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CN-122009205-A - Sensing method and device for torsion of vehicle body, storage medium, electronic equipment and vehicle

CN122009205ACN 122009205 ACN122009205 ACN 122009205ACN-122009205-A

Abstract

The application discloses a sensing method and device for vehicle body torsion, a storage medium, electronic equipment and a vehicle. The method comprises the steps of obtaining signal receiving information corresponding to each photoelectric receiving and transmitting module on a target vehicle respectively in the running process of the target vehicle, enabling each photoelectric receiving and transmitting module to be embedded into a straight tubular beam of the body of the target vehicle, enabling each photoelectric receiving and transmitting module to comprise a light emitting component and a light receiving array, enabling the light emitting component to be used for sending light signals to the adjacent photoelectric receiving and transmitting modules, enabling the light receiving array to be used for receiving the light signals sent by the adjacent photoelectric receiving and transmitting modules, determining the torsion angle of the tubular beam corresponding to each photoelectric receiving and transmitting module respectively based on the signal receiving information and the distance information between the adjacent photoelectric receiving and transmitting modules, and determining the torsion angle of the body of the target vehicle based on the torsion angle of the tubular beam. According to the technical scheme provided by the application, photoelectric dual-mode vehicle body torsion sensing can be realized, and the sensing accuracy is greatly improved.

Inventors

  • WU SHENGLIN

Assignees

  • 岚图汽车科技股份有限公司

Dates

Publication Date
20260512
Application Date
20260304

Claims (10)

  1. 1. A method of sensing vehicle body torsion, the method comprising: acquiring signal receiving information corresponding to each photoelectric receiving and transmitting module on a target vehicle respectively in the running process of the target vehicle; Each photoelectric transceiver module is embedded in a vehicle body straight tubular beam of the target vehicle, each photoelectric transceiver module comprises a light emitting component and a light receiving array, the light emitting component is used for sending light signals to the adjacent photoelectric transceiver modules, and the light receiving array is used for receiving the light signals sent by the adjacent photoelectric transceiver modules; Determining the torsion angle of the pipe beam corresponding to each photoelectric receiving and transmitting module respectively based on the signal receiving information and the distance information between each adjacent photoelectric receiving and transmitting module; A body torsion angle of the target vehicle is determined based on each tubular beam torsion angle.
  2. 2. The method of claim 1, wherein the signal reception information comprises signal reception position information characterizing coordinate position information of the optical signal on the light reception array; for each first photoelectric transceiver module, determining a torsion angle of the tubular beam corresponding to each photoelectric transceiver module based on the signal receiving information and the distance information between each adjacent photoelectric transceiver module, including: Calculating the light spot offset distance of the target light signal received by the first photoelectric transceiver module on the corresponding light receiving array based on the signal receiving position information corresponding to the first photoelectric transceiver module; Calculating a torsion angle of a pipe beam corresponding to the first photoelectric transceiver module based on the light spot offset distance corresponding to the first photoelectric transceiver module and distance information between the first photoelectric transceiver module and a second photoelectric transceiver module for transmitting the target light signal; the first photoelectric transceiver module is any one of the photoelectric transceiver modules, and the second photoelectric transceiver module is an adjacent photoelectric transceiver module of the first photoelectric transceiver module.
  3. 3. The method according to claim 2, wherein the method further comprises: And if any one of the first photoelectric transceiver modules exists, the corresponding light spot offset distance is larger than a preset safety threshold, and a stability control system of the target vehicle is triggered.
  4. 4. The method of claim 2, wherein said determining the body twist angle of the target vehicle based on the respective tube beam twist angles with each optoelectronic transceiver module embedded in one body straight tube beam comprises: When the distance information between the adjacent photoelectric receiving and transmitting modules is the same, determining the sum of the torsion angles of all the tubular beams as the torsion angle of the body of the target vehicle; and when the distance information between the adjacent photoelectric receiving and transmitting modules is different, weighting calculation is carried out on the torsion angle of each tubular beam based on the distance information between the adjacent photoelectric receiving and transmitting modules, so as to obtain the torsion angle of the vehicle body of the target vehicle.
  5. 5. The method of claim 2, wherein for each first optoelectronic transceiver module, the method further comprises: determining the change condition of the signal receiving position information corresponding to the first photoelectric transceiver module within a preset duration; And calculating the average torsion energy of the first photoelectric transceiver module in the preset time based on the change condition.
  6. 6. The method of claim 2, wherein for each first optoelectronic transceiver module, the method further comprises: performing Fourier transform on the signal receiving position information corresponding to the first photoelectric transceiver module to obtain an energy duty ratio in a preset frequency band, wherein the energy duty ratio is used for representing the ratio of total energy occupied by low-frequency energy; If the energy duty ratio is higher than a preset duty ratio threshold, determining that the target vehicle is in a quasi-static torsion state; And if the energy duty ratio is not higher than the preset duty ratio threshold value, determining that the target vehicle is in a dynamic torsion state.
  7. 7. A vehicle body torsion sensing device, the device comprising: the receiving information acquisition module is used for acquiring signal receiving information corresponding to each photoelectric receiving and transmitting module on the target vehicle respectively in the running process of the target vehicle; Each photoelectric transceiver module is embedded in a vehicle body straight tubular beam of the target vehicle, each photoelectric transceiver module comprises a light emitting component and a light receiving array, the light emitting component is used for sending light signals to the adjacent photoelectric transceiver modules, and the light receiving array is used for receiving the light signals sent by the adjacent photoelectric transceiver modules; The tube beam angle determining module is used for determining tube beam torsion angles corresponding to the photoelectric receiving and transmitting modules respectively based on the signal receiving information and the distance information between the adjacent photoelectric receiving and transmitting modules; And the vehicle body angle determining module is used for determining the vehicle body torsion angle of the target vehicle based on the torsion angles of the pipe beams.
  8. 8. A computer readable storage medium, characterized in that it has stored therein computer program instructions which, when loaded and executed by a processor, realize the operations performed by the method according to any of claims 1 to 6.
  9. 9. An electronic device comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, which when executed by the processor, implement operations performed by the method of any one of claims 1 to 6.
  10. 10. A vehicle having a vehicle controller configured thereon for implementing the operations performed by the method of any one of claims 1 to 6.

Description

Sensing method and device for torsion of vehicle body, storage medium, electronic equipment and vehicle Technical Field The application belongs to the technical field of vehicle detection, and particularly relates to a sensing method and device for vehicle body torsion, a storage medium, electronic equipment and a vehicle. Background In the field of automobile engineering, in order to improve the control stability and the driving safety of a vehicle, real-time monitoring of the related condition of vehicle body torsion is required. The traditional monitoring mode is that a static bench test in a laboratory environment cannot reflect the torsion condition of a vehicle when the vehicle runs dynamically under real and complex road conditions, and the traditional monitoring mode is that a strain gauge is arranged on the surface of a vehicle body, is easy to be interfered by the external environment and has the problem of unstable signals. Therefore, it is necessary to provide a method for sensing the torsion of the vehicle body in a photoelectric dual-mode manner, so as to solve the problems of the prior art. Disclosure of Invention The embodiment of the application provides a sensing method and device for vehicle body torsion, a storage medium, electronic equipment and a vehicle, wherein a photoelectric receiving and transmitting module can be embedded in a vehicle body straight tubular beam of the vehicle, and the photoelectric receiving and transmitting module is used for realizing photoelectric bimodal vehicle body torsion sensing, so that the sensing method and device are not only suitable for dynamic driving scenes under real and complex road conditions, but also are not easy to interfere, and the sensing accuracy is greatly improved. Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application. According to a first aspect of an embodiment of the present application, there is provided a method for sensing torsion of a vehicle body, including: Acquiring signal receiving information corresponding to each photoelectric receiving and transmitting module on the target vehicle respectively in the running process of the target vehicle; each photoelectric transceiver module is embedded in a vehicle body straight tubular beam of a target vehicle, each photoelectric transceiver module comprises a light emitting component and a light receiving array, the light emitting component is used for sending light signals to the adjacent photoelectric transceiver modules, and the light receiving array is used for receiving the light signals sent by the adjacent photoelectric transceiver modules; Determining the torsion angle of the pipe beam corresponding to each photoelectric receiving and transmitting module respectively based on the signal receiving information and the distance information between each adjacent photoelectric receiving and transmitting module; A body torsion angle of the target vehicle is determined based on each tube beam torsion angle. In some embodiments of the application, based on the foregoing, the signal reception information includes signal reception position information for characterizing coordinate position information of the optical signal on the light reception array; For each first photoelectric transceiver module, determining a tube beam torsion angle respectively corresponding to each photoelectric transceiver module based on the signal receiving information and the distance information between each adjacent photoelectric transceiver module, including: calculating the light spot offset distance of the target light signal received by the first photoelectric transceiver module on the corresponding light receiving array based on the signal receiving position information corresponding to the first photoelectric transceiver module; Calculating a torsion angle of the tubular beam corresponding to the first photoelectric transceiver module based on the light spot offset distance corresponding to the first photoelectric transceiver module and distance information between the first photoelectric transceiver module and the second photoelectric transceiver module for transmitting the target light signal; The first photoelectric transceiver module is any one of the photoelectric transceiver modules, and the second photoelectric transceiver module is an adjacent photoelectric transceiver module of the first photoelectric transceiver module. In some embodiments of the application, based on the foregoing scheme, the method further comprises: And if any one of the first photoelectric transceiver modules exists, the corresponding light spot offset distance is larger than a preset safety threshold, and a stability control system of the target vehicle is triggered. In some embodiments of the present application, based on the foregoing, in a case where each photoelectric transceiver module is embedded in one body s