WO2017181651A1

WO2017181651A1 - Method and device for identifying sharp turn of vehicle

Info

Publication number: WO2017181651A1
Application number: PCT/CN2016/104609
Authority: WO
Inventors: 刘均; 陈质键; 郑庶康; 李侃; 岑满艺; 吴祖恒
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-04-21
Filing date: 2016-11-04
Publication date: 2017-10-26
Also published as: CN105953793A

Abstract

A method and device for identifying a sharp turn of a vehicle. The method comprises: obtaining a linear direction of a driving vehicle when the vehicle is driving in a straight line (S101); obtaining a first acceleration of the driving vehicle by means of a triaxial acceleration sensor (S102), and calculating a horizontal acceleration of the driving vehicle according to the first acceleration (S103) to further calculate a deviation acceleration of the driving vehicle, wherein the deviation acceleration is a component of the horizontal acceleration perpendicular to the linear direction of the driving vehicle on a horizontal plane; and when the deviation acceleration is greater than a predetermined threshold, determining that a sharp turn event of the vehicle has occurred (S106). The method and device overcome a drawback of an inaccurate lateral acceleration value calculated for a vehicle by an existing method for identifying a sharp turn of a vehicle, since the existing method calculates the lateral acceleration value by including a forward movement speed of the vehicle. Thus, the method and device of the present invention more accurately calculate the lateral acceleration of the vehicle and more accurately determine whether a sharp turn of the vehicle has occurred.

Description

Method and device for identifying sharp turn of vehicle

[0001] Technical Field

[0002] The present invention relates to the field of vehicle monitoring technologies, and in particular, to a method and a device for identifying a sharp turn of a vehicle [0003]

[0004] Nowadays, vehicles have become an indispensable means of transportation and means of transportation in life, and the safety of vehicles has attracted more and more attention from the public. The attitude of the vehicle is an important parameter for vehicle operation and is especially important in the safety control of the vehicle. Sharp turn is a kind of attitude of the vehicle. At present, the identification method of the sharp turn of the vehicle is mainly to calculate the horizontal acceleration value of the vehicle through the three-axis acceleration sensor, and then calculate the acceleration value of the forward direction according to the obtained speed of the vehicle forward, and then calculate A lateral acceleration value is obtained, and it is determined whether the magnitude of the lateral acceleration is greater than a preset threshold. When the determination result is 吋, it indicates that the vehicle has a sharp turn, wherein the method needs to calculate the advance according to the obtained speed of the vehicle forward. The acceleration value of the direction has a large deviation, and the judgment result is not accurate enough.

SUMMARY OF THE INVENTION

[0006] Embodiments of the present invention disclose a method and apparatus for identifying a sharp turn of a vehicle to overcome the defect that the lateral acceleration value of the vehicle is inaccurate by combining the speed of the vehicle forward in the existing vehicle sharp turn identification method.

An embodiment of the present invention provides a method for identifying a sharp turn of a vehicle, including:

[0008] when the vehicle travels straight, obtaining a linear direction in which the vehicle travels;

[0009] acquiring a first acceleration of the vehicle running by the three-axis acceleration sensor;

[0010] calculating, according to the first acceleration, a horizontal acceleration of the vehicle running, where the horizontal acceleration is a component of the first acceleration perpendicular to a horizontal plane of the gravity direction;

[0011] calculating an offset acceleration value according to the horizontal acceleration, the offset acceleration value being a component value of the horizontal acceleration on a horizontal plane perpendicular to a straight line direction of the vehicle traveling;

[0012] determining whether the offset acceleration value is greater than a preset threshold;

[0013] When the result of the determination is 吋, it is determined that the vehicle has a sharp turn event. [0014] Optionally, the method further includes: before the vehicle is traveling straight, and obtaining a straight line direction of the vehicle, the method further includes:

[0015] acquiring, by the three-axis acceleration sensor, a second acceleration of running of the vehicle;

[0016] checking whether the vehicle is traveling straight according to the second acceleration.

[0017] Optionally, the calculating the horizontal acceleration of the vehicle travel according to the first acceleration includes:

[0018] acquiring gravity acceleration;

[0019] establishing a three-dimensional coordinate system with the direction of the gravitational acceleration as the z-axis;

[0020] calculating coordinates (ax, ay, az) of the first acceleration in the three-dimensional coordinate system;

[0021] wherein the horizontal acceleration is a projection coordinate (ax, ay) of the first acceleration on a horizontal plane perpendicular to the direction of gravity.

[0022] Optionally, the calculating the offset acceleration value according to the horizontal acceleration includes:

[0023] calculating an angle between the horizontal acceleration and a linear direction of travel of the vehicle Θ;

[0024] Calculate the offset acceleration value according to the following formula:

[0025] Optionally, the calculating the offset acceleration value according to the horizontal acceleration includes:

[0026] The straight line direction in which the vehicle travels is a χ' axis, and a direction perpendicular to a straight line direction of the vehicle in the horizontal plane is a y' axis, and an origin of the three-dimensional coordinate system is taken as an origin to establish a two-dimensional Coordinate System;

[0027] calculating coordinates (ax, ay') of the coordinates (ax, ay) of the horizontal acceleration in the two-dimensional coordinate system

The absolute value of ay' is the offset acceleration value.

[0028] An embodiment of the present invention further provides an apparatus for identifying a sharp turn of a vehicle, including:

[0029] a first acquiring unit, configured to acquire a linear direction in which the vehicle travels when the vehicle is traveling straight;

[0030] a second acquiring unit, configured to acquire a first acceleration of the vehicle traveling by using the triaxial acceleration sensor; [0031] a first calculating unit, configured to calculate a horizontal acceleration of the vehicle running according to the first acceleration, the level The acceleration is a component of the first acceleration perpendicular to a horizontal plane of gravity direction;

[0032] The second calculating unit calculates an offset acceleration value according to the horizontal acceleration, where the offset acceleration value is a component value of the horizontal acceleration perpendicular to a linear direction of the vehicle traveling on the horizontal plane; 0033] a determining unit, configured to determine whether the offset acceleration value is greater than a preset threshold, when the determination result is yes Then, it is determined that the vehicle has a sharp turn event.

[0034] Optionally, the device further includes:

[0035] a third acquiring unit, configured to acquire, by using the three-axis acceleration sensor, a second acceleration of the vehicle traveling;

[0036] a viewing unit, configured to check whether the vehicle is traveling straight according to the second acceleration.

[0037] Optionally, the first calculating unit is specifically configured to:

[0038] obtaining a gravity acceleration of the vehicle at a standstill;

[0039] establishing a three-dimensional coordinate system with the direction of the gravitational acceleration as the z-axis;

[0040] calculating coordinates (ax, ay, az) of the first acceleration in the three-dimensional coordinate system;

[0041] wherein the horizontal acceleration is a projection coordinate (ax, ay) of the first acceleration on a horizontal plane perpendicular to the direction of gravity.

[0042] Optionally, the second calculating unit is specifically configured to:

[0043] calculating an angle between the horizontal acceleration and a linear direction of travel of the vehicle Θ;

[0044] The offset acceleration value is calculated according to the following formula:

[0045] Optionally, the second calculating unit is specifically configured to:

[0046] The linear direction in which the vehicle travels is the x' axis, and the direction perpendicular to the linear direction of the vehicle traveling in the horizontal plane is the y' axis, and the origin of the three-dimensional coordinate system is taken as the origin to establish two-dimensional Coordinate System;

Calculating coordinates (ax', ay') of the coordinates (ax, ay) of the horizontal acceleration in the two-dimensional coordinate system

The absolute value of ay' is the offset acceleration value.

[0048] A method and a device for identifying a sharp turn of a vehicle according to an embodiment of the present invention are provided. When a straight line of a vehicle is traveled, a linear direction of the vehicle is obtained, and a first acceleration of the vehicle is obtained by using a three-axis acceleration sensor. The first acceleration is calculated, the horizontal acceleration of the vehicle is calculated, and then the offset acceleration value is calculated, and the offset acceleration value is a component value of the horizontal acceleration perpendicular to the linear direction of the vehicle traveling on the horizontal plane, and the offset acceleration value is greater than the preset threshold.吋, it is determined that the vehicle has a sharp turn event, and has the following beneficial effects: It can overcome the defect that the vehicle lateral acceleration value is inaccurate by combining the speed of the vehicle forward in the existing vehicle sharp turn identification method, thereby calculating the vehicle side more accurately. To Acceleration value, more accurately determine whether the vehicle has a sharp turn.

BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below, and obviously, in the following description The drawings are only some of the embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

1 is a schematic flow chart of a method for identifying a sharp turn of a vehicle according to an embodiment of the present invention;

2 is a schematic structural diagram of an apparatus for identifying a sharp turn of a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an in-vehicle terminal according to an embodiment of the present invention.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. example.

It is to be understood that the terminology used in the embodiments of the present invention is for the purpose of describing particular embodiments, and is not intended to limit the invention. The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

Referring to FIG. 1, FIG. 1 is a schematic flow chart of a method for identifying a sharp turn of a vehicle according to an embodiment of the present invention. A method for identifying a sharp turn of a vehicle is applied to an in-vehicle terminal, and the in-vehicle terminal is disposed on a vehicle. The method includes:

[0058] Step S101: When the vehicle runs straight, the linear direction of the vehicle travel is obtained.

[0059] A three-axis acceleration sensor is disposed in the vehicle; the vehicle-mounted terminal is a front-end device of the vehicle monitoring and management system, and is disposed on the vehicle, and can acquire acceleration acquired by the three-axis acceleration sensor. Specifically, the vehicle-mounted terminal can determine whether the vehicle is traveling straight by the measured vehicle speed, steering angular velocity, steering column torque, lane curvature, and the like, and obtain a linear direction of the vehicle travel by calculation.

[0060] As an implementation manner, the vehicle-mounted terminal may also acquire a second acceleration of the vehicle running through the three-axis acceleration sensor, and acquire a linear direction of the vehicle traveling according to the second acceleration, specifically, the second acceleration. The three-dimensional coordinates are projected to a horizontal plane perpendicular to the direction of gravity to obtain two-dimensional coordinates on a horizontal plane; linearly fitting the two-dimensional coordinates successively acquired by the preset inter-turns based on a linear fitting algorithm to obtain a fitting straight line that meets the requirements , the fitted straight line indicates the straight direction of the vehicle traveling straight.

[0061] Step S102: Acquire a first acceleration of the vehicle running by using the triaxial acceleration sensor.

[0062] Specifically, the vehicle-mounted terminal continuously acquires a first acceleration of the vehicle traveling through the three-axis acceleration sensor, and acquires coordinates of the first acceleration according to the established three-dimensional coordinate system.

[0063] Step S103: Calculate a horizontal acceleration of the vehicle running according to the first acceleration.

[0064] As an implementation manner, the vehicle-mounted terminal acquires the gravity acceleration by using a gravity sensor or a three-axis acceleration sensor, and establishes a three-dimensional coordinate system _OX yz by using the direction of the gravity acceleration as the z-axis, and calculates the first acceleration in the three-dimensional coordinate system. The coordinates (ax, ay, az) are used to calculate the horizontal acceleration of the vehicle according to the acquired coordinates of the first acceleration, wherein the horizontal acceleration is a component of the first acceleration perpendicular to the horizontal plane of the gravity direction, specifically, the first acceleration of the vehicle terminal The projected coordinates (ax, ay) on a horizontal plane perpendicular to the direction of gravity are the coordinates of the horizontal acceleration on the horizontal plane.

[0065] Step S104: Calculate the offset acceleration value according to the horizontal acceleration.

Specifically, the in-vehicle terminal calculates an offset acceleration value based on the horizontal acceleration and a linear direction in which the vehicle travels, wherein the offset acceleration value is a component value of the horizontal acceleration on a horizontal plane perpendicular to a linear direction in which the vehicle travels.

[0067] As an implementation manner, the method for calculating the offset acceleration value may be: calculating an angle 水平 between the horizontal acceleration and the linear direction of the vehicle traveling, and calculating the offset acceleration value according to the following formula:

[] . . .

3⁄4 wraps over syndrome = |:3⁄4 X m

[0068] As another implementation manner, the method for calculating the offset acceleration value may further be: taking a linear direction of the vehicle as an x' axis, and a direction perpendicular to a straight line direction of the vehicle in the horizontal plane is a y' axis, in three dimensions The origin o of the coordinate system is the origin, and the two-dimensional coordinate system ox'y' is established; the coordinates of the horizontal acceleration in the two-dimensional coordinate system oxy are calculated by the coordinate conversion between the two-dimensional coordinate system oxy and the two-dimensional coordinate system ox'y' ( Ax, ay) The coordinates (ax', ay') in the two-dimensional coordinate system o x'y', where the absolute value of ay' is the offset acceleration value. Among them, ax' and ay ' are calculated according to formulas (1) and (2).

[0069] = 3⁄4s : (3⁄4

[0070] Where A is the linear direction in which the vehicle travels, that is, the angle between the x' axis and the X axis.

[0071] Step S105: Determine whether the offset acceleration value is greater than a preset threshold.

[0072] Specifically, the vehicle-mounted terminal presets a preset threshold of the offset acceleration, such as 0.4 g (g is a gravitational acceleration value), for determining whether the vehicle has a sharp turn event. The vehicle terminal determines whether the offset acceleration value is greater than a preset threshold. When the determination result is 吋, it indicates that the vehicle has a sharp turn event; otherwise, it is considered that the vehicle has not made a sharp turn event, and the vehicle-mounted terminal may perform step S101 to re-acquire the vehicle. The direction of linear motion and the first acceleration.

[0073] Step S106: determining that the vehicle has a sharp turn event.

[0074] Specifically, when the determination result of step S105 is 吋, the offset acceleration value is greater than the preset threshold, indicating that the vehicle has a sharp turn event. In this case, the owner can be reminded to pay attention to safety, or to control the deceleration of the vehicle, etc., and the invention is not limited.

[0075] It should be noted that, in the present invention, the first acceleration and the second acceleration may be an acceleration acquired by a three-axis acceleration sensor, or may be performed by a three-axis acceleration sensor in a predetermined interval, such as within one second. The acceleration obtained after the data is processed by the multiple accelerations acquired within 3 seconds.

[0076] In the embodiment of the present invention, when the vehicle is traveling straight, the linear direction of the vehicle is obtained, the first acceleration of the vehicle is acquired by the triaxial acceleration sensor, and the horizontal acceleration of the vehicle is calculated according to the first acceleration, and then Calculating an offset acceleration value, where the horizontal acceleration is a component value perpendicular to a straight line direction of the vehicle on a horizontal plane, and when the offset acceleration value is greater than a preset threshold 判定, determining that the vehicle has a sharp turn event has the following beneficial Effect: It can overcome the defect that the vehicle's lateral acceleration value is inaccurate by combining the speed of the vehicle's forward turning in the existing vehicle sharp turn identification method, and then calculate the vehicle lateral acceleration value more accurately, and more accurately determine whether the vehicle has a sharp turn.

[0077] Please refer to FIG. 2. FIG. 2 is a schematic structural diagram of an apparatus for identifying a sharp turn of a vehicle according to an embodiment of the present invention. The identification device for sharp turn of a vehicle is applied to an in-vehicle terminal, and the device for identifying the sharp turn of the vehicle includes: a first acquiring unit 201, a second obtaining unit 202, a first calculating unit 203, and a second The calculating unit 204 and the determining unit 205, wherein

[0078] The first obtaining unit 201 is configured to acquire a linear direction in which the vehicle travels when the vehicle runs straight.

[0079] As an implementation manner, the device further includes: a third acquiring unit, configured to acquire a second acceleration of the vehicle traveling by using the three-axis acceleration sensor; and a viewing unit, configured to check according to the second acceleration See if the vehicle is traveling straight.

[0080] The second obtaining unit 202 is configured to acquire a first acceleration of the vehicle traveling by using the triaxial acceleration sensor.

[0081] The first calculating unit 203 is configured to calculate, according to the first acceleration, a horizontal acceleration of the vehicle running, where the horizontal acceleration is a component of the first acceleration perpendicular to a horizontal plane of the gravity direction;

[0082] As an implementation manner, the first calculating unit 203 is specifically configured to:

[0083] obtaining a gravity acceleration of the vehicle at a standstill;

[0084] establishing a three-dimensional coordinate system with the direction of the gravitational acceleration as the z-axis;

[0085] calculating coordinates (ax, ay, az) of the first acceleration in the three-dimensional coordinate system;

[0086] wherein the horizontal acceleration is a projection coordinate (ax, ay) of the first acceleration on a horizontal plane perpendicular to the direction of gravity.

[0087] The second calculating unit 204 calculates an offset acceleration value according to the horizontal acceleration, and the offset acceleration value is a component value of the horizontal acceleration on the horizontal plane perpendicular to a straight line direction of the vehicle traveling.

[0088] As an implementation manner, the second calculating unit 204 is specifically configured to:

[0089] calculating an angle between the horizontal acceleration and a linear direction of travel of the vehicle Θ;

[0090] The offset acceleration value is calculated according to the following formula:

[0091] As an implementation manner, the second calculating unit 204 is specifically configured to:

[0092] The linear direction in which the vehicle travels is the x′ axis, and the direction perpendicular to the linear direction of the vehicle travels in the horizontal plane is the y′ axis, and the origin of the three-dimensional coordinate system is taken as the origin to establish two-dimensional Coordinate System;

Calculating coordinates (ax', ay' of coordinates (ax, ay) of the horizontal acceleration in the two-dimensional coordinate system

The absolute value of ay' is the offset acceleration value. [0094] The determining unit 205 is configured to determine whether the offset acceleration value is greater than a preset threshold, and when the determination result is yes, determine that the vehicle has a sharp turn event.

[0095] It should be noted that the first acquisition unit 201, the second acquisition unit 202, the first calculation unit 203, the second calculation unit 204, and the determination unit 205 in the vehicle sharp turn identification device 200 in the embodiment of the present invention. The function of the third obtaining unit and the viewing unit may be specifically implemented according to the method in the foregoing method embodiment. For the specific implementation process, refer to the related description of the foregoing method embodiment, and details are not described herein again.

Please refer to FIG. 3. FIG. 3 is a schematic structural diagram of an in-vehicle terminal according to an embodiment of the present invention. The vehicle-mounted terminal of the present invention is applied to a vehicle. The vehicle-mounted terminal provided by the embodiment of the present invention can be used to implement the method implemented by the embodiments of the present invention shown in FIG. 1 . For the convenience of description, only the implementations of the present invention are shown. For the relevant parts of the examples, the specific technical details are not disclosed. Please refer to the embodiments of the present invention shown in FIG. The in-vehicle terminal 30 shown in FIG. 3 may include:

[0097] The input device 301, the memory 302, and the processor 303 (the number of the processors 303 in the network device may be one or more, and one processor in FIG. 3 is taken as an example). In some embodiments of the present invention, the input device 301, the memory 302, and the processor 303 may be connected by a bus or other means. In FIG. 3, by way of a bus connection, the input device 301 may include a three-axis acceleration sensor, and the memory. The 302 is configured to store a set of program code, where the processor 303 is configured to call the program code stored in the memory 302 to perform the following operations:

[0098] when the vehicle is traveling straight, the linear direction of the vehicle travel is obtained through the input module 301;

[0099] obtaining a first acceleration of the vehicle travel by the three-axis acceleration sensor in the input module 301;

[0100] calculating, according to the first acceleration, a horizontal acceleration of the vehicle running, where the horizontal acceleration is a component of the first acceleration perpendicular to a horizontal plane of the gravity direction;

[0101] calculating an offset acceleration value according to the horizontal acceleration, the offset acceleration value being a component value of the horizontal acceleration on a horizontal plane perpendicular to a straight line direction of the vehicle traveling;

[0102] determining whether the offset acceleration value is greater than a preset threshold;

[0103] When the result of the determination is 吋, it is determined that the vehicle has a sharp turn event.

[0104] Optionally, the processor 303 is further configured to: before executing the linear direction of the vehicle, to obtain a straight line direction of the vehicle traveling, the processor 303 is further configured to:

[0105] obtaining a second acceleration of the vehicle travel by the three-axis acceleration sensor in the input module 301; [0106] Checking whether the vehicle is traveling straight according to the second acceleration.

[0107] Optionally, the processor 303 performs, according to the first acceleration, calculating a horizontal acceleration of the vehicle traveling, including:

[0108] obtaining gravity acceleration through the input module 301;

[0109] establishing a three-dimensional coordinate system with the direction of the gravitational acceleration as the z-axis;

[0110] calculating coordinates (ax, ay, az) of the first acceleration in the three-dimensional coordinate system;

[0111] The horizontal acceleration is a projection coordinate (ax, ay) of the first acceleration on a horizontal plane perpendicular to the direction of gravity.

[0112] Optionally, the processor 303 performs, according to the horizontal acceleration, calculating the offset acceleration value, including:

[0113] calculating an angle 所述 between the horizontal acceleration and a linear direction of the vehicle traveling;

[0114] The offset acceleration value is calculated according to the following formula:

[0115] Optionally, the processor 303 performs, according to the horizontal acceleration, calculating the offset acceleration value, including:

[0116] The linear direction in which the vehicle travels is the x′ axis, and the direction perpendicular to the linear direction in which the vehicle travels in the horizontal plane is the y′ axis, and the origin of the three-dimensional coordinate system is taken as the origin to establish two-dimensional Coordinate System;

The absolute value of ay' is the offset acceleration value.

It is to be understood that the functions of the functional modules of the in-vehicle terminal 30 of the present embodiment may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiments.

, will not repeat them here.

[0119] In summary, in the embodiment of the present invention, when the vehicle is traveling straight, the linear direction of the vehicle is obtained, the first acceleration of the vehicle is acquired by the triaxial acceleration sensor, and the vehicle is calculated according to the first acceleration. The horizontal acceleration, and then the offset acceleration value is calculated. The offset acceleration value is a component value of the horizontal acceleration perpendicular to the linear direction of the vehicle traveling on the horizontal plane, and when the offset acceleration value is greater than the preset threshold 吋, determining that the vehicle has a sharp turn event , has the following beneficial effects: It can overcome the inaccuracy of the vehicle lateral acceleration value by combining the speed of the vehicle forward in the existing vehicle sharp turn identification method The defect, in turn, more accurately calculates the lateral acceleration value of the vehicle, and more accurately determines whether the vehicle has a sharp turn.

[0120] Those skilled in the art can understand that all or part of the process of implementing the above embodiments may be completed by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium. The program, after execution, may include the flow of an embodiment of the methods as described above. The storage medium may be a magnetic disk, an optical disk, or a read-only storage memory (Read-Only)

Memory, ROM) or Random Access Memory (RAM).

The above disclosure is only a preferred embodiment of the present invention, and of course, the scope of the present invention is not limited thereto, and those skilled in the art can understand all or part of the process of implementing the above embodiments, and Equivalent variations of the claims of the invention are still within the scope of the invention.

technical problem

Problem solution

Advantageous effects of the invention

Claims

Claim

[Claim 1] A method for identifying a sharp turn of a vehicle, comprising:

Obtaining a linear direction in which the vehicle travels when the vehicle is traveling straight; acquiring a first acceleration of the vehicle traveling through the three-axis acceleration sensor;

Calculating, according to the first acceleration, a horizontal acceleration of the vehicle running, where the horizontal acceleration is a component of the first acceleration perpendicular to a horizontal plane of the gravity direction; and calculating an offset acceleration value according to the horizontal acceleration, the offset acceleration value Determining, by the component value of the horizontal acceleration on the horizontal plane perpendicular to a linear direction of the vehicle traveling, whether the offset acceleration value is greater than a preset threshold;

When the judgment result is 吋, it is determined that the vehicle has a sharp turn event.

[Claim 2] The method according to claim 1, wherein the method further comprises: obtaining the vehicle driving by the three-axis acceleration sensor, before the vehicle is traveling straight, obtaining a straight line direction of the vehicle traveling Second acceleration

Checking whether the vehicle is traveling straight according to the second acceleration.

[Claim 3] The method according to claim 1, wherein: according to the first acceleration

, calculating the horizontal acceleration of the vehicle travel includes:

Obtaining the acceleration of gravity;

Establishing a three-dimensional coordinate system with the direction of the gravitational acceleration as the z-axis;

Calculating coordinates (ax, ay, az) of the first acceleration in the three-dimensional coordinate system; wherein the horizontal acceleration is a projection coordinate (ax, ay) of the first acceleration on a horizontal plane perpendicular to the direction of gravity .

[Claim 4] The method according to claim 3, wherein the calculating the offset acceleration value according to the horizontal acceleration comprises:

Calculating an angle Θ between the horizontal acceleration and a linear direction of the vehicle traveling; Calculate the offset acceleration value according to the following formula:

[Claim 5] The method according to claim 3, wherein the calculating the offset acceleration value according to the horizontal acceleration comprises:

a straight line direction in which the vehicle travels is a χ' axis, a direction perpendicular to a straight line direction of the vehicle in the horizontal plane is a y' axis, and a two-dimensional coordinate system is established with an origin of the three-dimensional coordinate system as an origin;

Calculating the coordinates of the horizontal acceleration (ax, ay) The absolute values of the coordinates (ax', ay') and ay' in the two-dimensional coordinate system are the offset acceleration values.

[Claim 6] A device for identifying a sharp turn of a vehicle, comprising:

a first obtaining unit, configured to acquire a linear direction of the vehicle when the vehicle is traveling straight; and a second acquiring unit, configured to acquire a first acceleration of the vehicle by using the triaxial acceleration sensor;

a first calculating unit, configured to calculate, according to the first acceleration, a horizontal acceleration of the vehicle running, where the horizontal acceleration is a component of the first acceleration perpendicular to a horizontal plane of the gravity direction, and a second calculating unit, according to the horizontal acceleration, An offset acceleration value, the offset acceleration value being a component value of the horizontal acceleration perpendicular to a linear direction of the vehicle traveling on the horizontal plane;

The determining unit is configured to determine whether the offset acceleration value is greater than a preset threshold, and when the determination result is 吋, determine that the vehicle has a sharp turn event.

[Claim 7] The device according to claim 6, wherein the device further comprises:

a third acquiring unit, configured to acquire a second acceleration of the vehicle traveling by using the three-axis acceleration sensor;

a viewing unit, configured to check whether the vehicle is traveling straight according to the second acceleration.

[Claim 8] The device according to claim 6, wherein the first calculating unit is specifically used to:

Obtaining the gravitational acceleration of the vehicle at rest;

Establishing a three-dimensional coordinate system with the direction of the gravitational acceleration as a z-axis; calculating coordinates (ax, ay, az) of the first acceleration in the three-dimensional coordinate system; wherein the horizontal acceleration is the first acceleration Projection coordinates (ax, ay) on a horizontal plane perpendicular to the direction of gravity.

[Claim 9] The device according to claim 8, wherein the second calculating unit is specifically configured to:

Calculating the angle between the horizontal acceleration and the linear direction of the vehicle traveling; calculating the offset acceleration value according to the following formula: Weng Weng repair = ja + . Sleep:

: ' ■·■ ·■■·

[Claim 10] The device according to claim 8, wherein the second calculating unit is specifically used to: