CN102967728A - Method and device for detecting automobile motion state by using acceleration sensor - Google Patents
Method and device for detecting automobile motion state by using acceleration sensor Download PDFInfo
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- CN102967728A CN102967728A CN2012104704014A CN201210470401A CN102967728A CN 102967728 A CN102967728 A CN 102967728A CN 2012104704014 A CN2012104704014 A CN 2012104704014A CN 201210470401 A CN201210470401 A CN 201210470401A CN 102967728 A CN102967728 A CN 102967728A
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Abstract
The invention discloses a method and a device for detecting an automobile motion state by using an acceleration sensor. The method comprises the following steps of: detecting an acceleration value of an automobile by using the acceleration sensor, wherein the acceleration value includes an X-axis acceleration value, a Y-axis acceleration value and a Z-axis acceleration value; acquiring an acceleration value within a preset time, and carrying out statistic and statistic analysis process on the acceleration value within the preset time, so as to obtain the statistic information within the preset time; matching the statistic information with a preset state model; and determining the state corresponding to the preset state model as the motion state of the automobile when the statistic information is matched with the preset state model. According to the embodiment of the invention, the automobile state is judged according to statistic characteristics of data output from the acceleration sensor, the possibility of misinformation or report miss is reduced, and moreover, a current operation speed value of the automobile can be estimated or the state that whether the door is opened or closed can be identified.
Description
Technical field
The present invention relates to the vehicle detection technical field, particularly a kind of method and apparatus that utilizes acceleration transducer to detect state of motion of vehicle.
Background technology
At present anti-theft device for vehicle is many judges vehicle-state with accelerometer, finds that vehicle mobile positions later on again and the processing such as warning.Its principle mainly is described below: utilize the acceleration of gravity meter that is installed in the vehicle to detect the change in gravitational acceleration of vehicle, when the acceleration change amount that records when acceleration transducer surpasses default threshold value, then send abnormal signal and make the judgement that vehicle-state changes.There are two problems in actual use in this method: first, default threshold value is chosen and is had certain difficulty, if chose lowly, report by mistake easily, namely vehicle reality is not moved and has but triggered abnormal signal (causing that such as situations such as strong wind vehicle rocks); If choose too highly, fail to report easily, slowly motion occurs and fail to trigger abnormal signal such as vehicle.The second, this method can only judge vehicle by stationary state to the state variation that moves, can not judge the states such as car speed, close door or burst collision, so usage comparison is limited.
Summary of the invention
The present invention is intended to solve at least one of technical matters that exists in the prior art.
For this reason, one object of the present invention is to propose a kind of method of utilizing acceleration transducer to detect state of motion of vehicle.The method is so that judge vehicle-state according to the statistical nature of acceleration transducer output data, the possibility that has reduced wrong report or failed to report, and can estimate the current travelling speed value of vehicle or identify the states such as whether close door has occured.
Second purpose of the present invention is to propose a kind of device that utilizes acceleration transducer to detect state of motion of vehicle.
To achieve these goals, the method of utilizing acceleration transducer to detect state of motion of vehicle according to the embodiment of first aspect present invention may further comprise the steps: the accekeration that detects vehicle by acceleration transducer, wherein, described accekeration comprises x axle acceleration value, y axle acceleration value and z axle acceleration value; Obtain the described accekeration in the schedule time, and the described accekeration in the described schedule time is added up and the statistical study processing, to obtain the statistical information within the described schedule time; Described statistical information and preset state model are mated; When described statistical information and described preset state Model Matching, the corresponding state of described preset state model is the motion state of described vehicle.
In one embodiment of the invention, described statistical study processing comprises carries out average, variance and covariance processing to described accekeration, and result is added up.
In one embodiment of the invention, described preset state model comprises vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.
In one embodiment of the invention, described Preset Time is about 5-20s.
In one embodiment of the invention, described the first pre-set velocity scope is about that 5-10km/h, described the second pre-set velocity scope are about 60-80km/h, described the 3rd pre-set velocity scope is about 80-100km/h.
In one embodiment of the invention, described accekeration being carried out filtering processes.
In an embodiment of the present invention, judge vehicle-state according to the statistical nature of acceleration transducer output data, the possibility that has reduced wrong report or failed to report, and can estimate the current travelling speed value of vehicle or identify the states such as whether close door has occured.
To achieve these goals, according to a kind of device that utilizes acceleration transducer to detect state of motion of vehicle of the proposition of the embodiment of second aspect present invention, comprise acceleration transducer, accekeration for detection of vehicle, wherein, described accekeration comprises x axle acceleration value, y axle acceleration value and z axle acceleration value; Statistical module is used for obtaining interior described accekeration of the schedule time, and the described accekeration in the described schedule time is added up and the statistical study processing, to obtain the statistical information within the described schedule time; Preserve module, be used for preserving the preset state model; Matching module is used for described statistical information and preset state model are mated, and when described statistical information and described preset state Model Matching, the corresponding state of described preset state model is the motion state of described vehicle.
In one embodiment of the invention, the statistical study processing comprises carries out average, variance and covariance processing to described accekeration, and result is added up.
In one embodiment of the invention, described preset state model comprises vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.
In one embodiment of the invention, described Preset Time is about 5-20s.
In one embodiment of the invention, described the first pre-set velocity scope is about that 5-10km/h, described the second pre-set velocity scope are about 60-80km/h, described the 3rd pre-set velocity scope is about 80-100km/h.
In an embodiment of the present invention, judge vehicle-state according to the statistical nature of acceleration transducer output data, the possibility that has reduced wrong report or failed to report, and can estimate the current travelling speed value of vehicle or identify the states such as whether close door has occured.
Additional aspect of the present invention and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment in conjunction with following accompanying drawing, wherein:
Fig. 1 utilizes acceleration transducer to detect the process flow diagram of the method for state of motion of vehicle according to an embodiment of the invention;
Fig. 2 is the accekeration on three directions of x-axis, y-axis and z-axis according to an embodiment of the invention;
Fig. 3 be according to an embodiment of the invention the accekeration of each second is done statistics and calculate per second acceleration readings variance and;
Fig. 4 is the process flow diagram of judging according to an embodiment of the invention the preset state model according to acceleration variance; And
Fig. 5 is a kind of according to an embodiment of the invention structured flowchart that utilizes acceleration transducer to detect the device of state of motion of vehicle.
Embodiment
The below describes embodiments of the invention in detail, and the example of described embodiment is shown in the drawings, and wherein identical or similar label represents identical or similar element or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the present invention, and can not be interpreted as limitation of the present invention.On the contrary, embodiments of the invention comprise spirit and interior all changes, modification and the equivalent of intension scope that falls into additional claims.
In description of the invention, it will be appreciated that term " first ", " second " etc. only are used for describing purpose, and can not be interpreted as indication or hint relative importance.In description of the invention, need to prove that unless clear and definite regulation and restriction are arranged in addition, term " links to each other ", " connection " should do broad understanding, for example, can be to be fixedly connected with, and also can be to removably connect, or connect integratedly; Can be mechanical connection, also can be to be electrically connected; Can be directly to link to each other, also can indirectly link to each other by intermediary.For the ordinary skill in the art, can concrete condition understand above-mentioned term concrete meaning in the present invention.In addition, in description of the invention, except as otherwise noted, the implication of " a plurality of " is two or more.
Describe and to be understood in the process flow diagram or in this any process of otherwise describing or method, expression comprises module, fragment or the part of code of the executable instruction of the step that one or more is used to realize specific logical function or process, and the scope of preferred implementation of the present invention comprises other realization, wherein can be not according to order shown or that discuss, comprise according to related function by the mode of basic while or by opposite order, carry out function, this should be understood by the embodiments of the invention person of ordinary skill in the field.
The present invention utilizes acceleration transducer acquisition vehicle acceleration data in the vehicle monitor terminal, the vehicle acceleration data of a period of time is done statistical study, thereby judge vehicle-state according to the statistical nature of acceleration information.
The device that at first will detect state of motion of vehicle is fixedly laid in vehicle, and this device comprises the acceleration transducer with at least one inductive axis, and the acceleration of this acceleration transducer perception is exactly the acceleration information of vehicle.The instantaneous value of acceleration information is in continuous variation, when of short duration action occurs (such as close door etc.), although this moment stationary vehicle (with respect to the motion state of Vehicle Driving Cycle), but this action acceleration value constantly will be far longer than the acceleration magnitude of stationary vehicle when action not occuring, just can trigger out the abnormal signal above predetermined threshold value this moment, so just caused the situation of wrong report.But the present invention does statistical study to the acceleration information of a period of time (such as several seconds), calculate the statistical natures such as average, variance or covariance of acceleration, not only can judge more exactly whether change of vehicle-state with these statistical natures, and can realize the estimation to vehicle speed range.Can also provide other states of vehicle to the statistical study of acceleration information, such as the original place rock, close door or boot and burst collision etc.
As shown in Figure 1, for utilizing according to an embodiment of the invention acceleration transducer to detect the process flow diagram of the method for state of motion of vehicle.
As shown in Figure 1, the method for utilizing acceleration transducer to detect state of motion of vehicle comprises the steps:
Step S101, by the accekeration of acceleration transducer detection vehicle, wherein, accekeration comprises x axle acceleration value, y axle acceleration value and z axle acceleration value.In an embodiment of the present invention, consult shown in Figure 2ly, provided respectively the accekeration on three directions of x-axis, y-axis and z-axis.Data and curves among the figure has been described corresponding acceleration value under 6 kinds of preset state models, every kind of corresponding 10s time of preset state model.These 6 kinds of preset state models are respectively: 1s-10s is vehicle stationary state; 11s-20s is vehicle door status of switch for vehicle; 21s-30s is the vehicle launch state; 31s-40s is the at the uniform velocity transport condition of vehicle in the first pre-set velocity scope, and the first pre-set velocity scope is 5-10km/h; 41s-50s is the at the uniform velocity transport condition in the second pre-set velocity scope, and the second pre-set velocity scope is 60-80km/h; 51s-60s is the at the uniform velocity transport condition in the 3rd pre-set velocity scope, and the 3rd pre-set velocity scope is 80-100km/h; Consult shown in Figure 2, in the scope of predetermined threshold value, undressed acceleration information is judged, in the stationary vehicle situation, the situation such as close door, boot occur or blow, this moment, (situation corresponding such as 11s-20s among Fig. 2) appearred rocking in vehicle, and a certain moment accekeration surpasses predetermined threshold value, the situation that common vehicle-mounted acceleration transducer can occur reporting by mistake.And in the situation of the speed of a motor vehicle very slow (per hour 7 kilometers road speeds corresponding to 31s-40s in such as Fig. 2), the speed of automobilism is lower than predetermined threshold value, and this moment, car moved, but the not warning of common vehicle-mounted acceleration transducer namely exists and fails to report possibility.
Step S102 obtains the accekeration in the schedule time, and the accekeration in the schedule time is added up and the statistical study processing, to obtain statistical information in the given time.Behind the accekeration that obtains in the schedule time, at first accekeration is carried out high-pass filtering and process, then the accekeration in the schedule time is added up with statistical study and processed.Statistical study is processed and is comprised that accekeration is carried out average, variance or covariance to be processed, and result is added up.In one embodiment of the invention, Preset Time can be 5-20s.Consult shown in Figure 3ly, in one embodiment of the invention, the acceleration information of getting among Fig. 2 is done statistics to the value of each second, calculates the variance of the acceleration readings of per second.Adopt the method for the statistical study of acceleration information, according to the acceleration variance of the every period that calculates size and between variation can accurately judge the preset state model, comprise vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.
As shown in Figure 3, expression is to the statistic analysis result of the accekeration of above-mentioned acceleration transducer, calculating be the variance sum of the N group x-axis, y-axis and z-axis accekeration that gathers each second.Its computing formula is as shown in the formula described:
The x axle that Tr in the formula (t) expression t collected in time second, the variance sum of y axle and z axle acceleration value; { x
(t-1) N..., x
TN-1, { y
(t-1) N..., y
TN-1, { z
(t-1) N..., z
TN-1Then be respectively x axle in t time second, the accekeration of y axle and z axle.
Step S103 mates statistical information and preset state model.According to the preset state model of the judgement vehicles such as acceleration variance, for example this model comprises vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.
Step S104, when statistical information and preset state Model Matching, the corresponding state of preset state model is the motion state of vehicle.Consult shown in Figure 4ly, acceleration transducer at first carries out initialization operation, then obtains the real-time acceleration information of vehicle, and then acceleration information is carried out high-pass filtering process, and next step calculates the variance of acceleration transducer reading in each in second.Judge that according to acceleration variance whether the acceleration of automobile is all above predetermined threshold value.If judge that acceleration variance not all above predetermined threshold value, has judged whether that then certain variance has surpassed predetermined threshold value.If there is certain variance to surpass predetermined threshold value, then reporting vehicle has occured that the original place is rocked, the state such as car door of switch or bump sends to upper layer application.If do not have certain variance to surpass predetermined threshold value, then the stationary vehicle no exceptions informed upper layer application.If judge variance all above setting threshold according to acceleration variance, then the information such as estimating vehicle movement velocity scope and acceleration (comprise vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.) to upper layer application.Upper layer application is made the disposal of various application scenarioss according to the car status information that obtains, such as responses such as warning, initiation location.
In an embodiment of the present invention, judge vehicle-state according to the statistical nature of acceleration transducer output data, the possibility that has reduced wrong report or failed to report, and can estimate the current travelling speed value of vehicle or identify the states such as whether close door has occured.
As shown in Figure 5, be a kind of according to an embodiment of the invention structured flowchart that utilizes acceleration transducer to detect the device of state of motion of vehicle.
The device that utilizes acceleration transducer to detect state of motion of vehicle as shown in Figure 5 comprises following structure: acceleration transducer 100, statistical module 200, preservation module 300 and matching module 400.
Acceleration transducer 100 is for detection of the accekeration of vehicle, and wherein, accekeration comprises x axle acceleration value, y axle acceleration value and z axle acceleration value.In an embodiment of the present invention, consult shown in Figure 2ly, provided respectively the accekeration on three directions of x-axis, y-axis and z-axis.Data and curves among the figure has been described corresponding acceleration value under 6 kinds of preset state models, every kind of corresponding 10s time of preset state model.These 6 kinds of preset state models are respectively: 1s-10s is vehicle stationary state; 11s-20s is vehicle door status of switch for vehicle; 21s-30s is the vehicle launch state; 31s-40s is the at the uniform velocity transport condition of vehicle in the first pre-set velocity scope, and the first pre-set velocity scope is 5-10km/h; 41s-50s is the at the uniform velocity transport condition in the second pre-set velocity scope, and the second pre-set velocity scope is 60-80km/h; 51s-60s is the at the uniform velocity transport condition in the 3rd pre-set velocity scope, and the 3rd pre-set velocity scope is 80-100km/h; Consult shown in Figure 2, there is wrong report in the method that undressed acceleration information predetermined threshold value is judged in the stationary vehicle situation, and in the situation of the speed of a motor vehicle very slow (per hour 7 kilometers road speeds corresponding to 31s-40s in such as Fig. 2), exist and fail to report possibility.
As shown in Figure 3, expression is to the statistic analysis result of the accekeration of above-mentioned acceleration transducer 100, calculating be the variance sum of the N group x-axis, y-axis and z-axis accekeration that gathers each second.Its computing formula is as shown in the formula described:
The x axle that Tr in the formula (t) expression t collected in time second, the variance sum of y axle and z axle acceleration value; { x
(t-1) N..., x
TN-1, { y
(t-1) N..., y
TN-1, { z
(t-1) N..., z
TN-1It then is respectively the accekeration of x-axis, y-axis and z-axis in t time second.
Preserve module 300 and be used for preserving the preset state model.The preset state model comprises vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.
Preset state model according to judgement vehicles such as acceleration variances comprises vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.Consult shown in Figure 4ly, acceleration transducer at first carries out initialization operation, then obtains the real-time acceleration information of vehicle, and then acceleration information is carried out high-pass filtering process, and next step calculates the variance of acceleration transducer reading in each in second.Judge that according to acceleration variance whether the acceleration of automobile is all above predetermined threshold value.If judge that acceleration variance not all above predetermined threshold value, has judged whether that then certain variance has surpassed predetermined threshold value.If there is certain variance to surpass predetermined threshold value, then reporting vehicle has occured that the original place is rocked, the state such as car door of switch or bump sends to upper layer application.If do not have certain variance to surpass predetermined threshold value, then the stationary vehicle no exceptions informed upper layer application.If judge variance all above setting threshold according to acceleration variance, then the information such as estimating vehicle movement velocity scope and acceleration (comprise vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.) to upper layer application.Upper layer application is made the disposal of various application scenarioss according to the car status information that obtains, such as responses such as warning, initiation location.
In an embodiment of the present invention, judge vehicle-state according to the statistical nature of acceleration transducer output data, the possibility that has reduced wrong report or failed to report, and can estimate the current travelling speed value of vehicle or identify the states such as whether close door has occured.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, a plurality of steps or method can realize with being stored in the storer and by software or firmware that suitable instruction execution system is carried out.For example, if realize with hardware, the same in another embodiment, can realize with the combination of each or they in the following technology well known in the art: have for the discrete logic of data-signal being realized the logic gates of logic function, special IC with suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or the example in conjunction with specific features, structure, material or the characteristics of this embodiment or example description.In this manual, the schematic statement of above-mentioned term not necessarily referred to identical embodiment or example.And the specific features of description, structure, material or characteristics can be with suitable mode combinations in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple variation, modification, replacement and modification to these embodiment in the situation that does not break away from principle of the present invention and aim, scope of the present invention is limited by claim and equivalent thereof.
Claims (11)
1. a method of utilizing acceleration transducer to detect state of motion of vehicle is characterized in that, may further comprise the steps:
By the accekeration of acceleration transducer detection vehicle, wherein, described accekeration comprises x axle acceleration value, y axle acceleration value and z axle acceleration value;
Obtain the described accekeration in the schedule time, and the described accekeration in the described schedule time is added up and the statistical study processing, to obtain the statistical information within the described schedule time;
Described statistical information and preset state model are mated; And
When described statistical information and described preset state Model Matching, the corresponding state of described preset state model is the motion state of described vehicle.
2. the method for utilizing acceleration transducer to detect state of motion of vehicle as claimed in claim 1 is characterized in that, described statistical study processing comprises carries out average, variance and covariance processing to described accekeration, and result is added up.
3. the method for utilizing acceleration transducer to detect state of motion of vehicle as claimed in claim 1 or 2, it is characterized in that described preset state model comprises vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.
4. such as each described method of utilizing acceleration transducer to detect state of motion of vehicle of claim 1-3, it is characterized in that described Preset Time is about 5-20s.
5. the method for utilizing acceleration transducer to detect state of motion of vehicle as claimed in claim 3, it is characterized in that described the first pre-set velocity scope is about that 5-10km/h, described the second pre-set velocity scope are about 60-80km/h, described the 3rd pre-set velocity scope is about 80-100km/h.
6. the method for utilizing acceleration transducer to detect state of motion of vehicle as claimed in claim 1 is characterized in that, also comprises:
Described accekeration is carried out filtering to be processed.
7. a device that utilizes acceleration transducer to detect state of motion of vehicle is characterized in that, comprising:
Acceleration transducer, for detection of the accekeration of vehicle, wherein, described accekeration comprises x axle acceleration value, y axle acceleration value and z axle acceleration value;
Statistical module is used for obtaining interior described accekeration of the schedule time, and the described accekeration in the described schedule time is added up and the statistical study processing, to obtain the statistical information within the described schedule time;
Preserve module, be used for preserving the preset state model; And
Matching module is used for described statistical information and preset state model are mated, and when described statistical information and described preset state Model Matching, the corresponding state of described preset state model is the motion state of described vehicle.
8. the device that utilizes acceleration transducer to detect state of motion of vehicle as claimed in claim 7 is characterized in that, described statistical study processing comprises carries out average, variance and covariance processing to described accekeration, and result is added up.
9. the device that utilizes acceleration transducer to detect state of motion of vehicle as claimed in claim 8, it is characterized in that described preset state model comprises vehicle stationary state, vehicle door status of switch, vehicle launch state, the at the uniform velocity transport condition in the first pre-set velocity scope, the at the uniform velocity transport condition in the second pre-set velocity scope and the at the uniform velocity transport condition in the 3rd pre-set velocity scope.
10. the device that utilizes acceleration transducer to detect state of motion of vehicle as claimed in claim 7 is characterized in that described Preset Time is 5-20s.
11. the device that utilizes acceleration transducer to detect state of motion of vehicle as claimed in claim 9, it is characterized in that described the first pre-set velocity scope is that 5-10km/h, described the second pre-set velocity scope are that 60-80km/h, described the 3rd pre-set velocity scope are 80-100km/h.
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