CN105355054B - The recognition methods of driving behavior and device - Google Patents
The recognition methods of driving behavior and device Download PDFInfo
- Publication number
- CN105355054B CN105355054B CN201510817427.5A CN201510817427A CN105355054B CN 105355054 B CN105355054 B CN 105355054B CN 201510817427 A CN201510817427 A CN 201510817427A CN 105355054 B CN105355054 B CN 105355054B
- Authority
- CN
- China
- Prior art keywords
- speed
- moment
- angle value
- velocity
- driving behavior
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Abstract
The present invention provides recognition methods and the device of a kind of driving behavior, and this method includes：According to the driving data acquisition speed time series of vehicle, the Velocity Time sequence includes the corresponding relation between each moment and the speed at each moment；According to the intermediate differential velocity amplitude and preceding differential angle value of each moment speed of the Velocity Time retrieval；According to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, the corresponding driving behavior of the driving data is determined；Wherein, the driving behavior includes：Vehicle start stage or vehicle parking stage.The method of the present invention, combined by both intermediate differential velocity amplitude and preceding differential angle value, the overall variation trend of speed in Velocity Time sequence can accurately be reflected, it will not be influenceed by the speed point fluctuated individually in driving data, improve the accuracy of driving behavior identification.
Description
Technical field
The present invention relates to recognition methods and the device of car networking technology, more particularly to a kind of driving behavior.
Background technology
With continuing to develop for current social economy, the people as car owners is more and more, and automobile has become people
An indispensable part in life.Therefore, driving data and the driving behavior of user to vehicle is associated analysis, turns into
The important topic of current car networking technology field development.
Traditional driving model identification mainly analyzes overall drive by vehicle drive data and Driver physiological data
Danger coefficient is sailed, the vehicle drive data can include speed, steering wheel angle, automobile navigation etc., and Driver physiological data can
With the data such as the heart rate including driver, eye be dynamic.
But, there are many secondary undulations and discontinuous situation in general driving data, using traditional driving model without
Method accurately identifies starting stage or the shutdown phase of vehicle.
The content of the invention
The present invention provides recognition methods and the device of a kind of driving behavior, and the driving recognition mode for solving traditional can not
Accurately identify the starting stage of vehicle or the technical problem of shutdown phase.
In a first aspect, the present invention provides a kind of recognition methods of driving behavior, including：
According to the driving data acquisition speed time series of vehicle, the Velocity Time sequence includes each moment and each
Corresponding relation between the speed at moment；
According to the intermediate differential velocity amplitude and preceding differential angle value of each moment speed of the Velocity Time retrieval；
According to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, the driving number is determined
According to corresponding driving behavior；Wherein, the driving behavior includes：Vehicle start stage or vehicle parking stage.
Further, the intermediate differential velocity amplitude and preceding difference according to each moment speed of the Velocity Time retrieval
Velocity amplitude, including：
According to formulaObtain the i-th moment speed viIntermediate differential velocity amplitude ami, wherein, i be more than
Integer equal to 1, vi-1For the speed at the i-th -1 moment in the Velocity Time sequence, vi+1For in the Velocity Time sequence i-th
The speed at+1 moment；
According to formula afi=vi-vi-1Obtain the i-th moment speed viPreceding differential angle value afi。
Further, it is described according to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, really
Determine the corresponding driving behavior of the driving data, specifically include：
To the speed v at i-th momentiPerform first and judge operation, obtain the first judged result；Wherein, described first
Judge that operation includes：According to the speed v at the i-th -2 moment in the Velocity Time sequencei-2, the i-th -1 moment speed vi-1, i-th+
The speed v at 1 momenti+1, the i-th+2 moment speed vi+2, judge the speed v at the i-th momentiWhether it is the vehicle start stage
Starting point；
If first judged result is the speed v at i-th momentiFor the starting point, and the car at i-th moment
Fast viIt is not last speed in the Velocity Time sequence, then to the speed v at the i+1 momenti+1Second is performed to sentence
Disconnected operation, obtains the second judged result；Wherein, described second judges that operation includes：According to the speed v at the i+1 momenti+1
Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Preceding differential angle value, judge the speed at the i+1 moment
vi+1For the intermediate point or end point in the vehicle start stage；
If second judged result is the speed v at the i+1 momenti+1The end point, then judge described i-th+
The speed v at 1 momenti+1Whether it is last speed in the Velocity Time sequence；
If so, then terminating；If it is not, then by the speed v at i-th+2 momenti+2As the speed at the i-th new moment, return
Perform described first and judge operation, until when the next speed adjacent with the speed at the i-th new moment is the speed
Between untill last speed in sequence.
Further, the speed v according to the i-th -2 moment in the Velocity Time sequencei-2, the i-th -1 moment speed
vi-1, the i+1 moment speed vi+1, the i-th+2 moment speed vi+2, judge the speed v at the i-th momentiWhether it is that the vehicle rises
The starting point of step section, is specifically included：
If the speed v at i-th -1 momenti-1With the speed v at i-th -2 momenti-2And equal to zero, and described i-th+
The speed v at 1 momenti+1With the speed v at i-th+2 momenti+2And more than zero, and the speed v at i-th momentiMore than zero,
Then judge the speed v at i-th momentiFor the starting point；
The speed v according to the i+1 momenti+1Intermediate differential velocity amplitude and the speed at the i+1 moment
vi+1Preceding differential angle value, judge the speed v at the i+1 momenti+1Intermediate point or end for the vehicle start stage
Point, is specifically included：
If the speed v at the i+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Before
Any one in differential angle value is more than zero, then judges the speed v at the i+1 momenti+1For the intermediate point；
Or,
If the speed v at the i+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Before
Differential angle value is respectively less than or equal to zero, then judges the speed v at the i+1 momenti+1For the end point.
Further, methods described also includes：
If second judged result is the speed v at the i+1 momenti+1It is the intermediate point, and during the i+1
The speed v at quarteri+1It is not last described speed, then by the speed v at i-th+2 momenti+2It is used as the new i+1 moment
Speed, and the second judgement operation is performed to the speed at the new i+1 moment, until the new i+1 moment
Untill speed is the end point；
If first judged result is the speed v at i-th momentiIt is not the starting point, and i-th moment
Speed viIt is not last described speed, then by the speed v at the i+1 momenti+1As the speed at the i-th new moment, and
Speed to the i-th new moment performs the first judgement operation, until the speed at the i-th new moment rises for described in
Untill initial point.
Further, the driving data acquisition speed time series according to vehicle, is specifically included：
First Speed time series is obtained according to user's request and the driving data；The user's request is described to determine
The vehicle parking stage in driving data；
The First Speed time series is arranged according to time inverted order, the Velocity Time sequence is obtained；
The then preceding difference identification of each speed of the basis, the intermediate differential of each speed and each speed
The corresponding driving behavior of the driving data, in addition to：
Using the starting point of the starting stage of determination as the shutdown phase end point；
Using the intermediate point of the starting stage of determination as the shutdown phase intermediate point；
Using the end point of the starting stage of determination as the shutdown phase starting point.
Further, described according to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value,
Determine after the corresponding driving behavior of the driving data, methods described also includes：
According to the longitude and latitude of the duration of the driving behavior and the corresponding initial speed of the driving behavior, institute is determined
State the danger coefficient of driving behavior.
Second aspect, the present invention provides a kind of identifying device of driving behavior, including：
First acquisition module, for the driving data acquisition speed time series according to vehicle, the Velocity Time sequence
Corresponding relation between speed including each moment and each moment；
Second acquisition module, for the Velocity Time retrieval each moment obtained according to first acquisition module
The intermediate differential velocity amplitude of speed and preceding differential angle value；
Determining module, for according to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, really
Determine the corresponding driving behavior of the driving data；Wherein, the driving behavior includes：Vehicle start stage or vehicle parking rank
Section.
Further, second acquisition module, is specifically included:
First acquisition unit, for according to formulaObtain the i-th moment speed viIntermediate differential velocity amplitude
ami, wherein, i is the integer more than or equal to 1, vi-1For the speed at the i-th -1 moment in the Velocity Time sequence, vi+1For the speed
Spend the speed at i+1 moment in time series；
Second acquisition unit, for according to formula afi=vi-vi-1Obtain the i-th moment speed viPreceding differential angle value afi。
Further, the determining module, if specifically for the speed v at i-th -1 momenti-1With i-th -2 moment
Speed vi-2And equal to zero, and the speed v at the i+1 momenti+1With the speed v at i-th+2 momenti+2And be more than
Zero, and the speed v at i-th momentiMore than zero, then the speed v at i-th moment is judgediFor the starting point；If described i-th
The speed v at+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Preceding differential angle value in any one
More than zero, then the speed v at the i+1 moment is judgedi+1For the intermediate point；If the speed v at the i+1 momenti+1In
Between difference velocity amplitude and the speed v at the i+1 momenti+1Preceding differential angle value be respectively less than or equal to zero, then judge described i-th+
The speed v at 1 momenti+1For the end point.
The recognition methods for the driving behavior that the present invention is provided and device, during by according to the driving data acquisition speed of vehicle
Between sequence, and according to the intermediate differential velocity amplitude and preceding differential angle value of each moment speed of the Velocity Time retrieval, then
According to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, determine that the driving data is corresponding
Driving behavior.The method of the present invention, is combined by both intermediate differential velocity amplitude and preceding differential angle value, can be accurately anti-
Reflect the overall variation trend of speed in Velocity Time sequence, its will not by the speed point fluctuated individually in driving data shadow
Ring, therefore, for there is the driving data for fluctuating point, can accurately identify the corresponding driving behavior of the driving data, carrying
The high accuracy of driving behavior identification.
Brief description of the drawings
The schematic flow sheet of the recognition methods embodiment one for the driving behavior that Fig. 1 provides for the present invention；
The schematic flow sheet of the recognition methods embodiment two for the driving behavior that Fig. 2 provides for the present invention；
The schematic flow sheet of the recognition methods embodiment three for the driving behavior that Fig. 3 provides for the present invention；
The schematic flow sheet of the recognition methods example IV for the driving behavior that Fig. 4 provides for the present invention；
The structured flowchart of the identifying device embodiment one for the driving behavior that Fig. 5 provides for the present invention；
The structured flowchart of the identifying device embodiment two for the driving behavior that Fig. 6 provides for the present invention；
The structured flowchart of the identifying device embodiment three for the driving behavior that Fig. 7 provides for the present invention.
Embodiment
In terms of method of the present invention goes for the identification of the driving behavior to vehicle in automotive field, wherein,
The driving behavior of vehicle can include acceleration, deceleration, turning, starting, parking, emergency brake of vehicle etc., of the present invention
The recognition methods of driving behavior, is primarily adapted for use in starting stage or the parking rank that vehicle is recognized according to the driving data of vehicle
Section.
Method of the present invention, its executive agent can be wagon control plateform system, the wagon control plateform system
It can be integrated in vehicle, can also be integrated in the other equipment independently of vehicle, by wireless between the equipment and vehicle
Or wired mode carries out data transmission so that tachymeter or gps satellite in vehicle can be by the vehicles detected
Driving data is uploaded to the wagon control plateform system, so that research staff or other users can be in the wagon controls
On plateform system, starting stage or the shutdown phase for the vehicle being related in driving data are recognized using driving data.
It is general, there is multiple fluctuations or discontinuous situation in the driving data of vehicle, for example, with reference to being given in table 1
The driving data gone out：
Table 1
| Moment | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| Speed | 0 | 0 | 2 | 3 | 0 | 9 | 12 | 0 | 12 |
Driving data shown in table 1, the speed point that there is two fluctuations, is 5s and 8s respectively.According to traditional
Drive recognition mode, it is easy to which this section of driving data is identified as three starting-up processes, but actually in 5s and 8s, speed
It zero is probably because when being uploaded to wagon control plateform system, because dropout causes the speed at the moment not upload to be
Wagon control plateform system is given, but actually 1s to 8s these driving datas only characterize a starting-up process, 9s
For follow-up traveling process.Therefore, there is fluctuation or discontinuous feelings for driving data in the driving recognition mode of prior art
During condition, it is impossible to accurately identify the corresponding driving behavior of the driving data.
Therefore, the recognition methods for the driving behavior that the present invention is provided and device, to solve traditional driving recognition mode
The starting stage of vehicle or the technical problem of shutdown phase can not be accurately identified.
The schematic flow sheet of the recognition methods embodiment one for the driving behavior that Fig. 1 provides for the present invention.The present embodiment is related to
Be intermediate differential velocity amplitude and preceding differential of the wagon control plateform system according to each moment speed in acquired driving data
Angle value and each moment speed, determine the detailed process of the corresponding driving behavior of driving data.As shown in figure 1, this method includes：
S101：According to the driving data acquisition speed time series of vehicle, the Velocity Time sequence includes each moment
Corresponding relation between the speed at each moment.
Specifically, when the driving data of vehicle is uploaded to wagon control plateform system, wagon control plateform system according to
The driving data acquisition speed time series, the Velocity Time sequence includes pair between each moment and the speed at each moment
It should be related to.Optionally, when user needs to know the starting point of corresponding starting stage, each starting stage several times in the driving data
During with end point, wagon control plateform system directly can regard the driving data as Velocity Time sequence；When user needs to know
In the driving data when corresponding shutdown phase, the starting point and end point of each shutdown phase several times, wagon control plateform system
The driving data directly can be subjected to inverted order arrangement according to the time, regard the sequence after inverted order as the Velocity Time sequence.
S102：According to the intermediate differential velocity amplitude and preceding differential angle value of each moment speed of the Velocity Time retrieval.
Specifically, vehicle platform control system is after Velocity Time sequence is obtained, it can be directed in the Velocity Time sequence
Each moment speed calculates the intermediate differential velocity amplitude and preceding differential angle value of each moment speed.The intermediate differential of the speed at one moment
Velocity amplitude can embody the pass between the moment speed and the previous moment speed at the moment and the later moment in time speed at the moment
Connection, the taxis that can also embody vehicle in the moment, the previous moment at the moment, the speed of the later moment in time at the moment is walked
Gesture.Between the preceding differential angle value of the speed at one moment, the speed that the moment and the previous moment at the moment can be embodied
Variation tendency.
Optionally, the intermediate differential velocity amplitude of certain moment speed can be the later moment in time speed and previous moment at the moment
The weighted average of the difference of speed, can also be counting for the later moment in time speed at the moment and the difference of previous moment speed
Average value.
Optionally, the preceding differential angle value of certain moment speed can be the moment speed with the previous moment speed at the moment it
Between difference, can also be the weighted value of the difference between the moment speed and the previous moment speed at the moment.
S103：According to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, it is determined that described drive
Sail the corresponding driving behavior of data；Wherein, the driving behavior includes：Vehicle start stage or vehicle parking stage.
Specifically, wagon control plateform system obtain each moment speed intermediate differential velocity amplitude and preceding differential angle value it
Afterwards, the starting point of starting stage in Velocity Time sequence can be judged according to the speed at each moment and the magnitude relationship of zero-speed angle value
Or the end point of shutdown phase, can also be according to the intermediate differential speed of each moment speed and preceding differential angle value and zero-speed angle value
Between magnitude relationship determine the intermediate point and end point of starting stage, or, can also be according to poor in the middle of each moment speed
Magnitude relationship between component velocity and preceding differential angle value and zero-speed angle value determines the intermediate point and starting point of shutdown phase.
, can be with because both intermediate differential velocity amplitude and preceding differential angle value combine it should be noted that in the present invention
Accurately reflect the overall variation trend of speed in Velocity Time sequence, it will not be by the speed fluctuated individually in driving data
The influence of point, therefore, method of the invention can allow the speed point that there are multiple discontinuous fluctuations in driving data.Here
The speed point of discontinuous fluctuation may refer to 5s and 8s moment in driving data shown in above-mentioned table 1, the driving data
Speed occur in that fluctuation, but the two fluctuation points are non-conterminous, and using the method for the present invention, wagon control plateform system can be true
It is a starting-up process to determine the corresponding driving behavior of driving data shown in table 1.
The recognition methods for the driving behavior that the present invention is provided, passes through the driving data acquisition speed time sequence according to vehicle
Row, and according to the intermediate differential velocity amplitude and preceding differential angle value of each moment speed of the Velocity Time retrieval, then basis
Each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, determine the corresponding driving of the driving data
Behavior.The method of the present invention, is combined by both intermediate differential velocity amplitude and preceding differential angle value, can accurately reflect speed
The overall variation trend of speed in time series is spent, it will not be influenceed by the speed point fluctuated individually in driving data, because
This, for there is the driving data for fluctuating point, can accurately identify the corresponding driving behavior of the driving data, improving and drive
Sail the accuracy of Activity recognition.
The schematic flow sheet of the recognition methods embodiment two for the driving behavior that Fig. 2 provides for the present invention.The present embodiment is related to
Be intermediate differential velocity amplitude and preceding differential degree of the wagon control plateform system according to each moment speed of Velocity Time retrieval
The detailed process of value.On the basis of above-described embodiment, above-mentioned S102 is specifically included：
S201：According to formulaObtain the i-th moment speed viIntermediate differential velocity amplitude ami, wherein, i is
Integer more than or equal to 1, vi-1For the speed at the i-th -1 moment in the Velocity Time sequence, vi+1For the Velocity Time sequence
The speed at middle i+1 moment.
Specifically, the moment of the present embodiment i-th do not imply that some it is specific at the time of, but refer to Velocity Time sequence
In any one moment.For example, with reference to shown in table 1, if 2s is the i-th moment, viIt is exactly 2s speed, vi-1For 1s
The speed at moment, vi+1For the speed at 3s moment；When 3s is as the i-th moment, then viIt is exactly 3s speed, vi-1For 2s
The speed at moment, vi+1For the speed at 4s moment.Therefore, according to formulaObtain the i-th moment speed viCentre
Difference velocity amplitude ami, the intermediate differential velocity amplitude of each moment speed in Velocity Time sequence can essentially be got.
S202：According to formula afi=vi-vi-1Obtain the i-th moment speed viPreceding differential angle value afi。
Specifically, referring to above-mentioned S201 explanation, here according to formula afi=vi-vi-1Obtain the i-th moment speed viBefore
Differential angle value afi, the preceding differential angle value of each moment speed in Velocity Time sequence can essentially be got.
The schematic flow sheet of the recognition methods embodiment three for the driving behavior that Fig. 3 provides for the present invention.This real embodiment is related to
And be wagon control plateform system according to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value,
Determine the detailed process of the corresponding driving behavior of above-mentioned driving data.It is further, above-mentioned on the basis of above-described embodiment
S103 is specifically included：
S301：To the speed v at above-mentioned i-th momentiPerform first and judge operation, obtain the first judged result；Wherein, it is described
First judges that operation includes：According to the speed v at the i-th -2 moment in the Velocity Time sequencei-2, the i-th -1 moment speed vi-1、
The speed v at i+1 momenti+1, the i-th+2 moment speed vi+2, judge the speed v at the i-th momentiWhether it is the vehicle start rank
The starting point of section；If first judged result is the speed v at i-th momentiIt is not the starting point, then performs S302,
If first judged result is the speed v at i-th momentiIt is the starting point, then performs S303.
Specifically, wagon control plateform system according to the time sequencing of Velocity Time sequence to the speed v at the i-th momentiHold
Row first judges operation, obtains the first judged result.I.e. wagon control plateform system is according to the i-th -2 moment in Velocity Time sequence
Speed vi-2, the i-th -1 moment speed vi-1, the i+1 moment speed vi+1, the i-th+2 moment speed vi+2, when judging i-th
The speed v at quarteriWhether be the vehicle start stage starting point.If the speed v at the i-th -1 momenti-1With the car at the i-th -2 moment
Fast vi-2And equal to zero, and the speed v at i+1 momenti+1With the speed v at the i-th+2 momenti+2And more than zero, and the i-th moment
Speed viMore than zero, then the speed v at the i-th moment is judgediFor the starting point in vehicle start stage.
S302：If the first judged result is the speed v at i-th momentiIt is not the starting point, and i-th moment
Speed viIt is not last described speed, then by the speed v at the i+1 momenti+1It is used as the car at the i-th new moment
Speed, and the first judgement operation is performed to the speed at the i-th new moment, until the speed at the i-th new moment is
Untill the starting point.
In order to better illustrate the process, continue by taking above-mentioned table 1 as an example, wagon control plateform system first determines whether 1s's
Speed is starting point (1s was the i-th moment), if it is not, again using 2s speed as the i-th new moment car
Speed, the speed for judging 2s is starting point, if it is not, continuing 3s speed as the speed at the i-th new moment, is sentenced
Disconnected 3s speed is starting point.When the speed for judging 3s is starting point, then stops first and judge operation, perform
S303。
S303：If the first judged result is the speed v at i-th momentiFor the starting point, and i-th moment
Speed viIt is not last speed in the Velocity Time sequence, then to the speed v at the i+1 momenti+1Perform second
Judge operation, obtain the second judged result；Wherein, described second judges that operation includes：According to the speed at the i+1 moment
vi+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Preceding differential angle value, judge the car at the i+1 moment
Fast vi+1For the intermediate point or end point in the vehicle start stage；If second judged result is the i+1 moment
Speed vi+1It is the intermediate point, then performs S304, if second judged result is the speed v at the i+1 momenti+1It is institute
End point is stated, then performs S305.
Specifically, when in S301 steps wagon control plateform system judge the speed v at the i-th momentiIt is the vehicle start stage
Starting point, and the speed v at i-th momentiLast speed in the Velocity Time sequence, then wagon control
Speed v of the plateform system to the i+1 momenti+1Perform second and judge operation, obtain the second judged result, i.e. wagon control platform
System is according to the speed v at i+1 momenti+1Intermediate differential velocity amplitude and the speed v at i+1 momenti+1Preceding differential angle value, sentence
The speed v at disconnected i+1 momenti+1It is the intermediate point or the end point in vehicle start stage in vehicle start stage.If wagon control
Plateform system judges the speed v at i+1 momenti+1Intermediate differential velocity amplitude and the speed v at i+1 momenti+1Preceding differential degree
Any one in value is more than zero, then judges the speed v at the i+1 momenti+1For the intermediate point in vehicle start stage；If vehicle
Control platform system judges the speed v at i+1 momenti+1Intermediate differential velocity amplitude and the speed v at i+1 momenti+1Preceding difference
Velocity amplitude is respectively less than or equal to zero, then judges the speed v at the i+1 momenti+1For the end point in vehicle start stage.
S304：If the second judged result is the speed v at the i+1 momenti+1It is the intermediate point, and during the i+1
The speed v at quarteri+1It is not last described speed, then by the speed v at i-th+2 momenti+2It is used as the new i+1 moment
Speed, and the second judgement operation is performed to the speed at the new i+1 moment, until the new i+1 moment
Untill speed is the end point.
S305：If second judged result is the speed v at the i+1 momenti+1It is the end point, then judges institute
State the speed v at i+1 momenti+1Whether it is last speed in the Velocity Time sequence；If it is not, S306 is then performed, if
It is then to perform S307.
S306：By the speed v at i-th+2 momenti+2As the speed at the i-th new moment, return to execution described first and sentence
Disconnected operation, until the next speed adjacent with the speed at the i-th new moment is last in the Velocity Time sequence
Untill one speed.
S307：Terminate.
In order to better illustrate above-mentioned cyclic process, state exemplified by table 1 to illustrate herein above, be specially：
Wagon control plateform system first determines whether that 1s speed is starting point (1s was the i-th moment), if
It is not, then using 2s speed as the speed at the i-th new moment, the speed for judging 2s is starting point, if it is not, after
The continuous speed using 3s is as the speed at the i-th new moment, and the speed for judging 3s is starting point.Car during due to 3s
Fast v3For 2km/h, v3More than 0, and v1With v2And equal to 0, also, v4With v5And more than 0, it is determined that v3For starting point, and v3
It is not last speed.
Afterwards, speed v of the wagon control plateform system to 4s4(the i.e. speed v at i+1 momenti+1) perform the second judgement
Operation, i.e., according to 4s speed v4Intermediate differential velocity amplitude and preceding differential angle value determine 4s speed v4Be intermediate point also
It is end point.Due to 4s speed v4Intermediate differential velocity amplitude be less than 0 but its preceding differential angle value is more than 0, then wagon control
Plateform system determines 4s speed v4For the intermediate point of starting stage, and v4It is not last speed；And then, vehicle control
Plateform system processed can be by 5s speed v5(the speed v at the i-th+2 momenti+2) as the speed at new i+1 moment, and to
5s speed v5Perform above-mentioned second and judge operation, judge 5s speed v5It is also the intermediate point of starting stage, and v5It is not most
Latter speed, therefore, further, wagon control plateform system can be by 6s speed v6It is used as the new i+1 moment
Speed, and to 6s speed v6Perform above-mentioned second and judge operation, until determining the speed at some new i+1 moment
Be the starting stage end point untill.In the example, 8s speed is the end point of starting stage.
When it is the end point of starting stage that wagon control plateform system, which determines 8s speed, the 8s's judged again
Speed is last speed in Velocity Time sequence, if so, then wagon control plateform system has just known whole rise
Starting point, intermediate point and the end point of step section, and then known the duration in vehicle start stage, end of identification.If it is determined that the
8s speed is the end point of starting stage, but is not last speed, then wagon control plateform system can be by 9s speeds
As the speed at the i-th new moment, it is the starting point of next starting stage to judge 9s speeds.
It should be noted that using the method for the present invention, for the example shown in above-mentioned table 1, although 5s and 8s are equal
The fluctuation point of speed is occurred in that, but wagon control plateform system is according to both intermediate differential velocity amplitude and preceding differential degree
Value, both is still determined as the speed point (wherein 8s is end point) belonged in a starting stage, entirely drives number
Speed in remains in that the trend of rising, and traditional driving recognition mode, can be mistakenly considered driving data correspondence three times
Starting stage, therefore, method of the invention, to the driving data with fluctuation, still can accurately identify driving data correspondence
Driving behavior, improve driving behavior identification accuracy.
The schematic flow sheet of the recognition methods example IV for the driving behavior that Fig. 4 provides for the present invention.The present embodiment is related to
Be according to driving data recognize shutdown phase detailed process.It is further, above-mentioned on the basis of any of the above-described embodiment
S101 is specifically included：
S401：First Speed time series is obtained according to user's request and the driving data；The user's request is true
The vehicle parking stage in the fixed driving data.
S402：The First Speed time series is arranged according to time inverted order, the Velocity Time sequence is obtained.
Specifically, it is First Speed time series that the driving data of vehicle is corresponding in itself, on user's request is determines
When stating the starting stage in driving data, directly the First Speed time series is regard as above-mentioned Velocity Time sequence, Ran Houzai
The halt of the starting point of starting stage, the intermediate point of starting stage and starting stage is determined with reference to above-mentioned several embodiments.
When user's request is determines the shutdown phase in above-mentioned driving data, then by the First Speed time series according to
Time inverted order is arranged, and obtains Velocity Time sequence, is then determined the starting point of starting stage in conjunction with above-mentioned several embodiments, is risen
The intermediate point and the halt of starting stage of step section, and according to the starting point of identified starting stage, in the starting stage
Between point and the halt of starting stage determine the stopping of the starting point of shutdown phase, the intermediate point of shutdown phase and shutdown phase
Point.That is, the starting point of the starting stage of determination is made the intermediate point of the starting stage of determination as the end point of shutdown phase
For the intermediate point of shutdown phase, using the end point of the starting stage of determination as shutdown phase starting point.
Further, on the basis of any of the above-described embodiment, in wagon control plateform system according to each moment speed, each
The intermediate differential velocity amplitude of moment speed and preceding differential angle value, after determining the corresponding driving behavior of above-mentioned driving data, vehicle
Control platform system can also be according to the duration and the corresponding initial speed of driving behavior of above-mentioned recognized driving behavior
Longitude and latitude, determine the danger coefficient of driving behavior.
Specifically, after wagon control plateform system determines the corresponding driving behavior of above-mentioned driving data, wagon control is put down
Platform system can determine the duration of driving behavior；Optionally, the duration of the driving behavior can be above-mentioned driving number
According to the duration in corresponding vehicle start stage, can also be the above-mentioned driving data corresponding vehicle parking stage it is lasting when
It is long.When the duration of above-mentioned driving behavior is the duration in vehicle start stage, then wagon control plateform system can
With the longitude and latitude of the duration according to the starting stage and the starting point speed of starting stage, the dangerous system of starting stage is determined
Number；When the duration of above-mentioned driving behavior is the duration in vehicle parking stage, then wagon control plateform system can
With the longitude and latitude of the duration according to the shutdown phase and the starting point speed of shutdown phase, the dangerous system of shutdown phase is determined
Number.Optionally, wagon control plateform system this can be in the corresponding Velocity Time sequence of above-mentioned driving data maximum speed
Any of degree, peak acceleration, average acceleration, median acceleration, and combine the duration of driving behavior and be somebody's turn to do
The longitude and latitude of the corresponding initial speed of driving behavior, determines the danger coefficient of driving behavior, can rise to danger coefficient together
The accuracy of determination.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, performs the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
The structured flowchart of the identifying device embodiment one for the driving behavior that Fig. 5 provides for the present invention.The identifying device can be with
It is integrated in above-mentioned wagon control plateform system.As shown in figure 5, the identifying device includes：First acquisition module 11, second is obtained
Module 12 and determining module 13.
Wherein, the first acquisition module 11, for the driving data acquisition speed time series according to vehicle, during the speed
Between sequence include corresponding relation between each moment and the speed at each moment；
Second acquisition module 12, the Velocity Time retrieval for being obtained according to first acquisition module 11 is each
The intermediate differential velocity amplitude of moment speed and preceding differential angle value；
Determining module 13, for according to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value,
Determine the corresponding driving behavior of the driving data；Wherein, the driving behavior includes：Vehicle start stage or vehicle parking rank
Section.
The identifying device for the driving behavior that the present invention is provided, can perform above method embodiment, its realization principle and skill
Art effect is similar, will not be repeated here.
The structured flowchart of the identifying device embodiment two for the driving behavior that Fig. 6 provides for the present invention.Real shown in above-mentioned Fig. 5
Apply on the basis of example, further, above-mentioned second acquisition module 12 is specifically included:
First acquisition unit 121, for according to formulaObtain the i-th moment speed viIntermediate differential speed
Angle value ami, wherein, i is the integer more than or equal to 1, vi-1For the speed at the i-th -1 moment in the Velocity Time sequence, vi+1For institute
State the speed at i+1 moment in Velocity Time sequence；
Second acquisition unit 122, for according to formula afi=vi-vi-1Obtain the i-th moment speed viPreceding differential angle value
afi；Wherein, the vi-1For the speed at the i-th -1 moment in the Velocity Time sequence.
The structured flowchart of the identifying device embodiment three for the driving behavior that Fig. 7 provides for the present invention.Real shown in above-mentioned Fig. 6
Apply on the basis of example, further, above-mentioned determining module 13 is specifically included:
First judging unit 131, for the speed v to i-th momentiPerform first and judge operation, obtain first and sentence
Disconnected result；Wherein, described first judges that operation includes：According to the speed v at the i-th -2 moment in the Velocity Time sequencei-2,
The speed v at i-1 momenti-1, the i+1 moment speed vi+1, the i-th+2 moment speed vi+2, judge the speed v at the i-th momentiIt is
The no starting point for the vehicle start stage；
Second judging unit 132, in the speed v that first judged result is i-th momentiFor the starting
Point, and the speed v at i-th momentiWhen not being last speed in the Velocity Time sequence, pair with the i+1
The speed v at momenti+1Perform second and judge operation, obtain the second judged result；Wherein, described second judges that operation includes：According to
The speed v at the i+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Preceding differential angle value, sentence
The speed v at the disconnected i+1 momenti+1For the intermediate point or end point in the vehicle start stage；
3rd judging unit 133, in the speed v that second judged result is the i+1 momenti+1It is described
During end point, the speed v at the i+1 moment is judgedi+1Whether it is last speed in the Velocity Time sequence；If
It is then to terminate；If it is not, then by the speed v at i-th+2 momenti+2As the speed at the i-th new moment, indicate that described first sentences
The speed at disconnected 131 pairs of the unit i-th new moment, which is returned, to be performed described first and judges operation, until during with described new i-th
Untill the adjacent next speed of the speed at quarter is last speed in the Velocity Time sequence.
Further, first judging unit 131, if specifically for the speed v at i-th -1 momenti-1With described
The speed v at i-2 momenti-2And equal to zero, and the speed v at the i+1 momenti+1With the speed v at i-th+2 momenti+2's
With more than zero, and the speed v at i-th momentiMore than zero, then the speed v at i-th moment is judgediFor the starting point.
Further, second judging unit 132, if specifically for the speed v at the i+1 momenti+1In the middle of it is poor
Component velocity value and the speed v at the i+1 momenti+1Preceding differential angle value in any one be more than zero, then judge the i+1
The speed v at momenti+1For the intermediate point；Or, if the speed v at the i+1 momenti+1Intermediate differential velocity amplitude and described
The speed v at i+1 momenti+1Preceding differential angle value be respectively less than or equal to zero, then judge the speed v at the i+1 momenti+1For institute
State end point.
Further, second judging unit 132, it is the i+1 moment to be additionally operable in second judged result
Speed vi+1It is the intermediate point, and the speed v at the i+1 momenti+1When not being last described speed, by described
The speed v at i+2 momenti+2As the speed at new i+1 moment, and described the is performed to the speed at the new i+1 moment
Two judge operation, untill the speed until the new i+1 moment is the end point；.
Further, first judging unit 131, it is i-th moment to be additionally operable in first judged result
Speed viIt is not the starting point, and the speed v at i-th momentiWhen not being last described speed, during by the i+1
The speed v at quarteri+1The first judgement behaviour is performed as the speed at the i-th new moment, and to the speed at the i-th new moment
Make, untill the speed until the i-th new moment is the starting point.
The identifying device for the driving behavior that the present invention is provided, can perform above method embodiment, its realization principle and skill
Art effect is similar, will not be repeated here.
On the basis of above-mentioned embodiment illustrated in fig. 7, further, above-mentioned first acquisition module 11, specifically for basis
User's request and the driving data obtain First Speed time series, and the First Speed time series is fallen according to the time
Sequence is arranged, and obtains the Velocity Time sequence；The user's request is the vehicle parking stage in the determination driving data；Then
The determining module 13, be additionally operable to using the starting point of the starting stage of determination as the shutdown phase end point, and
Using the intermediate point of the starting stage of determination as the shutdown phase intermediate point, and by the starting stage of determination
End point as the shutdown phase starting point.
Further, the determining module 13, is additionally operable in the centre according to each moment speed, each moment speed
Difference velocity amplitude and preceding differential angle value, after determining the corresponding driving behavior of the driving data, according to the driving behavior
The longitude and latitude of duration and the corresponding initial speed of the driving behavior, determines the danger coefficient of the driving behavior.
The identifying device for the driving behavior that the present invention is provided, can perform above method embodiment, its realization principle and skill
Art effect is similar, will not be repeated here.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of recognition methods of driving behavior, it is characterised in that including：
According to the driving data acquisition speed time series of vehicle, the Velocity Time sequence includes each moment and each moment
Speed between corresponding relation；
According to the intermediate differential velocity amplitude and preceding differential angle value of each moment speed of the Velocity Time retrieval；
According to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, the driving data pair is determined
The driving behavior answered；Wherein, the driving behavior includes：Vehicle start stage or vehicle parking stage.
2. according to the method described in claim 1, it is characterised in that described according to each moment car of the Velocity Time retrieval
The intermediate differential velocity amplitude and preceding differential angle value of speed, including：
According to formulaObtain the i-th moment speed viIntermediate differential velocity amplitude ami, wherein, i is more than or equal to 1
Integer, vi-1For the speed at the i-th -1 moment in the Velocity Time sequence, vi+1For in the Velocity Time sequence during i+1
The speed at quarter；
According to formula afi=vi-vi-1Obtain the i-th moment speed viPreceding differential angle value afi。
3. method according to claim 2, it is characterised in that the centre according to each moment speed, each moment speed
Difference velocity amplitude and preceding differential angle value, determine the corresponding driving behavior of the driving data, specifically include：
To the speed v at i-th momentiPerform first and judge operation, obtain the first judged result；Wherein, described first judges behaviour
Work includes：According to the speed v at the i-th -2 moment in the Velocity Time sequencei-2, the i-th -1 moment speed vi-1, the i+1 moment
Speed vi+1, the i-th+2 moment speed vi+2, judge the speed v at the i-th momentiWhether be the vehicle start stage starting
Point；
If first judged result is the speed v at i-th momentiFor the starting point, and the speed v at i-th momenti
It is not last speed in the Velocity Time sequence, then to the speed v at the i+1 momenti+1Perform second and judge behaviour
Make, obtain the second judged result；Wherein, described second judges that operation includes：According to the speed v at the i+1 momenti+1In
Between difference velocity amplitude and the speed v at the i+1 momenti+1Preceding differential angle value, judge the speed v at the i+1 momenti+1For
The intermediate point or end point in the vehicle start stage；
If second judged result is the speed v at the i+1 momenti+1It is the end point, then when judging the i+1
The speed v at quarteri+1Whether it is last speed in the Velocity Time sequence；
If so, then terminating；If it is not, then by the speed v at i-th+2 momenti+2As the speed at the i-th new moment, return and perform
Described first judges operation, until the next speed adjacent with the speed at the i-th new moment is the Velocity Time sequence
Untill last speed in row.
4. method according to claim 3, it is characterised in that described according to the i-th -2 moment in the Velocity Time sequence
Speed vi-2, the i-th -1 moment speed vi-1, the i+1 moment speed vi+1, the i-th+2 moment speed vi+2, when judging i-th
The speed v at quarteriWhether be the vehicle start stage starting point, specifically include：
If the speed v at i-th -1 momenti-1With the speed v at i-th -2 momenti-2And equal to zero, and during the i+1
The speed v at quarteri+1With the speed v at i-th+2 momenti+2And more than zero, and the speed v at i-th momentiMore than zero, then
Judge the speed v at i-th momentiFor the starting point；
The speed v according to the i+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1's
Preceding differential angle value, judges the speed v at the i+1 momenti+1For the intermediate point or end point in the vehicle start stage, tool
Body includes：
If the speed v at the i+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Preceding differential
Any one in angle value is more than zero, then judges the speed v at the i+1 momenti+1For the intermediate point；
Or,
If the speed v at the i+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Preceding differential
Angle value is respectively less than or equal to zero, then judges the speed v at the i+1 momenti+1For the end point.
5. method according to claim 4, it is characterised in that methods described also includes：
If second judged result is the speed v at the i+1 momenti+1It is the intermediate point, and the i+1 moment
Speed vi+1It is not last described speed, then by the speed v at i-th+2 momenti+2It is used as the car at new i+1 moment
Speed, and the second judgement operation is performed to the speed at the new i+1 moment, until the car at the new i+1 moment
Untill speed is the end point；
If first judged result is the speed v at i-th momentiIt is not the starting point, and the speed at i-th moment
viIt is not last described speed, then by the speed v at the i+1 momenti+1As the speed at the i-th new moment, and to institute
The speed for stating the i-th new moment performs the first judgement operation, until the speed at the i-th new moment is the starting point
Untill.
6. the method according to claim any one of 3-5, it is characterised in that described that speed is obtained according to the driving data of vehicle
Time series is spent, is specifically included：
First Speed time series is obtained according to user's request and the driving data；The user's request drives for determination is described
The vehicle parking stage in data；
The First Speed time series is arranged according to time inverted order, the Velocity Time sequence is obtained；
It is then described according to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, determine the driving
The corresponding driving behavior of data, in addition to：
Using the starting point of the starting stage of determination as the shutdown phase end point；
Using the intermediate point of the starting stage of determination as the shutdown phase intermediate point；
Using the end point of the starting stage of determination as the shutdown phase starting point.
7. method according to claim 6, it is characterised in that described according in each moment speed, each moment speed
Between difference velocity amplitude and preceding differential angle value, determine after the corresponding driving behavior of the driving data, methods described also includes：
According to the longitude and latitude of the duration of the driving behavior and the corresponding initial speed of the driving behavior, it is determined that described drive
Sail the danger coefficient of behavior.
8. a kind of identifying device of driving behavior, it is characterised in that including：
First acquisition module, for the driving data acquisition speed time series according to vehicle, the Velocity Time sequence includes
Corresponding relation between each moment and the speed at each moment；
Second acquisition module, for each moment speed of the Velocity Time retrieval obtained according to first acquisition module
Intermediate differential velocity amplitude and preceding differential angle value；
Determining module, for according to each moment speed, the intermediate differential velocity amplitude of each moment speed and preceding differential angle value, determining institute
State the corresponding driving behavior of driving data；Wherein, the driving behavior includes：Vehicle start stage or vehicle parking stage.
9. device according to claim 8, it is characterised in that second acquisition module, is specifically included:
First acquisition unit, for according to formulaObtain the i-th moment speed viIntermediate differential velocity amplitude ami,
Wherein, i is the integer more than or equal to 1, vi-1For the speed at the i-th -1 moment in the Velocity Time sequence, vi+1For the speed
The speed at i+1 moment in time series；
Second acquisition unit, for according to formula afi=vi-vi-1Obtain the i-th moment speed viPreceding differential angle value afi。
10. device according to claim 9, it is characterised in that the determining module, if during specifically for described i-th -1
The speed v at quarteri-1With the speed v at i-th -2 momenti-2And equal to zero, and the speed v at the i+1 momenti+1With it is described
The speed v at the i-th+2 momenti+2And more than zero, and the speed v at i-th momentiMore than zero, then i-th moment is judged
Speed viFor starting point；If the speed v at the i+1 momenti+1Intermediate differential velocity amplitude and the speed at the i+1 moment
vi+1Preceding differential angle value in any one be more than zero, then judge the speed v at the i+1 momenti+1For the intermediate point；If institute
State the speed v at i+1 momenti+1Intermediate differential velocity amplitude and the speed v at the i+1 momenti+1Preceding differential angle value it is small
In or equal to zero, then the speed v at the i+1 moment is judgedi+1For end point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510817427.5A CN105355054B (en) | 2015-11-23 | 2015-11-23 | The recognition methods of driving behavior and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510817427.5A CN105355054B (en) | 2015-11-23 | 2015-11-23 | The recognition methods of driving behavior and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105355054A CN105355054A (en) | 2016-02-24 |
| CN105355054B true CN105355054B (en) | 2017-11-03 |
Family
ID=55331018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510817427.5A Active CN105355054B (en) | 2015-11-23 | 2015-11-23 | The recognition methods of driving behavior and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105355054B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106372580B (en) * | 2016-08-25 | 2019-04-05 | 合肥工业大学 | Driving behavior recognition methods based on adaptive resonance theory mutation algorithm |
| CN107323459B (en) * | 2017-06-23 | 2023-09-12 | 东风商用车有限公司 | Method for identifying driver intention identifying sensor device |
| CN108230696B (en) * | 2018-01-24 | 2020-09-18 | 迈锐数据（北京）有限公司 | Method, device and system for detecting vehicle running state |
| CN109887285B (en) * | 2019-03-15 | 2021-04-20 | 北京经纬恒润科技股份有限公司 | Method and device for determining parking reason |
| CN112015261A (en) * | 2019-05-29 | 2020-12-01 | 华为技术有限公司 | Intelligent terminal driving mode identification method |
| CN110241749A (en) * | 2019-06-03 | 2019-09-17 | 上海海事大学 | A kind of anti-skidding real-time early warning device of road |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1119255C (en) * | 1999-09-01 | 2003-08-27 | 张楚 | Running static indication system for car (or motor-driven vehicles) |
| JP5332356B2 (en) * | 2008-07-08 | 2013-11-06 | 日産自動車株式会社 | Vehicle driving support device |
| US8699593B2 (en) * | 2009-11-18 | 2014-04-15 | Panasonic Corporation | Communication medium determining apparatus and method of determining communication medium |
| JP2012203795A (en) * | 2011-03-28 | 2012-10-22 | Nissin Electric Co Ltd | Vehicle speed measurement method and vehicle overall image detection method using the same and vehicle number plate information erroneous recognition prevention method |
| KR20130007157A (en) * | 2011-06-29 | 2013-01-18 | 디비정보통신 주식회사 | System for controlling sectional velocity of vehicle using radio frequency identification device and control method thereof |
| CN104134361B (en) * | 2014-07-02 | 2017-04-12 | 清华大学 | Driving status feedback method and system and vehicle-mounted device internally provided with system |
-
2015
- 2015-11-23 CN CN201510817427.5A patent/CN105355054B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105355054A (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105355054B (en) | The recognition methods of driving behavior and device | |
| CN106874597B (en) | highway overtaking behavior decision method applied to automatic driving vehicle | |
| CN104269026B (en) | Fatigue driving real-time monitoring and early warning method based on Android platform | |
| US20190049267A1 (en) | Safety enhanced computer assisted driving method and apparatus | |
| CN107284442B (en) | A kind of longitudinally controlled method of negotiation of bends for automatic driving vehicle | |
| CN109263639A (en) | Driving path planing method based on state Grid Method | |
| US20160009291A1 (en) | Selectable autonomous driving modes | |
| US20180370537A1 (en) | System providing remaining driving information of vehicle based on user behavior and method thereof | |
| CN107844886A (en) | Vehicle dispatching method, device, equipment and storage medium | |
| US20130191002A1 (en) | Drive assist system and drive assist method | |
| CN107117166A (en) | Autonomous dangerous item station | |
| CN104354701B (en) | The implementation method that a kind of people's car is mutual | |
| US9707848B2 (en) | Braking control method for eco-friendly vehicle | |
| CN108363393B (en) | A kind of smart motion equipment and its air navigation aid and storage medium | |
| US10475342B2 (en) | Parking lot evaluation apparatus, parking lot information supply method, and data structure of parking lot information | |
| CN111539087B (en) | Automatic driving system simulation test platform and automatic driving system evaluation method | |
| CN105835890A (en) | Vehicle sensor compensation | |
| CN107450511A (en) | Assess method, apparatus, equipment and the computer-readable storage medium of wagon control model | |
| US20160137090A1 (en) | System and method for predicting distance to empty of electric vehicle | |
| CN106710269A (en) | Vehicle driving data processing method and device | |
| WO2021185468A1 (en) | Technique for providing a user-adapted service to a user | |
| CN108983765A (en) | Vehicle route navigation | |
| CN108569268A (en) | Vehicle collision avoidance parameter calibration method and device, vehicle control device, storage medium | |
| Aldridge et al. | Intelligent vehicular networks, deep learning-based sensing technologies, and big data-driven algorithmic decision-making in smart transportation systems | |
| JP2018060247A (en) | Moving body premium calculation method, moving body premium calculation apparatus, moving body premium calculation program and moving body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |