CN104330812A - Method for restoring multi-vehicle collision track - Google Patents
Method for restoring multi-vehicle collision track Download PDFInfo
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- CN104330812A CN104330812A CN201410612579.7A CN201410612579A CN104330812A CN 104330812 A CN104330812 A CN 104330812A CN 201410612579 A CN201410612579 A CN 201410612579A CN 104330812 A CN104330812 A CN 104330812A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a method for storing a multi-vehicle collision track. The method is characterized in that the running tracks of a plurality of vehicles are combined and transformed to highly precisely restore the collision track of each vehicle, so as to effectively support the field analysis of an traffic accident, and the problem that the running tracks of the vehicles suffering from collision cannot be contacted with the collision time can be solved. The method has the beneficial effects that the data acquired from GPS and serial inertial navigation system within 10 seconds before and after the collision of the vehicles are combined and processed to realize association piecing of the running track of each vehicle, thus the whole scene of the running states of the plurality of vehicles in accident and the accident can be restored, the original reference data are provided for the traffic accident recording and discriminating, questionable pixel analysis, objective restoring of the accident process, liability judgment and confirmation of trouble causing responsibility party, and as a result, the problems of GPS positioning error and instable inertial navigation are avoided, the track calculation of the multi-vehicle collision results is realized, and the running states of the vehicles in accident is restored with high reality.
Description
Technical field
The invention belongs to electronic technology field, be specifically related to a kind of reduce many cars collision track method.
Background technology
At present, when processing the position relationship that many cars bump against, prior art mainly utilizes the mode of GPS and inertial navigation integrated navigation, is optimized positioning precision, by the position accuracy of each point on lifting vehicle driving trace, guarantee that vehicle can collide in same position.Even if but with inertial navigation with the use of, all there is error owing to being limited to any metrology devices, and satellite positioning signal also has error, cannot ensure that the track of many cars equally can be piled up by truth.
Summary of the invention
In order to overcome the above-mentioned shortcoming of prior art, the invention provides a kind of reduce many cars collision track method, by many cars separately driving trace carry out fusion conversion, high precision restores each car collision track, thus effectively support scene of a traffic accident analysis, solve the vehicle collided, it exercises the problem that track can not contact in collision time.
The technical solution adopted for the present invention to solve the technical problems is: a kind of reduce many cars collision track method, comprise the steps:
Step one, with GPS to the revised accident vehicle running data of inertial guidance data for initial value;
Step 2, coordinate conversion is carried out to the driving trace of all accident vehicles;
Step 3, collision time sequencing according to whole accident process, be arranged in order out the crashing vehicle of each collision moment in 10 seconds;
Step 4, according to collision moment sequencing, and the principle of transient energy conservation, calculates the colliding part of each car successively;
Step 5, a selected wherein car maintain static as with reference to car; Then the feature collided in the same time and place is utilized, with the colliding part with reference to car for benchmark, other are contacted with the colliding part of reference car with the colliding part of the vehicle collided with reference to car, obtain the transverse and longitudinal changes in coordinates amount of other vehicle collision position movements thereupon, then carry out translation according to the whole piece driving trace of transverse and longitudinal changes in coordinates amount to each vehicle of correspondence and obtain the new driving trace of whole piece, complete the splicing of these vehicle collision positions and the colliding part with reference to car;
Step 6, to splice successfully, the newer driving trace of whole piece that all non-reference cars are formed by step 5 is rotated, to ensure that on each point of impingement, all directions impact force is finally made a concerted effort for zero, now forms the collision track that each car is final.
If within 10 seconds, there is a lot of collision before and after this collision, so for each collision all according to the method for step 5 and step 6, and follow each car can only the principle of translation 1 subslot, regenerate the collision track of other vehicles.
Described in step 2 to the method that the driving trace of all accident vehicles carries out coordinate conversion be: for any accident vehicle, all its track initial point coordinate is corresponded to any point in relative coordinate system, then according to sky, northeast acceleration and the speed of each time point of this car, be transformed on this car driving trace a little in relative coordinate system.
Compared with prior art, good effect of the present invention is: the present invention is by carrying out fusion treatment by the data of the GPS gathered in before and after collision happens 10 seconds and inertial navigation, realize each car and travel Track association splicing, the transport condition of many cars and the overall situation of accident when reduction accident occurs, for traffic hazard record and examination, accident doubtful point is analyzed, the objective reduction of accident process, duty goal and traffic accident responsibility side are assert, original reference data are provided, evade the problem of GPS positioning error and inertial navigation instability, achieve the trajectory calculation ensureing many cars collision result, reduce to high fidelity the transport condition of vehicle in accident process.
According to advance planning route and turn to rule drive many children electric automobiles, then the fusion of many wheel paths is carried out to the data gathered in driving process, carry out graphic software platform to the track data after fusion again, compare with prespecified route, fidelity reaches more than 95%.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is the process flow diagram of the inventive method;
Fig. 2 is crashing vehicle according to time sequence schematic diagram;
Fig. 3 is two car discrete loci schematic diagram;
Fig. 4 is two wheel paths schematic diagram after association splicing.
Embodiment
The technical problem to be solved in the present invention is:
1) overcome GPS positioning error, in conjunction with inertial navigation data, merge the driving trace producing automobile;
2) colliding part of many cars is calculated;
3) driving trace of the many car collisions of matching.
Because GPS positioning error is comparatively large, the mode that cannot rely on GPS location completely obtains the vehicle driving trace that can pile up.Many wheel paths fusions will solve exactly: to the attitude data reported after attitude sensor collision detection, on the basis of GPS and inertial navigation integrated navigation, make full use of collision moment condition in the same time and place, calculate vehicle collision position, revise conversion vehicle trajectory coordinates, the driving trace of each car of anastomosing and splicing, the problem of piling up according to truth, for graphically reducing accident process preparation data.
In real traffic hazard, a lot of collision may be related in 10 seconds, and each collision may be all the participation of many cars, so many wheel paths fusion method also will solve the problem of many cars generation multiple impacts.
A method for many cars that reduces collision track, as shown in Figure 1, comprises the steps:
Step one, with GPS to the revised accident vehicle running data of inertial guidance data for initial value:
Revise inertial navigation through GPS, the data content of generation is as shown in table 1.
Table 1 GPS revises inertial navigation the data obtained content
Step 2, coordinate conversion is carried out to the driving trace of all accident vehicles:
The track initial point coordinate of any accident vehicle (being designated as A) is corresponded to any point in relative coordinate system, according to sky, northeast acceleration and the speed of each time point of A car, is transformed on A car driving trace a little in relative coordinate system; The coordinate transformation method of all accident vehicle reference A car driving traces is all carried out track conversion.
Step 3, collision time sequencing according to whole accident process, be arranged in order out the crashing vehicle of each collision moment in 10 seconds, as shown in Figure 2.
Step 4, according to collision moment sequencing, and the principle of transient energy conservation, calculates the colliding part of each car successively.
Step 5, a more selected wherein car, as with reference to car (being designated as B), maintain static; Then the feature collided in the same time and place is utilized, with the colliding part of B car for benchmark, the colliding part of the colliding part of other vehicles collided with B car with B car is contacted, obtain the transverse and longitudinal changes in coordinates amount of other vehicle collision position movements thereupon, then each vehicle whole piece driving trace carries out translation (obtaining the new driving trace of whole piece) according to the transverse and longitudinal changes in coordinates amount of correspondence, completes the splicing of the colliding part of these vehicle collision positions and B car;
Step 6, to splice successfully, again by all non-reference cars vehicle of non-B (namely in step 5), the new driving trace of whole piece formed by step 5 rotates, to ensure that on each point of impingement, all directions impact force is finally made a concerted effort for zero, now form the collision track that each car (comprising B car and other non-reference cars) is final.
If within 10 seconds, there is a lot of collision before and after this collision, so for the method for each collision according to step 5 and step 6, and follow each car can only the principle of translation 1 subslot, regenerate the collision track of other vehicles.In order to associated vehicle trajectory coordinates in collision scene is unified, also the convenience in order to implement, arrange each car translation 1 time, namely the whole scene of the accident ensures with 1 car as benchmark, other cars, according to the relation with its direct collision or Indirect Collision, regenerate the collision track of oneself, realize the consistance of all track of vehicle coordinates, simplify the operation step, improves actual application ability.
After two car collision rift attitude datas are carried out GPS correction, the track data obtained, according to aforesaid conversion method, is transformed in virtual pattern coordinate system, utilizes Unity3D Software on Drawing to go out two cars driving trace separately, there is no inevitable contact each other, as shown in Figure 3.
Because the feature had in the same time and place of collision, therefore the position of collision told about according to the present invention calculates and the method for Track association, is contact, carries out the driving trace of two cars association and splice with the point of impingement, obtain trajectory diagram as shown in Figure 4, and consistent with real effect of colliding.Therefore prove, many wheel paths fusion method is effective, is inaccurate strong supplementary to GPS location.
Claims (3)
1. a method for reduction many car collisions track, is characterized in that: comprise the steps:
Step one, with GPS to the revised accident vehicle running data of inertial guidance data for initial value;
Step 2, coordinate conversion is carried out to the driving trace of all accident vehicles;
Step 3, collision time sequencing according to whole accident process, be arranged in order out the crashing vehicle of each collision moment in 10 seconds;
Step 4, according to collision moment sequencing, and the principle of transient energy conservation, calculates the colliding part of each car successively;
Step 5, a selected wherein car maintain static as with reference to car; Then the feature collided in the same time and place is utilized, with the colliding part with reference to car for benchmark, other are contacted with the colliding part of reference car with the colliding part of the vehicle collided with reference to car, obtain the transverse and longitudinal changes in coordinates amount of other vehicle collision position movements thereupon, then carry out translation according to the whole piece driving trace of transverse and longitudinal changes in coordinates amount to each vehicle of correspondence and obtain the new driving trace of whole piece, complete the splicing of these vehicle collision positions and the colliding part with reference to car;
Step 6, to splice successfully, the newer driving trace of whole piece that all non-reference cars are formed by step 5 is rotated, to ensure that on each point of impingement, all directions impact force is finally made a concerted effort for zero, now forms the collision track that each car is final.
2. according to claim 1 a kind of reduce many cars collision track method, it is characterized in that: if before and after this collision within 10 seconds, there is a lot of collision, so for each method of colliding all according to step 5 and step 6, and follow each car can only the principle of translation 1 subslot, regenerate the collision track of other vehicles.
3. according to claim 1 a kind of reduce many cars collision track method, it is characterized in that: described in step 2 to the method that the driving trace of all accident vehicles carries out coordinate conversion be: for any accident vehicle, all its track initial point coordinate is corresponded to any point in relative coordinate system, then according to sky, northeast acceleration and the speed of each time point of this car, be transformed on this car driving trace a little in relative coordinate system.
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| CN201410612579.7A CN104330812B (en) | 2014-11-04 | 2014-11-04 | A kind of method for reducing many cars collision tracks |
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| CN201410612579.7A CN104330812B (en) | 2014-11-04 | 2014-11-04 | A kind of method for reducing many cars collision tracks |
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| CN104330812B CN104330812B (en) | 2017-03-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106528553A (en) * | 2015-09-09 | 2017-03-22 | 上海汽车集团股份有限公司 | A running signal processing method and device |
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| EP1320004A1 (en) * | 2001-12-13 | 2003-06-18 | Samsung Electronics Co., Ltd. | Method and apparatus for automated transfer of collision information |
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| CN102236908A (en) * | 2011-07-18 | 2011-11-09 | 长安大学 | Vehicle iterative collision accident analysis, calculation, simulation and reconstruction system |
| US20140229123A1 (en) * | 2002-06-11 | 2014-08-14 | Ccc Information Services, Inc. | Methods and Apparatus for Using Black Box Data to Analyze Vehicular Accidents |
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2014
- 2014-11-04 CN CN201410612579.7A patent/CN104330812B/en active Active
Patent Citations (4)
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| EP1320004A1 (en) * | 2001-12-13 | 2003-06-18 | Samsung Electronics Co., Ltd. | Method and apparatus for automated transfer of collision information |
| US20140229123A1 (en) * | 2002-06-11 | 2014-08-14 | Ccc Information Services, Inc. | Methods and Apparatus for Using Black Box Data to Analyze Vehicular Accidents |
| CN102044090A (en) * | 2010-12-30 | 2011-05-04 | 长安大学 | Vehicle pileup accident analysis and simulation reconstruction computer system |
| CN102236908A (en) * | 2011-07-18 | 2011-11-09 | 长安大学 | Vehicle iterative collision accident analysis, calculation, simulation and reconstruction system |
Non-Patent Citations (3)
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| XUEHUA LIAO等: ""Traffic accident reconstruction technology research and simulation realization"", 《2012 IEEE SYMPOSIUM ON ELECTRICAL AND ELECTRONICS ENGINEERING》 * |
| 孟维国: ""事故车辆轨迹复现系统的研究"", 《中国优秀硕士学位论文全文数据库工程科技||辑》 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106528553A (en) * | 2015-09-09 | 2017-03-22 | 上海汽车集团股份有限公司 | A running signal processing method and device |
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