KR101255013B1 - Accident detection and prediction method of articulated vehicle using inertial measurement unit and gnss - Google Patents

Abstract

PURPOSE: An accident detection and prediction method of an articulated vehicle using an inertia measurement device and a GNSS(Global Navigation Satellite System) is provided to prevent an accident and to accurately detect an accident occurrence. CONSTITUTION: A measurement device confirms an articulated vehicle is in a high speed driving state (S100). If an initial state of the articulated vehicle is high speed driving, the measurement device measures operation state, location, speed, acceleration, and angular speed and acquires driving information of the vehicle(S200). The measurement device calculates yaw angle variation rate, roll angle variation rate, yaw angle speed variation rate, and roll angular speed variation rate and determines if a current vehicle is jack knifing, rolling over, or departing from a lane(S300). If the vehicle is determined to be jack knifing, rolling over, or departing from a lane, the measurement device transmits accident location information and transmits an occurrence of an accident. [Reference numerals] (S100) Step of confirming the initial state of a vehicle; (S200) Step of obtaining driving state information of the vehicle; (S300) Step of determining whether an abnormality occurs; (S400) Step of transmitting information about the occurrence of an accident;

Description

Accident Detection and Prediction Method of Articulated Vehicle Using Inertial Measurement Unit and GNSS}

The present invention relates to a method of detecting and predicting an accident of a connected vehicle using an inertial measurement unit and a global satellite navigation system (GNSS). More particularly, the present invention can be generated in a connected vehicle using an inertial measurement unit, GNSS, and road data. The present invention relates to a method of detecting and predicting an accident of a connected vehicle that can predict various types of accidents in advance and prevent accidents in advance.

An Inertial Measurement Unit (IMU) is a device installed on a moving object to measure the angular velocity and acceleration of three axes according to the movement of the moving object.The inertial measurement unit is applied to moving objects such as vehicles, aircraft, ships, guided missiles, and the like. Widely used.

The Global Navigation Satellite System (GNSS) is a system that provides information on the location, altitude, and speed of an object using various satellite navigation systems (ex: GPS, GLONASS, Galileo, Beidou, etc.). In the case of GPS, the US satellite navigation system, the standard DGPS using C / A code and carrier phase differential GPS (CDGPS), a carrier-corrected satellite navigation system using more precise carrier frequency, are known. If a GPS receiver is installed in the GPS receiver and the satellite receiver is received from the GPS receiver to correct the elements causing the error, and the correction value is provided to a moving object or a user through a terrestrial wireless communication network, sub meter).

On the other hand, in general, a linked vehicle mainly used for transporting a large cargo such as a container is a tractor (front vehicle) in which an engine is installed to provide driving traction, and a tractor is connected by a pivot connection or a fifth wheel. It is composed of a trailer coupled to, such a connected vehicle, due to its structural characteristics, unlike a general vehicle consisting of a single body, accidents such as jackknife, rollover and lane departure may occur.

Here, Jack Knifing is a yawing (rotation) is generated in the connecting body coupling the tractor and the trailer due to the difference in the tire traction force installed in the tractor and the trailer, respectively, as a result of excessive deflection between the tractor and the trailer (Articulation Angle) occurs.

The rollover refers to a phenomenon in which the tractor and / or trailer are tilted in one of the right and left directions, and the vehicle is overturned. A lane departure refers to a case in which the vehicle leaves the lane in which the vehicle should normally travel.

Recently, various methods for preventing an accident caused by a vehicle have been proposed as the awareness of safety of a vehicle increases. As an example, an accident of a vehicle using a satellite navigation terminal disclosed in Korean Patent No. 0988758 has been proposed. The detection and prevention method and the system, and the accident detection and prevention method proposed in this document is installed in the vehicle to periodically send the GNSS coordinates to the remote management system 200, manually or automatically in case of an accident The satellite navigation terminal 100 detects and automatically transmits the GNSS coordinates and the accident information to the remote management system 200, and receives the accident information from the satellite navigation terminal 100 to determine and process the accident. It consists of a remote management system 200 to transmit an accident prediction warning to the satellite navigation terminal, by using the satellite navigation terminal 100 Installed in the vehicle, GPS coordinates are periodically sent to the management system, and when the accident occurs, manual transmission or automatic detection automatically sends GPS coordinates and accident information to the remote management system and predicts the occurrence of accident from the management system. Receiving; Transmitting and receiving an accident information by transmitting and receiving to the satellite navigation terminal using the remote management system 200 to determine whether the accident is processed, and transmitting an accident occurrence warning warning to the satellite navigation terminal through the accident information management unit; Receiving information wirelessly transmitted from the remote management system 200 to the vehicle-owning company non-player 300 and the load management engine non-player 400; Receiving information by being connected to the remote management system 200 through the Internet by using the vehicle owner company computer terminal 500 and the load management institution computer terminal 600; Using the one or more location information request computer terminal 700 connected to the remote management system 200 and the Internet to request and receive location information to confirm and prevent the accident of the vehicle.

However, the accident detection and prevention method proposed in the above document merely provides the location of the accident and the fact that the accident occurred by detecting the vehicle accident and transmitting it to an external management system. It does not disclose any particular types of accidents that can occur, especially in a connected vehicle.

The present invention has been made to solve the problems of the conventional vehicle accident detection and prevention method as described above, the present invention is predicted in advance of the accident of the connected vehicle using the inertial measurement device and GNSS in the vehicle, in particular in the connected vehicle In order to prevent accidents in advance, and to provide an accident detection and prediction method for a connected vehicle that can accurately detect an accident occurrence.

In order to achieve the above object, the present invention is installed on the top of the tractor and trailer, respectively, in the method of detecting the accident of the connected vehicle using a measuring unit consisting of a GNSS receiver and an inertial measurement device, the connected vehicle is a high speed A vehicle initial state checking step of checking whether the vehicle is in a driving state; When the initial state of the connected vehicle is a high speed driving state in the vehicle initial state checking step, the driving state of the vehicle is measured by measuring the operating state and position, speed, acceleration, and angular velocity of the vehicle by the measuring unit. Obtaining vehicle driving state information; The yaw angle change rate, the roll angle change rate, the yaw speed change rate, and the roll angular speed change rate are obtained from the information on the driving state of the vehicle obtained by the vehicle driving state information acquiring step, and then the current vehicle is jackknifeed, rollover or lane Determining whether there is an abnormality detecting step whether or not in the abnormal state of departure; As a result of performing the abnormality determination step, when it is determined that any one of jack-knifeing, rollover, or lane departure accidents has occurred in the vehicle, information on an accident point is transmitted to inform the occurrence of an accident. It is characterized by consisting of steps.

The present invention can predict in advance various types of accidents that can occur especially in a connected vehicle using the inertial sensor and GNSS, and can more accurately detect the occurrence of the accident.

1 is a configuration diagram of a method and a system for detecting and preventing an accident of a vehicle using a conventional satellite navigation terminal;
Figure 2 is a flow chart showing the accident prediction and accident prevention method of the connected vehicle using the inertial measurement device and GNSS according to the present invention,
3 is a view showing the inflection angle of the tractor and the trailer in the connected vehicle of the present invention,
4 is a graph showing the relationship between the observation time interval and yaw angle change rate during the jackknife accident of the present invention;
5 is a view showing a roll angle of the connected vehicle of the present invention,
6 is a view showing a lane departure of the present invention.

Hereinafter, the configuration of the present invention through the accompanying drawings showing a preferred embodiment will be described in more detail.

The present invention is to provide a method for predicting the accident of the connected vehicle in advance using the inertial measurement device and GNSS, and also to accurately detect the accident. The status check step (S100), the vehicle driving state information acquisition step (S200), abnormality determination step (S300) and the accident occurrence information transmission step (S400).

(1) vehicle initial state checking step (S100)

This step is to check whether the connected vehicle is currently stopped or running.

Accidents such as jackknifes, rollovers and lane departures in connected vehicles usually occur during driving, especially during high-speed driving, so even if the vehicle is traveling at low speeds or jackknifes or lane departures occur in reverse, Therefore, the present invention first checks what state the vehicle is in.

In general, the state of the vehicle can be divided into a stop and driving state, the driving state can be further divided into forward and reverse, low speed and high speed state, in the present invention, the state of the vehicle such as the stop, reverse and low speed driving state Defined as the "initial state", the vehicle initial state confirmation step (S100) is to confirm the initial state of the vehicle by a measuring unit described later. Here, the "low speed driving state" refers to a case where the current vehicle speed is less than or equal to the reference speed, where the reference speed is preferably 30 km / hr, and the reference speed may be changed as necessary.

In order to check the initial state of the connected vehicle, a detection means for detecting the initial state of the vehicle must be installed in the vehicle. For this purpose, in the present invention, as shown in FIG. 3, the upper center of the tractor 10 and the trailer 20 is provided. Each of the measuring units 11 and 21 consisting of a GNSS receiver and an inertial measurement unit is installed. In this case, it is preferable that the measuring unit is implemented by integrating the GNSS receiver and the inertial measurement unit in one housing.

As described above, when the pair of measuring units 11 and 21 are installed in the tractor 10 and the trailer 20, respectively, the vehicle speed is determined by two GNSS receivers installed in the respective measuring units 11 and 21. Speed can be obtained, the vehicle initial state check step (S100) of the two values of the measuring unit 11 installed on the tractor 10 or the measuring unit 21 of the measuring unit 21 installed on the trailer 20 Determine the initial state of the vehicle using the vehicle speed obtained from

The two sets of measuring units 11 and 21 are set to be operated from the moment when the driver turns on the vehicle. Thus, the position, the speed, the acceleration, the angular velocity, and the like of the vehicle are continuously maintained during the operation time of the vehicle including the stopped state. Information may be obtained.

(2) vehicle driving state information acquisition step (S200)

This step is the operation state and position of the connected vehicle by the measuring unit consisting of a GNSS receiver and an inertial sensor when it is confirmed in the vehicle initial state confirming step (S100) that the current vehicle is traveling at a high speed higher than the reference speed, Checking the driving state of the connected vehicle by measuring speed, acceleration, angular velocity, and the like, and obtaining information on the driving state.

(3) abnormality detection step (S300)

In this step, the yaw rate, roll rate, yaw angular acceleration, and roll angular velocity change rate are obtained from the information on the driving state of the vehicle obtained by the vehicle driving state information acquisition step S200. It is a step of detecting whether there is an abnormality in the current state of the vehicle by obtaining roll angular acceleration and the like.

In the present invention, as described above, three types of accidents such as jackknife, rollover, and lane departure are detected as the abnormal states of the vehicle. Hereinafter, methods for detecting the three abnormal states will be described.

(1) Detecting whether jackknife occurs

)이 생기는 현상을 말하는데, 본 발명에서는 이러한 잭나핑의 발생유무를 관성측정장치에 의해 트랙터(10)와 트레일러(20) 각각의 요각을 검출하고, 이 검출된 요각을 이용하여 아래의 수학식 1에서와 같이 트랙터(10)와 트레일러(20) 간에 발생되는 요각의 변화율의 차이(

)를 산출하여 이에 의해 잭나이핑의 발생 여부를 판단하는 것이다.
As described above, the jack knife of the vehicle has yawing (rotation) on the coupling body coupling the tractor 10 and the trailer 20 due to the difference in the tire traction force installed in the tractor 10 and the trailer 20, respectively. And as a result an excessive deflection angle between the tractor 10 and the trailer 20 (in FIG.

In the present invention, the presence or absence of jack napping in the present invention detects the yaw angle of each of the tractor 10 and the trailer 20 by an inertial measurement device, and uses the detected yaw angle to the following Equation 1 As shown in the difference in the rate of change of the yaw angle generated between the tractor 10 and the trailer 20 (

) To determine whether jack-knitting occurs.

[Equation 1]

는 잭나이핑값,

는 트랙터와 트레일러 간의 요각변화율(

)의 차이,

는 샘플링 시간이다.
here,

Is the jackknife value,

Is the rate of change of yaw angle between the tractor and the trailer.

),

Is the sampling time.

)이 설정된 임계값(TH, Threshold Value)보다 큰 경우에는 연결식 차량에 잭나이핑이 발생된 것으로 간주된다.
If the jackknife value calculated by Equation 1 above (

) Is greater than the set Threshold Value (TH), it is considered that jack-nipping has occurred in the connected vehicle.

Meanwhile, as in Equation 1 above, the jackknife value ( ) Is too sensitive to the output value of the inertial measurement unit.

)을 구하게 되면 관성측정장치의 출력값에 덜 민감하게 되고, 따라서 사용자는 잭나이핑 사고 발생여부를 판단하는 기준이 되는 임계값(TH)을 좀 더 쉽게 조절할 수 있게 된다.
Therefore, instead of using Equation 1, the re-nipping value (Equation 2 below) is modified.

) Is less sensitive to the output value of the inertial measurement device, so that the user can more easily adjust the threshold (TH), which is a criterion for judging whether a jack-knife accident has occurred.

&Quot; (2) "

는 잭나이핑값,

는 트랙터와 트레일러 간의 요각변화율(

)의 최대값,

는 트랙터와 트레일러 간의 요각변화율(

)의 차이,

는 관측 시간구간,

는 샘플링 시간이다.
here,

Is the jackknife value,

Is the rate of change of yaw angle between the tractor and the trailer.

),

Is the rate of change of yaw angle between the tractor and the trailer.

),

Is the observation time interval,

Is the sampling time.

)이 짧을수록 실제의 잭나이핑 사고 발생 이후에 발생여부가 검출되고, 관측 시간구간(

)이 길수록 실제의 잭나이핑 사고 발생 이전에 사고발생이 검출된다. 마찬가지로 요각변화율의 최대값(

)이 작을수록 실제의 잭나이핑 사고 발생 이후에 사고발생이 검출되고, 요각변화율의 최대값(

)이 클수록 실제의 잭나이핑 사고 발생 이전에 사고발생이 검출된다.
In the figure of FIG. 4, it is assumed that the point indicated by the round point is the point of time at which jackknife is detected.

), The shorter the detection occurs after the actual jack-knife accident, the observation time interval (

The longer is), the more accidents are detected before the actual jack-knife accident. Similarly, the maximum value of the yaw rate change rate (

), The smaller the incident occurs after the actual jack-knife accident, and the maximum value of the yaw angle change rate (

The larger) is, the incident is detected before the actual jack-knife accident.

(2) Detection of rollover occurrence

Rollover refers to excessive inclination in one direction with respect to the vertical axis of the vehicle as shown in FIG. 5. Accordingly, in the present invention, it is determined whether a jack-knife accident has occurred by the yaw angle change rate in order to detect such a rollover. Unlike the detection method of jackknife occurrence, the roll angle change rate is measured by an inertial measurement device, and then the rollover degree is calculated by using Equation 3 below using the measured value (roll angle change rate). If the threshold value TH is exceeded, it is considered as a rollover accident.

&Quot; (3) "

는 롤오버값,

는 롤각변화율의 최대값,

은 롤각변화율의 차이,

는 관측 시간구간,

는 샘플링 시간이다.
here,

Is the rollover value,

Is the maximum value of the roll angle change rate,

Is the difference in roll angle change rate,

Is the observation time interval,

Is the sampling time.

Equation 3 is the same as that of Equation 2 except that it measures the roll angle instead of the yaw angle.

(3) Detection of lane departure

Lane deviation is detected using the location of the measuring unit and road information, unlike in the jackknife detection method and the rollover detection method.

To this end, the controller of the present invention requires detailed information on the location, lane width, etc. of each lane of the road on which the vehicle is currently driving, and the detailed information on the driving road is provided through wireless communication or is installed in the vehicle. It can be provided from a database embedded in the device.

)와 측정유닛의 현재 위치(

) 간의 거리(

)를 사용하여 판단한다.
When the connected vehicle travels on the road as shown in FIG. 5, the inertial measurement device of any one of the inertial measurement devices of the measuring units 11 and 21 mounted on the tractor 10 or the trailer 20 is moved. When the vehicle deviates from the center of the road by a predetermined distance or more, the vehicle may be regarded as having deviated from the driving lane. Therefore, in the present invention, whether the vehicle deviates from the lane may be regarded as a center position of the lane in which the current vehicle is driven by Equation 4 below. (

) And the current position of the measuring unit (

)

Use) to judge.

&Quot; (4) "

는 현재 차량이 주행하고 있는 차선의 중앙 위치,

은 측정유닛의 현재 위치,

는 현재 차량이 주행하고 있는 차선의 중앙 위치(

)와 측정유닛의 현재 위치(

) 간의 거리이다.here,

Is the center position of the lane in which the vehicle is currently driving,

Is the current position of the measuring unit,

Is the center position of the lane in which the vehicle is currently traveling (

) And the current position of the measuring unit (

) Is the distance between.

)에 대한 측정값은 2개가 획득되고, 따라서 차선의 중앙 위치와 측정유닛(11, 21)의 현재 위치 간의 거리도 2개가 산출된다. 그런데 이와 같이 산출된 2개의 값 중 어느 하나라도 임계값(TH)을 초과하는 경우에도 차량이 차선을 이탈한 것으로 볼 수 있으나, 이러한 경우 주행 차선을 변경하는 경우에도 차선이탈 사고로 판단될 수 있기 때문에 본 발명에서는 이러한 경우를 배제하기 위해 2개의 값이 차선을 변경하는 데에 걸리는 시간을 기준시간으로 설정하고, 이 기준시간 이내에 2개의 측정값이 모두 임계값(TH)을 벗어나는 것으로 확인되는 경우 주행차선을 이탈한 것으로 판단하며, 이때 판단의 기준이 되는 기준시간은 차량의 속도와 2개의 측정유닛(11, 21) 간의 거리를 고려하여 설정한다.
In the present invention, since the pair of measuring units 11 and 21 is installed in the tractor 10 and the trailer 20, respectively, the current position of the measuring unit (

2 are obtained, and thus, the distance between the center position of the lane and the current position of the measuring units 11 and 21 is also calculated. However, even if any one of the two values calculated above exceeds the threshold TH, the vehicle may be regarded as leaving the lane, but in this case, the vehicle may be determined to be a lane departure accident even when the driving lane is changed. Therefore, in the present invention, in order to exclude such a case, the time required for two values to change lanes is set as a reference time, and when the two measured values are found to be out of the threshold value TH within this reference time. It is determined that the driving lane has deviated, and the reference time, which is a reference of the determination, is set in consideration of the speed of the vehicle and the distance between the two measuring units 11 and 21.

(4) accident occurrence information transmission step (S400)

In this step, when the abnormality detection step (S300) is performed as a result, the connected vehicle detects any one of jack-knifeing, rollover, and lane departure accident. As a step of transmitting and notifying the occurrence information of the accident, the controller (not shown) of the present invention for this purpose is provided with a wireless communication facility, the information on the vehicle number, the accident information receiving destination, etc. and actions to be taken in the event of an accident and Action procedures are programmed and stored, whereby accident occurrence information and vehicle information are automatically sent from the controller to the relevant authorities. In this case, the controller may be installed in any one of the measuring units 11 and 21 installed in the tractor 10 or the trailer 20 or around the driver's seat of the vehicle.

), 롤오버값(

) 및 현재 차량이 주행하고 있는 차선의 중앙 위치(

)와 측정유닛의 현재 위치(

) 간의 거리(

) 중 어느 하나의 값이 상기 제1임계값(TH1)보다는 크지만 제2임계값(TH2)보다 작은 경우에는 경보를 발행하여 운전자의 주의를 환기시키거나 사고발생을 방지하기 위한 적절한 조치를 취하도록 하는 사고 예측방법을 수행한 다음, 제2임계값(Th2)보다 큰 경우에 비로소 사고가 발생된 것으로 판단하여 사고발생 정보 송신단계(S400)가 이행되도록 하는 것도 가능하다. 이때 운전자가 취할 수 있는 사고발생 방지 조치로서는, 제동과 가속을 반복하여 차량바퀴의 도로에 대한 접지력을 증가시키거나(잭나이핑 사고 방지), 또는 롤각의 변화가 최소화 되도록 능동 현가장치를 제어(롤오버 사고 방지)하는 등을 들 수 있다.
Meanwhile, in the above description, one threshold value TH is set for each accident type of jack-knifeing, rollover, and lane departure of the connected vehicle, and it is explained that the occurrence of an accident is determined based on this threshold value Th. On the contrary, before performing the accident occurrence information transmitting step (S400), two threshold values, that is, first and second threshold values TH1 and TH2, are set for each type of accident, and the equations 1 to 4 described above are used. Each calculated jackknife value (

), Rollover value (

) And the center position of the lane in which the vehicle is currently driving (

) And the current position of the measuring unit (

)

Is greater than the first threshold value TH1 but less than the second threshold value TH2, an alarm is issued to take the driver's attention or take appropriate measures to prevent an accident. After performing the accident prediction method, it is possible to determine that an accident has occurred only when it is larger than the second threshold Th2 so that the accident occurrence information transmitting step S400 may be performed. In this case, the driver may take measures to prevent an accident from occurring by repeatedly braking and accelerating to increase the grip on the road of the vehicle wheel (prevention of jackknife accident) or to control the active suspension device to minimize the change of the roll angle. Prevention of a rollover accident);

As described above, the present invention can predict jacking, rollover, and lane departure accidents that may occur in a connected vehicle using an inertial sensor and GNSS in advance, and more accurately detect the occurrence of an accident.

10: Tractor 11: measuring unit
20: trailer 21: storage unit

Claims (7)

In the tractor 10 and the trailer 20, respectively, in the method for detecting the accident of the connected vehicle using the measuring unit (11, 21) consisting of a GNSS receiver and an inertial measurement device,
A vehicle initial state checking step S100 for checking whether the connected vehicle is in a high speed driving state;
When the initial state of the connected vehicle is a high-speed driving state in the vehicle initial state checking step (S100), the operation state and the position, the speed, the acceleration, the angular velocity of the vehicle are measured by the measuring units 11 and 21 and the vehicle is measured. A vehicle driving state information obtaining step of measuring driving state of the vehicle and obtaining driving information (S200);
The yaw angle change rate, the roll angle change rate, the yaw speed change rate, and the roll angle speed change rate are calculated by using the information on the driving state of the vehicle obtained by the vehicle driving state information obtaining step (S200), and the current vehicle is jack-knifed using these. Determining whether there is an abnormality (S300) for detecting whether an abnormal state of a rollover or lane departure is present;
As a result of performing the abnormality determination step (S300), when it is determined that any one of jack-knifeing, rollover, or lane departure accident occurs in the vehicle, an accident informing the fact of the accident by transmitting information on the accident point. Accident detection method of a connected vehicle using the inertial measurement device and GNSS, characterized in that the generation information transmission step (S400).
The method according to claim 1,
Determination of the jack-knife accident in the abnormality determination step (S300) is the jack-knife value calculated by Equation 1 below (

Accident detection method of a connected vehicle using the inertial measurement device and GNSS, characterized in that using.

[Equation 1]

here,

Is the jackknife value,

Is the rate of change of yaw angle between the tractor and the trailer.

),

Is the sampling time.
The method according to claim 1,
Determination of the jack-knife accident in the abnormality determination step (S300) is the jack-knife value calculated by Equation 2 below (

Accident detection method of a connected vehicle using the inertial measurement device and GNSS, characterized in that using.

&Quot; (2) "

here,

Is the jackknife value,

Is the rate of change of yaw angle between the tractor and the trailer.

),

Is the rate of change of yaw angle between the tractor and the trailer.

),

Is the observation time interval,

Is the sampling time.
The method according to claim 1,
The determination of the rollover accident in the abnormality determination step (S300) is the rollover value calculated by Equation 3 below (

Accident detection method of a connected vehicle using the inertial measurement device and GNSS, characterized in that using.

&Quot; (3) "

here,

Is the rollover value,

Is the maximum value of the roll angle change rate,

Is the difference in roll angle change rate,

Is the observation time interval,

Is the sampling time.
The method according to claim 1,
The determination of the lane departure accident in the abnormality determination step (S300) is the center position of the lane in which the current vehicle is driven (Equation 4 below).

) And the current position of the measuring unit (

)

Accident detection method of the connected vehicle using the inertial measurement device and GNSS, characterized in that using.

&Quot; (4) "

here,

Is the center position of the lane in which the vehicle is currently driving,

Is the current position of the measuring unit,

Is the center position of the lane in which the vehicle is currently traveling (

) And the current position of the measuring unit (

) Is the distance between.
In the tractor 10 and the trailer 20, respectively, in the method of predicting the accident of the connected vehicle using the measuring unit (11, 21) consisting of a GNSS receiver and an inertial measurement device,
A vehicle initial state checking step S100 for checking whether the connected vehicle is in a high speed driving state;
When the initial state of the connected vehicle is a high-speed driving state in the vehicle initial state checking step (S100), the driving state of the vehicle is measured by measuring the operating state and the position, the speed, the acceleration, and the angular velocity of the vehicle by the measuring unit. Obtaining vehicle driving state information (S200) for obtaining driving information;
By using the information on the driving state of the vehicle obtained by the vehicle driving state information acquisition step (S200), the jack-knife value (Equation 1, Equation 3 and Equation 4 below)

), Rollover value (

) And the center position of the lane in which the vehicle is currently driving (

) And the current position of the measuring unit (

)

) And then determine whether there is an abnormality determination step (S300) of detecting whether the current vehicle is in an abnormal state of jack-knifeing, rollover, or lane departure by comparing with the threshold value TH, respectively.
The threshold value TH consists of first and second threshold values TH1 and Th2, and the jackknife value (

), Rollover value (

) And the center position of the lane in which the vehicle is currently driving (

) And the current position of the measuring unit (

)

) If the value of any one of the larger than the first threshold value (TH1) but smaller than the second threshold value (Th2), the inertial measurement device and GNSS characterized in that the accident prediction of the connected vehicle Way.

[Equation 1]

here,

Is the jackknife value,

Is the rate of change of yaw angle between the tractor and the trailer.

),

Is the sampling time.

&Quot; (3) "

here,

Is the rollover value,

Is the maximum value of the roll angle change rate,

Is the difference in roll angle change rate,

Is the observation time interval,

Is the sampling time.

&Quot; (4) "

here,

Is the center position of the lane in which the vehicle is currently driving,

Is the current position of the measuring unit,

Is the center position of the lane in which the vehicle is currently traveling (

) And the current position of the measuring unit (

) Is the distance between.
The method of claim 6,
Determination of the jack-knife accident in the abnormality determination step (S300) is the jack-knife value calculated by Equation 1 below (

Accident prediction method of a connected vehicle using the inertial measurement device and GNSS, characterized in that using.

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