CN105427625A - Vehicle turning identification method and apparatus - Google Patents
Vehicle turning identification method and apparatus Download PDFInfo
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- CN105427625A CN105427625A CN201510828026.XA CN201510828026A CN105427625A CN 105427625 A CN105427625 A CN 105427625A CN 201510828026 A CN201510828026 A CN 201510828026A CN 105427625 A CN105427625 A CN 105427625A
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- 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
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- 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
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Abstract
The invention provides a vehicle turning identification method and apparatus. The method comprises: a vehicle steering wheel rotation angel and a vehicle speed that correspond to each sampling time point are collected at a preset sampling interval; according to a preset vehicle rotation angle model, a vehicle rotation angle corresponding to each sampling time point is determined, wherein the vehicle rotation angle model describes correspondence relations between the vehicle rotation angles and steering wheel rotation angles, vehicle speeds, and vehicle rotation time for turning around the vehicle rotation angles; and according to the steering wheel rotation angles and the vehicle rotation angles, a turning segment of the vehicle is determined. Therefore, accurate identification of a turning segment of a vehicle is realized based on steering wheel rotation angles and vehicle rotation angles.
Description
Technical field
The invention belongs to automobile technical field, specifically relate to a kind of vehicle turning recognition methods and device.
Background technology
Along with the generally use of vehicle in people's life, the vehicle fleet size that highway travels is increasing rapidly.Incident, people are also increasingly surging for the degree of concern of traffic safety.Wherein, for the guidance of the safe early warning in driving conditions and safe driving behavior, become study hotspot, and the basis of these study hotspots is often based on the collection to vehicle running state, analysis.
The transport condition of vehicle comprises diversified characterization parameter, wherein, vehicle turn to or perhaps state of turning round also is one of important characterization parameter, this parameter is for self traffic safety of vehicle, and the traffic safety of its Adjacent vehicles and driving behavior are instructed significant.
At present, mostly the identification for vehicle turning is to adopt GPS positioning signal, judges whether vehicle turns round by calculating the angle change of vehicle between the GPS location of multiple time point.Due to the problem of GPS positioning precision, the identification of turning round for low-angle does not have versatility, thus causes the recognition accuracy of vehicle turning not high.
Summary of the invention
For problems of the prior art, the invention provides a kind of vehicle turning recognition methods and device, in order to realize the accurate identification to vehicle turning fragment.
The invention provides a kind of vehicle turning recognition methods, comprising:
With default sampling interval, gather rotating of steering wheel angle and the speed of a motor vehicle of vehicle corresponding to point of each sampling time;
According to preset vehicle rotational angle model, determine the vehicle rotational angle that point of each sampling time is corresponding, wherein, vehicle rotational angle model describes vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, turns over the corresponding relation of the vehicle rotation time needed for vehicle rotational angle;
The fragment of turning round of described vehicle is determined according to described rotating of steering wheel angle, described vehicle rotational angle.
The invention provides a kind of vehicle turning recognition device, comprising:
Acquisition module, for default sampling interval, gathers rotating of steering wheel angle and the speed of a motor vehicle of vehicle corresponding to point of each sampling time;
First determination module, for according to preset vehicle rotational angle model, determine the vehicle rotational angle that point of each sampling time is corresponding, wherein, vehicle rotational angle model describes vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, turns over the corresponding relation of the vehicle rotation time needed for vehicle rotational angle;
Second determination module, for determining the fragment of turning round of described vehicle according to described rotating of steering wheel angle, described vehicle rotational angle.
Vehicle turning recognition methods provided by the invention and device, describe vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle based on what set up in advance, turn over the vehicle rotational angle model of the corresponding relation of the vehicle rotation time needed for vehicle rotational angle, after the rotating of steering wheel angle collecting vehicle corresponding to point of each sampling time and the speed of a motor vehicle, can determine according to this vehicle rotational angle model the vehicle rotational angle that point of each sampling time is corresponding.Thus, can determine when each sampling time point according to rotating of steering wheel angle corresponding to each sampling time point, vehicle rotational angle, whether vehicle is in the state of turning round, thus realizes the accurate identification based on the vehicle turning fragment of rotating of steering wheel angle, vehicle rotational angle.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of vehicle turning recognition methods embodiment one of the present invention;
Fig. 2 is the process flow diagram of vehicle turning recognition methods embodiment two of the present invention;
Fig. 3 is the schematic diagram of vehicle rotational angle model of the present invention;
Fig. 4 is the schematic diagram of vehicle turning recognition device embodiment one of the present invention;
Fig. 5 is the schematic diagram of vehicle turning recognition device embodiment two of the present invention.
Embodiment
Fig. 1 is the process flow diagram of vehicle turning recognition methods embodiment one of the present invention, in the present embodiment, this vehicle turning recognition methods is performed by vehicle turning recognition device, and this vehicle turning recognition device is arranged in vehicle, as shown in Figure 1, this vehicle turning recognition methods comprises the steps:
Step 101, with default sampling interval, gather rotating of steering wheel angle and the speed of a motor vehicle of vehicle corresponding to point of each sampling time.
In the present embodiment, above-mentioned sampling interval can be such as 1s.In actual applications, triggering the condition performing the vehicle turning recognition methods that the present embodiment provides is such as detect that the rotating of steering wheel angle of vehicle is greater than certain threshold value.
Can realize based on senser element conventional in prior art the collection of bearing circle rotational angle and the speed of a motor vehicle, realize not repeating in principle the present embodiment.
When detecting that above-mentioned trigger condition meets, perform the vehicle turning recognition methods of the present embodiment.
Particularly, in the present embodiment, first need to gather rotating of steering wheel angle corresponding to point of each sampling time and the speed of a motor vehicle.
Step 102, according to preset vehicle rotational angle model, determine the vehicle rotational angle that point of each sampling time is corresponding.
Wherein, vehicle rotational angle model describes vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, turns over the corresponding relation of the vehicle rotation time needed for vehicle rotational angle.
The process of establishing of this vehicle rotational angle model will describe in subsequent embodiment.In the present embodiment, only emphasize that vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, the vehicle rotation time turned over needed for vehicle rotational angle exist corresponding relation, after this vehicle rotational angle model is set up, can based on this model, the parameter such as rotating of steering wheel angle, the speed of a motor vehicle corresponding according to each sampling time point collected, determines the vehicle rotational angle that point of each sampling time is corresponding.
Step 103, fragment of turning round according to rotating of steering wheel angle, vehicle rotational angle determination vehicle.
In the present embodiment, can according to each rotating of steering wheel angle of sampling time point correspondence, the fragment of turning round of vehicle rotational angle determination vehicle.
Specifically, successively for each sampling time point i, can carry out following deterministic process, to determine the state of turning round of vehicle, wherein, i gets the integer being more than or equal to 1:
If | u
i|>=P, and v
i≠ 0, then determine that sampling time point i corresponds to vehicle turning point, wherein, u
ifor the rotating of steering wheel angle that sampling time point i is corresponding, v
ifor the speed of a motor vehicle that sampling time point i is corresponding, P is the first predetermined threshold value;
If | u
i| <P, and v
i≠ 0, then corresponding respectively according to multiple sampling time point vehicle rotational angle determines whether sampling time point i corresponds to vehicle turning point, and wherein, multiple sampling time point comprises sampling time point i;
If there is the multiple sampling time point of continuous print to correspond to vehicle turning point, then determine that vehicle is in the state of turning round during the multiple sampling time point of continuous print, namely the fragment of turning round of vehicle is the time slice that this continuous print multiple sampling time point is corresponding.
Known by above-mentioned deterministic process: first, with rotating of steering wheel angle for foundation, if the rotating of steering wheel angle u that sampling time point i is corresponding
ihigher than the first predetermined threshold value, such as 90 degree, then directly can determine that this sampling time point i corresponds to vehicle turning point, certain time point namely in vehicle turning process.Otherwise, if the rotating of steering wheel angle u that sampling time point i is corresponding
ibe less than the first predetermined threshold value, then and then according to the multiple sampling time point vehicle rotational angle corresponding respectively comprising sampling time point i determine whether sampling time point i corresponds to vehicle turning point.
If finally determine that sampling time point i corresponds to vehicle turning point, then following for next adjacent sampling time point i+1, carry out above-mentioned deterministic process, so circulation is gone down, until run into the sampling time point that at least one does not meet the decision condition of above-mentioned vehicle turning point.Thus, by continuous print all corresponding to vehicle turning point multiple sampling times point duration think that vehicle is in the time period under the state of turning round.
Wherein, the vehicle rotational angle corresponding respectively according to multiple sampling time point determines whether sampling time point i corresponds to vehicle turning point, can realize in the following way:
If the absolute value sum of the vehicle rotational angle that multiple sampling time point is corresponding is respectively more than or equal to the second predetermined threshold value, then determine that sampling time point i corresponds to vehicle turning point, wherein, the second predetermined threshold value is less than the first predetermined threshold value.
For example, suppose that the number of the sampling time point chosen is 3, respectively: i-1, i, i+1, accordingly, these three sampling time point vehicle rotational angles corresponding are respectively: θ
i-1, θ
i, θ
i+1.Suppose that these three vehicle rotational angle absolute value sums are expressed as C1
i, then:
C1
i＝|θ
i-1|+|θ
i|+|θ
i+1|。
If C1
i>=P1, then think that sampling time point i corresponds to vehicle turning point, wherein, P1 is the second predetermined threshold value, is such as 45 degree.
In the present embodiment, describe vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle based on what set up in advance, turn over the vehicle rotational angle model of the corresponding relation of the vehicle rotation time needed for vehicle rotational angle, after the rotating of steering wheel angle collecting vehicle corresponding to point of each sampling time and the speed of a motor vehicle, can determine according to this vehicle rotational angle model the vehicle rotational angle that point of each sampling time is corresponding.Thus, can determine when each sampling time point according to rotating of steering wheel angle corresponding to each sampling time point, vehicle rotational angle, whether vehicle is in the state of turning round, thus realizes the accurate identification based on the vehicle turning fragment of rotating of steering wheel angle, vehicle rotational angle.
Fig. 2 is the process flow diagram of vehicle turning recognition methods embodiment two of the present invention, as shown in Figure 2, can comprise the steps:
Step 201, determine the corresponding relation of the rotating of steering wheel angle of vehicle and the front vehicle wheel rotational angle of vehicle.
Step 202, corresponding relation according to the rotating of steering wheel angle of vehicle and the front vehicle wheel rotational angle of vehicle, determine vehicle rotational angle model.
In the present embodiment, in conjunction with vehicle rotational angle model schematic as shown in Figure 3, exemplary illustration sets up the process of vehicle rotational angle model.
Be positive angle when supposing that bearing circle is rotated counterclockwise, turning clockwise is angle for negative, and rotating of steering wheel angle is expressed as u.
Suppose that front vehicle wheel is positive angle to left avertence, be negative angle to the right, the rotational angle of front vehicle wheel is expressed as
Because the relation of the rotational angle of the bearing circle of each vehicle and the rotational angle of front vehicle wheel is not unified, therefore, only provide a kind of in the present embodiment and add up the rotating of steering wheel angle of certain vehicle of acquisition and the corresponding relation of front vehicle wheel rotational angle:
wherein, u ∈ [-5 π, 5 π].
Suppose the simplified model of vehicle as shown in left in Figure 3, car body is AB, and the distance between front and back wheel is L, then the turning radius of front and back wheel is respectively:
As shown in right in Figure 3, suppose that the angle that vehicle turns to A ' B ' from AB is θ, the used time is t to the turning process of vehicle, and the speed of a motor vehicle of vehicle is v (m/s), then have:
v×t＝R1×θ
That is:
Above-mentioned corresponding relation is a kind of vehicle rotational angle model that the present embodiment illustrates.In practical application, because the rotating of steering wheel angle of different automobile types and the corresponding relation of front vehicle wheel rotational angle may be different, the vehicle rotational angle model finally obtained is caused to be not quite similar, but, the rotating of steering wheel angle of different automobile types and the corresponding relation of front vehicle wheel rotational angle by obtaining the matching of great many of experiments statistics, thus can obtain corresponding different vehicle rotational angle model.
Step 203, with default sampling interval, gather rotating of steering wheel angle and the speed of a motor vehicle of vehicle corresponding to point of each sampling time.
Step 204, according to preset vehicle rotational angle model, determine the vehicle rotational angle that point of each sampling time is corresponding.
Based on the vehicle rotational angle model that above-mentioned citing provides, in the present embodiment, for arbitrary sampling time point i, the vehicle rotational angle of its correspondence
Step 205, fragment of turning round according to rotating of steering wheel angle, vehicle rotational angle determination vehicle.
In the present embodiment, according to process and the similar process embodiment illustrated in fig. 1 of the fragment of turning round of rotating of steering wheel angle, vehicle rotational angle determination vehicle, do not repeat.But, what deserves to be explained is in the present embodiment, determining whether sampling time point i corresponds in the process of vehicle turning point according to the multiple sampling time point vehicle rotational angle corresponding respectively comprising sampling time point i, the number of multiple sampling time point can arrange many groups, such as arrange three groups, first group is 3, second group is 5,3rd group is 7, and, the selection principle of sampling time point can be centered by sampling time point i, chooses the sampling time point of the adjacent some in its left and right respectively.
For example, suppose that the vehicle rotational angle absolute value sum of multiple sampling times points that first group, second group and three components are corresponding is: C1
i, C2
i, C3
i, wherein:
C1
i＝|θ
i-1|+|θ
i|+|θ
i+1|；
C2
i＝|θ
i-2|+|θ
i-1|+|θ
i|+|θ
i+1|+|θ
i+2|；
C3
i＝|θ
i-3|+|θ
i-2|+|θ
i-1|+|θ
i|+|θ
i+1|+|θ
i+2|+|θ
i+3|。
If meet C1
i>=P1, or C2
i>=P2, or C3
i>=P3, so can determine that sampling time point i corresponds to vehicle turning point.
Wherein, P1, P2 and P3 can be identical or different, are understandable that, when P1, P2 and P3 are different, and P1<P2<P3.
In actual applications, suppose that P1, P2 are identical with P3, be such as all 45 degree, then above-mentioned C1
i, C2
i, C3
iuse procedure can be: if C1
ibe less than P1, then calculate C2
i, and judge C2
iwhether be more than or equal to P2; If C2
ibe less than P2, then calculate C3
i, and judge C3
iwhether be more than or equal to P3, if C3
ibe less than P3, then determine that sampling time point i does not correspond to the state of turning round of vehicle, namely vehicle is not in the state of turning round.
Step 206, fragment of turning round according to vehicle, determine whether vehicle is in dangerous driving state.
In the present embodiment, after the fragment of turning round determining vehicle, based on this determination result, the analysis judgement whether vehicle is in dangerous driving state can be carried out.In the analysis deterministic process of this dangerous driving state, other running condition information comprehensive descision in conjunction with vehicle can be needed.
Simple example, if vehicle is in the state of turning round, and now the steering indicating light of vehicle is not called a taxi, or vehicle is not touched on the brake, or the current speed of a motor vehicle is greater than certain threshold value, then can think that vehicle is in dangerous driving state.
In the present embodiment, the corresponding relation based on the rotating of steering wheel angle of vehicle and the front vehicle wheel rotational angle of vehicle builds and describes vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, turns over the vehicle rotational angle model of the corresponding relation of the vehicle rotation time needed for vehicle rotational angle.After the rotating of steering wheel angle collecting vehicle corresponding to point of each sampling time and the speed of a motor vehicle, can determine according to this vehicle rotational angle model the vehicle rotational angle that point of each sampling time is corresponding.Thus, can determine when each sampling time point according to rotating of steering wheel angle corresponding to each sampling time point, vehicle rotational angle, whether vehicle is in the state of turning round, thus realizes the accurate identification based on the vehicle turning fragment of rotating of steering wheel angle, vehicle rotational angle.In addition, the judgement of vehicle risk driving can also be carried out based on the recognition result of vehicle turning state, be conducive to the prompting carrying out dangerous driving behavior in time, improve travel safety.
Fig. 4 is the schematic diagram of vehicle turning recognition device embodiment one of the present invention, and as shown in Figure 4, this vehicle turning recognition device comprises: acquisition module 11, first determination module 12, second determination module 13.
Acquisition module 11, for default sampling interval, gathers rotating of steering wheel angle and the speed of a motor vehicle of vehicle corresponding to point of each sampling time.
First determination module 12, for according to preset vehicle rotational angle model, determine the vehicle rotational angle that point of each sampling time is corresponding, wherein, vehicle rotational angle model describes vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, turns over the corresponding relation of the vehicle rotation time needed for vehicle rotational angle.
Second determination module 13, for determining the fragment of turning round of described vehicle according to described rotating of steering wheel angle, described vehicle rotational angle.
Described second determination module 13 comprises: the first determining unit 131, second determining unit 132, the 3rd determining unit 133.
First determining unit 131, for putting i for each sampling time successively, | u
i|>=P, and v
iwhen ≠ 0, determine that some i of described sampling time corresponds to vehicle turning point, wherein, u
ifor the rotating of steering wheel angle that described sampling time point i is corresponding, v
ifor the speed of a motor vehicle that described sampling time point i is corresponding, P is the first predetermined threshold value.
Second determining unit 132, at | u
i| <P, and v
iwhen ≠ 0, the vehicle rotational angle corresponding respectively according to multiple sampling time point determines whether some i of described sampling time corresponds to vehicle turning point, and wherein, described multiple sampling time point comprises some i of described sampling time.
3rd determining unit 133, for when having that continuous print multiple sampling time, point corresponded to vehicle turning point, determines that the fragment of turning round of described vehicle is the time slice that point of described continuous print multiple sampling time is corresponding.
Wherein, described second determining unit 132 specifically for: when the absolute value sum of the corresponding respectively vehicle rotational angle of described multiple sampling time point is more than or equal to the second predetermined threshold value, determine that some i of described sampling time corresponds to vehicle turning point, wherein, described second predetermined threshold value is less than described first predetermined threshold value.
The vehicle turning recognition device of the present embodiment may be used for the technical scheme performing embodiment of the method shown in above-mentioned Fig. 1, and it realizes principle and technique effect is similar, repeats no more herein.
Fig. 5 is the schematic diagram of vehicle turning recognition device embodiment two of the present invention, and as shown in Figure 5, on basis embodiment illustrated in fig. 4, described vehicle turning recognition device also comprises: the 3rd determination module 21, the 4th determination module 22.
3rd determination module 21, for the corresponding relation of the front vehicle wheel rotational angle of the rotating of steering wheel angle and described vehicle of determining described vehicle.
4th determination module 22, for the corresponding relation according to the rotating of steering wheel angle of described vehicle and the front vehicle wheel rotational angle of described vehicle, determines described vehicle rotational angle model.
Further, described vehicle turning recognition device also comprises: the 5th determination module 23.
5th determination module 23, for the fragment of turning round according to described vehicle, determines whether described vehicle is in dangerous driving state.
The vehicle turning recognition device of the present embodiment may be used for the technical scheme performing embodiment of the method shown in above-mentioned Fig. 2, and it realizes principle and technique effect is similar, repeats no more herein.
One of ordinary skill in the art will appreciate that: all or part of step realizing said method embodiment can have been come by the hardware that programmed instruction is relevant, aforesaid program can be stored in a computer read/write memory medium, this program, when performing, performs the step comprising said method embodiment; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a vehicle turning recognition methods, is characterized in that, comprising:
With default sampling interval, gather rotating of steering wheel angle and the speed of a motor vehicle of vehicle corresponding to point of each sampling time;
According to preset vehicle rotational angle model, determine the vehicle rotational angle that point of each sampling time is corresponding, wherein, vehicle rotational angle model describes vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, turns over the corresponding relation of the vehicle rotation time needed for vehicle rotational angle;
The fragment of turning round of described vehicle is determined according to described rotating of steering wheel angle, described vehicle rotational angle.
2. method according to claim 1, is characterized in that, the described fragment of turning round determining described vehicle according to described rotating of steering wheel angle, described vehicle rotational angle, comprising:
Successively for each sampling time point i, if | u
i|>=P, and v
i≠ 0, then determine that some i of described sampling time corresponds to vehicle turning point, wherein, u
ifor the rotating of steering wheel angle that described sampling time point i is corresponding, v
ifor the speed of a motor vehicle that described sampling time point i is corresponding, P is the first predetermined threshold value;
If | u
i| <P, and v
i≠ 0, then corresponding respectively according to multiple sampling time point vehicle rotational angle determines whether some i of described sampling time corresponds to vehicle turning point, and wherein, described multiple sampling time point comprises some i of described sampling time;
If there is the multiple sampling time point of continuous print to correspond to vehicle turning point, then determine that the fragment of turning round of described vehicle is the time slice that point of described continuous print multiple sampling time is corresponding.
3. method according to claim 2, is characterized in that, the described vehicle rotational angle corresponding respectively according to multiple sampling time point determines whether some i of described sampling time corresponds to vehicle turning point, comprising:
If the absolute value sum of the vehicle rotational angle that described multiple sampling time point is corresponding is respectively more than or equal to the second predetermined threshold value, then determine that some i of described sampling time corresponds to vehicle turning point, wherein, described second predetermined threshold value is less than described first predetermined threshold value.
4. according to the method in any one of claims 1 to 3, it is characterized in that, described method also comprises:
Determine the corresponding relation of the rotating of steering wheel angle of described vehicle and the front vehicle wheel rotational angle of described vehicle;
According to the corresponding relation of the rotating of steering wheel angle of described vehicle and the front vehicle wheel rotational angle of described vehicle, determine described vehicle rotational angle model.
5. according to the method in any one of claims 1 to 3, it is characterized in that, described method also comprises:
According to the fragment of turning round of described vehicle, determine whether described vehicle is in dangerous driving state.
6. a vehicle turning recognition device, is characterized in that, comprising:
Acquisition module, for default sampling interval, gathers rotating of steering wheel angle and the speed of a motor vehicle of vehicle corresponding to point of each sampling time;
First determination module, for according to preset vehicle rotational angle model, determine the vehicle rotational angle that point of each sampling time is corresponding, wherein, vehicle rotational angle model describes vehicle rotational angle and rotating of steering wheel angle, the speed of a motor vehicle, turns over the corresponding relation of the vehicle rotation time needed for vehicle rotational angle;
Second determination module, for determining the fragment of turning round of described vehicle according to described rotating of steering wheel angle, described vehicle rotational angle.
7. device according to claim 6, is characterized in that, described second determination module comprises:
First determining unit, for putting i for each sampling time successively, | u
i|>=P, and v
iwhen ≠ 0, determine that some i of described sampling time corresponds to vehicle turning point, wherein, u
ifor the rotating of steering wheel angle that described sampling time point i is corresponding, v
ifor the speed of a motor vehicle that described sampling time point i is corresponding, P is the first predetermined threshold value;
Second determining unit, at | u
i| <P, and v
iwhen ≠ 0, the vehicle rotational angle corresponding respectively according to multiple sampling time point determines whether some i of described sampling time corresponds to vehicle turning point, and wherein, described multiple sampling time point comprises some i of described sampling time;
3rd determining unit, for when having that continuous print multiple sampling time, point corresponded to vehicle turning point, determines that the fragment of turning round of described vehicle is the time slice that point of described continuous print multiple sampling time is corresponding.
8. device according to claim 7, it is characterized in that, described second determining unit specifically for: when the absolute value sum of the corresponding respectively vehicle rotational angle of described multiple sampling time point is more than or equal to the second predetermined threshold value, determine that some i of described sampling time corresponds to vehicle turning point, wherein, described second predetermined threshold value is less than described first predetermined threshold value.
9. the device according to any one of claim 6 to 8, is characterized in that, also comprises:
3rd determination module, for the corresponding relation of the front vehicle wheel rotational angle of the rotating of steering wheel angle and described vehicle of determining described vehicle;
4th determination module, for the corresponding relation according to the rotating of steering wheel angle of described vehicle and the front vehicle wheel rotational angle of described vehicle, determines described vehicle rotational angle model.
10. device according to claim 6, is characterized in that, also comprises:
5th determination module, for the fragment of turning round according to described vehicle, determines whether described vehicle is in dangerous driving state.
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