CN105523084B - Method for detecting vehicle turning angle based on three-axis acceleration sensor - Google Patents
Method for detecting vehicle turning angle based on three-axis acceleration sensor Download PDFInfo
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- CN105523084B CN105523084B CN201510889069.9A CN201510889069A CN105523084B CN 105523084 B CN105523084 B CN 105523084B CN 201510889069 A CN201510889069 A CN 201510889069A CN 105523084 B CN105523084 B CN 105523084B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
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Abstract
The invention relates to a vehicle monitorThe field of control, in particular to a method for detecting vehicle turning angle based on a three-axis acceleration sensor. The invention discloses a method for detecting vehicle turning angle based on a triaxial acceleration sensor, which comprises the following steps of firstly, calibrating the triaxial acceleration sensor in an initial state; then, acceleration vector data of the triaxial acceleration sensor is acquired, and an acceleration vector component in the vehicle traveling direction is calculatedAnd a lateral acceleration vector component in a direction perpendicular to the vehicle's direction of travelObtaining travel speed vectors of vehicles at the same timeThen, based on the acceleration vector componentVector component of lateral accelerationAnd travel velocity vectorCalculating the angle theta of the vehicle turning in delta t timeiAnd then calculating the total turning angle theta in the whole turning processtotal. The invention has low cost, simple and convenient realization and accuracy which can meet the requirement of practical application.
Description
Technical Field
The invention belongs to the field of vehicle monitoring, and particularly relates to a method for detecting a vehicle turning angle based on a three-axis acceleration sensor.
Background
With the development of society, the living standard of people is improved, the number of automobiles is increased, the number of automobiles also increases, traffic accidents also increase due to the increase of the number of automobiles, and in the process of handling the traffic accidents, the driving state of the accident is a very important analysis means, which can be used for analyzing whether the driving behaviors are violated, wherein the driving state comprises rapid acceleration, rapid deceleration, rapid turning and the like. On the other hand, with the development of the car networking industry, the vehicle-mounted terminal with positioning and wireless communication is more and more widely used in a vehicle based on the access of a vehicle OBD (on-board diagnostic system) or a CAN (controller area network) interface to a vehicle internal bus, and is mainly used for collecting vehicle condition data, detecting driving behaviors of a driver, collecting and reporting driving data, and the like. Wherein the driving behaviors comprise rapid acceleration, rapid deceleration, rapid turning, rapid braking and the like; the method for detecting the sharp turn generally needs to detect the turning angle of the vehicle, and the current scheme generally adopts a gyroscope device to detect the turning angle and the angular speed, such as the following patent: CN102211612A, although simpler to implement, is more costly.
Disclosure of Invention
The invention aims to solve the problems and provide a method for detecting the vehicle turning angle based on a triaxial acceleration sensor, which has low detection cost and is simple and convenient to realize.
The invention discloses a method for detecting vehicle turning angle based on a triaxial acceleration sensor, which comprises the following steps:
and A10, calibrating the initial state of the triaxial acceleration sensor.
A20, acquiring acceleration vector data of the three-axis acceleration sensor, and calculating the acceleration vector component in the vehicle traveling directionAnd a lateral acceleration vector component in a direction perpendicular to the vehicle's direction of travelObtaining travel speed vectors of vehicles at the same time
A30, based on the acceleration vector componentVector component of lateral accelerationAnd travel velocity vectorCalculating the angle theta of the vehicle turning in delta t timeiThe calculation formula is
Further, the method also comprises a step A40 of detecting the total turning angle in the one-time turning process, and the specific method comprises the following steps:
when the vector component of lateral accelerationSetting a threshold M, starting angle detection, and detecting the lateral acceleration vector component< setting threshold M or lateral acceleration vector componentWhen the direction of the angle sensor changes suddenly, the angle detection is finished, and the total turning angle in one turning process isWherein, thetaiAnd n is an integer of t/delta t, and t is the duration of the turning process.
Furthermore, the method for determining the abrupt change of the direction of the lateral acceleration vector component comprises the following steps: computingAndif mod1>mod2, there is a sudden change in direction from the opposite direction, i.e., direction, where the opposite direction is the adjacent two lateral acceleration vector components.
Further, in the step a10, the initial state calibration includes the influence of gravityVectorCalibration and vehicle heading vectorAnd (5) calibrating.
Further, in the step a20, the vehicle speed vector isThe mode of (2) is obtained by the vehicle OBD or CAN bus, and the direction is the vehicle traveling direction vectorAnd (4) determining.
The invention has the beneficial technical effects that:
the invention can judge sharp turn by adopting the three-axis acceleration sensor and calculate the turning angle, thus greatly reducing the cost compared with a gyroscope and the like; and the method is simple and easy to realize, and the calculation precision can meet the requirements of common application scenarios.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-axis decomposition of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a turning angle calculation according to an embodiment of the present invention;
FIG. 4 is a schematic view of two adjacent lateral acceleration vectors in the same direction according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the inversion of two adjacent lateral acceleration vectors according to an embodiment of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and detailed description.
As shown in fig. 1 to 5, a method for detecting a turning angle of a vehicle based on a three-axis acceleration sensor includes the steps of:
and A10, calibrating the initial state of the triaxial acceleration sensor.
In this embodiment, the three-axis acceleration sensor may be a piezoresistive three-axis acceleration sensor, a piezoelectric three-axis acceleration sensor, or a capacitive three-axis acceleration sensor, and the initial state calibration is performed on the three-axis acceleration sensor, including the gravity influence vectorCalibration and vehicle heading vectorThe calibration method comprises the following specific steps:
vector of influence of gravityCalibration: stopping the vehicle on a horizontal road surface, reading the acceleration vector data in a horizontal static state for multiple times, and taking the arithmetic meanAnd stored in non-volatile memory.
Vehicle direction of travel vectorCalibration: the vehicle starts to accelerate forward when a first speed is read>The acceleration vector at 5km/h (of course, in other embodiments, not limited to 5km/h, and may be set by a technician according to actual conditions) is calibrated as the vehicle traveling direction vectorAnd stored in non-volatile memory.
A20, acquiring acceleration vector data of the three-axis acceleration sensor, and calculating the acceleration vector component in the vehicle traveling directionAnd a lateral acceleration vector component in a direction perpendicular to the vehicle's direction of travelObtaining travel speed vectors of vehicles at the same time
Specifically, the processing unit (in this embodiment, a single chip microcomputer or an MCU processor) reads the real-time resultant acceleration vector of the three-axis acceleration sensor once every Δ t time (the smaller the Δ t value is, the more accurate the calculation result is), but in consideration of the actual situation and the calculation complexity, the Δ t may not be too small, and in this specific implementation, the Δ t value is 200ms)Calculating acceleration vector component on vehicle traveling horizontal planeAcceleration vector component in vehicle traveling directionAnd a lateral acceleration vector component in a direction perpendicular to the vehicle's direction of travelThe calculation process is as follows:
wherein α is an acceleration vector componentAnd acceleration vector componentAs shown in fig. 2.
Obtaining travel speed vectors of vehicles at the same timeThe specific method comprises the following steps: the processing unit reads the vehicle's travel speed vector via the vehicle OBD or CAN bus (of course, in other embodiments, other means may be used, such as a speed sensor)Giving the vehicle running direction as the vector direction of the vehicle, namely obtaining the running speed vector
A30, based on the acceleration vector componentVector component of lateral accelerationAnd travel velocity vectorCalculating the angle theta of the vehicle turning in delta t timei. After the inventor of the present invention has conducted extensive research, the following are calculated:
andas shown in fig. 3, the angle θ of the vehicle turning within the time Δ t can be calculated from fig. 3i：
Wherein,is prepared by reacting withThe vehicle's travel velocity vector at intervals Δ t, m being the mass of the sensor.
A40, detecting the total turning angle theta of one-time turning processtotalThe specific method comprises the following steps:
when the vector component of lateral accelerationNot less than the set threshold M (in this embodiment, M is 500 mm/s)2Of course, in other embodiments, the value of M may be set by a technician according to actual needs, the M is set to avoid invalid calculations and reduce the calculation amount of the processing unit), angle detection is started, and the turning angle is detected every Δ t until the lateral acceleration vector component< setting threshold M or lateral acceleration vector componentWhen the direction of the angle sensor changes suddenly, the angle detection is finished, and the total turning angle of one turning process is determinedWherein, thetaiAnd n is an integer of t/delta t, and t is the duration of one turning process.
In particular, the lateral acceleration vector componentThe method for determining the direction mutation of (1) is as follows: computing Andif mod1<mod2, thenAndin the same direction, as shown in fig. 4; if mod1>mod2, thenAndin the reverse direction, as shown in fig. 5, i.e., the direction is mutated, wherein,andare the adjacent two lateral acceleration vector components.
Furthermore, by incorporating a lateral acceleration vector componentComparing with a set threshold if the lateral acceleration vector componentIf the acceleration is larger than the set threshold, the vehicle can be judged to be in sharp turn, and whether the vehicle is in sharp turn can be judged through the triaxial acceleration sensor very simply.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A method for detecting a vehicle turning angle based on a three-axis acceleration sensor is characterized by comprising the following steps:
a10, calibrating the initial state of the triaxial acceleration sensor;
a20, acquiring acceleration vector data of the three-axis acceleration sensor, and calculating the acceleration vector component in the vehicle traveling directionAnd a lateral acceleration vector component in a direction perpendicular to the vehicle's direction of travelObtaining travel speed vectors of vehicles at the same time
A30, based on the acceleration vector componentVector component of lateral accelerationAnd travel velocity vectorCalculating the angle theta of the vehicle turning in delta t timeiThe calculation formula is
A40, detecting the total turning angle in the one-time turning process, wherein the specific method comprises the following steps:
when in useStarting to perform angle detection when Or lateral acceleration vector componentWhen the direction of the angle sensor changes suddenly, the angle detection is finished, and the total turning angle in one turning process isWherein, thetaiAnd n is an integer of t/delta t, and t is the duration of the turning process.
2. The method for detecting a vehicle turning angle based on a three-axis acceleration sensor according to claim 1, characterized in that: said lateral acceleration vector componentThe method for determining the direction mutation of (1) is as follows: computingAndif mod1>mod2, thenAndin the reverse direction, i.e. the direction is mutated, whichIn (1),andare the adjacent two lateral acceleration vector components.
3. The method for detecting a vehicle turning angle based on a three-axis acceleration sensor according to claim 1, characterized in that: in step a10, the initial state calibration includes a gravity influence vectorCalibration and vehicle heading vectorAnd (5) calibrating.
4. The method for detecting a vehicle turning angle based on a three-axis acceleration sensor according to claim 1, characterized in that: in the step a20, the vehicle speed vectorThe mode of (2) is obtained by the vehicle OBD or CAN bus, and the direction is the vehicle traveling direction vectorAnd (4) determining.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105953793A (en) * | 2016-04-21 | 2016-09-21 | 深圳市元征科技股份有限公司 | Identification method and apparatus for sharp turn of vehicle |
| CN107585210B (en) * | 2016-07-07 | 2020-06-19 | 厦门雅迅网络股份有限公司 | Method and device for detecting steering wheel angle of vehicle |
| CN108646262A (en) * | 2018-03-27 | 2018-10-12 | 斑马网络技术有限公司 | Vehicle-state monitoring method, equipment, storage medium and vehicle |
| CN110001781A (en) * | 2019-04-26 | 2019-07-12 | 深圳智游者科技有限公司 | Identify that positive method and device is returned in vehicle front-wheel direction |
| CN114264486B (en) * | 2021-12-22 | 2024-04-16 | 郑州天迈科技股份有限公司 | Vehicle three-emergency detection method based on low-cost sensor |
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