CN113029058A - Pose parameter acquisition method and device, vehicle and storage medium - Google Patents
Pose parameter acquisition method and device, vehicle and storage medium Download PDFInfo
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- G—PHYSICS
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Abstract
The embodiment of the invention discloses a pose parameter acquisition method, a pose parameter acquisition device, a vehicle and a storage medium. The method comprises the following steps: determining a target acquisition state of a target pose parameter of a target object; if the target acquisition state is a first acquisition state, acquiring the target pose parameters in a relative pose acquisition mode; and if the target acquisition state is a second acquisition state, acquiring the target pose parameters by adopting an absolute pose acquisition mode, wherein the second acquisition state is obtained by switching the first acquisition state. By adopting the technical scheme, the embodiment of the invention can meet the requirements of users on the acquisition speed and the accuracy of the acquired pose parameters.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a pose parameter acquisition method, a pose parameter acquisition device, a vehicle and a storage medium.
Background
Currently, a main control unit provided in a vehicle can adjust a corresponding component based on an adjustment instruction input by a user, for example, a steering column main control unit can adjust an inclination angle of a steering column and collect adjusted inclination angle information based on a steering column adjustment instruction input by a user, and a seat main control unit can adjust a position of a seat based on a seat adjustment instruction input by a user and collect adjusted position information.
However, the prior art generally only adopts a preset acquisition mode to acquire the inclination angle or position of each part after adjustment, and cannot simultaneously meet the requirements of a user on the acquisition speed and the accuracy of acquired data.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for acquiring pose parameters, a vehicle, and a storage medium, so as to quickly acquire data that meets requirements.
In a first aspect, an embodiment of the present invention provides a pose parameter acquisition method, including:
determining a target acquisition state of a target pose parameter of a target object;
if the target acquisition state is a first acquisition state, acquiring the target pose parameters in a relative pose acquisition mode;
and if the target acquisition state is a second acquisition state, acquiring the target pose parameters by adopting an absolute pose acquisition mode, wherein the second acquisition state is obtained by switching the first acquisition state.
In a second aspect, an embodiment of the present invention provides an acquisition apparatus for pose parameters, including:
the state determination module is used for determining a target acquisition state of a target pose parameter of a target object;
the first acquisition module is used for acquiring the pose parameters of the target in a relative pose acquisition mode if the target acquisition state is a first acquisition state;
and the second acquisition module is used for acquiring the pose parameters of the target by adopting an absolute pose acquisition mode if the target acquisition state is a second acquisition state, wherein the second acquisition state is obtained by switching the first acquisition state.
In a third aspect, an embodiment of the present invention provides a vehicle, including:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the pose parameter acquisition method according to the embodiment of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for acquiring pose parameters according to the embodiment of the present invention.
In the above technical solution for acquiring pose parameters, a target acquisition state of target pose parameters of a target object is determined, and when the target acquisition state is a first acquisition state, the target pose parameters of the target object are acquired by adopting a relative pose acquisition mode, and when the target acquisition state is switched from the first acquisition state to a second acquisition state, the target pose parameters of the target object are acquired by adopting an absolute pose acquisition mode. By adopting the technical scheme, the embodiment of the invention can adopt different pose parameter acquisition modes to acquire the target pose parameters of the target object according to the requirements, improve the acquisition speed of the pose parameters on the premise of ensuring that the accuracy of the acquired pose parameters meets the acquisition requirements, and meet the requirements of users on the acquisition speed and the accuracy of the acquired pose parameters.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic flow chart of a pose parameter acquisition method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a pose parameter acquisition method according to a second embodiment of the present invention;
fig. 3 is a structural block diagram of a pose parameter acquisition device provided by a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
The embodiment of the invention provides a pose parameter acquisition method. The method can be executed by a pose parameter acquisition device, wherein the device can be realized by software and/or hardware, can be configured in a vehicle, and is suitable for acquiring pose information of each part in the vehicle in different modes. Fig. 1 is a schematic flow chart of a pose parameter acquisition method according to an embodiment of the present invention. As shown in fig. 1, the method includes:
and S110, determining a target acquisition state of the target pose parameters of the target object, and executing S120 or S130.
The target object can be an object needing to acquire pose parameters, such as a seat, a steering column, a pedal and/or an armrest box of a vehicle; the target pose parameters may be understood as pose parameters of a target object to be acquired, such as a position and/or an angle of the target object, and the following description will take the target object as a seat and the target pose parameters as a position as an example. The target acquisition state can be understood as an acquisition state of target pose parameters, and can be used for representing an acquisition mode of the target pose parameters, namely the acquisition state of the target pose parameters and the pose acquisition mode of the target pose parameters are arranged in a one-to-one correspondence mode, so that after the vehicle is powered on, the pose acquisition mode adopted when the corresponding pose parameters of the target object are acquired can be determined according to the acquisition state corresponding to each pose parameter of the target object.
In this embodiment, the trigger condition for determining the target acquisition state of the target pose parameter of the target object may be flexibly set as required, for example, the target acquisition state of the target pose parameter of the target object may be periodically determined when the change of the target acquisition state is monitored or when the vehicle is completely powered on. Preferably, the target acquisition state of the target pose parameter of the target object can be determined when the vehicle is powered on, so that an unnecessary target acquisition state determination process is avoided, and operations required to be executed by the main control unit are simplified. At this time, for example, when the vehicle is powered on, the main control unit may obtain the collection states of the posture parameters of the target object locally recorded by the vehicle from the corresponding storage locations.
And S120, if the target acquisition state is the first acquisition state, acquiring the target pose parameters in a relative pose acquisition mode, and ending the operation.
The target pose parameter of the target object may have a first acquisition state and a second acquisition state, the first acquisition state may be an acquisition state corresponding to the relative pose acquisition mode, and may be identification information of the relative pose acquisition mode, and when the target acquisition state of the target pose parameter is the first acquisition state, the target pose parameter of the target object may be acquired in the relative pose acquisition mode. The relative pose acquisition mode may be a pose acquisition mode for acquiring a relative pose parameter between the target object and a certain pose thereof, where the pose may be a pose of the target object when the vehicle is powered on or a certain pose of the vehicle at other times, and the pose is taken as an example when the vehicle is powered on.
Illustratively, when the vehicle is powered on, a target acquisition state of a target pose parameter of the target object is acquired, and when the target acquisition state is a first acquisition state, the pose of the vehicle when powered on is taken as an initial pose, and when the target pose parameter changes, a relative pose between the changed pose and the initial pose is acquired as a pose parameter of the target object. Taking a target object as a seat of a vehicle and a target pose parameter as a position parameter of the seat as an example, when the vehicle is powered on, the acquisition state of the seat can be obtained, when the acquisition state is a first state, the position of the seat when the vehicle is powered on is taken as an initial position, and when the position of the seat is monitored to be changed, for example, after the position of the seat is adjusted based on an adjustment instruction of a user or a cloud platform, the relative distance between the current position of the seat and the initial position is recorded, so that the relative position information of the target object relative to the position when the vehicle is powered on is obtained, and the relative position information is taken as the target pose parameter of the target object.
And S130, if the target acquisition state is a second acquisition state, acquiring the target pose parameters in an absolute pose acquisition mode, wherein the second acquisition state is obtained by switching the first acquisition state.
The second acquisition state may be an acquisition state corresponding to the absolute pose acquisition mode, and may be identification information of the absolute pose acquisition mode, and when the target acquisition state of the target pose parameters is the second acquisition state, the target pose parameters of the target object may be acquired by the absolute pose acquisition mode, and the second acquisition state may be switched from the first acquisition state, that is, the present application may set the initial target acquisition state of each pose parameter of each target object to the first acquisition state, and when the current condition meets the switching condition of the acquisition state, such as when the absolute pose parameters of the target object need to be acquired, switch the target acquisition state of the target pose parameters from the first acquisition state to the second acquisition state to acquire the corresponding absolute pose parameters of the target object. The absolute pose acquisition mode may be a pose acquisition mode for acquiring absolute pose parameters of the target object, such as coordinate values or angle values of the target object.
Illustratively, after the vehicle is powered on, the target acquisition state of the target object is acquired, and when the target acquisition state is the second acquisition state, the parameter values of the changed target pose parameters are acquired. Taking a target object as a seat of a vehicle and a target pose parameter as a position parameter of the target object as an example, after the vehicle is powered on, the acquisition state of the seat can be acquired, when the acquisition state is a second state, a certain limit position where the seat can move (such as a position at the forefront where the seat can be adjusted or a position at the rearmost where the seat can be adjusted) is used as a position origin, and when the position of the seat and/or the inclination angle of the seat back are monitored to change, such as when the position of the seat is adjusted based on an adjustment instruction of a user or a cloud platform, the position coordinate of the seat is recorded, so as to obtain the target pose parameter of the target object.
In this embodiment, an initial target acquisition state of target pose parameters of a target object is set as a first acquisition state, and only when corresponding absolute pose parameters of the target object need to be acquired, the target acquisition state of the target pose parameters is switched to a second acquisition state, that is, the relative pose parameters of the target object are acquired in an initial relative pose acquisition mode, and only when the absolute pose parameters of the target object exist, the absolute pose acquisition mode is adopted to acquire the absolute pose of the target object, so that when the requirement on the accuracy of the target pose parameters is not high, that is, when the absolute pose parameters of the target object do not need to be acquired in an absolute pose acquisition mode, the relative pose parameters of the target object are directly acquired, the acquisition process of the pose parameters is simplified, and the acquisition speed of the pose parameters is increased; when the pose parameters with higher accuracy need to be acquired, the absolute pose parameters of the target object are acquired in an absolute pose acquisition mode so as to meet the requirements of users on the accuracy of the pose parameters, therefore, the switching of the pose acquisition modes can be realized, and the requirements of users or developers on the speed and the accuracy of the pose parameters in the pose acquisition process are met.
In this embodiment, the main control unit may adjust the pose of the target object based on the adjustment instruction of the target object, and acquire the target pose parameter of the target object by using a corresponding pose acquisition manner after the adjustment is completed. When the target objects are different, the main control units performing the above operations may be the same or different, that is, different target objects may be controlled by different main control units, or may be controlled by the same main control unit.
In order to reduce the manufacturing cost, save the space, and reduce the vehicle weight, preferably, in this embodiment, the same main control unit may control a plurality of target objects, for example, a seat and a steering column of a vehicle, where the target objects include the seat and the steering column, and the method for acquiring pose parameters according to this embodiment further includes: receiving a seat adjusting instruction, and controlling a seat motor to adjust the pose of the seat in response to the seat adjusting instruction; and receiving a steering column adjusting instruction, and controlling a steering column motor to adjust the pose of the steering column in response to the steering column adjusting instruction.
The seat adjusting instruction can be a pose adjusting instruction for the seat, the steering column adjusting instruction can be a pose adjusting instruction for the steering column, and the seat adjusting instruction/steering column adjusting instruction can be generated based on corresponding triggering operation of a user and can also be generated and sent by the cloud platform. The seat motor may be a motor for adjusting the posture (position and/or angle) of the seat, and the steering column motor may be a motor for adjusting the steering column.
For example, the main control unit may be connected to the input module, the steering column motor, and the seat motor, respectively, and establish a communication connection with the cloud platform, so that the user may send an adjustment instruction for a certain object to the main control unit through the input module, and the cloud platform may send a pose adjustment instruction to the main control unit based on a communication connection between the cloud platform and the main control unit. When receiving a seat adjusting instruction of a user or a cloud platform for a certain seat, the main control unit generates a seat motor driving instruction based on the seat adjusting instruction and sends the seat motor driving instruction to a seat motor corresponding to the seat, so that the seat motor can operate according to the seat click driving instruction when receiving the seat motor driving instruction sent by the main control unit to adjust the pose of the corresponding seat; when the main control unit receives a steering column adjusting instruction of a user or a cloud platform, a steering column motor driving instruction is generated based on the steering column adjusting instruction, and the steering column motor driving instruction is sent to a steering column motor, so that the steering column motor can operate according to the steering column motor driving instruction when receiving the steering column motor driving instruction sent by the main control unit, and the pose of a steering column is adjusted.
It can be understood that the main control unit may further be connected to other target objects (such as a pedal and/or an armrest box, etc.), so that when receiving an adjustment instruction for another target object, the main control unit may control the motor of the corresponding other target object to adjust the pose of the other target object according to the adjustment instruction.
In an embodiment, the pose parameter acquiring method provided by this embodiment further includes: and reporting the target pose parameter to a cloud platform so that the cloud platform can determine driving information of the user, and sending a pose adjusting instruction to a vehicle after the vehicle is replaced by the user, wherein the driving information comprises a recommended pose parameter of the target object.
In the above embodiment, after the vehicle acquires the target pose parameter of the target object, the vehicle may report the acquired target pose parameter to the cloud platform; therefore, the cloud platform can store the target pose parameters of the target objects reported by the vehicle, can obtain the pose parameters of the target objects most frequently used by the user based on the target pose parameters of the target objects, and can send a pose adjusting instruction to the vehicle replaced by the user when the vehicle replacement of the user is monitored, and instruct the vehicle replaced by the user to adjust the target pose parameters of the target objects to the recommended pose parameters through the pose adjusting instruction, so that the pose of the target objects of the vehicle can be intelligently adjusted according to the habits of the user, and the adjusting operation required to be executed by the user is simplified.
At this time, preferably, the method for acquiring pose parameters provided by this embodiment further includes: when the power is powered on for the first time, a pose adjusting instruction sent by the cloud platform is received, and based on the pose adjusting instruction, a target motor corresponding to a target object is controlled to adjust the pose of the target object.
Specifically, when the vehicle is powered on for the first time, the cloud platform can acquire recommended pose parameters of each target object of the user according to the identification information (such as a user ID) of an account number logged in by the user, generate a pose adjusting instruction carrying the recommended pose parameters of one or more target objects, and send the pose adjusting instruction to the vehicle powered on for the first time; therefore, when the vehicle receives the pose adjusting instruction which is sent by the cloud platform and aims at one or more target objects, the pose of the corresponding target object can be adjusted according to the recommended pose parameters of the target object carried in the pose adjusting instruction.
The time for reporting the target pose parameters can be set as required, for example, the target pose parameters of the target object can be reported to the remote platform after being collected; the collected target pose parameters of the target objects which are not reported yet can be reported to the cloud-end platform periodically or when the data transmission quantity between the vehicle and the cloud-end platform is small after the vehicle is powered on and before the vehicle is powered off, and the embodiment does not limit the situation.
In addition, after receiving the target pose parameters of the target objects reported by the vehicles, the cloud platform can also adopt a big data analysis mode to respectively calculate the frequency of adjusting the target objects to the limit poses of the users aiming at each target object of each type of vehicle, if the frequency is analyzed, the proportion of the users adjusting the target objects to the limit poses in all users of the type of vehicle is obtained, and when the proportion is larger than a preset proportion threshold value, a first analysis report is generated and sent to developers, so that the developers can further confirm whether the travel design of the target objects of the type of vehicle is reasonable or not based on the first analysis report; or, counting the frequency of each target object of each vehicle type adjusted by each user by adopting a big data analysis mode, and generating a second analysis report and sending the second analysis report to a developer when the adjustment frequency of a certain target object is low (such as lower than a first frequency threshold), so that the developer determines whether a motor is necessary to be set for the target object in the subsequent vehicle design process, or generating a third analysis report and sending the third analysis report to the developer when the adjustment frequency of a certain target object is high (such as higher than a second frequency threshold), so that the developer performs key optimization on the target object based on the third analysis report subsequently, and the user experience is improved.
In the pose parameter acquisition method provided by the first embodiment of the present invention, a target acquisition state of a target pose parameter of a target object is determined, and when the target acquisition state is a first acquisition state, a relative pose acquisition mode is used to acquire the target pose parameter of the target object, and when the target acquisition state is switched from the first acquisition state to a second acquisition state, an absolute pose acquisition mode is used to acquire the target pose parameter of the target object. By adopting the technical scheme, different pose parameter acquisition modes can be adopted to acquire the target pose parameters of the target object as required, the acquisition speed of the pose parameters is increased on the premise of ensuring that the accuracy of the acquired pose parameters meets the acquisition requirement, and the requirements of a user on the acquisition speed and the accuracy of the acquired pose parameters are met.
Example two
Fig. 2 is a schematic flow chart of a pose parameter acquisition method according to a second embodiment of the present invention. The present embodiment is optimized on the basis of the foregoing embodiment, and further, after the acquiring the target pose parameters by using the relative pose acquisition manner, the method further includes: and when the target frequency of the target object adjusted to the target limit pose after the target object is electrified reaches a preset frequency threshold value, switching the target acquisition state to a second acquisition state, and acquiring the target pose parameters by adopting an absolute pose acquisition mode.
Further, the pose parameter acquisition method provided by the embodiment further includes: motor information of a target motor corresponding to the target pose parameter is obtained, wherein the motor information comprises motor current and/or motor signals, and the motor signals comprise Hall signals or ripple signals; and monitoring whether the target object is adjusted to be in the target limit pose or not based on the motor information so as to count the target times of adjusting the target object to be in the target limit pose after the target object is electrified.
Correspondingly, as shown in fig. 2, the method for acquiring pose parameters provided by this embodiment includes:
s210, determining a target acquisition state of the target pose parameters of the target object, and executing S220 or S260.
And S220, if the target acquisition state is the first acquisition state, acquiring the target pose parameters in a relative pose acquisition mode.
And S230, motor information of a target motor corresponding to the target pose parameter is obtained, wherein the motor information comprises motor current and/or motor signals, and the motor signals comprise Hall signals or ripple signals.
The target motor can be understood as a motor for adjusting the target pose parameters of the target object by a user, and the motor can be a hall motor, such as a double hall motor or a single hall motor; it may also be a ripple motor. Correspondingly, when the target motor is a hall motor, the motor signal may be a hall signal; when the target motor is a ripple motor, the motor signal may be a ripple signal.
Specifically, when the target motor is driven to rotate, the motor current and/or the motor signal of the target motor corresponding to the target pose parameter are/is detected, so that whether the target motor is in a locked-rotor state or not is judged based on the motor current and/or the motor signal, and whether the target object is adjusted to be the target limit pose or not is determined.
S240, monitoring whether the target object is adjusted to be in the target limit pose or not based on the motor information, and counting the target times of adjusting the target object to be in the target limit pose after the target object is electrified.
The target extreme pose can be understood as an extreme position or an extreme angle corresponding to the target pose parameter, for example, when the target pose parameter is the position of the target object, the target extreme position may include a certain end point position of the moving track of the target object or two end point positions of the moving track; when the target pose parameter is an angle of the target object, the target extreme position may include a maximum angle and/or a minimum angle that the target object can rotate.
In this embodiment, the target times of each pose parameter of the target object in the first collection state may be cleared after each power-on of the vehicle, it is determined whether the target object is adjusted to the target limit pose based on the motor information of the target motor each time the target motor is controlled to adjust the pose of the target object, and the target times is increased by 1 each time the target object is adjusted to the target limit pose, so as to obtain the times that the target object is adjusted to the target limit pose after the power-on of the vehicle this time.
In this step, it may be determined whether the target object is adjusted to the target limit pose based only on the motor current or the motor signal of the target motor, for example, it may be determined that the target object is adjusted to the target limit pose when the motor current of the target motor is greater than a preset current threshold; or when the motor current is detected to be not zero and the motor signal of the target motor disappears, namely when the motor current is detected to be not zero and the motor signal is not detected, determining that the target object is adjusted to the target limit pose. Whether the target object is adjusted to the target limit pose may also be determined based on the motor current and the motor signal of the target motor, and if the motor current of the target motor is greater than the preset current threshold and the motor signal of the target motor is not detected, it is determined that the target object is adjusted to the target limit pose, so as to further improve the accuracy of the counted target times, where the monitoring whether the target object is adjusted to the target limit pose based on the motor information includes: and if the motor current is larger than a preset current threshold value and the motor signal is not acquired, determining that the target object is adjusted to be the target limit pose.
And S250, when the target frequency of the target object which is adjusted to be in the target limit pose after the target object is electrified reaches a preset frequency threshold value, switching the target acquisition state to a second acquisition state, acquiring the target pose parameters in an absolute pose acquisition mode, and finishing the operation.
The target times can be understood as the times of adjusting the target object to the target limit pose. The preset time threshold may be set in advance according to needs, for example, the preset time threshold may be set to 2 times or 3 times, and the like.
In this embodiment, when the user frequently adjusts the target object to the extreme position, that is, when the target motor is in the locked-rotor state for multiple times, it means that the stroke design of the target object may not meet the requirement of the user, and detailed analysis needs to be performed on the stroke design of the target object, that is, more accurate target pose parameters need to be acquired.
For example, when the number of times of the target is changed, the vehicle may determine whether the number of times of the changed target reaches a preset number threshold, if so, switch the target acquisition state to a second acquisition state, stop acquiring the target pose parameter of the target object by using a relative pose acquisition mode, and acquire the target pose parameter of the target object by using an absolute pose acquisition mode; if not, the relative pose acquisition mode is continuously adopted to acquire the target pose parameters of the target object.
It can be understood that, in this embodiment, the total number of times that the target object is adjusted to the target limit pose may also be counted, and when the total number of times reaches a preset number threshold, the target collection state is switched from the first collection state to the second collection state.
And S260, if the target acquisition state is a second acquisition state, acquiring the target pose parameters in an absolute pose acquisition mode, wherein the second acquisition state is obtained by switching the first acquisition state.
According to the pose parameter acquisition method provided by the embodiment of the invention, whether the target object is adjusted to the target limit pose is determined based on the motor current and/or the motor signal of the target motor, and the acquisition mode of the target pose parameter is switched according to whether the target frequency of the target object adjusted to the target limit pose is greater than the preset frequency threshold, so that the switching time of the acquisition mode is more accurate, and the vehicle can be ensured to acquire the pose parameter with higher accuracy in time.
EXAMPLE III
The third embodiment of the invention provides a pose parameter acquisition device. The device can be realized by software and/or hardware, can be configured in a vehicle, and can acquire the pose parameters of components in the vehicle by executing a pose parameter acquisition method. Fig. 3 is a structural block diagram of a pose parameter acquisition device provided by the third embodiment of the present invention. As shown in fig. 3, the apparatus includes: a state determination module 301, a first acquisition module 302, a second acquisition module 303, wherein,
a state determination module 301, configured to determine a target acquisition state of a target pose parameter of a target object;
a first collecting module 302, configured to collect the pose parameter of the target in a relative pose collecting manner if the target collecting state is a first collecting state;
a second collecting module 303, configured to collect the pose parameter of the target in an absolute pose collecting manner if the target collecting state is a second collecting state, where the second collecting state is obtained by switching the first collecting state.
In the pose parameter acquisition apparatus provided in the third embodiment of the present invention, the state determination module determines a target acquisition state of a target pose parameter of the target object, and the first acquisition module acquires the target pose parameter of the target object by using a relative pose acquisition mode through the second acquisition module when the target acquisition state is the first acquisition state, and acquires the target pose parameter of the target object by using an absolute pose acquisition mode when the target acquisition state is switched from the first acquisition state to the second acquisition state. By adopting the technical scheme, different pose parameter acquisition modes can be adopted to acquire the target pose parameters of the target object as required, the acquisition speed of the pose parameters is increased on the premise of ensuring that the accuracy of the acquired pose parameters meets the acquisition requirement, and the requirements of a user on the acquisition speed and the accuracy of the acquired pose parameters are met.
Further, the pose parameter acquisition method provided by the embodiment further includes: and the state switching module is used for switching the target acquisition state into a second acquisition state and acquiring the target pose parameters in an absolute pose acquisition mode when the target frequency of the target object which is adjusted to be the target limit pose after the target object is electrified reaches a preset frequency threshold value after the target pose parameters are acquired in a relative pose acquisition mode.
Further, the pose parameter acquisition method provided by the embodiment further includes: the information acquisition module is used for acquiring motor information of a target motor corresponding to the target pose parameter, wherein the motor information comprises motor current and/or motor signals, and the motor signals comprise Hall signals or ripple signals; and the frequency counting module is used for monitoring whether the target object is adjusted to be the target limit pose or not based on the motor information so as to count the frequency of the target object adjusted to be the target limit pose after the target object is electrified.
In the foregoing solution, the number-of-times statistic module may be configured to: and when the motor current is larger than a preset current threshold and the motor signal is not acquired, determining that the target object is adjusted to be the target limit pose.
Further, the pose parameter acquisition method provided by the embodiment further includes: and the reporting module is used for reporting the target pose parameter to a cloud end platform so that the cloud end platform can determine the driving information of the user, and sending a pose adjusting instruction to a vehicle after the vehicle is replaced by the user, wherein the driving information comprises a recommended pose parameter of the target object.
Further, the pose parameter acquisition method provided by the embodiment further includes: and the pose adjusting module is used for receiving a pose adjusting instruction sent by the cloud platform when the power is powered on for the first time, and controlling a target motor corresponding to the target object to adjust the pose of the target object based on the pose adjusting instruction.
Further, the target object may include a seat and a steering column, and the method for acquiring pose parameters according to the embodiment further includes: the seat adjusting module is used for receiving a seat adjusting instruction and responding to the seat adjusting instruction to control a seat motor to adjust the pose of the seat; and the steering column adjusting module is used for receiving a steering column adjusting instruction and responding to the steering column adjusting instruction to control a steering column motor to adjust the pose of the steering column.
The pose parameter acquisition device provided by the third embodiment of the invention can execute the pose parameter acquisition method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the pose parameter acquisition method. Technical details which are not described in detail in this embodiment can be referred to a pose parameter acquisition method provided by any embodiment of the present invention.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 4, the vehicle includes a processor 40 and a memory 41, and may further include an input device 42 and an output device 43; the number of processors 40 in the vehicle may be one or more, and one processor 40 is illustrated in fig. 4; the processor 40, memory 41, input device 42, and output device 43 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The memory 41 serves as a computer-readable storage medium, and may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the pose parameter acquisition method in the embodiment of the present invention (for example, the state determination module 301, the first acquisition module 302, and the second acquisition module 303 in the pose parameter acquisition apparatus). The processor 40 executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the memory 41, that is, the above-described pose parameter acquisition method is realized.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the vehicle. The output device 43 may include a display device such as a display screen.
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a pose parameter acquisition method, and the method includes:
determining a target acquisition state of a target pose parameter of a target object;
if the target acquisition state is a first acquisition state, acquiring the target pose parameters in a relative pose acquisition mode;
and if the target acquisition state is a second acquisition state, acquiring the target pose parameters by adopting an absolute pose acquisition mode, wherein the second acquisition state is obtained by switching the first acquisition state.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the pose parameter acquisition method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the pose parameter acquisition apparatus, each included unit and each included module are only divided according to functional logic, but are not limited to the above division, as long as corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A pose parameter acquisition method is characterized by comprising the following steps:
determining a target acquisition state of a target pose parameter of a target object;
if the target acquisition state is a first acquisition state, acquiring the target pose parameters in a relative pose acquisition mode;
and if the target acquisition state is a second acquisition state, acquiring the target pose parameters by adopting an absolute pose acquisition mode, wherein the second acquisition state is obtained by switching the first acquisition state.
2. The method according to claim 1, after the acquiring the object pose parameters with relative pose acquisition, further comprising:
and when the target frequency of the target object adjusted to the target limit pose after the target object is electrified reaches a preset frequency threshold value, switching the target acquisition state to a second acquisition state, and acquiring the target pose parameters by adopting an absolute pose acquisition mode.
3. The method of claim 2, further comprising:
motor information of a target motor corresponding to the target pose parameter is obtained, wherein the motor information comprises motor current and/or motor signals, and the motor signals comprise Hall signals or ripple signals;
and monitoring whether the target object is adjusted to be in the target limit pose or not based on the motor information so as to count the target times of adjusting the target object to be in the target limit pose after the target object is electrified.
4. The method of claim 3, wherein the monitoring whether the target object is adjusted to a target limit pose based on the motor information comprises:
and if the motor current is larger than a preset current threshold value and the motor signal is not acquired, determining that the target object is adjusted to be the target limit pose.
5. The method of any of claims 1-4, further comprising:
and reporting the target pose parameter to a cloud platform so that the cloud platform can determine driving information of the user, and sending a pose adjusting instruction to a vehicle after the vehicle is replaced by the user, wherein the driving information comprises a recommended pose parameter of the target object.
6. The method of claim 5, further comprising:
when the power is powered on for the first time, a pose adjusting instruction sent by the cloud platform is received, and based on the pose adjusting instruction, a target motor corresponding to a target object is controlled to adjust the pose of the target object.
7. The method of any of claims 1-4, wherein the target object includes a seat and a steering column, the method further comprising:
receiving a seat adjusting instruction, and controlling a seat motor to adjust the pose of the seat in response to the seat adjusting instruction; and the number of the first and second groups,
and receiving a steering column adjusting instruction, and controlling a steering column motor to adjust the pose of the steering column in response to the steering column adjusting instruction.
8. A pose parameter acquisition device, comprising:
the state determination module is used for determining a target acquisition state of a target pose parameter of a target object;
the first acquisition module is used for acquiring the pose parameters of the target in a relative pose acquisition mode if the target acquisition state is a first acquisition state;
and the second acquisition module is used for acquiring the pose parameters of the target by adopting an absolute pose acquisition mode if the target acquisition state is a second acquisition state, wherein the second acquisition state is obtained by switching the first acquisition state.
9. A vehicle, characterized by comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of acquiring pose parameters of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the pose parameter acquisition method according to any one of claims 1 to 7.
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Application publication date: 20210625 |