CN102167041B - Method for determining driving state of vehicle based on acceleration sensor - Google Patents

Method for determining driving state of vehicle based on acceleration sensor Download PDF

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Publication number
CN102167041B
CN102167041B CN201110003310.5A CN201110003310A CN102167041B CN 102167041 B CN102167041 B CN 102167041B CN 201110003310 A CN201110003310 A CN 201110003310A CN 102167041 B CN102167041 B CN 102167041B
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China
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acceleration
vehicle
continuous
motoring condition
pick
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CN201110003310.5A
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Chinese (zh)
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CN102167041A (en
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元光七
何勇
王晓东
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深圳市航天星网通讯有限公司
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Abstract

The invention discloses a method for determining the driving state of a vehicle based on an acceleration sensor. The method comprises the following steps of: A, acquiring the longitudinal acceleration, the transverse acceleration and the vertical acceleration of an automobile by using a three-axial acceleration sensor; B, calculating a conversion matrix of an automobile coordinate system and an acceleration sensor coordinate system, acquiring the initial attitude of the acceleration sensor, namely the initial angle between the acceleration sensor and the automobile, and performing zero bias filtering processing on the acquired accelerations so as to acquire the acceleration value of the automobile coordinate system; and C, determining the driving state of the vehicle according to the acceleration values of a plurality of continuous automobile coordinate systems. In the method for determining the driving state of the vehicle based on the acceleration sensor, the original data is acquired by the acceleration sensor, and the driving state of the vehicle is determined by analyzing and processing three axial accelerations, so that the driving behaviors and the driving state of a driver are known, vehicle managers are assisted in normalizing the driving behaviors, dangerous driving behaviors are prevented, and driving safety is ensured.

Description

A kind of decision method of the vehicle running state based on acceleration pick-up

Technical field

The present invention relates to automobile technical field, particularly relate to a kind of decision method of the vehicle running state based on acceleration pick-up.

Background technology

At present, under the traffic accident and traffic jam pressure of sustainable growth, intelligent vehicle active safety system centered by chaufeur/passenger and relevant novel driving sensor/controller, receive more and more automobiles and automobile auxiliary product maker and mass consumption person's concern in the Zheng U.S., Europe, Japan and world wide.The research and the test that deepen continuously show: driving behavior and the driving condition of Real-Time Monitoring and intelligent evaluation chaufeur, contribute to find early possible misoperation, the generation avoiding traffic accident; Remind chaufeur to take the scheme of more reasonably driving to improve the moving velocity of vehicle simultaneously, improve traffic efficiency..Moreover, for the driving behavior of a large amount of different chaufeurs, record and carry out statistical analysis, also contribute to formulate more rational traffic law.

And grasp vehicle various status informations in the process of moving, just can understand driving behavior and the driving condition of chaufeur, and then comprehensively analyze and intelligent evaluation.

Obtaining of vehicle running state can be by the status signal of vehicle, and as brake signal, steering indicating light signal etc., but the state that can obtain is limited; Also can pass through image processing techniques, analyze pavement image, as judged vehicle lane change situation by analyzing track cut-off rule, but easily produce erroneous judgement, especially at the darker environment of the light such as night.。

Summary of the invention

The problem that the embodiment of the present invention will solve is: by gathering and analyze the relevant information of vehicle acceleration, provide a kind of decision method of the vehicle running state based on acceleration pick-up.

For achieving the above object, the technical scheme of the embodiment of the present invention provides a kind of decision method of the vehicle running state based on acceleration pick-up, said method comprising the steps of:

A, the longitudinal acceleration of utilizing 3-axis acceleration sensor collection vehicle, transverse acceleration and normal acceleration;

The transition matrix of B, calculating vehicle axis system and acceleration pick-up system of axes, the initial attitude that obtains acceleration pick-up is the initial angle of acceleration pick-up and automobile, the acceleration/accel gathering is filtered to zero and partially process, obtain the accekeration of vehicle axis system;

C, according to the accekeration of continuous several vehicle axis systems, judge the motoring condition of vehicle.

Further, in described step B, comprising:

B1, according to acceleration pick-up acceleration measurement initial value b2, at acceleration/accel middle removal composition, obtains at three, all near zero, vibrate on axially; B3, right carry out smoothing processing; B4, according to acceleration/accel first nonzero value is measured initial acceleration b5, utilization with the initial coordinate transition matrix A0 of determination of acceleration sensor coordinate system (x ', y ', z ') and vehicle axis system (x, y, z), wherein x is headstock direction, and y is relative vehicle right side horizontal direction, and z is relative vehicle vertical downward direction; B6, utilize A0 to calculate the acceleration/accel (ax, ay, az) in vehicle axis system, ax is carried out to double integral and obtain operating range, according to described operating range judgement headstock direction b7, utilization with the coordinate conversion matrix A of final determination of acceleration sensor coordinate system (x ', y ', z ') and vehicle axis system (x, y, z); B8, according to described coordinate conversion matrix A, calculate the acceleration in vehicle axis system b9, elimination offset from zero point value.

Further, in described step B9, comprising:

B91, for each axial acceleration, for any one constantly, calculate the aviation value of front 30000 data points of this moment; B92, with the acceleration/accel in this moment, deduct the acceleration/accel of described aviation value as this moment.

Further, in described step C, comprising:

C1, obtain the key point on each axial acceleration image and the moment corresponding to described key point in vehicle axis system, described key point comprises: minimum, very big, start, make zero; C2, the key point on each axial acceleration image is arranged according to occurring respectively constantly; C3, according to several key points continuous on each axial acceleration image, judge the motoring condition of vehicle.

Further, on adopting x axial acceleration image, during continuous several key point, in described step C3, comprising: when 3 continuous key points be followed successively by startups, greatly, while making zero, the motoring condition of described vehicle is acceleration; When 3 continuous key points be followed successively by startup, minimum, while making zero, the motoring condition of described vehicle is for slowing down or brake; Described x is axially headstock direction.

Further, on adopting y axial acceleration image, during continuous several key point, in described step C3, comprising: when 3 continuous key points be followed successively by startups, greatly, while making zero, the motoring condition of described vehicle is right-hand rotation; When 3 continuous key points be followed successively by startup, minimum, while making zero, the motoring condition of described vehicle is for turning left; When 4 continuous key points be followed successively by startup, minimum, very big, while making zero, the motoring condition of described vehicle is lane change left; When 4 continuous key points be followed successively by startup, very big, minimum, while making zero, the motoring condition of described vehicle is lane change to the right; Described y is axially relative vehicle right side horizontal direction.

Further, described acceleration pick-up is arranged in mobile unit or smart mobile phone, without the attitude that limits acceleration pick-up, as long as be placed in vehicle.

Compared with prior art, technical scheme tool of the present invention has the following advantages:

The decision method of the vehicle running state based on acceleration pick-up of the present invention, utilized acceleration pick-up to gather original data, by to the analysis of three axial acceleration/accels and processing, and then the motoring condition of judgement vehicle, thereby understand driving behavior and the driving condition of chaufeur, person's standard driving behavior that contributes to vehicle management, pre-dangerous driving prevention behavior, guarantees traffic safety.

Accompanying drawing explanation

Fig. 1 is the diagram of circuit of decision method of a kind of vehicle running state based on acceleration pick-up of the embodiment of the present invention;

Fig. 2 is the schematic diagram of acceleration pick-up system of axes and vehicle axis system in the embodiment of the present invention;

Fig. 3 is the processing flow chart of acceleration pick-up and automobile angle in the embodiment of the present invention;

Fig. 4 is the decision flowchart of the concrete motoring condition of vehicle in the embodiment of the present invention.

The specific embodiment

Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.

The flow process of the decision method of a kind of vehicle running state based on acceleration pick-up of the embodiment of the present invention as shown in Figure 1, comprises the following steps:

Step 101, utilize 3-axis acceleration sensor to gather longitudinal acceleration, transverse acceleration and normal acceleration.

The transition matrix of step 102, calculating vehicle axis system and acceleration pick-up system of axes, the initial attitude that obtains acceleration pick-up is the initial angle of acceleration pick-up and automobile, and the acceleration/accel gathering is done to filter zero processing partially.

Step 103, for the result of above two steps, carry out analyzing and processing, according to the accekeration of continuous several vehicle axis systems, judge the motoring condition of vehicle.

Technical scheme for clearer this specific embodiment of explanation provides, is now elaborated to the method in conjunction with Fig. 2, Fig. 3, Fig. 4.

Fig. 2 is the schematic diagram of acceleration pick-up system of axes and vehicle axis system in the embodiment of the present invention.Automobile uses coordinate (x, y, z) as shown in the figure, and x is headstock direction, and y is relative vehicle right side horizontal direction, and z is relative vehicle vertical downward direction.Suppose that acceleration pick-up is used vertical coordinate (x ', y ', z '), generating mode is:

(x, y, x) is along the z axle positive dirction anglec of rotation → (x1, y1, z1)

(x1, y1, z1) is along y1 axle positive dirction anglec of rotation θ → (x2, y2, z2)

(x2, y2, z2) is along x2 axle positive dirction anglec of rotation φ → (x ', y ', z ')

Fig. 3 is the processing flow chart of acceleration pick-up and automobile angle in the embodiment of the present invention, and detailed process is described below:

Step 301, according to acceleration pick-up acceleration measurement initial value

Step 302, at acceleration/accel middle removal composition, obtains at three, all near zero, vibrate on axially.

Step 303, right carry out first treatment, make it become smoother.

Step 304, according to acceleration/accel first nonzero value is measured initial acceleration

Step 305, utilization with two vectors come the coordinate conversion matrix A0:(x ' of preliminary determination of acceleration sensor coordinate system (x ', y ', z ') and vehicle axis system (x, y, z), y ', z ') → (x, y, z).

Step 306, utilize A0 to calculate acceleration/accel (ax, ay, az) in vehicle axis system, ax is carried out to double integral and obtain operating range, by its judgement headstock direction

Step 307, utilization know two vectors come the coordinate conversion matrix A:(x ' of final determination of acceleration sensor coordinate system (x ', y ', z ') and vehicle axis system (x, y, z), y ', z ') → (x, y, z).

Step 308, use coordinate conversion matrix, calculate the acceleration in vehicle axis system

a → r ( t ) = A a → m ( t ) .

Step 309, elimination offset from zero point value.Specific practice is: for each axial acceleration, for any moment, calculate this aviation value of front 30000 data points constantly, with this acceleration/accel constantly, deduct this aviation value as this acceleration/accel constantly.

Complete after the processing in early stage of data, below enter the data analysis stage, Fig. 4 is the decision flowchart of the concrete motoring condition of vehicle in the embodiment of the present invention, and detailed process is described below:

Step 401, three axial accelerations are separately processed, and the y directional acceleration ary (t) of take is here example, and other diaxon processing modes are similar.

Step 402, find out the key point on ary (t) image, as minimum (L), greatly (M), start (S), make zero (E), and moment of their correspondences.

Step 403, the moment that all key points are occurred according to them arrange, and obtain a succession of action, as: SLMESLESME.

Step 404, the corresponding driving behavior of a 3-4 continuous action meeting.Here only consider that y directional acceleration has 4 kinds of driving behaviors: turn left (L ← SLE), turn right (R ← SME), lane change left (N ← SLME), lane change to the right (M ← SMLE).According to a succession of action obtained in the previous step, can retrieve a series of driving behavior, for example: NLR.

Step 405, x directional acceleration is carried out to similar processing, can judge 2 kinds of driving behaviors: accelerate (A ← SME), slow down or brake (D ← SLE).

Step 406, z directional acceleration mainly reflect traffic information, need to together process to judge road surface situation with velocity information.

The decision method of the vehicle running state based on acceleration pick-up of the present invention, utilized acceleration pick-up to gather original data, by to the analysis of three axial acceleration/accels and processing, and then the motoring condition of judgement vehicle, thereby understand driving behavior and the driving condition of chaufeur, person's standard driving behavior that contributes to vehicle management, pre-dangerous driving prevention behavior, guarantees traffic safety.

The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (6)

1. a decision method for the vehicle running state based on acceleration pick-up, is characterized in that, said method comprising the steps of:
A, the longitudinal acceleration of utilizing 3-axis acceleration sensor collection vehicle, transverse acceleration and normal acceleration;
B1, according to acceleration pick-up acceleration measurement initial value b2, at acceleration/accel middle removal composition, obtains at three, all near zero, vibrate on axially; B3, right carry out smoothing processing; B4, according to acceleration/accel first nonzero value is measured initial acceleration b5, utilization with the initial coordinate transition matrix A0 of determination of acceleration sensor coordinate system (x ', y ', z ') and vehicle axis system (x, y, z), wherein x is headstock direction, and y is relative vehicle right side horizontal direction, and z is relative vehicle vertical downward direction; B6, utilize A0 to calculate the acceleration/accel (ax, ay, az) in vehicle axis system, ax is carried out to double integral and obtain operating range, according to described operating range judgement headstock direction b7, utilization with the coordinate conversion matrix A of final determination of acceleration sensor coordinate system (x ', y ', z ') and vehicle axis system (x, y, z); B8, according to described coordinate conversion matrix A, calculate the acceleration in vehicle axis system b9, elimination offset from zero point value;
C, according to the accekeration of continuous several vehicle axis systems, judge the motoring condition of vehicle.
2. the decision method of the vehicle running state based on acceleration pick-up as claimed in claim 1, is characterized in that, in described step B9, comprising:
B91, for each axial acceleration, for any one constantly, calculate the aviation value of front 30000 data points of this moment; B92, with the acceleration/accel in this moment, deduct the acceleration/accel of described aviation value as this moment.
3. the decision method of the vehicle running state based on acceleration pick-up as claimed in claim 1, is characterized in that, in described step C, comprising:
C1, obtain the key point on each axial acceleration image and the moment corresponding to described key point in vehicle axis system, described key point comprises: minimum, very big, start, make zero; C2, the key point on each axial acceleration image is arranged according to occurring respectively constantly; C3, according to several key points continuous on each axial acceleration image, judge the motoring condition of vehicle.
4. the decision method of the vehicle running state based on acceleration pick-up as claimed in claim 3, is characterized in that, on adopting x axial acceleration image, during continuous several key point, in described step C3, comprising:
When 3 continuous key points be followed successively by startup, greatly, while making zero, the motoring condition of described vehicle is for accelerating; When 3 continuous key points be followed successively by startup, minimum, while making zero, the motoring condition of described vehicle is for slowing down or brake; Described x is axially headstock direction.
5. the decision method of the vehicle running state based on acceleration pick-up as claimed in claim 3, is characterized in that, on adopting y axial acceleration image, during continuous several key point, in described step C3, comprising:
When 3 continuous key points be followed successively by startup, greatly, while making zero, the motoring condition of described vehicle is for turning right; When 3 continuous key points be followed successively by startup, minimum, while making zero, the motoring condition of described vehicle is for turning left; When 4 continuous key points be followed successively by startup, minimum, very big, while making zero, the motoring condition of described vehicle is lane change left; When 4 continuous key points be followed successively by startup, very big, minimum, while making zero, the motoring condition of described vehicle is lane change to the right; Described y is axially relative vehicle right side horizontal direction.
6. the decision method of the vehicle running state based on acceleration pick-up as described in claim 1 to 5 any one, it is characterized in that, described acceleration pick-up is arranged in mobile unit or smart mobile phone, without the attitude that limits acceleration pick-up, as long as be placed in vehicle.
CN201110003310.5A 2011-01-07 2011-01-07 Method for determining driving state of vehicle based on acceleration sensor CN102167041B (en)

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