CN114402220A - Radar and IMU-based automobile data recorder accident data storage method and device - Google Patents
Radar and IMU-based automobile data recorder accident data storage method and device Download PDFInfo
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Abstract
A method and a device for storing accident data of a vehicle event data recorder based on Radar and IMU are disclosed, wherein the method comprises the following steps: obtaining vehicle Radar data and vehicle speed data; calculating a collision time of the vehicle with respect to each obstacle from the Radar data; selecting the minimum collision time as a first collision time of the vehicle at the current moment; calculating first collision time from the current time to all times within a preset time, and analyzing whether the current time is a Radar dangerous time; simultaneously receiving the IMU triaxial acceleration of the vehicle at the current moment, and judging whether the current moment is the recorder dangerous moment; and when the current moment is the Radar dangerous moment and the recorder dangerous moment at the same time, marking the current moment as the real dangerous moment, and storing the driving data before and after the real dangerous moment. Radar data and triaxial acceleration are obtained from a vehicle chassis and analyzed to obtain accident data, so that the accuracy of accident data storage is improved, and the condition that a driving recorder and a black box are influenced by a memory and the accident data are circularly covered is avoided.
Description
The invention belongs to the technical field of vehicle data information storage, and particularly relates to a method and a device for storing accident data of a vehicle event data recorder based on Radar and IMU.
At present, the situation of traffic safety is increasingly severe, traffic accidents occur frequently, casualties and property loss are heavy; in the traffic accident processing and analyzing process, accidents caused by vehicle faults often have difficulty in technical analysis and responsibility definition, and the main reason is that key vehicle state data cannot be effectively stored and cannot reproduce the driving condition of a vehicle at the moment of the occurrence of the accidents, and the accident data is difficult to store due to the fact that a driving recorder and a black box are in cyclic coverage on the stored data due to internal storage. With the acceleration of the automobile intelligent process in the future, the problem of defining and distinguishing the responsibility of people and vehicles in traffic accidents is increasingly prominent, how to correctly divide the responsibility depends on deep analysis of the vehicle state on the accident occurrence occasion, and the storage and the recording of the key data of the vehicle driving state are more necessary.
The current data storage methods include: the system has no data recording and storing functions, cannot provide data playback, cannot provide decision reference for vehicle running state analysis, and consumes great resources, and the acquired data is not fully utilized, so that great resource waste is caused; in the prior art, some conventional automobile data recorders are used for storing accident data, and in the accident doubt judging and recording mode of the conventional automobile data recorders, in order to store the speed and the vehicle signal data which are 20 seconds before the vehicle stops, the accident data can be confirmed only by the form state of the vehicle, namely the change from driving to stopping, but the accident data judging condition of the method is not strict, some common formed data are easy to store as the accident data, and the data storage space of the automobile data recorders is limited, generally circular coverage is used, but the accident data are too much and easy to cover real data, so that the analysis and utilization of the data in the later stage of the driving accident are influenced.
The other data storage method is to analyze the running state of the vehicle through the data of the vehicle chassis and store the driving data in the accident state, but the current driving recorder and black box of the vehicle do not directly receive the information of the vehicle chassis, so that the driving data of the vehicle chassis cannot be well acquired, and after the data is acquired, the emergency state of the vehicle cannot be judged through the driving data, so that the driving data in the emergency state can be stored.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for storing accident data of a vehicle data recorder based on Radar and IMU, which can store accident data during driving for a long time.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for storing accident data of a vehicle event data recorder based on Radar and IMU comprises the following steps:
(1) obtaining vehicle Radar data and vehicle speed data of the vehicle; the Radar data comprises a distance, an angle, and a relative speed of the vehicle to the obstacle;
(2) calculating the collision time of the vehicle relative to each obstacle according to the vehicle Radar data;
(3) comparing collision time of all obstacles at the current moment of the vehicle, and selecting minimum data as first collision time of the current moment of the vehicle;
(4) calculating first collision time from the current time t0 to a preset time t1, and if the first collision time of 90% or more of the times is less than 2 seconds, marking the current time as a Radar dangerous time; t1-t0 is more than or equal to 5s and less than or equal to 10 s;
(5) all in oneThe three-axis acceleration of the IMU of the vehicle at the current moment is received in time, and if the three-axis acceleration is more than 3 +/-m/s in any direction2Marking the current moment as the dangerous moment of the recorder; the three-axis acceleration comprises left and right acceleration, front and back acceleration and up and down acceleration;
(6) and when the current moment is not only the Radar dangerous moment but also the recorder dangerous moment, marking the current moment as the real dangerous moment, and marking the driving data within 30 seconds before and after the real dangerous moment as important data for storage.
Further, the step (2) specifically includes the following steps:
judging whether the obstacle is in front of the vehicle according to the vehicle Radar data, wherein when the formula is met, the obstacle is not in front of the vehicle, and the collision time at the current moment is positive infinity:
d sin θ>2；
wherein d is the distance of the vehicle relative to the obstacle, and theta is the angle of the vehicle relative to the obstacle;
otherwise, the obstacle is in front of the vehicle, and the collision time is as follows:
v ris the relative speed of the obstacle and the vehicle.
Further, vehicle-mounted Radar data and triaxial acceleration data of the IMU built in the vehicle are obtained through chassis analysis.
Furthermore, a vehicle data recorder and a black box of the vehicle are connected to the canbus and are communicated with the chassis, and vehicle-mounted Radar data and triaxial acceleration data of the IMU built in the vehicle are obtained through chassis analysis.
Further, the important data is saved in the tachograph or black box and is not covered by the loop.
In view of the above, the second objective of the present invention is to provide a data storage device for recorder accident based on Radar and IMU, which can store accident data during driving for a long time.
In order to achieve the purpose, the technical scheme of the invention is as follows: a vehicle event data storage device based on Radar and IMU comprises:
the data receiving module is used for obtaining triaxial acceleration data of a vehicle, vehicle Radar data and vehicle speed data of the vehicle; the three-axis acceleration data comprises left and right acceleration, front and back acceleration and up and down acceleration of the vehicle;
a Radar module connected with the data receiving module and used for calculating the collision time of the vehicle relative to each obstacle at the current moment according to the Radar data of the vehicle, selecting minimum data as the first collision time of the current moment of the vehicle, marking whether the current moment is the Radar dangerous moment or not according to whether the first collision time from the current moment t0 to the preset moment t1 is 90% or more and the first collision time is less than 2 seconds; t1-t0 is more than or equal to 5s and less than or equal to 10 s;
the recorder module is connected with the data receiving module and used for judging whether the current moment is a recorder dangerous moment or not according to the triaxial acceleration data of the vehicle at the current moment; when the three-axis acceleration is more than 3m/s in any direction2Marking the current moment as the dangerous moment of the recorder;
and the data storage module is connected with the data receiving module, the Radar module and the recorder module, and is used for marking the current moment as a real dangerous moment when the current moment is both a Radar dangerous moment and a recorder dangerous moment, and marking the driving data within 30 seconds before and after the real dangerous moment as important data for storage.
Further, the Radar module comprises a judging unit, a collision time unit and a Radar marking unit;
the judging unit judges whether the obstacle is in front of the vehicle according to the vehicle Radar data, and when the following formula is met, the obstacle is not in front of the vehicle:
d sin θ>2；
the collision time unit is connected with the judging unit and used for calculating the collision time of the vehicle relative to each obstacle and selecting first collision time;
and the Radar marking unit is connected with the collision time unit and is used for recording whether the current time is Radar dangerous time.
Further, the data receiving module comprises a vehicle event data recorder and a black box; the automobile data recorder and the black box are connected to the canbus and communicated with the vehicle chassis.
Further, the data receiving module analyzes the chassis to obtain three-axis acceleration data and vehicle-mounted Radar data of the IMU in the vehicle.
Further, the important data stored in the data storage module is not overwritten by a loop.
Has the advantages that: the invention provides a method and a device for storing accident data of a vehicle data recorder based on Radar and IMU (inertial measurement Unit), which are used for acquiring vehicle-mounted Radar data and triaxial acceleration data from a vehicle chassis, analyzing and selecting accurate accident data from two directions of the Radar data and the triaxial acceleration data respectively, improving the accuracy of accident data storage and selection of the vehicle data recorder and a black box in actual conditions, and reducing the phenomena of memory loss and complicated query caused by less accident data or more accident data treated by common vehicle data due to inaccurate accident data judgment; and the automobile data recorder and the black box store the accident data obtained by analysis for a long time, so that the condition that the accident data is covered and cannot be inquired due to the fact that the automobile data recorder and the black box are influenced by a memory and the stored data are circularly covered is avoided.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive exercise.
FIG. 1 is a schematic structural diagram of a data storage device of a vehicle event data recorder based on Radar and IMU according to the present invention;
FIG. 2 is a flow chart of a method for storing accident data of a vehicle event data recorder based on Radar and IMU according to the present invention.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The examples are given for the purpose of better illustration of the invention, but the invention is not limited to the examples. Therefore, those skilled in the art should make insubstantial modifications and adaptations to the embodiments of the present invention in light of the above teachings and remain within the scope of the invention.
Example 1
Referring to fig. 1, a schematic structural diagram of a device for saving accident data of a vehicle event recorder based on Radar and an IMU according to the present invention is shown, and specifically, the device for saving accident data of a vehicle event recorder based on Radar and IMU includes:
the data receiving module 1 is used for obtaining triaxial acceleration data of a vehicle, speed data of the vehicle and vehicle Radar data;
in this embodiment, the data receiving module 1 includes a vehicle event data recorder and a black box; the automobile data recorder and the black box are connected to a Controller Area Network (CANBUS) and are communicated with a vehicle chassis, the data receiving module 1 analyzes three-axis acceleration data of a vehicle built-in inertial unit (IMU), vehicle-mounted Radar data and vehicle speed data of the vehicle from the chassis, and the three-axis acceleration data comprises left and right acceleration, front and rear acceleration and up and down acceleration of the vehicle;
a Radar module 2 connected to the data receiving module 1, configured to calculate collision time of the vehicle with respect to each obstacle at the current time according to the vehicle Radar data, select minimum data as first collision time of the vehicle at the current time, and mark whether the current time is Radar dangerous time, according to whether the first collision time after the current time t0 to a time within a preset time t1 is greater than 90%, where the first collision time is less than 2 seconds;
specifically, the Radar module in this embodiment includes a determining unit 21, a collision time unit 22, and a Radar marking unit 23;
the judging unit 21 judges whether the obstacle is in front of the vehicle according to the vehicle Radar data, and the specific judging method is as follows:
d sin θ>2；
when the above formula is satisfied, the obstacle is not in front of the vehicle;
the collision time unit 22 is connected with the judgment unit 21 and used for calculating the collision time of the vehicle relative to each obstacle and selecting a first collision time;
in this embodiment, when the collision time unit 22 receives the judgment result that the obstacle is not in front of the vehicle, the collision time between the vehicle and the obstacle is positive infinity; otherwise, the collision time unit 22 calculates the collision time of the vehicle corresponding to the obstacle:
v ris the relative velocity of the obstacle and the vehicle, and TTC is the time to collision; when the collision time of the vehicle corresponding to each obstacle is obtained, the collision time unit selects the minimum data in all the collision times as the first collision time of the vehicle at the current moment; then, calculating first collision time from the current time to a preset time, and if the first collision time of 90% or more of the times is less than 2 seconds, marking the current time as a Radar dangerous time; the preset time in this embodiment may be 5 seconds after the current time, or may be considered as the traveling of the vehicleWhen the speed is low, the running speed can be set to be 7 seconds or 10 seconds of the current time;
the Radar marking unit 23 is connected with the collision time unit and the judging unit 21, and is used for recording whether the current time is a Radar dangerous time;
in this embodiment, the Radar marking unit 23 receives all the first collision times from the current time of the vehicle to the preset time in the collision time unit 22, then interacts with the determining unit 21, calculates the total percentage of the first collision times within the time period, which are less than 2 seconds, and if the first collision times at 90% or more of the time are less than 2 seconds, the Radar marking unit 23 marks the current time as the Radar marking unit 23;
the recorder module 3 is connected with the data receiving module 1 and used for receiving the triaxial acceleration data of the vehicle at the current moment in the data receiving module 1, and when the triaxial acceleration is greater than 3m/s in any direction2Marking the current moment as the dangerous moment of the recorder;
the data storage module 4 is connected with the recorder module 3, the data receiving module 1 and the Radar module 2, the data storage module 4 firstly receives the mark of the recorder module 3 on the current moment, if the current moment is both the Radar dangerous moment and the recorder dangerous moment, the current moment is marked as the real dangerous moment, the data storage module interacts with the data receiving module, and the driving data at the current moment and the driving data in 30 seconds before and after the real dangerous moment are marked as important data to be stored;
preferably, in this embodiment, after the important data is the important data, the important data is stored in the data storage module, and in this embodiment, the important data is not affected by the car recorder and the black box memory by marking the important data, and the important data is not cyclically covered.
Example 2
Referring to fig. 2, a flowchart of a method for storing accident data of a car data recorder based on Radar and IMU according to the present invention is shown, and specifically, the method for storing accident data of a car data recorder based on Radar and IMU includes the following steps:
s100: obtaining vehicle speed data of a vehicle Radar data vehicle at the current moment and IMU triaxial acceleration of the vehicle; then, step S210 is performed;
in the embodiment, a vehicle event data recorder and a black box of the vehicle are connected to the CANBUS, communicate with the chassis, and analyze the chassis to obtain triaxial acceleration data, vehicle-mounted Radar data and vehicle speed data of the IMU in the vehicle; the triaxial acceleration data comprise left-right, front-back and up-down acceleration data of the vehicle;
in practice, when vehicle chassis information is communicated through a CANBUS, different vehicle types have different information formats, and a CANBUS message is in a format of 8 bytes which is 64 bits, because the formats are different, when the information of the vehicle chassis is received, adaptation is needed, but when the vehicle is a commercial truck, the chassis information of the commercial truck is in a standard format and only needs to be adapted to the CANBUS once, so that the vehicle can be suitable for all commercial trucks, if the vehicle is a common passenger vehicle, the chassis information is different from a hard vehicle type, and when the vehicle is communicated through the CANBUS, the adaptation is needed one by one; after adaptation, three-axis acceleration data of the IMU can be obtained through CANBUS analysis from the chassis;
likewise, the information format of the vehicle-mounted radar (radar) will not be exactly the same according to the type of the radar, but will include the following key information (for each obstacle): obstacle distance d, obstacle angle theta (relative to the main vehicle heading direction), relative speed v of the obstacle and the vehicler；
S210: calculating the collision time of the vehicle relative to each obstacle according to the vehicle Radar data; then, step S220 is performed;
in this step, the collision time of the vehicle with respect to each obstacle near the vehicle needs to be calculated according to the vehicle Radar data, and the specific steps are as follows:
firstly, judging whether an obstacle is in front of a vehicle, wherein the specific judgment method comprises the following steps:
d sin θ>2；
when the above formula is satisfied, the obstacle is not in front of the vehicle; when the obstacle is not in front of the vehicle, the collision time of the obstacle relative to the vehicle is positive and infinite; if the obstacle is in front of the vehicle, calculating a collision time of the vehicle with respect to the obstacle by the following formula:
v ris the relative velocity of the obstacle and the vehicle, and TTC is the time to collision;
s220: selecting the minimum collision time of the current moment of the vehicle relative to all the obstacles as a first collision time TTC1 of the current moment of the vehicle; then, step S230 is performed;
when the collision time of the vehicle corresponding to each obstacle is obtained in step S210, the method further selects the minimum data of all the collision times as the first collision time TTC1 of the vehicle at the current time;
s230: calculating first collision time TTC1 from the current time to all times within a preset time; then, step S240 is performed;
after the first collision time at the current time is calculated in step S230, we calculate the first collision time from the current time t0 to a preset time t1, where t1-t0 are more than or equal to 5S and less than or equal to 10S, and the preset time in this embodiment may be 5S after the current time, or may be 7S and 10S of the current time when the speed is slow in consideration of the driving speed of the vehicle;
s240: judging whether 90% or more of the time TTC1 is less than 2 seconds;
in this embodiment, the first collision time calculated to the time when 90% or more of the first collision time exists is less than 2 seconds, and if yes, step S250 is executed; otherwise, continuing to execute the step S100;
s250: marking the current moment as a Radar dangerous moment; then, step S320 is performed;
in step S240, it is determined that the first collision time at 90% or more of the time is less than 2 seconds, that is, in this time period, the collision time of the vehicle with respect to the obstacle is too short, and there is a possibility of an accident, and at this time, the event data storage device of the event data recorder based on the Radar and the IMU marks the current time as a Radar dangerous time;
s310: judging whether the triaxial acceleration has an instantaneous acceleration greater than 3 in any direction; if yes, executing step S320; otherwise, continuing to execute the step S100;
in the method, step S310 is implemented at the same time of step S210-step S250, the three-axis acceleration of the IMU in step S100 is received, and according to the magnitude of the three-axis acceleration, if the instant acceleration of the current moment in any direction in the three-axis acceleration is more than 3 +/-0.5 m/S2Otherwise, implementing step S20, otherwise implementing step S100 to continue receiving the vehicle-related data;
s320: marking the current moment as the dangerous moment of the recorder; then, step S400 is executed;
however, in step S310, the absolute value of the instantaneous acceleration at the current moment in any direction among the three-axis accelerations is greater than 3 +/-0.5 m/S2This range proves that the vehicle state is changing rapidly at the current moment, for example, in one embodiment, the instantaneous absolute value of the front and rear acceleration of the vehicle is 3.5m/s2If the vehicle is braked suddenly or the speed of the vehicle is abnormally increased in a short time, the vehicle can be considered as an emergency moment and is marked as a recorder dangerous moment; or in one embodiment, the instantaneous absolute value of the vertical acceleration of the vehicle is 2.5m/s2If the vehicle is in running and has obvious fluctuation and jitter, the moment can be considered as an emergency moment and marked as a recorder dangerous moment; or in one embodiment, the instantaneous absolute value of the left and right acceleration of the vehicle is 3m/s2Then, the vehicle is turning sharply, and the time can be regarded as the emergency time and marked as the recorder dangerous time;
s400: judging whether the current time is the Radar time and the recorder dangerous time at the same time, if so, executing the step S500, otherwise, executing the step S100;
after the Radar dangerous time and the recorder dangerous time in step S250 and step S320, in order to improve the accuracy of the vehicle in judging the accident occurrence, in this step, it is also necessary to judge whether the Radar dangerous time and the recorder dangerous time are simultaneously marked at the same time, if so, step S500 is executed, if not, step S100 is executed, and relevant Radar data and triaxial acceleration data of the received vehicle are received again;
s500: and marking the current moment as a real dangerous moment, and marking the driving data within 30 seconds before and after the real dangerous moment as important data for storage.
In this step, it is judged in step S400 that the current time is marked as the Radar dangerous time and the recorder dangerous time at the same time, the current time is marked as the real dangerous time, and the driving data within 30 seconds before and after the real dangerous time is marked as the important data for storage;
preferably, in this embodiment, after the mark is the important data, the important data is stored in the automobile data recorder and the black box, and the important data is set to be not influenced by the internal memories of the automobile data recorder and the black box, and the data recorded later does not cyclically cover the important data, so that the important data can be stored for a long time, and can be read and viewed later.
Further, in this embodiment, after the important data is marked, the automobile data recorder and the black box can send the important data to the traffic bureau, the terminal of the owner, and the like, so that the situations that the black box and the automobile data recorder are damaged, the important data cannot be inquired, and the accident analysis is difficult in an accident can be avoided.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
- A method for storing accident data of a vehicle event data recorder based on Radar and IMU is characterized by comprising the following steps:(1) obtaining vehicle Radar data and vehicle speed data of the vehicle; the Radar data comprises a distance, an angle, and a relative speed of the vehicle to the obstacle;(2) calculating the collision time of the vehicle relative to each obstacle according to the vehicle Radar data;(3) comparing collision time of all obstacles at the current moment of the vehicle, and selecting minimum data as first collision time of the current moment of the vehicle;(4) calculating first collision time of all moments from the current moment t0 to a preset moment t1, and if the first collision time of 90% or more moments is less than 2 seconds, marking the current moment as a Radar dangerous moment; wherein t1-t0 is more than or equal to 5s and less than or equal to 10 s;(5) simultaneously receiving IMU triaxial acceleration of the vehicle at the current moment, and if the instantaneous acceleration of the triaxial acceleration in any direction is more than 3 +/-0.5 m/s2If so, marking the current moment as the dangerous moment of the recorder; the three-axis acceleration comprises left and right acceleration, front and back acceleration and up and down acceleration;(6) and when the current moment is not only the Radar dangerous moment but also the recorder dangerous moment, marking the current moment as the real dangerous moment, and marking the driving data within 30 seconds before and after the real dangerous moment as important data for storage.
- The method according to claim 1, characterized in that said step (2) comprises in particular the steps of:judging whether the obstacle is in front of the vehicle according to the vehicle Radar data; when the following formula is satisfied, the obstacle is not in front of the vehicle, and the collision time at the present time is positive infinity:d sinθ>2；wherein d is the distance of the vehicle relative to the obstacle, and theta is the angle of the vehicle relative to the obstacle;otherwise, the obstacle is in front of the vehicle, and the collision time is as follows:
vr is the relative speed of the obstacle and the vehicle. - The method of claim 1, wherein the vehicle-mounted Radar data, the three-axis acceleration data of the vehicle-embedded IMU are parsed from the chassis.
- The method of claim 3, wherein the vehicle tachograph and the black box are connected to a canbus and communicate with the chassis, and the vehicle-mounted Radar data and the three-axis acceleration data of the IMU are analyzed from the chassis.
- The method according to any of claims 1-4, wherein the vital data is stored in a tachograph or black box and is not overwritten by cycles.
- A vehicle event data storage device based on Radar and IMU is characterized by comprising:the data receiving module is used for obtaining triaxial acceleration data of a vehicle, vehicle Radar data and vehicle speed data of the vehicle; the three-axis acceleration data comprises left and right acceleration, front and back acceleration and up and down acceleration of the vehicle;a Radar module connected with the data receiving module and used for calculating the collision time of the vehicle relative to each obstacle at the current moment according to the Radar data of the vehicle, selecting minimum data as the first collision time of the current moment of the vehicle, marking whether the current moment is Radar dangerous moment or not according to the fact that whether the first collision time from the current moment t0 to the moment more than 90% of the first collision time in the preset moment t1 is less than 2 seconds or not; wherein t1-t0 is more than or equal to 5s and less than or equal to 10 s;the recorder module is connected with the data receiving module and used for judging whether the current moment is a recorder dangerous moment or not according to the triaxial acceleration data of the vehicle at the current moment; when the three-axis acceleration is more than 3m/s in any direction2Is instantaneousThe acceleration marks the current moment as the dangerous moment of the recorder;and the data storage module is connected with the data receiving module, the Radar module and the recorder module, and is used for marking the current moment as a real dangerous moment when the current moment is both a Radar dangerous moment and a recorder dangerous moment, and marking the driving data within 30 seconds before and after the real dangerous moment as important data for storage.
- The device of claim 6, wherein the Radar module comprises a determining unit, a collision time unit, and a Radar labeling unit;the judging unit judges whether the obstacle is in front of the vehicle according to the vehicle Radar data, and when the following formula is met, the obstacle is not in front of the vehicle:d sinθ>2；the collision time unit is connected with the judging unit and used for calculating the collision time of the vehicle relative to each obstacle and selecting first collision time;and the Radar marking unit is connected with the collision time unit and is used for recording whether the current time is Radar dangerous time.
- The apparatus of claim 6, wherein the data receiving module comprises a tachograph, a black box; the automobile data recorder and the black box are connected to the canbus and communicated with the vehicle chassis.
- The apparatus of claim 8, wherein the data receiving module parses from the chassis three-axis acceleration data and vehicle-mounted Radar data of the in-vehicle IMU.
- The apparatus according to any one of claims 6-9, wherein the important data stored in the data storage module is not overwritten by a loop.
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