CN114407905A - Vehicle collision detection method - Google Patents
Vehicle collision detection method Download PDFInfo
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- CN114407905A CN114407905A CN202210126178.5A CN202210126178A CN114407905A CN 114407905 A CN114407905 A CN 114407905A CN 202210126178 A CN202210126178 A CN 202210126178A CN 114407905 A CN114407905 A CN 114407905A
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 230000001133 acceleration Effects 0.000 claims abstract description 92
- 238000000034 method Methods 0.000 claims abstract description 19
- 230000000994 depressogenic effect Effects 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
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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
- B60W40/107—Longitudinal acceleration
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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
- B60W40/109—Lateral acceleration
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0604—Throttle position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a vehicle collision detection method, which relates to the field of vehicle collision detection and solves the problems that misjudgment can occur due to frequent change of acceleration when a vehicle is accelerated and decelerated frequently and the method can not give out which direction the vehicle has a collision in the existing method, and the following scheme is provided and comprises the following steps: when the acceleration in the x direction is suddenly increased to ax1, if the accelerator pedal is stepped on, the acceleration ax2 of the vehicle is calculated according to the accelerator position, if ax1 is far larger than ax2, a backward collision is judged to occur, and if ax1 is far smaller than ax2, a forward collision is judged to occur; when the acceleration in the x direction suddenly drops to ax1, if the brake pedal is pressed down, the acceleration ax3 of the vehicle is calculated according to the brake position, if ax1 is far larger than ax3, a backward collision is judged to occur, and if ax1 is far smaller than ax3, a forward collision is judged to occur. The device has the characteristics that the collision detection method based on the acceleration sensor and combined with the pedal position can ensure higher detection accuracy and reduce the misjudgment probability.
Description
Technical Field
The invention relates to the field of vehicle collision detection, in particular to a vehicle collision detection method.
Background
With the increase of the degree of vehicle intelligence, the assembly requirements for active and passive safety technologies are increasingly strong. There is always a possibility that the vehicle may collide while traveling on a road or stopping. The vehicle collision detection is realized, firstly, the vehicle driver and passengers can be warned, and in addition, external sensing input can be provided for vehicle autonomous control.
The invention has the Chinese patent number of 201510497542.9, the application date of 2015, 8 and 13, and is named as a vehicle collision detection method and a rapid processing system, and discloses a method for detecting vehicle collision, which comprises the steps of setting collision parameters, namely a first preset time T1, a second preset time T2, a preset acceleration value K and a preset speed value V; acquiring a real-time acceleration value M and a real-time speed value N of a vehicle; judging whether the real-time acceleration values M of the vehicle exceed the preset acceleration value K within a first preset time T1; whether the vehicle real-time speed value N is reduced below a preset speed value V or not within a second preset time T2; and finally, sending the position information of the vehicle, the maximum acceleration value M and the maximum speed value N which are acquired at the time of T1 to a third-party monitoring center, and arranging rescue by the third-party monitoring center according to the acquired information. By adopting the method and the system, the accuracy of collision detection can be effectively improved, and the false alarm rate is reduced. Namely, whether the collision occurs is judged through the characteristic that the acceleration is increased firstly and then decreased. When the vehicle is accelerated and decelerated frequently, misjudgment may occur because the acceleration is changed frequently, and the method cannot give which direction the vehicle collides. Similarly, the Chinese invention patents, patent numbers 201710027218.X, 201610581404.3 and 201811256531.1 also disclose similar technologies, and the possibility of collision misjudgment also exists. A vehicle collision detection method is therefore proposed.
Disclosure of Invention
The invention aims to provide a vehicle collision detection method, which solves the problems that the conventional method can cause misjudgment due to frequent change of acceleration when a vehicle is accelerated and decelerated frequently, and cannot give the direction of the vehicle to generate collision.
In order to achieve the purpose, the invention provides the following technical scheme: a vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the x direction of a typical vehicle coordinate system during the running process of a vehicle, comprises the following steps:
(1) measuring the acceleration ax in the x direction with a period T;
(2) when the acceleration in the x direction suddenly increases to ax1, the following determinations are respectively performed depending on whether the accelerator pedal is depressed:
if the accelerator pedal is stepped on, calculating the acceleration ax2 of the vehicle according to the position of the accelerator, if ax1 is far larger than ax2, judging that a backward collision occurs, and if ax1 is far smaller than ax2, judging that a forward collision occurs;
if the accelerator pedal is not stepped, judging that backward collision occurs;
(3) when the acceleration in the x direction suddenly decreases to ax1, the following determinations are respectively performed according to whether the brake pedal is pressed:
if the brake pedal is stepped, calculating the acceleration ax3 of the vehicle according to the brake position, if ax1 is far larger than ax3, judging that a backward collision occurs, and if ax1 is far smaller than ax3, judging that a forward collision occurs;
and if the brake pedal is not stepped, judging that the forward collision occurs.
Preferably, the acceleration of the vehicle when the accelerator pedal is depressed is determined using a predetermined calibration.
Preferably, the vehicle acceleration is determined using a predetermined calibration when the brake pedal is depressed.
A vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the y direction of a typical vehicle coordinate system during the running process of a vehicle, comprises the following steps:
(1) the acceleration ay in the y direction is measured with a period T;
(2) when the acceleration in the y direction suddenly increases to ay1, judging that the left side is collided;
(3) when the acceleration in the y direction suddenly drops to ay1, it is determined that a right-side collision has occurred.
A vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the z direction of a typical vehicle coordinate system during the running process of a vehicle, comprises the following steps:
(1) measuring the acceleration az in the z direction with a period T;
(2) when the acceleration in the z direction suddenly increases to az1, judging that the lower part has collision;
(3) when the z-direction acceleration suddenly drops to az1, it is determined that an upward collision has occurred.
Preferably, if the acceleration in the x, y or z direction at a certain time significantly exceeds the historical average, the acceleration in that direction is considered to be suddenly increased or decreased.
Compared with the related art, the vehicle collision detection method provided by the invention has the following beneficial effects:
compared with the prior art, the vehicle collision detection method based on the acceleration sensor and the pedal position can ensure higher detection accuracy and reduce the misjudgment probability.
Drawings
Fig. 1 is a flowchart of an x-direction collision detection in a vehicle collision detection method.
Fig. 2 is a flow chart of y-direction collision detection in a vehicle collision detection method.
Fig. 3 is a flow chart of z-direction collision detection in a vehicle collision detection method.
Detailed Description
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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 first embodiment is as follows:
referring to fig. 1-3, the present invention provides a technical solution: a vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the x direction of a typical vehicle coordinate system during the running process of a vehicle, comprises the following steps:
(1) measuring the acceleration ax in the x direction with a period T;
(2) when the acceleration in the x direction suddenly increases to ax1, the following determinations are respectively performed depending on whether the accelerator pedal is depressed:
if the accelerator pedal is stepped on, calculating the acceleration ax2 of the vehicle according to the position of the accelerator, if ax1 is far larger than ax2, judging that a backward collision occurs, and if ax1 is far smaller than ax2, judging that a forward collision occurs;
if the accelerator pedal is not stepped, judging that backward collision occurs;
(3) when the acceleration in the x direction suddenly decreases to ax1, the following determinations are respectively performed according to whether the brake pedal is pressed:
if the brake pedal is stepped, calculating the acceleration ax3 of the vehicle according to the brake position, if ax1 is far larger than ax3, judging that a backward collision occurs, and if ax1 is far smaller than ax3, judging that a forward collision occurs;
and if the brake pedal is not stepped, judging that the forward collision occurs.
The acceleration of the vehicle is determined by adopting the pre-calibration when the accelerator pedal is stepped on, and the acceleration of the vehicle is determined by adopting the pre-calibration when the brake pedal is stepped on.
A vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the y direction of a typical vehicle coordinate system during the running process of a vehicle, comprises the following steps:
(1) the acceleration ay in the y direction is measured with a period T;
(2) when the acceleration in the y direction suddenly increases to ay1, judging that the left side is collided;
(3) when the acceleration in the y direction suddenly drops to ay1, it is determined that a right-side collision has occurred.
A vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the z direction of a typical vehicle coordinate system during the running process of a vehicle, comprises the following steps:
(1) measuring the acceleration az in the z direction with a period T;
(2) when the acceleration in the z direction suddenly increases to az1, judging that the lower part has collision;
(3) when the z-direction acceleration suddenly drops to az1, it is determined that an upward collision has occurred.
If the acceleration in the x, y or z direction at a certain moment obviously exceeds the historical average value, the acceleration in the direction is considered to be suddenly increased or decreased.
In this embodiment, in the vehicle classical coordinate system, the x positive direction is forward, the y positive direction is rightward, and the z positive direction is upward. The acceleration values of the vehicle in three directions can be measured by adopting the triaxial acceleration sensor. When the arrangement of the acceleration sensor is not in the x direction, the y direction and the z direction which are not standard, the acceleration in each direction can be set to zero in a calibration mode to complete initialization.
The controller connected with the acceleration sensor periodically detects the acceleration values in three directions, preferably 5ms, and calculates the average value of the acceleration values in three directions respectively. When the acceleration value at a certain detection moment obviously exceeds the change of the average value, the acceleration is considered to be suddenly increased or decreased in the direction, and a subsequent collision detection algorithm is triggered. Mutations were considered to have occurred here by setting 10% out of the mean.
The change of the acceleration in the x direction is caused by the collision and the active acceleration and deceleration of the vehicle. In order to accurately recognize a collision, it is necessary to eliminate the influence of active acceleration and deceleration of the vehicle. The acceleration values of the vehicle at different positions of the accelerator pedal and the brake pedal are determined in an off-line test mode, and then the acceleration values can be compared with the acceleration value ax1 in the x direction obtained through real-time measurement. The method comprises the following specific steps:
if the accelerator pedal is stepped on, the acceleration ax2 of the vehicle is estimated according to the position of the accelerator, if ax1 is far larger than ax2, a backward collision is judged to occur, and if ax1 is far smaller than ax2, a forward collision is judged to occur;
if the accelerator pedal is not stepped, judging that backward collision occurs;
if the brake pedal is stepped, estimating the acceleration ax3 of the vehicle according to the brake position, if ax1 is far larger than ax3, judging that a backward collision occurs, and if ax1 is far smaller than ax3, judging that a forward collision occurs;
and if the brake pedal is not stepped, judging that the forward collision occurs.
Considering that the vehicle turning width is not large, the abrupt change of the acceleration in the y direction is mainly caused by the collision in the left-right direction. The y-direction determination of collisions compared to the x-direction follows the following method:
when the acceleration in the y direction suddenly increases to ay1, judging that the left side is collided;
when the acceleration in the y direction suddenly drops to ay1, it is determined that a right-side collision has occurred.
Considering that the road is flat, the sudden change in acceleration in the y direction is mainly caused by a collision in the up-down direction. The judgment of collision in the z direction follows the following method:
when the acceleration in the z direction suddenly increases to az1, judging that the lower part has collision;
when the z-direction acceleration suddenly drops to az1, it is determined that an upward collision has occurred.
Claims (6)
1. A vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the x direction of a typical vehicle coordinate system during the running process of a vehicle, is characterized by comprising the following steps:
(1) measuring the acceleration ax in the x direction with a period T;
(2) when the acceleration in the x direction suddenly increases to ax1, the following determinations are respectively performed depending on whether the accelerator pedal is depressed:
if the accelerator pedal is stepped on, calculating the acceleration ax2 of the vehicle according to the position of the accelerator, if ax1 is far larger than ax2, judging that a backward collision occurs, and if ax1 is far smaller than ax2, judging that a forward collision occurs;
if the accelerator pedal is not stepped, judging that backward collision occurs;
(3) when the acceleration in the x direction suddenly decreases to ax1, the following determinations are respectively performed according to whether the brake pedal is pressed:
if the brake pedal is stepped, calculating the acceleration ax3 of the vehicle according to the brake position, if ax1 is far larger than ax3, judging that a backward collision occurs, and if ax1 is far smaller than ax3, judging that a forward collision occurs;
and if the brake pedal is not stepped, judging that the forward collision occurs.
2. The vehicle collision detecting method according to claim 1, wherein the acceleration of the vehicle when the accelerator pedal is depressed is determined using a predetermined calibration.
3. A vehicle collision detecting method according to claim 2, wherein the acceleration of the vehicle when the brake pedal is depressed is determined using a predetermined calibration.
4. A vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in the y direction of a typical vehicle coordinate system during the running process of a vehicle, is characterized by comprising the following steps:
(1) the acceleration ay in the y direction is measured with a period T;
(2) when the acceleration in the y direction suddenly increases to ay1, judging that the left side is collided;
(3) when the acceleration in the y direction suddenly drops to ay1, it is determined that a right-side collision has occurred.
5. A vehicle collision detection method, which adopts a three-axis acceleration sensor to detect whether a collision occurs in a z direction of a typical vehicle coordinate system during the running process of a vehicle, is characterized by comprising the following steps:
(1) measuring the acceleration az in the z direction with a period T;
(2) when the acceleration in the z direction suddenly increases to az1, judging that the lower part has collision;
(3) when the z-direction acceleration suddenly drops to az1, it is determined that an upward collision has occurred.
6. A vehicle collision detection method according to any one of claims 1 to 5, characterised in that if the acceleration in the x, y or z direction at a certain time significantly exceeds the historical average, then a sudden increase or decrease in acceleration in that direction is deemed to have occurred.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210126178.5A CN114407905A (en) | 2022-02-10 | 2022-02-10 | Vehicle collision detection method |
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| CN202210126178.5A CN114407905A (en) | 2022-02-10 | 2022-02-10 | Vehicle collision detection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI812347B (en) * | 2022-07-13 | 2023-08-11 | 神達數位股份有限公司 | Vehicle collision detection method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5900807A (en) * | 1995-03-07 | 1999-05-04 | Sensor Technology Co., Ltd. | Collision detection device |
| JP2019027833A (en) * | 2017-07-26 | 2019-02-21 | 株式会社デンソーテン | Collision detection device |
| JP2019191107A (en) * | 2018-04-27 | 2019-10-31 | 株式会社デンソー | Collision detector |
| CN110901610A (en) * | 2018-09-17 | 2020-03-24 | 现代自动车株式会社 | Control system and method for preventing sudden acceleration of vehicle |
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2022
- 2022-02-10 CN CN202210126178.5A patent/CN114407905A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5900807A (en) * | 1995-03-07 | 1999-05-04 | Sensor Technology Co., Ltd. | Collision detection device |
| JP2019027833A (en) * | 2017-07-26 | 2019-02-21 | 株式会社デンソーテン | Collision detection device |
| JP2019191107A (en) * | 2018-04-27 | 2019-10-31 | 株式会社デンソー | Collision detector |
| CN110901610A (en) * | 2018-09-17 | 2020-03-24 | 现代自动车株式会社 | Control system and method for preventing sudden acceleration of vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI812347B (en) * | 2022-07-13 | 2023-08-11 | 神達數位股份有限公司 | Vehicle collision detection method and system |
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