CN105092892B - A kind of acquisition methods and device of vehicle acceleration data - Google Patents
A kind of acquisition methods and device of vehicle acceleration data Download PDFInfo
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- CN105092892B CN105092892B CN201510490760.XA CN201510490760A CN105092892B CN 105092892 B CN105092892 B CN 105092892B CN 201510490760 A CN201510490760 A CN 201510490760A CN 105092892 B CN105092892 B CN 105092892B
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Abstract
The invention discloses a kind of acquisition methods of vehicle acceleration data and device, the method includes：The first acceleration information that acquisition mobile terminal acceleration transducer is monitored when vehicle is in idling or at the uniform velocity state, the mobile terminal are positioned in vehicle；It is in vehicle acceleration data when idling or at the uniform velocity state according to first acceleration information and vehicle, calculates the spin matrix that mobile terminal coordinate system is converted to vehicle axis system；The second acceleration information that mobile terminal acceleration transducer monitors when collection vehicle is in transport condition；Second acceleration information is corrected using the spin matrix, obtains vehicle acceleration data.The acquisition methods of the vehicle acceleration data provided through the invention can improve the accuracy of vehicle acceleration data, and then can relatively accurately analyze the driving behavior of driver.
Description
Technical field
The present invention relates to vehicle assistant drive field more particularly to the acquisition methods and dress of a kind of vehicle acceleration data
It sets.
Background technology
With the growth of China's car data amount, the traffic accident that takes place frequently causes the whole society to the concern of traffic safety and again
Depending on.The statistical analysis of traffic accident is pointed out both at home and abroad, it is as caused by artificial origin, in view of friendship that 80% is up in traffic accident
Loss caused by interpreter's event, the safety of automobile is continuously improved in automobile vendor, to ensure the safety of driver.Human factor is led
The driving behavior for causing the traffic accident to take place frequently that researcher is made to begin to focus on driver.The driving behavior of driver directly affects
The acceleration information of vehicle.By installing various kinds of sensors, such as pedal sensor, steering wheel sensor or acquisition vehicle device in the car
OBD data etc. can obtain the acceleration information of vehicle, and then can analyze the driving behavior of driver, but this method needs
Corresponding equipment to be installed in the car, increases the financial burden of user, there is certain limitation.
With becoming increasingly popular for the mobile terminal such as smart mobile phone for being built-in with the sensors such as accelerometer, gyroscope, GPS,
The acquisition of vehicle acceleration based on mobile terminal sensing data is using increasing.
Currently, in service provider by mobile terminal sensor to obtain vehicle acceleration data, Zendrive is in row
The top standard of industry, data acquisition are needed the mobile terminal such as a certain fixed bit of mobile phone fixation inside the vehicle
It sets, as shown in Figure 1, so that mobile terminal coordinate system is overlapped with vehicle axis system, in this way, during the entire process of vehicle travels,
Mobile terminal cannot be moved, therefore this method has mobile terminal user certain limitation, to mobile terminal user with
It is inconvenient to come.
Invention content
In view of this, the present invention provides a kind of acquisition methods of vehicle acceleration data and device, to solve above-mentioned skill
Art problem.
In order to solve the above-mentioned technical problem, present invention employs following technical solutions：
A kind of acquisition methods of vehicle acceleration data, including：
The first acceleration that acquisition mobile terminal acceleration transducer is monitored when vehicle is in idling or at the uniform velocity state
Data, the mobile terminal are positioned in vehicle；
It is in vehicle acceleration data when idling or at the uniform velocity state according to first acceleration information and vehicle, calculates
Mobile terminal coordinate system is converted to the spin matrix of vehicle axis system；
The second acceleration information that mobile terminal acceleration transducer monitors when collection vehicle is in transport condition；
Second acceleration information is corrected using the spin matrix, obtains vehicle acceleration data.
A kind of acquisition device of vehicle acceleration data, including：
First data acquisition unit is in idling or at the uniform velocity state for acquiring mobile terminal acceleration transducer in vehicle
When the first acceleration information for monitoring, the mobile terminal is positioned in vehicle；
Computing unit, vehicle when for being in idling or at the uniform velocity state according to first acceleration information and vehicle add
Speed data calculates the spin matrix that mobile terminal coordinate system is converted to vehicle axis system；
Second data acquisition unit, mobile terminal acceleration transducer monitors when being in transport condition for collection vehicle
The second acceleration information；
Correction unit is obtained vehicle and added for being corrected to second acceleration information using the spin matrix
Speed data.
Compared to the prior art, the invention has the advantages that：
In the acquisition methods of vehicle acceleration data provided by the invention, according to mobile terminal acceleration transducer in vehicle
Vehicle when the first acceleration information and vehicle monitored when in idling or average rate state is in idling or at the uniform velocity state adds
The spin matrix that mobile terminal coordinate system is converted to vehicle axis system can be calculated in speed data.Utilize the spin matrix
The second acceleration information that can be monitored to mobile terminal acceleration transducer when vehicle is in transport condition is corrected,
To obtain actual vehicle acceleration data.
Therefore, vehicle acceleration data acquisition methods provided by the invention are without requiring mobile terminal coordinate system to be sat with vehicle
Mark system overlaps, it is therefore not necessary to which mobile terminal is fixed a certain fixed position in the car.Vehicle acceleration data provided by the invention
Acquisition methods allow mobile terminal to fix any position in the car, provide users with the convenient.
Description of the drawings
In order to which the prior art and technical scheme of the present invention is expressly understood, the prior art and the present invention's is described below
The attached drawing used when specific implementation mode does a brief description.It should be evident that the part that these attached drawings are only the present invention is implemented
Example, those skilled in the art can also obtain other attached drawings under the premise of not making the creative labor.
Fig. 1 is to detect the mobile phone of acceleration in the prior art to fix schematic diagram in the car；
Fig. 2 is the acquisition methods flow diagram for the vehicle acceleration data that the embodiment of the present invention one provides；
Fig. 3 is the method flow schematic diagram that denoising is carried out using the first acceleration information of wavelet analysis method pair；
Fig. 4 shows the first acceleration information schematic diagram before and after noise processed；
Fig. 5 A and Fig. 5 B are Eulerian angles schematic diagrames；
Fig. 6 is the acquisition methods flow diagram of vehicle acceleration data provided by Embodiment 2 of the present invention；
Fig. 7 is provided by Embodiment 2 of the present invention when mobile terminal is moved, the monitoring of mobile terminal acceleration transducer
The acceleration arrived carries out the schematic diagram after M layers of wavelet decomposition；
Fig. 8 is provided by Embodiment 2 of the present invention in vehicle strenuous exercise, and mobile terminal acceleration transducer monitors
Acceleration carries out the schematic diagram after M layers of wavelet decomposition；
Fig. 9 is that the method flow provided by Embodiment 2 of the present invention that signature analysis is carried out to the second acceleration information is illustrated
Figure；
Figure 10 is the structural schematic diagram of the acquisition device for the vehicle acceleration data that the embodiment of the present invention three provides；
Figure 11 is the structural schematic diagram of the acquisition device for the vehicle acceleration data that the embodiment of the present invention four provides.
Specific implementation mode
To keep the goal of the invention, technological means and technique effect of the present invention clearer, complete, below in conjunction with the accompanying drawings to this
The specific implementation mode of invention is described.
With the development of mobile terminal such as smart mobile phone, accelerometer, gyroscope, GPS etc. are generally built-in in intelligent terminal
Sensor.It is increasing come the application for obtaining vehicle acceleration based on intelligent terminal sensor gathered data.It is obtained to improve
The accuracy of vehicle acceleration data, the present invention provides a kind of vehicle acceleration data acquisition methods.Referring specifically to following reality
Apply example.
It should be noted that the mobile terminal described in following embodiment can be the mobile terminals such as smart mobile phone, iPad.
Embodiment one
Fig. 2 is a kind of flow diagram of the acquisition methods for vehicle acceleration data that the embodiment of the present invention one provides.Such as
Shown in Fig. 2, this approach includes the following steps：
S201, acquisition mobile terminal acceleration transducer monitored when vehicle be in idling or at the uniform velocity state first add
Speed data, the mobile terminal are positioned in vehicle:
It should be noted that in embodiments of the present invention, mobile terminal is positioned in vehicle.
When there are no travelings in idling mode after vehicle launch, or work as vehicle at the uniform velocity when driving, is built in movement
First acceleration of the acceleration transducer monitoring mobile terminal in terminal, obtains the first acceleration information.Vehicle acceleration obtains
Device is taken to acquire first acceleration information.Wherein, the first acceleration information can be expressed as g (t)=f (t)+α e (t),
In, f (t) is actual signal, and e (t) is noise signal.Wherein, noise signal is mainly caused by the mechanical oscillation of vehicle.
S202, denoising is carried out to collected first acceleration information, obtains the first acceleration after removal noise
Data:
When vehicle launch or vehicle at the uniform velocity when driving, it is possible to will produce strong body vibrations, body vibrations can be right
Sensor in mobile terminal generates certain interference, which will have a direct impact on the mobile terminal that Sensor monitoring arrives and accelerate the number of degrees
Influence the accuracy of the vehicle acceleration data got in turn according to i.e. the first acceleration information.
In order to remove noise jamming, this step carries out denoising to collected first acceleration information, is removed
The first acceleration information after noise.As an example, the present invention is gone using the first acceleration information of wavelet analysis method pair
It makes an uproar processing.
For the angle of signal, wavelet analysis noise processed is a signal filtering, although largely
Upper wavelet analysis noise processed can regard low-pass filtering as, but due to after noise processed, additionally it is possible to be successfully reserved signal
Feature, so, at this point, wavelet analysis, due to traditional low-pass filter, wavelet analysis noise processed is that feature carries
Take the synthesis with low-pass filtering.
Denoising is carried out using the first acceleration information of wavelet analysis method pair, first after removal noise is obtained and accelerates
The method flow schematic diagram of degrees of data is as shown in figure 3, it specifically includes following steps：
S2021, N layers of wavelet decompositions calculating are carried out to collected first acceleration information, obtain the 1st layer to n-th layer point
Solve signal；Wherein, N >=2, and N is integer.
When S2022, the high frequency coefficient for choosing the 1st layer of each layer of decomposed signal to n-th layer carry out soft-threshold quantification treatment
Corresponding high frequency coefficient threshold value；
It should be noted that how to choose high frequency coefficient threshold value and quantify to high frequency coefficient threshold value, to a certain degree
Quality of the co-relation to signal de-noising.In wavelet transformation, to the threshold value needed for each layer coefficients generally according to the letter of original signal
Number noise ratio is chosen to choose, namely by the standard deviation of each layer decomposition coefficient of small echo, can after obtaining signal noise intensity
With the threshold value of each layer of determination.
In embodiments of the present invention, the 1st can be chosen according to the signal noise ratio of collected first acceleration information
The high frequency coefficient of layer to each layer of decomposed signal of n-th layer carries out corresponding high frequency coefficient threshold when soft-threshold quantification treatment
Value.Fig. 4 shows the first acceleration information before and after noise processed, wherein the longitudinal axis is the first acceleration information.After noise processed
The first acceleration information change in signal strength it is more gentle.
S2023, according to the corresponding high frequency coefficient threshold value of the 1st layer to n-th layer of every layer of decomposed signal to being corresponding to it
The high frequency coefficient of the 1st layer of each layer of decomposed signal to n-th layer carry out soft-threshold quantification treatment respectively, obtain soft-threshold quantization
Treated the 1st layer of high frequency coefficient to n-th layer decomposed signal.
S2024, according to the 1st layer after the low frequency coefficient of n-th layer decomposed signal and the soft-threshold quantification treatment to n-th layer
The high frequency coefficient of decomposed signal, reconstructs small echo signal, and the small echo signal after reconstruct is the first acceleration after the removal noise
Degrees of data.
It should be noted that when vehicle idling or at the uniform velocity when driving, when not will produce strong body vibrations, can save
Step S202.
S203, according to after the removal noise the first acceleration information and vehicle be in idling or at the uniform velocity state when vehicle
Acceleration information calculates the spin matrix that mobile terminal coordinate system is converted to vehicle axis system；
In embodiments of the present invention, mobile terminal place in the car, but to mobile terminal place in the car where
Do not limit.In this way, may result between the coordinate system of mobile terminal and vehicle axis system, there are certain deviations, i.e. mobile terminal
There are certain angles between coordinate system and vehicle axis system.If the acceleration for directly monitoring mobile terminal acceleration transducer
Degrees of data may result in vehicle acceleration data inaccuracy as vehicle acceleration data.
In order to be accurately obtained vehicle acceleration data, the acceleration monitored to mobile terminal acceleration transducer is needed
Degrees of data is corrected processing.
In order to which the acceleration information for monitoring mobile terminal acceleration transducer is corrected processing, need to find movement
Transformational relation between end coordinates system and vehicle axis system needs to know that mobile terminal coordinate system is converted to vehicle axis system
Spin matrix.It should be noted that in embodiments of the present invention, the rotation between mobile terminal coordinate system and vehicle axis system
The vehicle that the first acceleration information after matrix as removal noise is converted to when the vehicle is in idling or at the uniform velocity state adds
The spin matrix of speed data.
In embodiments of the present invention, the spin matrix based on Eulerian angles can be used, mobile terminal coordinate system is converted to
Vehicle axis system.It should be noted that the spin matrix that mobile terminal coordinate system is converted to vehicle axis system is vehicle idling
Or at the uniform velocity state when, mobile terminal acceleration information is converted to the transformational relation of vehicle acceleration data.
In embodiments of the present invention, mobile terminal acceleration information be converted to the transformational relation of vehicle acceleration data can be with
It is indicated with Eulerian angles.
For a referential in three dimensions, the orientation of any coordinate system can be with three Eulerian angles come table
It is existing.Referential is also known as laboratory reference system, is stationary.And coordinate system is then fixed on rigid body, with the rotation of rigid body
And it rotates.According to Euler theorems, in three dimensions, any one rotation transformation can be attributed to several along coordinate
The number of the combination of axis rotation, combination is no more than three and two adjacent rotations must be along different reference axis.Therefore,
A transformation, the referred to as angles Euler can be indicated with three angles along reference axis rotation.Rotation transformation is not commutative
, according to the difference of rotational order, there are 12 kinds of representations, respectively：XYZ,XZY,XYX,XZX,YXZ,YZX,YXY,YZY,
ZXY, ZYX, ZXZ, ZYZ, can be one such with unrestricted choice.For the same transformation, rotational order is different, the angles Euler
Difference should arrange rotational order first at the specified angles Euler.Rigid body translation only changes the position and direction of object, does not wrap
Include shape.All length, angle, area and volume are all constant.As fig. 5 a and fig. 5b, wherein α, β, γ are Eulerian angles.
As an example, setting the rotational order selected as YZY, then spin matrix can be expressed as：
When vehicle idling or at the uniform velocity, vehicle acceleration matrix should be [0,1,0]T, mobile terminal acceleration sensing at this time
The acceleration matrix that device measures is [ax,ay,az]T, Euler's rotation is rigid body rotation, first rotates, obtains around Y-axis
It solves：γ=tan-1(az/ax), it is rotated further around Z axis,
It solves：β=cos-1(ay), after above-mentioned rotation, acceleration matrix becomes [ax',ay',az']T, revolved further around Y-axis
Turn；
It solves：α=tan-1(ax'/az'), obtaining spin matrix is
R=Rα×Rβ×Rγ。
Obtained spin matrix R=Rα×Rβ×RγAs mobile terminal coordinate system is transformed into the rotation of vehicle axis system
Matrix.
It should be noted that the above-mentioned rotational order of selection is only example.It, can be in fact, in embodiments of the present invention
It chooses any one kind of them rotational order.As the extension of the embodiment of the present invention, the rotational order for setting selection respectively is around the first seat
Parameter rotation is rotated around the second reference axis and is rotated around third reference axis；Wherein, the first reference axis and the second reference axis are not same
One reference axis, the second reference axis and third reference axis are not same reference axis.
It rotates around the rotation of the first reference axis, around the second reference axis and is revolved around third reference axis when rotational order respectively is
When turning, the spin matrix that calculating mobile terminal coordinate system is converted to vehicle axis system specifically includes following steps：
When calculating the first acceleration information after the removal noise and being converted to the vehicle and be in idling or at the uniform velocity state
Vehicle acceleration data when around the first reference axis rotation the first Eulerian angles；
First acceleration information of the calculating after the postrotational removal noise of the first reference axis is converted to the vehicle and is in
Around the second Eulerian angles of the second reference axis rotation when vehicle acceleration data when idling or at the uniform velocity state；
The first acceleration information after the postrotational removal noise of the first reference axis and the second reference axis is calculated to be converted to
The third Eulerian angles rotated around third reference axis when vehicle acceleration data when the vehicle is in idling or at the uniform velocity state；
First after the removal noise is built according to first Eulerian angles, the second Eulerian angles and third Eulerian angles to accelerate
Degrees of data is converted to the spin matrix of the vehicle acceleration data when vehicle is in idling or at the uniform velocity state, and the removal is made an uproar
The first acceleration information after sound is converted to the rotation of the vehicle acceleration data when vehicle is in idling or at the uniform velocity state
The vehicle that the first acceleration information after matrix as removal noise is converted to when the vehicle is in idling or at the uniform velocity state adds
The spin matrix of speed data.
Mobile terminal acceleration transducer monitors when S204, collection vehicle are in transport condition second accelerates the number of degrees
According to.
S205, second acceleration information is corrected using the spin matrix, obtains vehicle acceleration data:
Specifically, spin matrix is multiplied by the second acceleration information, obtained product is actual vehicle acceleration number
According to.
It is the specific implementation mode of the acquisition methods for the vehicle acceleration data that the embodiment of the present invention one provides above.This hair
In the acquisition methods of the vehicle acceleration data of bright offer, according to mobile terminal acceleration transducer vehicle be in idling or
The first acceleration information and vehicle monitored when fast state is in vehicle acceleration data when idling or at the uniform velocity state, can
The spin matrix that mobile terminal coordinate system is converted to vehicle axis system is calculated.It can be to mobile terminal using the spin matrix
The second acceleration information that acceleration transducer is monitored when vehicle is in transport condition is corrected, actual to obtain
Vehicle acceleration data.
Therefore, vehicle acceleration data acquisition methods provided by the invention are without requiring mobile terminal coordinate system to be sat with vehicle
Mark system overlaps, it is therefore not necessary to which mobile terminal is fixed a certain fixed position in the car.Vehicle acceleration data provided by the invention
Acquisition methods allow mobile terminal to fix any position in the car, provide users with the convenient.
Moreover, when vehicle is in idling or at the uniform velocity state, if generating strong body vibrations, can also accelerate to first
Degrees of data carries out denoising, then, calculates mobile terminal coordinate system using the first acceleration information after removal noise and converts
For the spin matrix of vehicle axis system.At this point, the spin moment due to being converted to vehicle axis system in calculating mobile terminal coordinate system
During battle array, mobile terminal acceleration transducer data have been removed noise, so, obtained spin matrix is not also just deposited
In the interference of mechanical oscillation, thus, it is the true of vehicle acceleration data using the vehicle acceleration data that the spin matrix obtains
Real data.Therefore, the acquisition methods of the vehicle acceleration data provided through the invention can improve vehicle acceleration data
Accuracy, and then can relatively accurately analyze the driving behavior of driver.
In addition, mobile terminal is placed in vehicle, it is possible to it is moved, it is such as artificial caused mobile.When mobile terminal quilt
After movement, mobile terminal coordinate system will change, at this point, the conversion between mobile terminal coordinate system and vehicle axis system
Relationship will change, i.e., the angle between mobile terminal coordinate system and vehicle axis system changes.In this case,
If still with the transformational relation between original mobile terminal acceleration and vehicle acceleration to mobile terminal acceleration sensing
The second acceleration information that device monitors is corrected, then the vehicle acceleration data obtained at this time is just inaccurate.
In order to solve the problems, such as that the vehicle acceleration data obtained caused by moving due to mobile terminal is inaccurate, this hair
It is bright to additionally provide embodiment two.
Embodiment two
It should be noted that embodiment two has many similarities with embodiment one, for the sake of brevity, the present embodiment is only
Its difference is described in detail, similarity refers to the detailed description of embodiment one.
Fig. 6 is the acquisition methods flow diagram of vehicle acceleration data provided by Embodiment 2 of the present invention.Such as Fig. 6 institutes
Show, which includes the following steps：
S601, acquisition mobile terminal acceleration transducer monitored when vehicle be in idling or at the uniform velocity state first add
Speed data, the mobile terminal are positioned in vehicle:
S602, denoising is carried out to collected first acceleration information, obtains the first acceleration after removal noise
Data:
S603, according to after the removal noise the first acceleration information and vehicle be in idling or at the uniform velocity state when vehicle
Acceleration information, calculates the first acceleration information after the removal noise and is converted to the vehicle and be in idling or at the uniform velocity shape
The spin matrix of vehicle acceleration data when state:
Mobile terminal acceleration transducer monitors when S604, collection vehicle are in transport condition second accelerates the number of degrees
According to.
Step S601 to step S604 is identical to step S204 as the step S201 in embodiment, for the sake of brevity,
This is not described in detail, and details refer to the corresponding description of embodiment one.
S605, the variable quantity for monitoring the second acceleration information in certain time window in real time：
It should be noted that certain time window is certain period of time.
S606, judge whether the variable quantity of the second acceleration information in certain time window is more than acceleration change threshold value；Such as
Fruit is step S607 to be executed, if not, returning to step S604.
S607, signature analysis is carried out to second acceleration information, causes second acceleration information to become to determine
The factor of change：
It should be noted that there are two the reason of causing the second acceleration information to change greatly：One is that vehicle is acutely transported
Row, i.e., vehicle acceleration is larger, another is that mobile terminal is moved.The mesh of signature analysis is carried out to the second acceleration information
Be to distinguish it is change dramatically which factor leads to the second acceleration information.
In order to distinguish that acutely operation and mobile terminal are moved two scenes to vehicle, the embodiment of the present invention acquires two respectively
Acceleration information under kind scene, and N layers of wavelet decomposition have been carried out to the acceleration information.
Fig. 7 is that the acceleration that mobile terminal acceleration transducer monitors carries out M layers of small echo when mobile terminal is moved
Schematic diagram after decomposition.In Fig. 7, the acceleration information that initial data monitors for mobile terminal acceleration transducer, level1,
Level2, level3, level4 and level5 indicate the 1st layer signal after wavelet decomposition, the 2nd layer signal, the 3rd layer of letter respectively
Number, the 4th layer signal and the 5th layer signal.It can be seen from figure 7 that when mobile terminal is passive, the high-level signal after decomposition is more
It can reflect original signal characteristic, it is stronger with original signal correlation.It should be noted that when to mobile terminal acceleration transducer
After the acceleration that monitors carries out M layer wavelet decomposition, wherein M >=2, and M for integer when, the high level described in the embodiment of the present invention
Secondary signal is the decomposed signal that level is not less than M/2.As an example, high-level signal can be wavelet decomposition after it is top i.e.
M layers or secondary top i.e. M-1 layer signals.
Fig. 8 is that the acceleration that mobile terminal acceleration transducer monitors carries out M layers of small wavelength-division in vehicle strenuous exercise
Schematic diagram after solution.In Fig. 8, the acceleration information that initial data monitors for mobile terminal acceleration transducer, level1,
Level2, level3, level4 and level5 indicate the 1st layer signal after wavelet decomposition, the 2nd layer signal, the 3rd layer of letter respectively
Number, the 4th layer signal and the 5th layer signal.As can be seen from Figure 8, when vehicle strenuous exercise, the low level signal after decomposition is more
It can reflect original signal characteristic, it is stronger with original signal correlation.It should be noted that when to mobile terminal acceleration transducer
After the acceleration that monitors carries out M layer wavelet decomposition, wherein M >=2, and M for integer when, the low layer described in the embodiment of the present invention
Secondary signal is the decomposed signal that level is less than M/2.As an example, low level signal can be the bottom i.e. the after wavelet decomposition
1 layer or the secondary bottom i.e. the 2nd layer signal.
It is drawn a conclusion according to Fig. 7 and Fig. 8, high-level decomposed signal is mobile terminal with the strong scene of original signal correlation
It is moved, low level decomposed signal is vehicle strenuous exercise with the strong scene of original signal correlation.
It is described that signature analysis is carried out to second acceleration information based on above-mentioned conclusion, cause described second with determination
The detailed process of the factor of acceleration information variation is as shown in figure 9, it is specifically included：
S901, M layers of wavelet decomposition are carried out to second acceleration information, obtains the 1st layer to M layers of decomposed signal；Its
In, M >=2, and M is integer.
S902, each layer of decomposed signal calculated separately in the 1st layer to M layers of decomposed signal accelerate the number of degrees with described second
According to related coefficient：
In embodiments of the present invention, the related coefficient of every layer of decomposed signal and second acceleration information can be used
Pearson coefficients indicate.
The related coefficient and low level decomposed signal of S903, relatively high hierachical decomposition signal and second acceleration information
With the size of the related coefficient of second acceleration information：
In embodiments of the present invention, the high-level decomposed signal be M layers of decomposed signal or M-1 layers of decomposed signal,
The low level decomposed signal is the 1st layer or the 2nd layer of decomposed signal.
When the related coefficient of high-level decomposed signal and second acceleration information is more than low level decomposed signal and institute
When stating the related coefficient of the second acceleration information, determines and the factor of the second acceleration information variation is caused to be mobile terminal quilt
It is mobile；
When the related coefficient of high-level decomposed signal and second acceleration information is less than low level decomposed signal and institute
When stating the related coefficient of the second acceleration information, determines and the factor of the second acceleration information variation is caused to be vehicle movement.
S608, when cause the second acceleration information change factor be mobile terminal moved when, judge whether vehicle is located
In idling or at the uniform velocity state；If so, S601 is returned to step, if not, returning to step S604.
When it is that mobile terminal is moved to cause the factor that the second acceleration information changes, need to recalculate mobile terminal
Transformational relation, that is, transition matrix between coordinate system and vehicle axis system.So at this time, it may be necessary to judging whether vehicle is in idling
Or at the uniform velocity state, if so, returning to step S601, and then obtain new between mobile terminal coordinate system and vehicle axis system
Transformational relation.Then, the acceleration information that mobile terminal acceleration transducer monitors is carried out using new transformational relation
Correction, finally obtains vehicle acceleration data.When vehicle is not at idling or at the uniform velocity state, S604 is returned to step.
S609, when cause the second acceleration information change factor be vehicle movement when, using the spin matrix to institute
It states the second acceleration information to be corrected, obtains vehicle acceleration data：
When it is vehicle movement to cause the factor of the second acceleration information variation, mobile terminal coordinate system and vehicle axis system
Transformational relation do not change, therefore.The second acceleration information that mobile terminal monitors can be used for analyzing driver
Driving behavior, so, the obtained spin matrixs of step S603 can be utilized to be corrected second acceleration information, i.e.,
The obtained spin matrixs of step S603 are multiplied by the second acceleration information, obtained product is vehicle acceleration data.
It is the specific implementation mode of the acquisition methods of vehicle acceleration data provided by Embodiment 2 of the present invention above.Implement
The acquisition methods for the vehicle acceleration data that example two provides not only allow for the mechanical oscillation during vehicle movement to mobile whole
Hold the influence of acceleration information, it is also contemplated that in vehicle operation, mobile terminal is moved accelerates the number of degrees to mobile terminal
According to influence.Therefore, the accuracy of the vehicle acceleration data of acquisition is not only ensure that using the acquisition methods, is driven to be follow-up
Member's behavioural analysis provides accurately acceleration information, and mobile terminal coordinate system and vehicle axis system is not required to overlap, also not
It is required that mobile terminal is fixed in the car, therefore, this method brings great advantage to the user.
Based on the vehicle acceleration acquisition methods that above-described embodiment one provides, the embodiment of the present invention additionally provides a kind of vehicle
The acquisition device of acceleration information, referring specifically to embodiment three.
Embodiment three
Figure 10 is the structural schematic diagram of the acquisition device for the vehicle acceleration data that the embodiment of the present invention three provides.Such as Figure 10
Shown, the acquisition device of the vehicle acceleration data includes：
First data acquisition unit 101 is in idling or at the uniform velocity for acquiring mobile terminal acceleration transducer in vehicle
The first acceleration information monitored when state, the mobile terminal are positioned in vehicle；
Noise processed unit 102 obtains removal noise for carrying out denoising to collected first acceleration information
The first acceleration information afterwards；It should be noted that in the acquisition device of vehicle acceleration data provided in an embodiment of the present invention
It can not also include the noise processed unit 102.
Computing unit 103, for according to after the removal noise the first acceleration information and vehicle be in idling or even
Vehicle acceleration data when fast state calculates the spin matrix that mobile terminal coordinate system is converted to vehicle axis system；
Second data acquisition unit 104, mobile terminal acceleration transducer is supervised when being in transport condition for collection vehicle
The second acceleration information measured；
Correction unit 105 obtains vehicle for being corrected to second acceleration information using the spin matrix
Acceleration information.
By the vehicle acceleration acquisition device described in embodiment three, without requiring mobile terminal coordinate system and vehicle coordinate
System overlaps, it is therefore not necessary to which mobile terminal is fixed a certain fixed position in the car.Vehicle acceleration data provided by the invention obtains
It takes device that mobile terminal is allowed to fix any position in the car, provides users with the convenient.
Further, in the vehicle acceleration acquisition device of above-mentioned offer, by noise processed unit 102 can remove by
The noise jamming for the acceleration information that mobile terminal acceleration transducer is monitored caused by vehicle vibration, thus the acquisition
Device can improve the accuracy of vehicle acceleration data, and then can relatively accurately analyze the driving behavior of driver.
As the specific embodiment of the present invention, above-mentioned noise processed unit 102 includes：
First decomposes subelement 1021, calculates, obtains for carrying out N layers of wavelet decomposition to collected first acceleration information
To the 1st layer to n-th layer decomposed signal；Wherein, N >=2, and N is integer；
First chooses subelement 1022, for choosing the 1st according to the signal noise ratio of collected first acceleration information
The high frequency coefficient of layer to each layer of decomposed signal of n-th layer carries out corresponding high frequency coefficient threshold when soft-threshold quantification treatment
Value；
Soft-threshold quantification treatment subelement 1023, for corresponding according to the 1st layer to n-th layer of every layer of decomposed signal
High frequency coefficient threshold value carries out soft-threshold respectively to the high frequency coefficient of the corresponding 1st layer of each layer of decomposed signal to n-th layer
Quantification treatment obtains the 1st layer of high frequency coefficient to n-th layer decomposed signal after soft-threshold quantification treatment；
Reconstruction signal subelement 1024, at according to the low frequency coefficient of n-th layer decomposed signal and the soft-threshold quantization
The 1st layer of high frequency coefficient to n-th layer decomposed signal after reason reconstructs small echo signal, and the small echo signal after reconstruct is described goes
Except the first acceleration information after noise.
As the specific embodiment of the present invention, the computing unit 103 specifically includes：
Second selection subelement 1031 sets the rotation of selection for rotational order of choosing any one kind of them from a variety of rotational orders
Turn sequence respectively to be around the rotation of the first reference axis, rotate around the rotation of the second reference axis and around third reference axis；Wherein, first
Reference axis and the second reference axis are not same reference axis, and the second reference axis and third reference axis are not same reference axis；
First computation subunit 1032 is converted to the vehicle for calculating the first acceleration information and is in idling or at the uniform velocity
Around the first Eulerian angles of the first reference axis rotation when vehicle acceleration data when state；
Second computation subunit 1033 is converted to institute for calculating around postrotational first acceleration information of the first reference axis
State the second Eulerian angles rotated around the second reference axis when vehicle acceleration data when vehicle is in idling or at the uniform velocity state；
Third computation subunit 1034, for calculating around the first reference axis and postrotational first acceleration of the second reference axis
Rotated around third reference axis when data are converted to the vehicle acceleration data when vehicle is in idling or at the uniform velocity state
Three Eulerian angles；
Subelement 1035 is built, for according to described in first Eulerian angles, the second Eulerian angles and third Eulerian angles structure
First acceleration information is converted to the spin matrix of the vehicle acceleration data when vehicle is in idling or at the uniform velocity state, institute
State the spin matrix for the vehicle acceleration data that the first acceleration information is converted to when the vehicle is in idling or at the uniform velocity state
As mobile terminal coordinate system is converted to the spin matrix of vehicle axis system.
Acquisition methods based on the vehicle acceleration that above-described embodiment two provides, the embodiment of the present invention additionally provide a kind of vehicle
Another embodiment of the acquisition device of acceleration, referring specifically to example IV.
Example IV
Figure 11 is the structural schematic diagram for the vehicle acceleration acquisition device that the embodiment of the present invention four provides.As shown in figure 11,
The vehicle acceleration acquisition device includes：
First data acquisition unit 111, the unit is identical as the first data acquisition unit 101 described in embodiment three,
For the sake of brevity, it is not described in detail herein；
Noise processed unit 112, the unit is identical as the noise processed unit 102 described in embodiment three, in order to brief
For the sake of, it is not described in detail herein；
Computing unit 113, the unit is identical as the computing unit 103 described in embodiment three, for the sake of brevity, herein
It is not described in detail；
Second data acquisition unit 114, the unit is identical as the second data acquisition unit 104 described in embodiment three,
For the sake of brevity, it is not described in detail herein；
Unit 115 is corrected, the unit is identical as the correction unit 105 described in embodiment three, for the sake of brevity, herein
It is not described in detail；
In addition, the vehicle acceleration acquisition device described in example IV may further include the following units：
First judging unit 116, for when vehicle is in transport condition, monitoring the second acceleration in certain time window in real time
The variable quantity of degrees of data, and judge whether the variable quantity of second acceleration information is more than acceleration change threshold value；
Operation characteristic analytic unit 117, for being more than acceleration change threshold when the variable quantity of second acceleration information
When value, operation characteristic analysis is carried out to second acceleration information, causes the second acceleration information variation to determine
Factor；
Second judgment unit 118 causes the factor of the second acceleration information variation to be that mobile terminal is moved for working as
When dynamic, judge whether vehicle is in idling or at the uniform velocity state；When vehicle is not at idling or at the uniform velocity state, transmit signals to
Second data acquisition unit；When vehicle is in idling or at the uniform velocity state, the first data acquisition is transmitted signals to
Unit.
As the specific embodiment of the present invention, the operation characteristic analytic unit 117 specifically includes：
Second decomposes subelement 1171, for carrying out M layers of wavelet decomposition to second acceleration information, obtains the 1st layer
To M layers of decomposed signal；Wherein, M >=2, and M is integer；
4th computation subunit 1172, for calculating separately each layer of decomposed signal in the 1st layer to M layers of decomposed signal
With the related coefficient of second acceleration information；
Comparing subunit 1173, for relatively high hierachical decomposition signal and second acceleration information related coefficient with
The size of low level decomposed signal and the related coefficient of second acceleration information；The high-level decomposed signal be level not
Decomposed signal less than M/2, the low level decomposed signal are the decomposed signal that level is less than M/2；When high-level decomposed signal
It is more than the phase relation of low level decomposed signal and second acceleration information with the related coefficient of second acceleration information
When number, determines and the factor of the second acceleration information variation is caused to be that mobile terminal is moved；When high-level decomposed signal with
The related coefficient of second acceleration information is less than the related coefficient of low level decomposed signal and second acceleration information
When, it determines and the factor of the second acceleration information variation is caused to be vehicle movement.
The acquisition device for the vehicle acceleration data that example IV provides not only allows for the machinery during vehicle movement
Vibrate influence to mobile terminal acceleration information, it is also contemplated that in vehicle operation, mobile terminal is moved to movement
The influence of terminal acceleration information.Therefore, the accurate of the vehicle acceleration data of acquisition is not only ensure that using the acquisition device
Property, accurately acceleration information is provided for the analysis of follow-up driving behavior, and mobile terminal coordinate system and vehicle is not required to sit
Mark system overlaps, and does not also require to fix mobile terminal in the car, therefore, this method brings great advantage to the user.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of acquisition methods of vehicle acceleration data, which is characterized in that including：
The first acceleration information that acquisition mobile terminal acceleration transducer is monitored when vehicle is in idling or at the uniform velocity state,
The mobile terminal is positioned in vehicle；
It is in vehicle acceleration data when idling or at the uniform velocity state according to first acceleration information and vehicle, calculates movement
End coordinates system is converted to the spin matrix of vehicle axis system；
The second acceleration information that mobile terminal acceleration transducer monitors when collection vehicle is in transport condition；
Second acceleration information is corrected using the spin matrix, obtains vehicle acceleration data；
The method further includes：
When vehicle is in transport condition, the variable quantity of the second acceleration information in certain time window is monitored in real time, and judges institute
Whether the variable quantity for stating the second acceleration information is more than acceleration change threshold value；
When the variable quantity of second acceleration information is less than acceleration change threshold value, returns and execute at the collection vehicle
The step of the second acceleration information that mobile terminal acceleration transducer monitors when transport condition；
When the variable quantity of second acceleration information is more than acceleration change threshold value, second acceleration information is carried out
Operation characteristic is analyzed, to determine the factor for causing the second acceleration information variation；
When it is that mobile terminal is moved to cause the factor of the second acceleration information variation, judge whether vehicle is in idling
Or at the uniform velocity state；
When vehicle is not at idling or at the uniform velocity state, returns to mobile terminal when the execution collection vehicle is in transport condition and add
The step of the second acceleration information that velocity sensor monitors；
When vehicle is in idling or at the uniform velocity state, returns and execute described when vehicle is in idling or at the uniform velocity state, acquisition shifting
The step of the first acceleration information that dynamic terminal acceleration transducer monitors.
2. according to the method described in claim 1, it is characterized in that, after collecting first acceleration, calculate mobile whole
Before end coordinate system is converted to the spin matrix of vehicle axis system, further include：
Denoising is carried out to collected first acceleration information, obtains the first acceleration information after removal noise.
3. according to the method described in claim 2, it is characterized in that, described carry out denoising to collected first acceleration information
Processing obtains the first acceleration information after removal noise, specifically includes：
N layers of wavelet decomposition are carried out to collected first acceleration information to calculate, and obtain the 1st layer to n-th layer decomposed signal；Its
In, N >=2, and N is integer；
The 1st layer of each layer of decomposed signal to n-th layer is chosen according to the signal noise ratio of collected first acceleration information
High frequency coefficient carries out corresponding high frequency coefficient threshold value when soft-threshold quantification treatment；
According to the corresponding high frequency coefficient threshold value of the 1st layer to n-th layer of every layer of decomposed signal to corresponding 1st layer to
The high frequency coefficient of N layers of each layer of decomposed signal carries out soft-threshold quantification treatment respectively, obtains the 1st after soft-threshold quantification treatment
Layer to n-th layer decomposed signal high frequency coefficient；
According to the 1st layer after the low frequency coefficient of n-th layer decomposed signal and the soft-threshold quantification treatment to n-th layer decomposed signal
High frequency coefficient, reconstructs small echo signal, and the small echo signal after reconstruct is the first acceleration information after the removal noise.
4. according to the method described in claim 1, it is characterized in that, described be according to first acceleration information and vehicle
Vehicle acceleration data when idling or at the uniform velocity state calculates the spin moment that mobile terminal coordinate system is converted to vehicle axis system
Battle array, specifically includes：
It chooses any one kind of them from a variety of rotational orders rotational order, the rotational order for setting selection respectively is around the first reference axis
Rotation is rotated around the second reference axis and is rotated around third reference axis；Wherein, the first reference axis and the second reference axis are not same seats
Parameter, the second reference axis and third reference axis are not same reference axis；
It calculates first acceleration information and is converted to vehicle acceleration data when the vehicle is in idling or at the uniform velocity state
When around the first reference axis rotation the first Eulerian angles；
When calculating is converted to the vehicle around postrotational first acceleration information of the first reference axis and is in idling or at the uniform velocity state
Vehicle acceleration data when around the second reference axis rotation the second Eulerian angles；
Calculating is converted to the vehicle around the first reference axis and postrotational first acceleration information of the second reference axis and is in idling
Or at the uniform velocity state when vehicle acceleration data when around third reference axis rotation third Eulerian angles；
It is converted to according to first Eulerian angles, the second Eulerian angles and third Eulerian angles structure first acceleration information described
The spin matrix of vehicle acceleration data when vehicle is in idling or at the uniform velocity state, first acceleration information are converted to institute
The spin matrix for stating vehicle acceleration data when vehicle is in idling or at the uniform velocity state is that mobile terminal coordinate system is converted to
The spin matrix of vehicle axis system.
5. according to the method described in claim 1, it is characterized in that, described carry out operation characteristic to second acceleration information
Analysis is specifically included with determining the factor for causing the second acceleration information variation：
M layers of wavelet decomposition are carried out to second acceleration information, obtain the 1st layer to M layers of decomposed signal；Wherein, M >=2, and
M is integer；
The each layer of decomposed signal calculated separately in the 1st layer to M layers of decomposed signal is related to second acceleration information
Coefficient；
The related coefficient of relatively high hierachical decomposition signal and second acceleration information and low level decomposed signal and described the
The size of the related coefficient of two acceleration informations；The high-level decomposed signal is the decomposed signal that level is not less than M/2；It is described
Low level decomposed signal is the decomposed signal that level is less than M/2；
When the related coefficient of high-level decomposed signal and second acceleration information is more than low level decomposed signal and described the
When the related coefficient of two acceleration informations, determines and the factor of the second acceleration information variation is caused to be that mobile terminal is moved
It is dynamic；
When the related coefficient of high-level decomposed signal and second acceleration information is less than low level decomposed signal and described the
When the related coefficient of two acceleration informations, determines and the factor of the second acceleration information variation is caused to be vehicle movement.
6. a kind of acquisition device of vehicle acceleration data, which is characterized in that including：
First data acquisition unit is supervised for acquiring mobile terminal acceleration transducer when vehicle is in idling or at the uniform velocity state
The first acceleration information measured, the mobile terminal are positioned in vehicle；
Computing unit, the vehicle acceleration for being according to first acceleration information and vehicle when idling or at the uniform velocity state
Data calculate the spin matrix that mobile terminal coordinate system is converted to vehicle axis system；
Second data acquisition unit, mobile terminal acceleration transducer monitors when being in transport condition for collection vehicle
Two acceleration informations；
Correction unit obtains vehicle acceleration for being corrected to second acceleration information using the spin matrix
Data；
Described device further includes：
First judging unit, for when vehicle is in transport condition, monitoring the second acceleration information in certain time window in real time
Variable quantity, and judge second acceleration information variable quantity whether be more than acceleration change threshold value；
Operation characteristic analytic unit is used for when the variable quantity of second acceleration information is more than acceleration change threshold value, right
Second acceleration information carries out operation characteristic analysis, to determine the factor for causing the second acceleration information variation；
Second judgment unit, for when it is that mobile terminal is moved to cause the factor of the second acceleration information variation, sentencing
Whether disconnected vehicle is in idling or at the uniform velocity state；When vehicle is not at idling or at the uniform velocity state, described is transmitted signals to
Two data acquisition units；When vehicle is in idling or at the uniform velocity state, first data acquisition unit is transmitted signals to.
7. device according to claim 6, which is characterized in that further include：
Noise processed unit obtains the after removal noise for carrying out denoising to collected first acceleration information
One acceleration information, and the first acceleration information after the removal noise is sent to the computing unit.
8. device according to claim 7, which is characterized in that the noise processed unit includes：
First decomposes subelement, is calculated for carrying out N layers of wavelet decomposition to collected first acceleration information, obtains the 1st layer
To n-th layer decomposed signal；Wherein, N >=2, and N is integer；
First chooses subelement, for choosing the 1st layer to n-th layer according to the signal noise ratio of collected first acceleration information
The high frequency coefficient of each layer of decomposed signal carry out corresponding high frequency coefficient threshold value when soft-threshold quantification treatment；
Soft-threshold quantification treatment subelement is used for the corresponding high frequency coefficient of every layer of decomposed signal according to the 1st layer to n-th layer
Threshold value carries out soft-threshold quantification treatment respectively to the high frequency coefficient of the corresponding 1st layer of each layer of decomposed signal to n-th layer,
Obtain the 1st layer of high frequency coefficient to n-th layer decomposed signal after soft-threshold quantification treatment；
Reconstruction signal subelement, for according to the 1st after the low frequency coefficient of n-th layer decomposed signal and the soft-threshold quantification treatment
Layer reconstructs small echo signal, after the small echo signal after reconstruct is the removal noise to the high frequency coefficient of n-th layer decomposed signal
First acceleration information.
9. device according to claim 6, which is characterized in that the computing unit includes：
Second chooses subelement, for rotational order of choosing any one kind of them from a variety of rotational orders, set the rotational order of selection according to
Secondary is respectively to rotate around the rotation of the first reference axis, around the second reference axis and rotated around third reference axis；Wherein, the first reference axis and
Second reference axis is not same reference axis, and the second reference axis and third reference axis are not same reference axis；
First computation subunit is converted to the vehicle for calculating first acceleration information and is in idling or at the uniform velocity state
When vehicle acceleration data when around the first reference axis rotation the first Eulerian angles；
Second computation subunit is converted to around postrotational first acceleration information of the first reference axis at the vehicle for calculating
Around the second Eulerian angles of the second reference axis rotation when vehicle acceleration data when idling or at the uniform velocity state；
Third computation subunit, for calculating around the first reference axis and the postrotational first acceleration information conversion of the second reference axis
The third Eulerian angles rotated around third reference axis when vehicle acceleration data when being in idling or at the uniform velocity state for the vehicle；
Subelement is built, for accelerating according to first Eulerian angles, the second Eulerian angles and third Eulerian angles structure described first
Degrees of data is converted to the spin matrix of the vehicle acceleration data when vehicle is in idling or at the uniform velocity state, described first plus
The spin matrix that speed data is converted to the vehicle acceleration data when vehicle is in idling or at the uniform velocity state is to move
End coordinates system is converted to the spin matrix of vehicle axis system.
10. device according to claim 6, which is characterized in that the operation characteristic analytic unit specifically includes：
Second decomposes subelement, for carrying out M layers of wavelet decomposition to second acceleration information, obtains the 1st layer to M layers points
Solve signal；Wherein, M >=2, and M is integer；
4th computation subunit, for calculating separately each layer of decomposed signal in the 1st layer to M layers decomposed signal and described the
The related coefficient of two acceleration informations；
Comparing subunit, related coefficient and low level point for relatively high hierachical decomposition signal and second acceleration information
Solve the size of signal and the related coefficient of second acceleration information；The high-level decomposed signal is that level is not less than M/2
Decomposed signal, the low level decomposed signal be level be less than M/2 decomposed signal；When high-level decomposed signal and described the
When the related coefficient of two acceleration informations is more than the related coefficient of low level decomposed signal and second acceleration information, determine
It is that mobile terminal is moved to cause the factor of the second acceleration information variation；When high-level decomposed signal and described second add
When the related coefficient of speed data is less than the related coefficient of low level decomposed signal and second acceleration information, determination causes
The factor of the second acceleration information variation is vehicle movement.
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