating a forward distance according to an embodiment of the present application. Wherein A is a first point cloud plane, and L1 is a tire line.
Based on this, in an embodiment of the present application, in order to improve the accuracy of determining the target point cloud plane, the terminal device may specifically determine the target point cloud plane corresponding to each wheel through steps S301 to S303 shown in fig. 5, which is described in detail as follows:
in S301, for each of the plurality of tire line lasers, a point with the largest forward distance from the first point cloud plane among all points of the tire line laser is determined as a target point of the tire line laser.
In S302, performing least square fitting according to the target points of the plurality of tire line lasers, to obtain a second point cloud plane.
In this embodiment, for each tire line laser of the plurality of tire line lasers, the terminal device may compare all forward distances corresponding to the tire line laser one by one, determine a maximum forward distance, and determine a point location corresponding to the maximum forward distance as a target point location of the tire line laser.
Based on the above, the terminal equipment can obtain the target point positions corresponding to the tire line lasers.
And then, the terminal equipment can perform least square fitting according to the target point positions of the tire line lasers to obtain a second point cloud plane of the wheel corresponding to the tire line lasers.
In this embodiment, after obtaining the second point cloud plane, the terminal device may calculate an included angle between the first point cloud plane and the first point cloud plane, and compare the included angle with a set threshold. The set threshold may be determined according to actual needs, and is not limited herein. Illustratively, the set threshold may be 0.01 degrees.
In an embodiment of the present application, when the terminal device detects that the included angle between the second point cloud plane and the first point cloud plane is greater than or equal to the set threshold, step S303 may be executed.
In another embodiment of the present application, when the terminal device detects that the included angle between the second point cloud plane and the first point cloud plane is smaller than the set threshold, it indicates that the difference between the second point cloud plane and the first point cloud plane is smaller, so the terminal device may directly determine the second point cloud plane as the target point cloud plane.
In S303, if the included angle between the second point cloud plane and the first point cloud plane is greater than or equal to a set threshold, continuing to determine, for each of the plurality of tire line lasers, a point with the largest forward distance between the point of the tire line laser and the second point cloud plane as a new target point of the tire line laser, performing least square fitting based on the new target points of the plurality of tire line lasers, and generating a new second point cloud plane until the included angle between the generated new second point cloud plane and a previous second point cloud plane before the new second point cloud plane is less than the set threshold, and determining the generated new second point cloud plane as the target point cloud plane corresponding to the wheel.
In this embodiment, for each wheel, when the terminal device detects that the included angle between the second point cloud plane corresponding to the wheel and the first point cloud plane corresponding to the wheel is greater than or equal to the set threshold, it indicates that the difference between the second point cloud plane and the first point cloud plane is greater, so, in order to obtain an accurate target point cloud plane, the terminal device may continue to determine, for each of the multiple tire line lasers corresponding to the wheel, a point with the largest forward distance between the point of the tire line laser and the second point cloud plane as a new target point of the tire line laser, and perform least square fitting based on the new target points of the multiple tire line lasers, to generate a new second point cloud plane until the included angle between the generated new second point cloud plane and a previous second point cloud plane before the new second point cloud plane is less than the set threshold. At this time, the terminal device may determine the generated new second point cloud plane as the target point cloud plane corresponding to the wheel.
Based on the above, the terminal device can obtain the target point cloud plane corresponding to each wheel.
In an embodiment of the present application, in combination with S301 to S303, in order to improve accuracy of obtaining center coordinates corresponding to each wheel, the terminal device may specifically determine the center coordinates corresponding to each wheel according to the following steps, which are described in detail as follows:
Performing circle fitting on the new target points corresponding to the wheels and generating the new second point cloud plane to obtain fitted circles corresponding to the wheels;
for each wheel, determining the center coordinates of a fitting circle corresponding to the wheel, and determining the center coordinates of the fitting circle as the center coordinates of the wheel.
In this embodiment, for each wheel, the terminal device may perform circle fitting on a new target point location corresponding to the wheel, where a new second point cloud plane is generated, so as to obtain a fitted circle corresponding to the wheel. Then, the terminal device may determine the center coordinates of the fitted circle, and determine the center coordinates of the fitted circle as the center coordinates corresponding to the wheel.
Based on the center coordinates, corresponding to the wheels, can be obtained by the terminal equipment.
For example, referring to fig. 6, fig. 6 is a schematic diagram of a fitted circle according to an embodiment of the present application. As shown in fig. 6, the point S is the center of the fitting circle.
In S103, a target plane normal vector of the target point cloud plane corresponding to each wheel is calculated.
In this embodiment, after obtaining the target point cloud plane, the terminal device may randomly select three points that are not on a straight line on the target point cloud plane, and calculate to obtain the normal vector of the target plane according to the vector formed by any two points of the three points.
In S104, four-wheel positioning parameters of the vehicle are calculated according to the normal vector of each target plane and each center coordinate.
In this embodiment of the present application, when the vehicle is on an inclined ground or an uneven ground, the terminal device obtains, according to the above steps, that the target point cloud plane is not perpendicular to the horizontal ground, thereby affecting the calculation accuracy of the four-wheel positioning parameters of the vehicle, so, in order to improve the calculation accuracy of the four-wheel positioning parameters of the vehicle, the terminal device may adjust each target plane normal vector according to the center coordinates corresponding to each wheel, so that each target plane normal vector is parallel to the horizontal ground, and then, the terminal device may calculate, according to each adjusted target plane normal vector, to obtain the corresponding four-wheel positioning parameters of the vehicle.
In one embodiment of the present application, the terminal device may specifically obtain the target point cloud plane through steps S401 to S403 as shown in fig. 7, which is described in detail below:
in S401, a least square fitting is performed according to the center coordinates to obtain a body plane of the vehicle.
In S402, each target plane normal vector is adjusted according to the vehicle body plane, so as to obtain each adjusted target plane normal vector.
In S403, four-wheel positioning parameters of the vehicle are calculated according to the adjusted normal vectors of the target plane.
In this embodiment, the terminal device may perform least square fitting on the circle centers corresponding to the coordinates of each circle center, and determine the plane obtained by the fitting as the body plane of the vehicle.
The vehicle body plane refers to a plane parallel to a contact plane formed by contact points of each tire of the vehicle with the ground.
In practical application, when the vehicle is on the horizontal ground, the body plane of the vehicle is parallel to the horizontal ground, so in this embodiment, the terminal device may adjust the normal vector of each target plane according to the body plane of the vehicle, so that the adjusted normal vector of the target plane is parallel to the horizontal ground, and each adjusted normal vector of the target plane is obtained.
In one embodiment of the present application, in order to improve the accuracy of adjustment on the normal vector of each target plane, the terminal device may specifically execute step S402 according to the following description:
calculating a rotation matrix between the vehicle body plane and the horizontal ground;
and respectively adjusting each target plane normal vector according to the rotation matrix to obtain each adjusted target plane normal vector.
In this embodiment, the terminal device may obtain a normal vector of a vehicle body plane corresponding to the vehicle body plane and a normal vector of a horizontal ground corresponding to the horizontal ground, and then, the terminal device may calculate a rotation matrix for rotating the vehicle body plane to the horizontal ground according to the normal vector of the vehicle body plane and the normal vector of the horizontal ground.
And then, the terminal equipment can adjust each target plane normal vector based on the calculated rotation matrix to obtain each adjusted target plane normal vector, so that each adjusted target plane normal vector is parallel to the horizontal ground, and further the target point cloud plane corresponding to each wheel is perpendicular to the horizontal ground, so that accurate four-wheel positioning parameters of the vehicle can be obtained through subsequent calculation according to each adjusted target plane normal vector.
In this embodiment of the present application, the four-wheel positioning parameters of the vehicle include a camber angle and a toe angle, so the terminal device may calculate, according to three-dimensional coordinates of normal vectors of each adjusted target plane, each camber angle and each toe angle.
In one embodiment of the present application, the terminal device may specifically determine the camber angle and toe angle of each wheel according to the following steps, which are described in detail below:
Calculating to obtain the camber angles of the wheels according to the vertical coordinates and the horizontal coordinates of the normal vectors of the target planes after the adjustment;
and calculating the toe-in angles of the wheels according to the ordinate and the abscissa of the normal vector of the target plane after adjustment.
The vertical coordinate refers specifically to a coordinate at a vertical axis in the three-dimensional coordinates.
For example, referring to fig. 8, fig. 8 is a schematic diagram of a normal vector of a target plane according to an embodiment of the present application. As shown in fig. 8, B is a target point cloud plane, nz is the vertical coordinate of the normal vector of the target plane corresponding to the target point cloud plane on the vertical axis, ny is the vertical coordinate of the normal vector of the target plane corresponding to the target point cloud plane on the vertical axis, and nx is the horizontal coordinate of the normal vector of the target plane corresponding to the target point cloud plane on the horizontal axis.
In this embodiment, the terminal device may specifically calculate the camber angle of each wheel according to the following formula:
A 1i ＝arctan(nz i /nx i )；
wherein A is 1i Represents the camber angle, nz, of the ith wheel i Vertical coordinates, nx, representing the normal vector of the adjusted target plane corresponding to the ith wheel i An abscissa representing an adjusted normal vector of the target plane corresponding to the ith wheel, arctan (·) represents the arctangent function.
In this embodiment, the terminal device may specifically calculate the toe-in angles of the wheels according to the following formula:
A 2i ＝arctan(ny i /nx i )；
wherein A is 2i Represents the toe angle, ny, of the ith wheel i Represents the ordinate, nx, of the normal vector of the adjusted target plane corresponding to the ith wheel i The abscissa representing the normal vector of the adjusted object plane for the ith wheel, arctan (·) represents the arctangent function.
As can be seen from the above, according to the vehicle parameter detection method provided by the embodiment of the present application, point cloud data corresponding to each wheel of a vehicle is obtained; according to the point cloud data corresponding to each wheel, determining a target point cloud plane corresponding to the front of each wheel, and determining circle center coordinates corresponding to each wheel; calculating a target plane normal vector of a target point cloud plane corresponding to each wheel; and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate. Compared with the prior art that contact measurement is needed, and the accuracy of the measured value is affected by local deformation caused by the contact measurement instrument and the measured tire, the method and the device can accurately determine the plane normal vector and the circle center coordinate of the point cloud plane of the wheel through the obtained point cloud data of the wheel, further accurately detect and calculate the four-wheel positioning parameter of the vehicle, do not need to measure the contact, improve the accuracy of measuring the four-wheel positioning parameter of the vehicle, and improve the efficiency of measuring the four-wheel positioning parameter of the vehicle.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Fig. 9 shows a schematic structural diagram of a vehicle parameter detection device according to an embodiment of the present application, corresponding to a vehicle parameter detection method described in the foregoing embodiments, and for convenience of explanation, only a portion related to the embodiment of the present application is shown. Referring to fig. 9, the vehicle parameter detection apparatus 800 includes: an acquisition unit 81, a first plane determination unit 82, a first calculation unit 83, and a second calculation unit 84. Wherein:
the acquisition unit 81 is configured to acquire point cloud data corresponding to each wheel of the vehicle.
The first plane determining unit 82 is configured to determine a target point cloud plane corresponding to the front surface of each wheel according to the point cloud data corresponding to each wheel, and determine a center coordinate corresponding to each wheel.
The first calculating unit 83 is configured to calculate a target plane normal vector of the target point cloud plane corresponding to each wheel.
The second calculating unit 84 is configured to calculate four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each center coordinate.
In one embodiment of the present application, the point cloud data includes tire line laser point cloud data corresponding to a plurality of tire line lasers, and the first plane determining unit 82 specifically includes: the first fitting unit, the third calculating unit and the second plane determining unit. Wherein:
the first fitting unit is used for carrying out least square fitting on each wheel according to tire line laser point cloud data corresponding to multiple tire line lasers of the wheels to obtain a first point cloud plane corresponding to the front face of each wheel.
The third calculation unit is used for traversing and calculating the distance between each point position in the tire line lasers and the first point cloud plane for each wheel.
The second plane determining unit is used for determining a target point cloud plane corresponding to each wheel according to the distances between each point in the tire line lasers and the first point cloud plane.
In one embodiment of the present application, the second plane determining unit specifically includes: the device comprises a selecting unit, a second fitting unit and a third plane determining unit. Wherein:
the selecting unit is used for determining, for each tire line laser of the tire line lasers, a point with the largest forward distance between the first point cloud plane and all points of the tire line laser as a target point of the tire line laser.
And the second fitting unit is used for carrying out least square fitting according to the target point positions of the plurality of tire line lasers to obtain a second point cloud plane.
And the third plane determining unit is used for continuously determining, for each tire line laser in the tire line lasers, a point with the largest forward distance between the point of the tire line laser and the second point cloud plane as a new target point of the tire line laser if the included angle between the second point cloud plane and the first point cloud plane is larger than or equal to a set threshold value, performing least square fitting based on the new target points of the tire line lasers, generating a new second point cloud plane until the included angle between the generated new second point cloud plane and the previous second point cloud plane before the new second point cloud plane is smaller than the set threshold value, and determining the generated new second point cloud plane as the target point cloud plane corresponding to the wheel.
In one embodiment of the present application, the first plane determining unit 82 specifically includes: and a third fitting unit and a coordinate determining unit. Wherein:
and the third fitting unit is used for carrying out circle fitting on the new target points corresponding to the wheels and generating the new second point cloud plane aiming at each wheel to obtain a fitting circle corresponding to the wheels.
The coordinate determining unit is used for determining the center coordinates of the fitting circles corresponding to the wheels aiming at the wheels, and determining the center coordinates of the fitting circles as the center coordinates of the wheels.
In one embodiment of the present application, the second computing unit 84 specifically includes: the device comprises a fourth fitting unit, a first adjusting unit and a third calculating unit. Wherein:
and the fourth fitting unit is used for carrying out least square fitting according to the coordinates of each circle center to obtain a vehicle body plane of the vehicle.
The first adjusting unit is used for adjusting each target plane normal vector according to the vehicle body plane to obtain each adjusted target plane normal vector.
And the third calculation unit is used for calculating and obtaining the four-wheel positioning parameters of the vehicle according to the normal vector of each adjusted target plane.
In one embodiment of the present application, the third computing unit specifically includes: a fourth calculation unit and a second adjustment unit. Wherein:
the fourth calculation unit is used for calculating a rotation matrix between the plane of the vehicle body and the horizontal ground.
And the second adjusting unit is used for respectively adjusting each target plane normal vector according to the rotation matrix to obtain each adjusted target plane normal vector.
In one embodiment of the present application, the four-wheel alignment parameters of each vehicle include a camber angle and a toe angle; the third computing unit specifically includes: a fifth calculation unit and a sixth calculation unit.
Wherein:
and the fifth calculation unit is used for calculating the camber angle of each wheel according to the vertical coordinate and the horizontal coordinate of the normal vector of each adjusted target plane.
And the sixth calculation unit is used for calculating the toe angles of the wheels according to the ordinate and the abscissa of the normal vector of the target plane after adjustment.
As can be seen from the above, the vehicle parameter detection device provided by the embodiment of the present application obtains the point cloud data corresponding to each wheel of the vehicle; according to the point cloud data corresponding to each wheel, determining a target point cloud plane corresponding to the front of each wheel, and determining circle center coordinates corresponding to each wheel; calculating a target plane normal vector of a target point cloud plane corresponding to each wheel; and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate. According to the method and the device, the plane normal vector and the circle center coordinate of the point cloud plane of the wheel can be accurately determined through the obtained point cloud data of the wheel, so that the four-wheel positioning parameter of the vehicle can be conveniently and accurately detected and calculated, contact measurement is not needed, the measurement accuracy of the four-wheel positioning parameter of the vehicle is improved, and the measurement efficiency of the four-wheel positioning parameter of the vehicle is improved.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 10, the terminal device 9 of this embodiment includes: at least one processor 90 (only one is shown in fig. 10), a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, the processor 90 implementing the steps in any of the various vehicle parameter detection method embodiments described above when executing the computer program 92.
The terminal device may include, but is not limited to, a processor 90, a memory 91. It will be appreciated by those skilled in the art that fig. 10 is merely an example of the terminal device 9 and does not constitute a limitation of the terminal device 9, and may include more or less components than illustrated, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.
The processor 90 may be a central processing unit (Central Processing Unit, CPU), the processor 90 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may in some embodiments be an internal storage unit of the terminal device 9, such as a memory of the terminal device 9. The memory 91 may in other embodiments also be an external storage device of the terminal device 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the terminal device 9. The memory 91 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 91 may also be used for temporarily storing data that has been output or is to be output.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.
The present embodiments provide a computer program product which, when run on a terminal device, causes the terminal device to perform steps that enable the respective method embodiments described above to be implemented.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow in the methods of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program may implement the steps of each method embodiment described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a terminal device, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A vehicle parameter detection method, characterized by comprising:
acquiring point cloud data corresponding to each wheel of a vehicle;
determining a target point cloud plane corresponding to the front face of each wheel according to the point cloud data corresponding to each wheel, and determining circle center coordinates corresponding to each wheel;
calculating a target plane normal vector of a target point cloud plane corresponding to each wheel;
and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate.
2. The vehicle parameter detection method according to claim 1, wherein the point cloud data includes tire line laser point cloud data corresponding to a plurality of tire line lasers, and the determining the target point cloud plane corresponding to the front face of each wheel according to the point cloud data corresponding to each wheel includes:
performing least square fitting on each wheel according to tire line laser point cloud data corresponding to multiple tire line lasers of the wheel to obtain a first point cloud plane corresponding to the front face of each wheel;
for each wheel, traversing and calculating the distance between each point in the tire line lasers and the first point cloud plane;
and determining a target point cloud plane corresponding to each wheel according to the distance between each point in the tire line lasers and the first point cloud plane for each wheel.
3. The vehicle parameter detection method according to claim 2, wherein the determining the target point cloud plane corresponding to the wheel according to the distance between each point in the plurality of tire line lasers and the first point cloud plane includes:
for each tire line laser in the plurality of tire line lasers, determining a point with the largest forward distance between all points of the tire line lasers and the first point cloud plane as a target point of the tire line laser;
Performing least square fitting according to target points of the tire line lasers to obtain a second point cloud plane;
if the included angle between the second point cloud plane and the first point cloud plane is larger than or equal to a set threshold value, continuing to determine, for each of the plurality of tire line lasers, a point with the largest forward distance between the point of the tire line laser and the second point cloud plane as a new target point of the tire line laser, performing least square fitting based on the new target points of the plurality of tire line lasers, generating a new second point cloud plane until the included angle between the generated new second point cloud plane and a previous second point cloud plane before the new second point cloud plane is smaller than the set threshold value, and determining the generated new second point cloud plane as a target point cloud plane corresponding to the wheel.
4. The vehicle parameter detecting method according to claim 3, wherein the determining the center coordinates corresponding to the respective wheels based on the point cloud data corresponding to the respective wheels includes:
performing circle fitting on the new target points corresponding to the wheels and generating the new second point cloud plane to obtain fitted circles corresponding to the wheels;
For each wheel, determining the center coordinates of a fitting circle corresponding to the wheel, and determining the center coordinates of the fitting circle as the center coordinates of the wheel.
5. The vehicle parameter detection method according to any one of claims 1 to 4, wherein the calculating the four-wheel alignment parameter of the vehicle according to each of the normal vector of the target plane and each of the center coordinates includes:
performing least square fitting according to the circle center coordinates to obtain a vehicle body plane of the vehicle;
adjusting each target plane normal vector according to the vehicle body plane to obtain each adjusted target plane normal vector;
and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each adjusted target plane.
6. The vehicle parameter detecting method according to claim 5, wherein said adjusting each of said target plane normal vectors according to said vehicle body plane to obtain each adjusted target plane normal vector comprises:
calculating a rotation matrix between the vehicle body plane and the horizontal ground;
and respectively adjusting each target plane normal vector according to the rotation matrix to obtain each adjusted target plane normal vector.
7. The vehicle parameter detection method according to claim 5, wherein the four-wheel alignment parameters of the vehicle include a camber angle and a toe angle; and calculating four-wheel positioning parameters of the vehicle according to the normal vector of each adjusted target plane, wherein the four-wheel positioning parameters comprise:
calculating to obtain the camber angles of the wheels according to the vertical coordinates and the horizontal coordinates of the normal vectors of the target planes after the adjustment;
and calculating the toe-in angles of the wheels according to the ordinate and the abscissa of the normal vector of the target plane after adjustment.
8. A vehicle parameter detection apparatus, characterized by comprising:
the acquisition unit is used for acquiring point cloud data corresponding to each wheel of the vehicle;
the first plane determining unit is used for determining a target point cloud plane corresponding to the front face of each wheel according to the point cloud data corresponding to each wheel and determining circle center coordinates corresponding to each wheel;
the first calculation unit is used for calculating a target plane normal vector of a target point cloud plane corresponding to each wheel;
and the second calculation unit is used for calculating four-wheel positioning parameters of the vehicle according to the normal vector of each target plane and each circle center coordinate.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the vehicle parameter detection method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the vehicle parameter detection method according to any one of claims 1 to 7.
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| CN202311665475.8A CN117889785A (en) | 2023-12-06 | 2023-12-06 | Vehicle parameter detection method, device, terminal equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311665475.8A CN117889785A (en) | 2023-12-06 | 2023-12-06 | Vehicle parameter detection method, device, terminal equipment and medium |
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| CN117889785A true CN117889785A (en) | 2024-04-16 |
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| CN202311665475.8A Pending CN117889785A (en) | 2023-12-06 | 2023-12-06 | Vehicle parameter detection method, device, terminal equipment and medium |
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