CN110143200A - A kind of vehicle status data acquisition methods, device, mobile unit and storage medium - Google Patents
A kind of vehicle status data acquisition methods, device, mobile unit and storage medium Download PDFInfo
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- CN110143200A CN110143200A CN201910257253.XA CN201910257253A CN110143200A CN 110143200 A CN110143200 A CN 110143200A CN 201910257253 A CN201910257253 A CN 201910257253A CN 110143200 A CN110143200 A CN 110143200A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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Abstract
This application discloses a kind of vehicle status data acquisition methods, device, mobile unit and storage mediums.Wherein, the vehicle status data acquisition methods include: control vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization；Obtain the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition；Obtain speed, the engine speed of vehicle；The vehicle attitude data, the speed and the engine speed are analyzed, vehicle shift position and/or vehicle status data are obtained.The application utilizes vehicle electrically controlling unit ECU to obtain speed, the engine data of vehicle by the attitude data using vehicle-mounted unmanned aerial vehicle acquisition vehicle.By analyzing the vehicle attitude data, the speed and the engine speed, obtain vehicle shift position and vehicle status data, so as to more fully and accurately get the related data of vehicle location and vehicle-state, so can from the related data of vehicle-state quickly, be accurately judged to the current state of vehicle.
Description
Technical field
This application involves vehicle status data acquiring technology field more particularly to a kind of vehicle status data acquisition methods,
Device, mobile unit and storage medium.
Background technique
With the rapid development of our country's economy with the continuous improvement of living standards of the people, automobile is as a kind of trip traffic work
Tool has become the important component in people's life.
The correlated condition parameter of automobile automobile in the process of running can correspond to generation variation, such as speed, vehicle location, steering
Deng.By obtaining the status data to automobile, and relevant state data is analyzed, can accurately know that the automobile is being run
Relevant parameter variation in the process, so as to provide effective help for optimization of vehicle or emergency first-aid.
But how the status data of Overall Acquisition automobile, be those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
The main purpose of the application is to provide a kind of vehicle status data acquisition methods, device, mobile unit and storage
Medium, it is intended to the vehicle shift position of Overall Acquisition vehicle and status data.
To achieve the above object, the application provides a kind of vehicle status data acquisition methods, and the vehicle status data obtains
Taking method includes: control vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization；Obtain the vehicle appearance of vehicle-mounted unmanned aerial vehicle acquisition
State data；Obtain speed, the engine speed of vehicle；The vehicle attitude data, the speed and the engine is analyzed to turn
Speed obtains vehicle shift position and/or vehicle status data.
Preferably, the analysis vehicle attitude data, the speed and the engine speed, it is mobile to obtain vehicle
Position specifically includes:
Obtain the longitude and latitude positional information of vehicle first position；
Obtain the azimuth information of first position；
Vehicle is obtained in the speed of first position and the second position；
Determine that vehicle is moved to the running time of the second position from first position；
According to the first position latitude and longitude information, running time, first position speed, first position azimuth and
Two position vehicle speed informations calculate second position longitude and latitude positional information, obtain vehicle shift position.
Preferably, the analysis vehicle attitude data, the speed and the engine speed, obtain vehicle-state
Data specifically include:
Obtain the acceleration information and vehicle attitude angular data in vehicle attitude data；
According to the acceleration information, vehicle attitude angular data, the speed, the engine speed according to preset rules
Obtain vehicle status data.
Preferably, described according to the acceleration information, vehicle attitude angular data, the speed, the engine speed
Vehicle status data is obtained according to preset rules, is specifically included:
Judge whether the speed is greater than the first speed threshold value；
If more than then judging whether the absolute acceleration values of the acceleration information are greater than the first absolute acceleration threshold value；
If more than then obtaining the vehicle status data is anxious acceleration or anxious deceleration.
Preferably, described according to the acceleration information, vehicle attitude angular data, the speed, the engine speed
Vehicle status data is obtained according to preset rules, is specifically included:
Judge whether the speed is greater than the second speed threshold value；
If more than then judging whether the direction change at the vehicle attitude angle in the first preset time is greater than predetermined angle；
If more than then obtaining the vehicle status data is zig zag.
Preferably, described according to the acceleration information, vehicle attitude angular data, the speed, the engine speed
Vehicle status data is obtained according to preset rules, is specifically included:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration values of the acceleration information are greater than the second absolute acceleration threshold value；
If more than then obtaining the vehicle status data is collision.
Preferably, described according to the acceleration information, vehicle attitude angular data, the speed, the engine speed
Vehicle status data is obtained according to preset rules, is specifically included:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration in the second preset time is greater than third absolute acceleration threshold value；
If more than then obtaining the vehicle status data is that vibration wakes up；
If being not more than, obtaining the vehicle status data is suspend mode.
To achieve the above object, the application also provides a kind of vehicle status data acquisition device, the vehicle status data
Acquisition device includes:
Control unit, for controlling vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization；
Acquiring unit, for obtaining the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition；
The acquiring unit is also used to obtain the speed of vehicle, engine speed；
Analytical unit obtains vehicle shifting for analyzing the vehicle attitude data, the speed and the engine speed
Dynamic position and vehicle status data.
Preferably, the analytical unit is used to obtain the longitude and latitude positional information of vehicle first position；Obtain vehicle first
The azimuth information of position；Vehicle is obtained in the speed of first position and the second position；Determine that vehicle is moved to from first position
The running time of the second position；And according to the first position latitude and longitude information, running time, first position speed, first
Location fix angle and second position speed calculate second position longitude and latitude positional information, obtain vehicle shift position.
Preferably, the analytical unit is used to obtain the acceleration information and vehicle attitude angle number in vehicle attitude data
According to；And according to the acceleration information, vehicle attitude angular data, the speed, the engine speed according to preset rules
Obtain vehicle status data.
Preferably, the vehicle status data is vehicle suddenly acceleration or anxious corresponding data of slowing down, the analytical unit
For judging whether the speed is greater than the first speed threshold value；If more than then judging the absolute acceleration of the acceleration information
Whether value is greater than the first absolute acceleration threshold value；If more than then obtaining the vehicle status data is anxious acceleration or anxious deceleration.
Preferably, vehicle status data is the corresponding data of vehicle zig zag, and the analytical unit is for judging the vehicle
Whether speed is greater than the second speed threshold value；If more than, then judge the vehicle attitude angle in the first preset time direction change whether
Greater than predetermined angle；If more than then obtaining the vehicle status data is zig zag.
Preferably, vehicle status data is the corresponding data of vehicle collision, and the analytical unit is for judging the speed
It whether is 0；If so, judging whether the absolute acceleration values of the acceleration information are greater than the second absolute acceleration threshold value；If
It is greater than, then obtains the vehicle status data as collision.
Preferably, vehicle status data is that Vehicular vibration wakes up or the corresponding data of suspend mode, the analytical unit are used to sentence
Whether the speed of breaking is 0；If so, judging whether the absolute acceleration in the second preset time is greater than third absolute acceleration
Threshold value；If more than then obtaining the vehicle status data is that vibration wakes up；If being not more than, the vehicle status data is obtained
For suspend mode.
To achieve the above object, the application also provides a kind of mobile unit, and the mobile unit includes memory, processing
Device, the processor are configured for transferring the executable calculation procedure execution method above-mentioned of storage in the memory.
To achieve the above object, the application also provides a kind of computer readable storage medium, the computer-readable storage
Media storage has executable calculation procedure, and the executable calculation procedure is performed, and realizes such as claim method above-mentioned.
Compared with prior art, it a kind of vehicle status data acquisition methods provided by the present application, device, mobile unit and deposits
Storage media.The application obtains vehicle by control vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization, using vehicle-mounted unmanned aerial vehicle
Attitude data, utilize vehicle electrically controlling unit ECU obtain vehicle speed, engine data.By analyzing the vehicle appearance
State data, the speed and the engine speed, obtain vehicle shift position and vehicle status data, so as to more complete
Face and the related data for accurately getting vehicle location and vehicle-state, and then can related data from vehicle-state and position
Set current state that is quick, being accurately judged to vehicle.
Detailed description of the invention
Fig. 1 is a kind of vehicle status data acquisition methods flow chart of steps provided by the application first embodiment.
Fig. 2 is a kind of structural framing figure of vehicle status data acquisition system provided by the application second embodiment.
Fig. 3 is the sub-step flow chart of step S14 one embodiment in the application Fig. 1.
Fig. 4 is the sub-step flow chart of another embodiment of step S14 in the application Fig. 1.
Fig. 5 is the structural block diagram of vehicle status data acquisition device provided by the application 3rd embodiment.
Fig. 6 is the structural block diagram of mobile unit provided by the application fourth embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the application, not
For limiting the application.
The description and claims of this application and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
It should be noted that the description for being related to " first ", " second " etc. in this application is used for description purposes only, and cannot
It is interpreted as its relative importance of indication or suggestion or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In addition, the skill between each embodiment
Art scheme can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when technical solution
Will be understood that the combination of this technical solution is not present in conjunction with there is conflicting or cannot achieve when, also not this application claims
Protection scope within.
The application provides a kind of vehicle status data acquisition methods, device, mobile unit and storage medium.The application passes through
Vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization are controlled, the attitude data of vehicle is obtained using vehicle-mounted unmanned aerial vehicle, is utilized
Speed, the engine data of vehicle electrically controlling unit ECU acquisition vehicle.By analyze the vehicle attitude data, the speed and
The engine speed obtains vehicle shift position and vehicle status data, so as to more fully and accurately get
The related data of vehicle location and vehicle-state, so can from the related data of vehicle-state and position quickly, accurate judgement
The current state of vehicle out.
Referring to Fig. 1, Fig. 1 is a kind of vehicle status data acquisition methods provided by the present application, which is obtained
Taking method includes step S11-S14.
Wherein, step S11: control vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization.
The vehicle loading data capture method can run on mobile unit, which can be OBD equipment, can also
To be other mobile units that can be communicated with ECU and vehicle-mounted unmanned aerial vehicle.
Referring to Fig. 2, Fig. 2 is that a kind of vehicle data provided by the present application obtains system 100, which obtains system
Including vehicle 10, mobile unit 20 and vehicle-mounted unmanned aerial vehicle 30.Wherein, mobile unit 20 and vehicle 10 and vehicle-mounted unmanned aerial vehicle 30
Communication connection is with the communications between realizing.
Vehicle 10 is provided with vehicle electrically controlling unit ECU (Electronic Control Unit).Mobile unit 20 controls vehicle
Load unmanned plane 10 and vehicle electrically controlling unit ECU communication synchronization, mobile unit 20 namely control vehicle-mounted unmanned aerial vehicle 10 and vehicle electrically controlling
Unit ECU is put at the same time or similar time point is to the transmission data of car-mounted device 20, wherein similar time point is two
Difference between a time point is less than the time point of preset time threshold.
Step S12: the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition are obtained.
The vehicle-mounted unmanned aerial vehicle 30 is provided with first sensor component, for acquiring the attitude data of vehicle, wherein vehicle
Attitude data is used to characterize the information of the current related posture of vehicle 10, such as acceleration information, vehicle attitude angular data, speed
Deng.
Vehicle-mounted unmanned aerial vehicle 30 is fixed on vehicle 10, the first sensor component of vehicle-mounted unmanned aerial vehicle 30 it is collected it is vehicle-mounted nobody
Vehicle attitude data of the attitude data of machine 30 as vehicle 10, mobile unit 20 obtain vehicle-mounted unmanned aerial vehicle 30 and pass through the first sensing
The collected vehicle attitude data of device assembly.
Wherein, first sensor component includes in locator, magnetic compass, acceleration transducer, barometer and gyroscope
At least one.Locator can be GPS locator and be also possible to Beidou locator, and user obtains the GPS of vehicle-mounted unmanned aerial vehicle 30
The location information datas such as location data or GPS Beidou location data.Magnetic compass for measure earth magnetic field intensity along it is vehicle-mounted nobody
The component of 30 axis of machine, and the course angle of 30 body of vehicle-mounted unmanned aerial vehicle is calculated according to this, it can be used for auxiliary positioning.Acceleration
Sensor is used to obtain the acceleration information of unmanned plane.Barometer is for measuring the corresponding atmosphere in 30 present position of vehicle-mounted unmanned aerial vehicle
Pressure value, the absolute height above sea level of the position can be calculated according to the atmospheric value, to obtain height above sea level locating for vehicle 10
Data.Gyroscope is for obtaining the attitude angle informations such as course angle, pitch angle and the roll angle of unmanned plane.
Step S13: speed, the engine speed of vehicle are obtained.
Second sensor component is provided on vehicle 10, for acquiring the speed of vehicle 10 and the engine turn of vehicle 10
The vehicle operation datas such as speed, and vehicle operation data is transferred to vehicle electrically controlling unit ECU.Mobile unit 20 passes through vehicle electrically controlling
Unit ECU obtains the vehicle operation datas such as the speed of vehicle 10 and the engine speed of vehicle 10.
It is appreciated that second sensor component includes velocity sensor, engine speed sensor.Wherein, engine turns
Fast sensor is used to obtain the engine speed information of vehicle 10, and velocity sensor is used to obtain the travel speed of vehicle 10.
Step S14: analyzing the vehicle attitude data, the speed and the engine speed, obtains the mobile position of vehicle
It sets and/or vehicle status data.
Referring to Fig. 3, Fig. 3 is mono- sub-steps flow chart of step S14 in an embodiment.
In some embodiments, the vehicle attitude data, the speed and the engine speed are analyzed, vehicle is obtained
Shift position specifically includes:
Step S141: the longitude and latitude positional information of vehicle first position is obtained；
Step S142: the azimuth information of vehicle first position is obtained；
Step S143: the speed of vehicle first position and the second position is obtained；
Step S144: determine that vehicle is moved to the running time of the second position from first position；
Step S145: according to the first position latitude and longitude information, running time, first position speed, first position side
Parallactic angle and second position speed calculate second position longitude and latitude positional information, obtain vehicle shift position.
Wherein, the sequence of step S141-S144, which can according to need, is exchanged.
Specifically, when vehicle is when GPS signal is lost in any one position, the location information of any position i.e. can not and
When obtain, using the position of the loss GPS signal as second position P2, before GPS signal is lost the t time corresponding position as
First position P1.
If desired the location information for knowing second position P2 is the latitude and longitude information for needing to know second position P2, i.e.,
P2 (lon2, lat2), is illustrated so that vehicle moves with uniform velocity as an example.
Believed by first sensor component or vehicle attitude data, obtaining longitude and latitude of the vehicle 10 in first position P1
Breath, is denoted as: P1 (lon1, lat1).
By in first sensor component or vehicle attitude data, obtaining vehicle 10 in the azimuth angle alpha of first position P1.
By in second sensor component or vehicle attitude data, obtain vehicle 10 first position P1 speed v1 with
And the speed v2 in second position P2.
By vehicle attitude data acquisition from the running time t of first position P1 and second position P2.
The mean radius of the known earth is ARC=6371393m.
The then latitude lat2 of the longitude lon2 of second position P2 and the second position, can be by calculating acquisition as follows:
Lon2=lon1+d*sin α/[* 2 π/360 ARC*cos (lat1)], (formula one)
Lat2=lat1+d*cos α/(π/360 ARC*2), (formula two)
D=(v1+v2) * t/2.(formula three)
Wherein, by formula one and formula three you can learn that the longitude lon2 of second position P2 namely the warp of the second position
Degree, be exactly horizontal translation away from degree (d*sin α) divided by current latitude section perimeter (2 π * ARC*cos (lat1), then often multiplied by
360 degree, the degree of horizontal cross translation is known that, along with the longitude lon1 of first position P1, exactly second position P2
The corresponding value of longitude lon2.
By formula two and formula three you can learn that the latitude lat2 of the second position namely latitude lat2 of the second position,
The distance d (d*cos α) of vertical translation, multiplied by 360 degree, can know 10 longitudinal translation of vehicle divided by earth longitudinal direction perimeter
Degree along with the latitude lat1 of first position be exactly the corresponding value of latitude lat2 of second position P2.
Referring to Fig. 4, Fig. 4 is mono- sub-steps flow chart of step S14 in an embodiment.
In some embodiments, the vehicle attitude data, the speed and the engine speed are analyzed, vehicle is obtained
Status data specifically includes:
Step S241: the acceleration information and vehicle attitude angular data in vehicle attitude data are obtained；
Step S242: it is pressed according to the acceleration information, vehicle attitude angular data, the speed, the engine speed
Vehicle status data is obtained according to preset rules, wherein the preset rules are the vehicle status data and the acceleration degree
According to, any one in vehicle attitude angular data, the speed, the engine speed or the corresponding relationship between more persons.
In some embodiments, vehicle status data is vehicle suddenly acceleration or anxious corresponding data of slowing down, step S242
It specifically includes:
Step S2421a: judge whether the speed is greater than the first speed threshold value.
Whether mobile unit 20 judges the speed of current vehicle 10 more than the first speed threshold value, which can be with
It is set as needed, it is preferable that the first speed threshold value is 35km/h.
Step S2422a: if more than then judging whether the absolute acceleration values of the acceleration information are greater than first absolutely
Acceleration rate threshold.
If current vehicle speed is more than the first speed threshold value, judge whether the absolute acceleration values of acceleration information are greater than first
Absolute acceleration threshold value, the first absolute acceleration threshold value can according to need setting, it is preferable that the first absolute acceleration threshold value
For 12m/s2。
Step S2423a: if more than the vehicle status data is obtained then as anxious acceleration or anxious deceleration.
If absolute acceleration values are more than the first absolute acceleration threshold value, judge that vehicle status data accelerates for vehicle 10 is anxious
Or anxious corresponding data of slowing down.
In some embodiments, vehicle status data is the corresponding data of vehicle zig zag, and step S242 is specifically included:
Step S2421b: judge whether the speed is greater than the second speed threshold value.
Second speed threshold value can be set as needed, it is preferable that the second speed threshold value is 30km/h.
Judge whether the current vehicle speed of vehicle 10 is greater than the second speed threshold value.
Step S2422b: if more than then judging whether the direction change at the vehicle attitude angle in the first preset time is greater than
Predetermined angle.
If the current vehicle speed of vehicle 10 is greater than the second speed threshold value, judge in the first preset time t 1, vehicle 10
Whether the direction change of attitude angle is greater than predetermined angle, and first preset time t 1 and predetermined angle can be set as needed,
Preferably, the first preset time t 1 is 3s, and predetermined angle is 30 °.
Step S2423b: if more than the vehicle status data is obtained then as zig zag.
If whether the direction change of the attitude angle of vehicle 10 is greater than predetermined angle in the first preset time t 1, then judge
Vehicle status data corresponds to vehicle 10 and takes a sudden turn corresponding data.
In some embodiments, vehicle status data is the corresponding data of vehicle collision, and step S242 is specifically included:
Step S2421c: judge whether the speed is 0.
Step S2422c: if so, judging whether the absolute acceleration values of the acceleration information are greater than second and absolutely add
Threshold speed.
If the current speed of vehicle 10 is zero, judge whether acceleration value is greater than the second absolute acceleration threshold value, this
Two absolute acceleration threshold values can be set as needed, it is preferable that the second absolute acceleration threshold value is 24.5m/s2。
Step S2423c: if more than the vehicle status data is obtained then as collision.
If acceleration value is greater than the second absolute acceleration threshold value, determine the status data of vehicle 10 for the collision pair of vehicle 10
The status data answered.
In some embodiments, vehicle status data is that Vehicular vibration wakes up or the corresponding data of suspend mode, step S242 have
Body includes:
Step S2421d: judge whether the speed is 0.
Step S2422d: if so, whether the absolute acceleration for judging in the second preset time is greater than third and absolutely accelerates
Spend threshold value.
If the speed of vehicle 10 is zero, it is absolute to judge whether the absolute acceleration in the second preset time t 2 is greater than third
Acceleration rate threshold, wherein the second preset time t 2 and third absolute acceleration threshold value can be set as needed, it is preferable that the
Two preset time ts 2 are 180s, and third absolute acceleration threshold value is 2m/s2。
Step S2423d: if more than then obtaining the vehicle status data and being waken up for vibration.
Absolute acceleration in second preset time t 2 is greater than third absolute acceleration threshold value, then determines vehicle-state number
Corresponding status data is waken up according to for the vibration of vehicle 10.
Step S2424d: if being not more than, obtaining the vehicle status data is suspend mode.
Absolute acceleration in second preset time t 2 is less than or equal to third absolute acceleration threshold value, then determines vehicle
Status data is the corresponding status data of 10 suspend mode of vehicle.
Referring to Fig. 5, Fig. 5 is a kind of vehicle status data acquisition device 40 provided by the present application, vehicle status data is obtained
The device 40 is taken to include:
Control unit 401, for controlling vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization.
Acquiring unit 402, for obtaining the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition.
Acquiring unit 402 is also used to obtain the speed of vehicle, engine speed, and
Analytical unit 403 obtains vehicle for analyzing the vehicle attitude data, the speed and the engine speed
Shift position and/or vehicle status data.
Preferably, the analytical unit 403 is used to obtain the longitude and latitude positional information of vehicle first position；Obtain vehicle the
The azimuth information of one position；Vehicle is obtained in the speed of first position and the second position；Determine that vehicle is mobile from first position
To the running time of the second position；And according to the first position latitude and longitude information, running time, first position speed,
One location fix angle and second position speed calculate second position longitude and latitude positional information, obtain vehicle shift position.
Preferably, the analytical unit 403 is used to obtain acceleration information and the vehicle attitude angle in vehicle attitude data
Data；And according to the acceleration information, vehicle attitude angular data, the speed, the engine speed according to default rule
Then obtain vehicle status data.
Preferably, the vehicle status data is vehicle suddenly acceleration or anxious corresponding data of slowing down, the analytical unit
403 for judging whether the speed is greater than the first speed threshold value；If more than then judging the absolute acceleration of the acceleration information
Whether angle value is greater than the first absolute acceleration threshold value；If more than then obtaining the vehicle status data is suddenly to accelerate or suddenly subtract
Speed.
Preferably, vehicle status data is the corresponding data of vehicle zig zag, and the analytical unit 403 is described for judging
Whether speed is greater than the second speed threshold value；If more than then judging that the direction change at the vehicle attitude angle in the first preset time is
It is no to be greater than predetermined angle；If more than then obtaining the vehicle status data is zig zag.
Preferably, vehicle status data is the corresponding data of vehicle collision, and the analytical unit 403 is for judging the vehicle
Whether speed is 0；If so, judging whether the absolute acceleration values of the acceleration information are greater than the second absolute acceleration threshold value；
If more than then obtaining the vehicle status data is collision.
Preferably, vehicle status data is that Vehicular vibration wakes up or the corresponding data of suspend mode, the analytical unit 403 are used for
Judge whether the speed is 0；If so, whether the absolute acceleration for judging in the second preset time is greater than third and absolutely accelerates
Spend threshold value；If more than then obtaining the vehicle status data is that vibration wakes up；If being not more than, the vehicle-state number is obtained
According to for suspend mode.
Referring to Fig. 6, the mobile unit 20 includes memory 201, processor 202 and bus 203.Wherein memory 201
It is connect by bus 203 with processor 202.The bus 203 can be divided into address bus, data/address bus, control bus etc..
Memory 201 includes at least a type of readable storage medium storing program for executing, and the readable storage medium storing program for executing includes flash memory, hard
Disk, multimedia card, card-type memory (for example, SD or DX memory etc.), magnetic storage, disk, CD etc..Memory 201
It can be the internal storage unit of mobile unit 20, such as the hard disk of the mobile unit 20 in some embodiments.Memory 201
It is also possible to the plug-in type being equipped on the External memory equipment of mobile unit 20, such as mobile unit 20 in further embodiments
Hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Memory 201 can be not only used for the application software and Various types of data that storage is installed on mobile unit 20,
Such as code of computer-readable program etc., it can be also used for temporarily storing the data that has exported or will export.
Processor 202 can be in some embodiments central processing unit (Central Processing Unit, CPU),
Controller, microcontroller, microprocessor or other data processing chips, the program code for being stored in run memory 201
Or processing data, realize following steps:
Control vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization；
Obtain the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition；
Obtain speed, the engine speed of vehicle；
The vehicle attitude data, the speed and the engine speed are analyzed, vehicle shift position and/or vehicle are obtained
Status data.
Preferably, processor 102 realizes the analysis vehicle attitude data, the speed and described
Engine speed obtains vehicle shift position and specifically includes:
Obtain the longitude and latitude positional information of vehicle first position；
Obtain the azimuth information of vehicle first position；
Vehicle is obtained in the speed of first position and the second position；
Determine that vehicle is moved to the running time of the second position from first position；
According to the first position latitude and longitude information, running time, first position speed, first position azimuth and
Two position speeds calculate second position longitude and latitude positional information, obtain vehicle shift position.
Preferably, processor 102 realizes the analysis vehicle attitude data, the speed and described
Engine speed obtains vehicle status data and specifically includes:
Obtain the acceleration information and vehicle attitude angular data in vehicle attitude data；
According to the acceleration information, vehicle attitude angular data, the speed, the engine speed according to preset rules
Obtain vehicle status data.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is greater than the first speed threshold value；
If more than then judging whether the absolute acceleration values of the acceleration information are greater than the first absolute acceleration threshold value；
If more than then obtaining the vehicle status data is anxious acceleration or anxious deceleration.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is greater than the second speed threshold value；
If more than then judging whether the direction change at the vehicle attitude angle in the first preset time is greater than predetermined angle；
If more than then obtaining the vehicle status data is zig zag.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration values of the acceleration information are greater than the second absolute acceleration threshold value；
If more than then obtaining the vehicle status data is collision.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration in the second preset time is greater than third absolute acceleration threshold value；
If more than then obtaining the vehicle status data is that vibration wakes up；
If being not more than, obtaining the vehicle status data is suspend mode.
In some embodiments, the application also provides a kind of storage medium, and computer is stored on the storage medium to be held
Capable vehicle status data acquisition methods program, the vehicle status data acquisition methods program can be handled by one or more
Device executes, to realize following steps:
Control vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization；
Obtain the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition；
Obtain speed, the engine speed of vehicle；
The vehicle attitude data, the speed and the engine speed are analyzed, vehicle shift position and/or vehicle are obtained
Status data.
Preferably, processor 102 realizes the analysis vehicle attitude data, the speed and described
Engine speed obtains vehicle shift position and specifically includes:
Obtain the longitude and latitude positional information of vehicle first position；
Obtain the azimuth information of vehicle first position；
Vehicle is obtained in the speed of first position and the second position；
Determine that vehicle is moved to the running time of the second position from first position；
According to the first position latitude and longitude information, running time, first position speed, first position azimuth and
Two position speeds calculate second position longitude and latitude positional information, obtain vehicle shift position.
Preferably, processor 102 realizes the analysis vehicle attitude data, the speed and described
Engine speed obtains vehicle status data and specifically includes:
Obtain the acceleration information and vehicle attitude angular data in vehicle attitude data；
According to the acceleration information, vehicle attitude angular data, the speed, the engine speed according to preset rules
Obtain vehicle status data.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is greater than the first speed threshold value；
If more than then judging whether the absolute acceleration values of the acceleration information are greater than the first absolute acceleration threshold value；
If more than then obtaining the vehicle status data is anxious acceleration or anxious deceleration.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is greater than the second speed threshold value；
If more than then judging whether the direction change at the vehicle attitude angle in the first preset time is greater than predetermined angle；
If more than then obtaining the vehicle status data is zig zag.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration values of the acceleration information are greater than the second absolute acceleration threshold value；
If more than then obtaining the vehicle status data is collision.
Preferably, processor 102 is realized described according to the acceleration information, vehicle attitude angular data, the speed, institute
It states engine speed and obtains vehicle status data according to preset rules, specifically include:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration in the second preset time is greater than third absolute acceleration threshold value；
If more than then obtaining the vehicle status data is that vibration wakes up；
If being not more than, obtaining the vehicle status data is suspend mode.
The above is only preferred embodiment of the present application, are not intended to limit the scope of the patents of the application, all to utilize this Shen
Please equivalent structure or equivalent flow shift made by specification and accompanying drawing content, be applied directly or indirectly in other relevant skills
Art field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of vehicle status data acquisition methods, which is characterized in that the vehicle status data acquisition methods include:
Control vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization；
Obtain the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition；
Obtain speed, the engine speed of vehicle；
The vehicle attitude data, the speed and the engine speed are analyzed, vehicle shift position and/or vehicle shape are obtained
State data.
2. the method according to claim 1, wherein the analysis vehicle attitude data, the speed and
The engine speed obtains vehicle shift position, specifically includes:
Obtain the longitude and latitude positional information of vehicle first position；
Obtain the azimuth information of vehicle first position；
Vehicle is obtained in the speed of first position and the second position；
Determine that vehicle is moved to the running time of the second position from first position；
According to the first position latitude and longitude information, running time, first position speed, first position azimuth and second
It sets speed and calculates second position longitude and latitude positional information, obtain vehicle shift position.
3. the method according to claim 1, wherein the analysis vehicle attitude data, the speed and
The engine speed, obtains vehicle status data, specifically includes:
Obtain the acceleration information and vehicle attitude angular data in vehicle attitude data；
It is obtained according to the acceleration information, vehicle attitude angular data, the speed, the engine speed according to preset rules
Vehicle status data.
4. according to the method described in claim 3, it is described according to the acceleration information, vehicle attitude angular data, the speed,
The engine speed obtains vehicle status data according to preset rules, specifically includes:
Judge whether the speed is greater than the first speed threshold value；
If more than then judging whether the absolute acceleration values of the acceleration information are greater than the first absolute acceleration threshold value；
If more than then obtaining the vehicle status data is anxious acceleration or anxious deceleration.
5. according to the method described in claim 3, it is described according to the acceleration information, vehicle attitude angular data, the speed,
The engine speed obtains vehicle status data according to preset rules, specifically includes:
Judge whether the speed is greater than the second speed threshold value；
If more than then judging whether the direction change at the vehicle attitude angle in the first preset time is greater than predetermined angle；
If more than then obtaining the vehicle status data is zig zag.
6. according to the method described in claim 3, it is described according to the acceleration information, vehicle attitude angular data, the speed,
The engine speed obtains vehicle status data according to preset rules, specifically includes:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration values of the acceleration information are greater than the second absolute acceleration threshold value；
If more than then obtaining the vehicle status data is collision.
7. according to the method described in claim 3, it is described according to the acceleration information, vehicle attitude angular data, the speed,
The engine speed obtains vehicle status data according to preset rules, specifically includes:
Judge whether the speed is 0；
If so, judging whether the absolute acceleration in the second preset time is greater than third absolute acceleration threshold value；
If more than then obtaining the vehicle status data is that vibration wakes up；
If being not more than, obtaining the vehicle status data is suspend mode.
8. a kind of vehicle status data acquisition device, which is characterized in that the vehicle status data acquisition device includes:
Control unit, for controlling vehicle-mounted unmanned aerial vehicle and vehicle electrically controlling unit ECU communication synchronization；
Acquiring unit, for obtaining the vehicle attitude data of vehicle-mounted unmanned aerial vehicle acquisition；
The acquiring unit is also used to obtain the speed of vehicle, engine speed；
Analytical unit obtains the mobile position of vehicle for analyzing the vehicle attitude data, the speed and the engine speed
It sets and vehicle status data.
9. a kind of mobile unit, which is characterized in that the mobile unit includes memory, processor, and the processor is configured
The method according to claim 1 to 7 is executed for transferring the executable calculation procedure of storage in the memory.
10. a kind of storage medium, which is characterized in that the storage medium is stored with executable calculation procedure, the executable meter
It calculates program to be performed, realizes the method according to claim 1 to 7.
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