CN102107652A - Method using acceleration sensor to monitor emergency acceleration or emergency brake of vehicle in remote real-time manner - Google Patents
Method using acceleration sensor to monitor emergency acceleration or emergency brake of vehicle in remote real-time manner Download PDFInfo
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Abstract
The invention discloses a method using an acceleration sensor to monitor emergency acceleration or emergency brake of a vehicle in a remote real-time manner. The method comprises the following steps: the acceleration sensor is used to detect acceleration values in an X-axis direction, a Y-axis direction and a Z-axis direction; after acquisition and signal processing, the acceleration values are processed by a controlling and processing unit of a vehicle terminal; the controlling and processing unit of the vehicle terminal conducts component rejection of an X-axis and a Y-axis on gravitational acceleration during inclination according to the acceleration values in the X-axis direction, the Y-axis direction and the Z-axis direction, so as to acquire accurate acceleration values of the vehicle; and then the vehicle terminal determines whether the acceleration values meet the conditions or not through an emergency acceleration threshold value or an emergency brake threshold value handed down by a remote monitoring center, and sends the acceleration values at the moment to the center after the conditions are met. By adopting the process, emergency acceleration or emergency brake of the vehicle can be monitored in a remote real-time manner, thereby bringing great convenience to remote management of the vehicle.
Description
Technical field
The present invention relates to the remote monitor and control vehicular field, particularly relate to a kind of method of using acceleration pick-up remote real-time monitoring vehicle brish acceleration or sudden stop.
Background technology
Fast development along with Chinese national economy, the significantly raising of living standards of the people, the recoverable amount of China's automobile is the gesture that increases substantially, automobile is as one of transportation means, the utmost point has effectively promoted expanding economy, but, incident thus is the frequent generation of traffic accident, property to people's life has caused threat to a certain degree, therefore, vehicle being carried out actv. monitoring and management, is the powerful guarantee of avoiding taking place all kinds of traffic accidents, for the machine-operated enterprises and institutions that have all kinds vehicle, management of vehicles just becomes an important process in its routine matter.The method that detects vehicle brish acceleration or sudden stop normally adopts the variation of speed to obtain accekeration at present, yet the speed of car-mounted terminal generally is to use the speed in the gps data, thereby, can't accurately obtain real-time speed, this has caused certain degree of difficulty just for the brish acceleration or the sudden stop of real-time monitoring vehicle.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, a kind of method of using acceleration pick-up remote real-time monitoring vehicle brish acceleration or sudden stop is provided, be to utilize acceleration pick-up to obtain the brish acceleration or the anxious restriction signal of vehicle timely and accurately, by car-mounted terminal brish acceleration or anxious the deceleration are handled and whether the numerical value after handling is judged greater than threshold value, when surpassing threshold value, report and submit to remote monitoring center, thus the purpose of realization remote real-time monitoring vehicle.
The technical solution adopted for the present invention to solve the technical problems is: a kind of method of using acceleration pick-up remote real-time monitoring vehicle brish acceleration or sudden stop comprises the steps:
A. remote monitoring center sends acceleration rate threshold by cordless communication network to car-mounted terminal; The wireless communication unit of car-mounted terminal receives and comes from the acceleration rate threshold that remote monitoring center issues, and is kept in the memory cell of car-mounted terminal;
B. the real-time collection vehicle in acceleration sensing unit of the car-mounted terminal acceleration/accel that travels; This acceleration sensing unit is that the employing acceleration pick-up picks up XYZ three axial three acceleration signals under the three-dimensional coordinate, obtains thus along XYZ three axial accekeration Xi, Yi and Zi; Wherein Y-axis is pointed to the direction that vehicle advances, and X-axis is pointed to the direction after vehicle forward direction is changeed 270 degree along clockwise direction, the acceleration due to gravity direction when the Z axle points to the vehicle level attitude; The value of Xi, Yi and Zi is that timing is a brish acceleration, and the value of Xi, Yi and Zi is anxious deceleration when being negative;
C. the controlled processing unit that the acceleration signal that picks up is transferred to car-mounted terminal is handled in the acceleration sensing unit of car-mounted terminal; Accekeration Xi, Yi and Zi that controlled processing unit is responded to three directions take absolute value, and obtain the acceleration/accel absolute value that three directions are responded to | Xi|, | Yi| and | Zi|;
D. whether the induced signal of the controlled processing unit of car-mounted terminal Z-direction that acceleration pick-up is picked up is judged less than gravity acceleration value g; Acceleration/accel absolute value when Z-direction induction | Zi| changes step f during less than gravity acceleration value g, otherwise, continue next step;
E. the controlled processing unit of car-mounted terminal is from the acceleration/accel absolute value of X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | and acceleration/accel of peek value maximum and acceleration rate threshold compare the Yi|, when this peak acceleration during greater than acceleration rate threshold, change step k, otherwise, return step b;
F. the controlled processing unit of car-mounted terminal calculates the weight component g of acceleration due to gravity along the XY plane according to following formula
Divide
g
Divide=Sina * g
Cosa＝|Zi|÷g
H. the controlled processing unit of car-mounted terminal is with weight component g
DivideFor outlier is once rejected processing, with the acceleration/accel absolute value of X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | an acceleration/accel of peek value maximum deducts weight component g among the Yi|
Divide, once rejected the acceleration/accel after the processing, acceleration/accel and the acceleration rate threshold of once rejecting after handling compared, the acceleration/accel after this once rejects processing changes step k during greater than acceleration rate threshold, otherwise, the continuation next step;
J. the controlled processing unit of car-mounted terminal is with weight component g
DivideIn the XY plane, decompose once more, calculate weight component g respectively
DivideIn the XY plane along the supposition component g of X-axis, Y-axis
Divide X, g
Divide Y
Wherein, weight component g
DivideSupposition component g in X-axis
Divide XCalculate acquisition by following formula:
g
Divide X=Sina
x* g
Divide
Cosa
x=| Yi| ÷ g
Divide
Wherein, weight component g
DivideSupposition component g in Y-axis
Divide YCalculate acquisition by following formula:
g
Divide Y=Sina
Y* g
Divide
Cosa
Y=| Xi| ÷ g
Divide
Acceleration/accel absolute value with the X-direction induction | Xi| deducts weight component g
DivideSupposition component g in X-axis
Divide X, obtain the acceleration/accel that secondary is rejected the X-direction after handling; Acceleration/accel absolute value with the Y direction induction | Yi| deducts weight component g
DivideSupposition component g in Y-axis
Divide Y, obtain the acceleration/accel that secondary is rejected the Y direction after handling; Acceleration/accel and acceleration rate threshold that the acceleration/accel of the X-direction after secondary reject to be handled and secondary are rejected peek value maximum the acceleration/accel of the Y direction after handling compare, when this secondary is rejected peak acceleration after handling greater than acceleration rate threshold, continue next step, otherwise, return step b;
K. the controlled processing unit of car-mounted terminal is uploaded this acceleration/accel by its wireless communication unit to remote monitoring center, delays time simultaneously 5 seconds, and 5 seconds the average velociity in front and back when satisfying threshold value is uploaded to remote monitoring center.
The invention has the beneficial effects as follows, owing to adopted acceleration pick-up to detect the accekeration of XYZ axle three directions, through handling by the controlled processing unit of car-mounted terminal after collection and the signal conditioning, the controlled processing unit of car-mounted terminal is then according to the accekeration of XYZ axle three directions, acceleration due to gravity during to inclination carries out the component rejection of XY axle, thereby obtain vehicle accekeration accurately, whether car-mounted terminal satisfies condition by brish acceleration or the anxious deceleration threshold decision that remote monitoring center issues then, issues the center accekeration of this moment after satisfying condition.This process can realize the brish acceleration or the sudden stop of remote real-time monitoring vehicle, brings great convenience for the telemanagement of vehicle.
Below in conjunction with drawings and Examples the present invention is described in further detail; But a kind of method of acceleration pick-up remote real-time monitoring vehicle brish acceleration or sudden stop of using of the present invention is not limited to embodiment.
Description of drawings
Fig. 1 is the three-dimensional coordinate scheme drawing of acceleration pick-up;
Fig. 2 is the scheme drawing that vehicle is in the slope motoring condition.
The specific embodiment
Embodiment, shown in accompanying drawing, a kind of method of using acceleration pick-up remote real-time monitoring vehicle brish acceleration or sudden stop of the present invention comprises the steps:
A. remote monitoring center sends acceleration rate threshold by cordless communication network to car-mounted terminal; The wireless communication unit of car-mounted terminal receives and comes from the acceleration rate threshold that remote monitoring center issues, and is kept in the memory cell of car-mounted terminal;
B. the real-time collection vehicle in acceleration sensing unit of the car-mounted terminal acceleration/accel that travels; This acceleration sensing unit is that the employing acceleration pick-up picks up XYZ three axial three acceleration signals under the three-dimensional coordinate, obtains thus along XYZ three axial accekeration Xi, Yi and Zi; As shown in Figure 1, wherein Y-axis is pointed to the direction that vehicle advances, and X-axis is pointed to the direction after vehicle forward direction is changeed 270 degree along clockwise direction, the acceleration due to gravity direction when the Z axle points to the vehicle level attitude; The value of Xi, Yi and Zi is that timing is a brish acceleration, and the value of Xi, Yi and Zi is anxious deceleration when being negative; When vehicle was parked in horizontal surface, the acceleration/accel that acceleration pick-up Z axle is sensed should be g=10m2/s (carry out X, Y, the demarcation of Z axle three direction gravity when dispatching from the factory earlier, calibration value is 10m2/s) for gravity acceleration g;
C. the controlled processing unit that the acceleration signal that picks up is transferred to car-mounted terminal is handled in the acceleration sensing unit of car-mounted terminal; Accekeration Xi, Yi and Zi that controlled processing unit is responded to three directions take absolute value, and obtain the acceleration/accel absolute value that three directions are responded to | Xi|, | Yi| and | Zi|;
D. whether the induced signal of the controlled processing unit of car-mounted terminal Z-direction that acceleration pick-up is picked up is judged less than gravity acceleration value g; Acceleration/accel absolute value when Z-direction induction | Zi| changes step f during less than gravity acceleration value g, otherwise, continue next step; Acceleration/accel absolute value when the Z-direction induction | when Zi| equals gravity acceleration g, show that vehicle is to travel on horizontal surface, acceleration/accel absolute value when Z-direction induction | Zi| is during less than gravity acceleration g, show that vehicle is to travel on the slope, be on the slope at a angle with the XY plane at one such as vehicle ' and travel, as shown in Figure 2;
E. the controlled processing unit of car-mounted terminal is from the acceleration/accel absolute value of X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | and acceleration/accel of peek value maximum and acceleration rate threshold compare the Yi|, when this peak acceleration during greater than acceleration rate threshold, change step k, otherwise, return step b; Because vehicle is to travel on horizontal surface, therefore, gravity acceleration g does not produce component on X-axis and Y-axis, at this moment, only need the relatively acceleration/accel absolute value of X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | and whether Yi| gets final product greater than acceleration rate threshold, and relatively the time, only need be relatively more maximum one gets final product, such as | Yi|＞| Xi| then only needs relatively | and whether Yi| is greater than acceleration rate threshold, if | Xi|＞| Yi| then only needs relatively | and whether Xi| is greater than acceleration rate threshold;
F. the controlled processing unit of car-mounted terminal calculates the weight component g of acceleration due to gravity along the XY plane according to following formula
Divide
g
Divide=Sina * g
Cosa＝|Zi|÷g
H. the controlled processing unit of car-mounted terminal is with weight component g
DivideFor outlier is once rejected processing, with the acceleration/accel absolute value of X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | an acceleration/accel of peek value maximum deducts weight component g among the Yi|
Divide, once rejected the acceleration/accel after the processing, acceleration/accel and the acceleration rate threshold of once rejecting after handling compared, the acceleration/accel after this once rejects processing changes step k during greater than acceleration rate threshold, otherwise, the continuation next step; Because the weight component g of gravity acceleration g on the XY plane
DivideInevitable greater than its component in X-axis, Y-axis, therefore, can use weight component g earlier
DivideOnce reject, obtain once to reject the X-axis after the processing or the acceleration/accel of Y-axis, this acceleration/accel is the acceleration/accel absolute value by the X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | and an acceleration/accel of peek value maximum deducts weight component g among the Yi|
DivideThe back obtains, with step e roughly the same be, when | Yi|＞| during Xi|, then only need relatively | Yi| deducts weight component g
DivideAfter value whether greater than acceleration rate threshold, if | Xi|＞| Yi| then only needs relatively | Xi| deducts weight component g
DivideAfter value whether greater than acceleration rate threshold;
J. the controlled processing unit of car-mounted terminal is with weight component g
DivideIn the XY plane, decompose once more, calculate weight component g respectively
DivideIn the XY plane along the supposition component g of X-axis, Y-axis
Divide X, g
Divide Y
Wherein, weight component g
DivideSupposition component g in X-axis
Divide XCalculate acquisition by following formula:
g
Divide X=Sina
x* g
Divide
Cosa
x=| Yi| ÷ g
Divide
Wherein, weight component g
DivideSupposition component g in Y-axis
Divide YCalculate acquisition by following formula:
g
Divide Y=Sina
Y* g
Divide
Cosa
Y=| Xi| ÷ g
Divide
Acceleration/accel absolute value with the X-direction induction | Xi| deducts weight component g
DivideSupposition component g in X-axis
Divide X, obtain the acceleration/accel that secondary is rejected the X-direction after handling; Acceleration/accel absolute value with the Y direction induction | Yi| deducts weight component g
DivideSupposition component g in Y-axis
Divide Y, obtain the acceleration/accel that secondary is rejected the Y direction after handling; Acceleration/accel and acceleration rate threshold that the acceleration/accel of the X-direction after secondary reject to be handled and secondary are rejected peek value maximum the acceleration/accel of the Y direction after handling compare, when this secondary is rejected peak acceleration after handling greater than acceleration rate threshold, continue next step, otherwise, return step b; Owing to can therefore not need to adopt secondary to reject after once rejecting, promptly utilize weight component g greater than acceleration rate threshold
DivideSupposition component g in X-axis
Divide XWith weight component g
DivideSupposition component g in Y-axis
Divide YReject,
K. the controlled processing unit of car-mounted terminal is uploaded this acceleration/accel by its wireless communication unit to remote monitoring center, delays time simultaneously 5 seconds, and 5 seconds the average velociity in front and back when satisfying threshold value is uploaded to remote monitoring center;
The acceleration/accel that car-mounted terminal is uploaded has three kinds of situations:
A kind of step e that comes from, the acceleration/accel of this moment be exactly the acceleration/accel Xi of X-direction induction (| Xi|＞| Yi|) or the acceleration/accel Yi of Y direction induction (| Yi|＞| during Xi|);
Another kind comes from step h, and the acceleration/accel of this moment is exactly the acceleration/accel absolute value of Y direction induction | and Yi| deducts weight component g
DivideAfter value (| Yi|＞| during Xi|, direction is identical with Yi, and Yi is that brish acceleration is represented in timing, and Yi represents brish acceleration when negative) or the acceleration/accel absolute value of X-direction induction | Xi| deducts weight component g
DivideAfter value (| Xi|＞| during Yi|, direction is identical with Xi, and Xi is that brish acceleration is represented in timing, and Xi represents brish acceleration when negative);
Another comes from step j, and the acceleration/accel of this moment is exactly the acceleration/accel absolute value of Y direction induction | and Yi| deducts weight component g
DivideSupposition component g in Y-axis
Divide YAfter the value (direction is identical with Yi, and Yi is that brish acceleration is represented in timing, and Yi represents brish acceleration when negative) or the acceleration/accel absolute value of X-direction induction | Xi| deducts weight component g
DivideSupposition component g in X-axis
Divide XAfter value (direction is identical with Xi, and Xi is that brish acceleration is represented in timing, and Xi represents brish acceleration when negative); So the value to Y-axis still is the value of X-axis, see that is bigger, gets big one.
The foregoing description only is used for further specifying a kind of method of using acceleration pick-up remote real-time monitoring vehicle brish acceleration or sudden stop of the present invention; but the present invention is not limited to embodiment; every foundation technical spirit of the present invention all falls in the protection domain of technical solution of the present invention any simple modification, equivalent variations and modification that above embodiment did.
Claims (1)
1. a method of using acceleration pick-up remote real-time monitoring vehicle brish acceleration or sudden stop is characterized in that: comprise the steps:
A. remote monitoring center sends acceleration rate threshold by cordless communication network to car-mounted terminal; The wireless communication unit of car-mounted terminal receives and comes from the acceleration rate threshold that remote monitoring center issues, and is kept in the memory cell of car-mounted terminal;
B. the real-time collection vehicle in acceleration sensing unit of the car-mounted terminal acceleration/accel that travels; This acceleration sensing unit is that the employing acceleration pick-up picks up XYZ three axial three acceleration signals under the three-dimensional coordinate, obtains thus along XYZ three axial accekeration Xi, Yi and Zi; Wherein Y-axis is pointed to the direction that vehicle advances, and X-axis is pointed to the direction after vehicle forward direction is changeed 270 degree along clockwise direction, the acceleration due to gravity direction when the Z axle points to the vehicle level; The value of Xi, Yi and Zi is that timing is a brish acceleration, and the value of Xi, Yi and Zi is anxious deceleration when being negative;
C. the controlled processing unit that the acceleration signal that picks up is transferred to car-mounted terminal is handled in the acceleration sensing unit of car-mounted terminal; Accekeration Xi, Yi and Zi that controlled processing unit is responded to three directions take absolute value, and obtain the acceleration/accel absolute value that three directions are responded to | Xi|, | Yi| and | Zi|;
D. whether the induced signal of the controlled processing unit of car-mounted terminal Z-direction that acceleration pick-up is picked up is judged less than gravity acceleration value g; Acceleration/accel absolute value when Z-direction induction | Zi| changes step f during less than gravity acceleration value g, otherwise, continue next step:
E. the controlled processing unit of car-mounted terminal is from the acceleration/accel absolute value of X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | and acceleration/accel of peek value maximum and acceleration rate threshold compare the Yi|, when this peak acceleration during greater than acceleration rate threshold, change step k, otherwise, return step b;
F. the controlled processing unit of car-mounted terminal calculates the weight component g of acceleration due to gravity along the XY plane according to following formula
Divide
g
Divide=Sina * g
Cosa＝|Zi|÷g
H. the controlled processing unit of car-mounted terminal is with weight component g
DivideFor outlier is once rejected processing, with the acceleration/accel absolute value of X-direction induction | the acceleration/accel absolute value of Xi| and Y direction induction | an acceleration/accel of peek value maximum deducts weight component g among the Yi|
Divide, once rejected the acceleration/accel after the processing, acceleration/accel and the acceleration rate threshold of once rejecting after handling compared, the acceleration/accel after this once rejects processing changes step k during greater than acceleration rate threshold, otherwise, the continuation next step;
J. the controlled processing unit of car-mounted terminal is with weight component g
DivideIn the XY plane, decompose once more, calculate weight component g respectively
DivideIn the XY plane along the supposition component g of X-axis, Y-axis
DivideX, g
DivideY;
Wherein, weight component g
DivideSupposition component g in X-axis
DivideX is calculated by following formula and obtains:
g
DivideX=Sina
x* g
Divide
Cosa
x=| Yi| ÷ g
Divide
Wherein, weight component g
DivideSupposition component g in Y-axis
Divide YCalculate acquisition by following formula:
g
Divide Y=Sina
Y* g
Divide
Cosa
Y=| Xi| ÷ g
Divide
Acceleration/accel absolute value with the X-direction induction | Xi| deducts weight component g
DivideSupposition component g in X-axis
Divide X, obtain the acceleration/accel that secondary is rejected the X-direction after handling; Acceleration/accel absolute value with the Y direction induction | Yi| deducts weight component g
DivideSupposition component g in Y-axis
Divide Y, obtain the acceleration/accel that secondary is rejected the Y direction after handling; Acceleration/accel and acceleration rate threshold that the acceleration/accel of the X-direction after secondary reject to be handled and secondary are rejected peek value maximum the acceleration/accel of the Y direction after handling compare, when this secondary is rejected peak acceleration after handling greater than acceleration rate threshold, continue next step, otherwise, return step b;
K. the controlled processing unit of car-mounted terminal is uploaded this acceleration/accel by its wireless communication unit to remote monitoring center, delays time simultaneously 5 seconds, and 5 seconds the average velociity in front and back when satisfying threshold value is uploaded to remote monitoring center.
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