CN105761323B - Collision accident recognition methods and device based on vehicle-mounted data - Google Patents
Collision accident recognition methods and device based on vehicle-mounted data Download PDFInfo
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- CN105761323B CN105761323B CN201610066114.5A CN201610066114A CN105761323B CN 105761323 B CN105761323 B CN 105761323B CN 201610066114 A CN201610066114 A CN 201610066114A CN 105761323 B CN105761323 B CN 105761323B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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Abstract
The invention discloses a kind of collision accident recognition methods based on vehicle-mounted data, including：Real-time collection vehicle location information data, onboard diagnostic system data, vehicle acceleration data；Judge vehicle collision time and vehicle running state；It identifies the vehicle crash event type currently occurred of vehicle, and vehicle collision degree information is calculated；Generate warning message；Vehicle running state when warning message and collision accident are occurred is uploaded to server.The invention also discloses a kind of collision accident identification device based on vehicle-mounted data, including data acquisition module, vehicle running state judgment module, collision accident identification module, impact severity computing module, warning message generation module, data transmission blocks.Collision accident recognition methods and device provided by the invention based on vehicle-mounted data, can automatically be identified the vehicle collision time, and travel condition of vehicle when outwardly sending help signal automatically, and occurring for collision accident is reduced.
Description
Technical field
The present invention relates to vehicle collision detection technique fields, particularly relate to a kind of collision accident identification based on vehicle-mounted data
Method and apparatus.
Background technology
With increasing for vehicle population, traffic accident rate is also being continuously increased, the security of automobile gradually into
For the primary topic of consumer's concern, there are many safety measures of automobile, such as safety belt and air bag are set in automobile,
These safety equipments reduce the injured degree that passenger and driver that traffic accident makes on automobile occur for automobile.But in vehicle
Occur traffic accident when, tend to reduce wounded's death rate most important condition be to sue and labour in time to the wounded.Work as vehicle
It collides when triggering traffic accident, is usually dialed the police emergency number and sought help by party or witness, in the event of weight
During big traffic accident (such as vehicle rollover, vehicle gross distortion), since party is badly wounded, have no ability to dial electricity of seeking help
After words or generation traffic accident, the communication tool of party is lost, and so can only call alarm by witness and seek help,
But if scene does not have witness, be present with the phenomenon that nobody alarms, the rescue time of accident the wounded can be delayed, and give
The life of accident the wounded brings great threat.If incident simultaneously is at that time without witness and video monitoring facility, traffic
Administrative department also brings certain difficulty for occurrence cause and the confirmation of responsibility work of vehicle collision accident.
Traditional GPS terminal can very easily help people to determine the specific location of vehicle, and accurately know
The vehicle specific location that traffic accident occurs is the necessary condition that can provide help to the wounded that accident occurs in time.At present
Many vehicles be although equipped with GPS terminal, but only do not possess detection vehicle in real time but by common GPS terminal
Operating status simultaneously outwardly sends help signal simultaneously instead of the driver of the vehicle automatically when traffic accident occurs for vehicle
And for reduction accident occur when scene and travel condition of vehicle function.
The content of the invention
In view of this, it is an object of the invention to propose that one kind can automatically be identified the vehicle collision time, automatically
The touching based on vehicle-mounted data that travel condition of vehicle when outwardly sending help signal, and occurring for collision accident is reduced
Hit event recognition method and device.
Based on above-mentioned purpose one aspect of the present invention, a kind of collision accident identification side based on vehicle-mounted data is provided
Method, including：
Real-time collection vehicle location information data, onboard diagnostic system data, vehicle acceleration data；
According to the onboard diagnostic system data and vehicle acceleration data, vehicle collision time and collision accident hair are judged
Vehicle running state when raw；
According to the onboard diagnostic system data, vehicle running state and vehicle acceleration data, the current of vehicle is identified
The vehicle crash event type of generation, and vehicle collision degree information is calculated；
The vehicle crash event type that will identify that, the impact severity information being calculated, together with vehicle position information number
According to generation warning message；
Vehicle running state when warning message and collision accident are occurred is uploaded to server.
In some embodiments, the vehicle running state includes dead ship condition, parked state and driving states；Its
In：
Dead ship condition refers to：Judge that vehicle is in flameout state by onboard diagnostic system data；
Parked state refers to：Judge that vehicle is in fired state and speed is 0 by onboard diagnostic system data；
Driving states refer to：Judge that vehicle is in fired state and speed is more than 0 by onboard diagnostic system data.
In some embodiments, the vehicle crash event type includes the passive collision of parking, parking is passively collided, gone
Vehicle passively actively collide by collision and driving；Wherein：
The passive collision of parking refers to：Vehicle generates the first acceleration in flameout state；
Passively collision refers to for parking：Vehicle generates the first acceleration in fired state；
The passive collision of driving refers to：The engine peed stable of vehicle and generate the second acceleration；
Actively collision refers to for driving：The engine peed stable of vehicle and generate the 3rd acceleration.
In some embodiments, the vehicle collision degree information includes slight, medium, serious and especially severe；
Described the step of vehicle collision degree information is calculated, includes：
Pre-set acceleration rate threshold when the different vehicle running states corresponding to vehicle collision degree collide
Scope；
Acceleration when being collided according to different vehicle running states draws the acceleration rate threshold residing for the acceleration
Vehicle collision degree information corresponding to scope.
In some embodiments, the vehicle acceleration data is the 3-axis acceleration gathered by acceleration transducer
Data, thirdly direction of principal axis is respectively：Vehicle perpendicular to the ground direction, vehicle heading, mutually hang down with vehicle heading horizontal plane
Straight direction.
Another aspect provides a kind of collision accident identification device based on vehicle-mounted data, including：
Data acquisition module, for real-time collection vehicle location information data, onboard diagnostic system data, vehicle acceleration
Data；
Vehicle running state judgment module, for according to the onboard diagnostic system data and vehicle acceleration data, sentencing
Vehicle running state when disconnected vehicle collision time and collision accident occur；
Collision accident identification module, for being accelerated according to the onboard diagnostic system data, vehicle running state and vehicle
Degrees of data identifies the vehicle crash event type currently occurred of vehicle；
Impact severity computing module, for being accelerated according to the onboard diagnostic system data, vehicle running state and vehicle
Vehicle collision degree information is calculated in degrees of data；
Warning message generation module is believed for the vehicle crash event type that will identify that, the impact severity being calculated
Breath together with vehicle position information data, generates warning message；
Data transmission blocks, for by warning message and collision accident generation when vehicle running state be uploaded to service
Device.
In some embodiments, the vehicle running state includes dead ship condition, parked state and driving states；Its
In：
Dead ship condition refers to：The vehicle running state judgment module judges that vehicle is in by onboard diagnostic system data
Flameout state；
Parked state refers to：The vehicle running state judgment module judges that vehicle is in by onboard diagnostic system data
Fired state and speed are 0；
Driving states refer to：The vehicle running state judgment module judges that vehicle is in by onboard diagnostic system data
Fired state and speed are more than 0.
In some embodiments, the vehicle crash event type includes the passive collision of parking, parking is passively collided, gone
Vehicle passively actively collide by collision and driving；Wherein：
The passive collision of parking refers to：The collision accident identification module judges that vehicle generates the first acceleration in flameout state
Degree；
Passively collision refers to for parking：The collision accident identification module judges that vehicle generates the first acceleration in fired state
Degree；
The passive collision of driving refers to：The collision accident identification module judges the engine peed stable of vehicle and generates
Second acceleration；
Actively collision refers to for driving：The collision accident identification module judges the engine peed stable of vehicle and generates
3rd acceleration.
In some embodiments, the vehicle collision degree information includes slight, medium, serious and especially severe；
The impact severity computing module travels shape for pre-setting the different vehicles corresponding to vehicle collision degree
Acceleration rate threshold scope when state collides；And acceleration when being collided according to different vehicle running states, it obtains
Go out the vehicle collision degree information corresponding to the acceleration rate threshold scope residing for the acceleration.
In some embodiments, the data acquisition module includes acceleration transducer, and vehicle acceleration data is logical
The 3-axis acceleration data of acceleration transducer acquisition are crossed, thirdly direction of principal axis is respectively：Direction, vehicle travel vehicle perpendicular to the ground
Direction and the perpendicular direction of vehicle heading horizontal plane.
From the above it can be seen that collision accident recognition methods and device provided by the invention based on vehicle-mounted data,
The vehicle collision time can be identified automatically according to vehicle running state, and according to travel condition of vehicle and vehicle collision
Event type so as to outwardly send help signal by server, and is collision thing from trend server alert
Vehicle running state when part occurs is reduced.
Description of the drawings
Fig. 1 is the flow diagram of the collision accident recognition methods embodiment provided by the invention based on vehicle-mounted data；
Fig. 2 is that the modular structure of the collision accident identification device embodiment provided by the invention based on vehicle-mounted data is illustrated
Figure；
Fig. 3 is that the projection in collision accident recognition methods and device embodiment provided by the invention based on vehicle-mounted data is painted
Packing density thermodynamic chart processed；
Fig. 4 is the selection area in collision accident recognition methods and device embodiment provided by the invention based on vehicle-mounted data
In domain data point and determine calibration after y-axis direction schematic diagram.
Specific embodiment
Understand to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " should not only for the convenience of statement
The restriction to the embodiment of the present invention is interpreted as, following embodiment no longer illustrates this one by one.
The present invention relates to vehicle collision detection technique, more particularly, to using vehicle-mounted OBD technologies, GPS satellite alignment system,
Acceleration transducer application technology, the vehicle crash event recognizer of GSM mechanicss of communication.
OBD is the abbreviation of English On-Board Diagnostic, and translator of Chinese is " onboard diagnostic system ".This system
The operation conditions of engine and the working condition of exhaust gas aftertreatment system are monitored at any time, once it finds it is possible that causing discharge exceeded
Situation, warning can be sent at once.When system breaks down, trouble light (IL) or inspection engine (Check Engine) are alert
It is bright to accuse lamp, while fault message can be stored in memory by OBD system, it can be with event by the diagnostic instrments and diagnosis interface of standard
The form for hindering code reads relevant information.According to the prompting of error code, maintenance personal can quickly and accurately determine failure property and
Position.
In order to solve technical problem in the prior art, the present invention provides a kind of collision accident based on vehicle-mounted data
Recognition methods and device to realize the automatic alarm of vehicle collision, and reduce the scene of the accident.
The first aspect of the invention, can automatically the vehicle collision time be identified by providing one kind, automatic outside
Boundary sends help signal, and is the collision thing based on vehicle-mounted data that travel condition of vehicle when collision accident occurs is reduced
Part recognition methods.As shown in Figure 1, the flow for the collision accident recognition methods embodiment provided by the invention based on vehicle-mounted data
Schematic diagram.
The collision accident recognition methods based on vehicle-mounted data, comprises the following steps：
Step 101：Real-time collection vehicle location information data (GPS data), onboard diagnostic system data (vehicle-mounted OBD numbers
According to including engine speed, vehicle sensors speed, air bag state etc.), vehicle acceleration data；
Step 102：According to the onboard diagnostic system data and vehicle acceleration data, judge the vehicle collision time and touch
Hit vehicle running state when event occurs；
Optionally, the determination methods of the vehicle collision time may be employed following method and be judged：
1. in dead ship condition, acceleration is generated；
2. the acceleration more than 0.4g is generated in the case where parked state rotating speed is constant；
3. in the case of driving states speed stabilization of speed, the acceleration more than 0.8g is generated；
Wherein, the acceleration of 0.4g and 0.8g is citing numerical value, can carry out different settings according to parameters such as vehicles.
Step 103：According to the onboard diagnostic system data, vehicle running state and vehicle acceleration data, vehicle is identified
The vehicle crash event type currently occurred, and vehicle collision degree information is calculated；
Step 104：The vehicle crash event type that will identify that, the impact severity information being calculated, together with vehicle position
Information data is put, generates warning message；
Step 105：Vehicle running state when warning message and collision accident are occurred is uploaded to server.
It, can from above-described embodiment as can be seen that the collision accident recognition methods provided by the invention based on vehicle-mounted data
According to vehicle running state, the vehicle collision time is identified automatically, and according to travel condition of vehicle and vehicle crash event
Type from trend server alert, so as to outwardly send help signal by server, and is sent out for collision accident
Vehicle running state when raw is reduced.
Further, in some optional embodiments, the vehicle running state include dead ship condition, parked state and
Driving states；Wherein：
Dead ship condition refers to：Judge that vehicle is in flameout state by onboard diagnostic system data；
Parked state refers to：Judge that vehicle is in fired state and speed is 0 by onboard diagnostic system data；Preferably
, also verify that vehicle location is constant by GPS data；
Driving states refer to：Judge that vehicle is in fired state and speed is more than 0 by onboard diagnostic system data；Preferably
, also verify that vehicle is in mobile status by GPS data.
The vehicle crash event type includes the passive collision of parking, parking is passively collided, drive a vehicle passive collision and driving
Actively collide；Wherein：
The passive collision of parking refers to：Vehicle generates the first acceleration in flameout state；
Passively collision refers to for parking：Vehicle generates the first acceleration in fired state；
The passive collision of driving refers to：The engine peed stable of vehicle and generate the second acceleration；
Actively collision refers to for driving：The engine peed stable of vehicle and generate the 3rd acceleration.
Further, in some optional embodiments, the vehicle collision degree information includes slight, medium, tight
Weight and especially severe；
Described the step of vehicle collision degree information is calculated, includes：
Pre-set acceleration rate threshold when the different vehicle running states corresponding to vehicle collision degree collide
Scope；
Acceleration when being collided according to different vehicle running states draws the acceleration rate threshold residing for the acceleration
Vehicle collision degree information corresponding to scope；
For example, for passive collision of stopping, when the first acceleration is less than the first acceleration rate threshold, it is determined as slight；The
When one acceleration is more than or equal to the first acceleration rate threshold and is less than the second acceleration rate threshold, it is determined as medium；First acceleration is big
When equal to the second acceleration rate threshold and less than three acceleration rate thresholds, it is determined as serious；First acceleration is more than or equal to the 3rd
During acceleration rate threshold, it is determined as especially severe；Wherein, the first acceleration rate threshold is less than the second acceleration rate threshold, the second acceleration
Threshold value is less than the 3rd acceleration rate threshold.Other vehicle crash event types can be also configured according to above-mentioned principle, herein not
It repeats again.
Here, acceleration rate threshold can set different threshold values according to different automobile types, may be alternatively provided as same threshold.
In addition, can also judge whether vehicle is turned on one's side according to acceleration value, if turning on one's side, vehicle is directly judged
Impact severity information is especially severe.
Preferably, in some optional embodiments, the vehicle acceleration data is gathered by acceleration transducer
3-axis acceleration data, thirdly direction of principal axis is respectively：Vehicle perpendicular to the ground direction, vehicle heading, with vehicle traveling side
The direction perpendicular to horizontal plane.
Further, in some optional embodiments, the vehicle acceleration data is by vehicle-mounted acceleration sensor
Three axis method for self-calibrating obtain.
Three axis method for self-calibrating of the vehicle-mounted acceleration sensor, comprise the following steps：
Based on stroke end speed be 0 when raw acceleration data, determine calibration after z-axis direction；
According to the z-axis direction after calibration and origin, the x-y plane after calibration is determined；
Raw acceleration data is projected into the x-y plane after calibration；
Delete the close quarters of the data for projection of raw acceleration data in the x-y plane after calibration；
Based on the data for projection of remaining raw acceleration data, the y-axis negative sense after calibration is calculated；
According to the y-axis negative sense after calibration, the x-y coordinate under coordinate system after being calibrated；
Acceleration information calibration matrix is calculated；
Raw acceleration data is multiplied by the acceleration information calibration matrix, the acceleration information after as calibrating.
By three axis method for self-calibrating of above-mentioned vehicle-mounted acceleration sensor, the reference axis of acceleration information is calibrated,
It can realize when acceleration transducer is fixed with any direction, still can provide more accurate three direction of principal axis of real-time vehicle
Acceleration change is more accurately aided in so as to operating status to vehicle etc. by the acceleration information after calibration
Judge.
It is described based on stroke end speed be 0 when raw acceleration data, determine calibration after z-axis direction the step of
Before, it is necessary first to collect the data of car-mounted terminal upload, data include that (stop working information, the former of acceleration transducer of point is calibrated
Matrix, GPS data, OBD data, acceleration information), data frequency 1Hz.Also, it is calibrated according to the original of acceleration transducer
Matrix carries out original value reduction to acceleration information, obtains raw acceleration data.
For the stroke for having GPS data, stroke end speed be 0 data generally mean that vehicle be it is static,
The z-axis direction of acceleration information is directed to the earth's core at this time, therefore, if this partial data is extracted, for determining z-axis side
To necessary.
Therefore, further, in some optional embodiments, it is described based on stroke end speed be 0 when it is original plus
Speed data, determine calibration after z-axis direction the step of can further comprise the steps：
According to uplink time in GPS data determine stroke finally several seconds (specific number of seconds can be configured as needed,
Such as 5s, 10s etc.) raw acceleration data, and the data point that wherein speed is 0 is therefrom filtered out, by these data points
Raw acceleration data is calculated as below：
Finally, the direction vector of the z-axis after being calibrated is
It, can be according to the z after origin position and calibration since the origin of acceleration transducer is fixed after determining z-axis
Axis, determines the position where the x-y plane after calibration, then by data projection to x-y plane and analyzes its rule, is judged with this
The direction vector of x-axis or y-axis.
Therefore, further, in some optional embodiments, it is described raw acceleration data is projected into calibration after
X-y plane the step of can also further comprise the steps：
Since the direction vector of z-axis is only determined, the rotation on z-axis direction can only be done for original three-dimensional vector
Conversion, therefore, on the x-y plane, if the direction vector of x-axis isThe direction vector of y-axis isAnd it is tied to form just like ShiShimonoseki vertical：
At this time, it is assumed thatThere is following formula establishment：
I.e.：
It can obtain：
Calculate coordinate of the raw acceleration data under new coordinate system：
P '=PR
Wherein, the transformation matrix R based on the z-axis after calibration：
And by the transformation matrix R based on the z-axis after calibration is unitization obtain based on calibration after z-axis unitization conversion square
Battle array
Unitization transformation matrix and raw acceleration data based on the z-axis based on after calibration, you can obtain in school
The data for projection of the raw acceleration data in x-y plane after standard.
It can be seen that the distribution rule of data for projection from the data for projection of the raw acceleration data in the x-y plane after calibration
Rule and its realistic meaning.
The projective rendering packing density thermodynamic chart drawn in the x-y plane of all data after calibration is as shown in Figure 3.
With reference to reality with vehicle custom come the thermodynamic chart picture of analysis chart 3, it can be determined that go out more symmetrical direction for x-axis side
To, hence it is evident that asymmetric is y-axis direction.Due in actual driving procedure, the process of acceleration be more slowly, it is corresponding plus
Speed should be smaller and concentrates；And the process braked is that more rapidly, corresponding acceleration is answered larger and scattered.Simultaneously because
" keeping to the right ", therefore there are more acceleration left-hand rotations.
After data for projection distribution in the x-y plane after being calibrated, by its center of gravity position and packing density
Thermodynamic chart can be seen that the point being centrally located is more, and density is larger, and these points, which have more, to be drawn since vehicle shakes in itself
It rises, if the data that can these do not had to obvious characteristic remove, has very great help for the direction vector for judging x-axis or y-axis.
Therefore, the close quarters step of the data for projection of raw acceleration data in the x-y plane after the deletion is calibrated
Can also further it be completed using following steps：
Calculating all the points in the x-y plane after calibration, to the distance of origin, i.e. the mould of all the points to vector of origin is long；
It is drawn and justified as radius using the proportion threshold value length of wherein maximum norm length, mould length is deleted less than the point of proportion threshold value length
It removes, retains the point that all long numerical value of vectorial mould to origin are more than or equal to proportion threshold value length；The maximum norm is a length of all
It puts to the maximum in the vectorial mould length of origin；The proportion threshold value length refers to the length for accounting for the threshold percentage of maximum norm length,
For example, threshold percentage is 1/4, maximum norm a length of 8, then proportion threshold value length is 2；The threshold percentage can carry out as needed
Setting, with final calibration data more precisely for principle；Obtain calculating the data group of y-axis negative sense.
In data distribution rule on x-y plane is deleted behind data-intensive region, only y-axis negative sense (brake direction) counts
According to distribution for judging that there is obvious effect in y-axis direction, therefore on this basis, judge that y-axis is born by the intensity of data distribution
To.
Therefore, further, in some optional embodiments, the projection based on remaining raw acceleration data
Data, be calculated calibration after y-axis negative sense the step of include：
The center of gravity of the data for projection after deleting data-intensive region is calculated, and using the line of center of gravity and origin as initial cutting
Straight line in units of the first radian value, splits data into the 360 degree/first radian value sector region, first radian value can
To make choice as needed, preferably to ensure that more accurately principle makes choice data；
As shown in figure 4, the number of the point in each sector region is calculated, wherein being distributed most regions for y-axis negative sense institute
In region；
Calculate institute's directed quantity in y-axis negative sense region and vectorial (or center of gravity of all the points), make after fitting and with this
For the y-axis direction after calibration.
After the slope (or y-axis direction vector) of y-axis negative sense is obtained, the reference axis of x-y plane is rotated, can be obtained
To the x-y coordinate in acceleration information coordinate system after calibration, so as to obtain acceleration information calibration matrix.
Therefore, further, in some embodiments, the y-axis negative sense according to after calibration, the seat after being calibrated
The step of marking the x-y coordinate under system includes：
After the slope k of y-axis negative sense is obtained, the reference axis of x-y plane is rotated, raw acceleration data is obtained and exists
The x-y coordinate of coordinate system after calibration, rotation transformation formula are as follows：
Further, described the step of acceleration information calibration matrix is calculated, includes：
The transformation matrix R in acceleration information calibration matrix is obtained* (x,y)It is as follows：
By transformation matrix R* (x,y)It is unitization to obtain unitization transformation matrix
Final acceleration information calibration matrix is：
Final acceleration information calibration matrix is issued to car-mounted terminal,
It is as follows to obtain acceleration information calibration equation in car-mounted terminal：
P′(x,y,z)=P(x,y,z)·R* (x,y,z)。
In addition, three axis self-calibrating devices of vehicle-mounted acceleration sensor provided by the invention, may also include calibration validity inspection
The step of testing specifically includes following steps：
Vehicle acceleration data is calibrated using newer acceleration calibration matrix；
GPS velocity delta data is subjected to Pearson correlation coefficients calculating with calibrating front/rear acceleration information respectively；
GPS direction changes data are subjected to Pearson correlation coefficients calculating with calibrating front/rear acceleration information respectively；
If the correlation metric after calibration illustrates that calibration is effective better than correlation metric before calibration.
The second aspect of the invention, can automatically the vehicle collision time be identified by providing one kind, automatic outside
Boundary sends help signal, and is the collision thing based on vehicle-mounted data that travel condition of vehicle when collision accident occurs is reduced
Part identification device.As shown in Fig. 2, the module for the collision accident identification device embodiment provided by the invention based on vehicle-mounted data
Structure diagram.
The collision accident identification device (terminal) based on vehicle-mounted data, including：
Data acquisition module 201, for real-time collection vehicle location information data, onboard diagnostic system data (vehicle-mounted OBD
Data, including engine speed, vehicle sensors speed, air bag state etc.), vehicle acceleration data；
Vehicle running state judgment module 202, for according to the onboard diagnostic system data, judging the vehicle collision time
Vehicle running state when occurring with collision accident；
Collision accident identification module 203, for being added according to the onboard diagnostic system data, vehicle running state and vehicle
Speed data identifies the vehicle crash event type currently occurred of vehicle；
Impact severity computing module 204, for being added according to the onboard diagnostic system data, vehicle running state and vehicle
Vehicle collision degree information is calculated in speed data；
Warning message generation module 205, for the vehicle crash event type that will identify that, the impact severity being calculated
Information together with vehicle position information data, generates warning message；
Data transmission blocks 206, for by warning message and collision accident generation when vehicle running state be uploaded to clothes
Business device.
From above-described embodiment as can be seen that it is provided by the invention based on vehicle-mounted data collision accident identification device (or eventually
End), the vehicle collision time can be identified automatically according to vehicle running state, and according to travel condition of vehicle and vehicle
Collision accident type, from trend server alert, so as to outwardly send help signal by server, and to touch
Vehicle running state when event occurs is hit to be reduced.
Further, in some optional embodiments, the vehicle running state include dead ship condition, parked state and
Driving states；Wherein：
Dead ship condition refers to：The vehicle running state judgment module 202 judges vehicle by onboard diagnostic system data
In flameout state；
Parked state refers to：The vehicle running state judgment module 202 judges vehicle by onboard diagnostic system data
It is 0 in fired state and speed；Preferably, the vehicle running state judgment module 202 also verifies vehicle by GPS data
Position is constant；
Driving states refer to：The vehicle running state judgment module 202 judges vehicle by onboard diagnostic system data
It is more than 0 in fired state and speed；Preferably, the vehicle running state judgment module 202 also verifies vehicle by GPS data
Be in mobile status.
The vehicle crash event type includes the passive collision of parking, parking is passively collided, drive a vehicle passive collision and driving
Actively collide；Wherein：
The passive collision of parking refers to：The collision accident identification module 203 judges that vehicle generates first in flameout state
Acceleration；
Passively collision refers to for parking：The collision accident identification module 203 judges that vehicle generates first in fired state
Acceleration；
The passive collision of driving refers to：The collision accident identification module 203 judges engine peed stable and the production of vehicle
The second acceleration is given birth to；
Actively collision refers to for driving：The collision accident identification module 203 judges engine peed stable and the production of vehicle
The 3rd acceleration is given birth to.
Further, in some optional embodiments, the vehicle collision degree information includes slight, medium, tight
Weight and especially severe；
The impact severity computing module 204, specifically for pre-setting the different vehicles corresponding to vehicle collision degree
Acceleration rate threshold scope when transport condition collides；And when being collided according to different vehicle running states
Acceleration draws the vehicle collision degree information corresponding to the acceleration rate threshold scope residing for the acceleration.
For example, for passive collision of stopping, when the first acceleration is less than the first acceleration rate threshold, it is determined as slight；The
When one acceleration is more than or equal to the first acceleration rate threshold and is less than the second acceleration rate threshold, it is determined as medium；First acceleration is big
When equal to the second acceleration rate threshold and less than three acceleration rate thresholds, it is determined as serious；First acceleration is more than or equal to the 3rd
During acceleration rate threshold, it is determined as especially severe；Wherein, the first acceleration rate threshold is less than the second acceleration rate threshold, the second acceleration
Threshold value is less than the 3rd acceleration rate threshold.Other vehicle crash event types can be also configured according to above-mentioned principle, herein not
It repeats again.
Here, acceleration rate threshold can set different threshold values according to different automobile types, may be alternatively provided as same threshold.
In addition, can also judge whether vehicle is turned on one's side according to acceleration value, if turning on one's side, vehicle is directly judged
Impact severity information is especially severe.
Preferably, in some optional embodiments, the data acquisition module includes acceleration transducer, and vehicle accelerates
Degrees of data is the 3-axis acceleration data gathered by acceleration transducer, thirdly direction of principal axis is respectively：Vehicle is square perpendicular to the ground
To, vehicle heading, with the perpendicular direction of vehicle heading horizontal plane.
The third aspect of the invention additionally provides a kind of collision accident identification server based on vehicle-mounted data.It is described
Server includes；
Information receiving module, for receiving the vehicle sent by the communication module of car-mounted terminal by wireless communication networks
Data；
Data memory module, for the travel condition of vehicle during storing the warning message received and collision accident generation
Data.
Data export module is led for the travel condition of vehicle data during warning message and collision accident occur
Go out, be sent to traffic police department to prompt its timely processing.
The fourth aspect of the invention additionally provides a kind of vehicle carried data collecting processing system, including：
Collision accident identification device based on vehicle-mounted data described in above-described embodiment and, institute in above-described embodiment
The server stated.
Those of ordinary skills in the art should understand that：The discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure is limited to these examples (including claim)；Under the thinking of the present invention, above example
Or can also be combined between the technical characteristic in different embodiments, and there is different aspect present invention as described above
Many other variations, in order to it is concise they do not provided in details.Therefore, within the spirit and principles of the invention,
Any omission for being made, modification, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of collision accident recognition methods based on vehicle-mounted data, which is characterized in that including：
Real-time collection vehicle location information data, onboard diagnostic system data, vehicle acceleration data；
According to the onboard diagnostic system data and vehicle acceleration data, when judging that vehicle collision time and collision accident occur
Vehicle running state；
According to the onboard diagnostic system data, vehicle running state and vehicle acceleration data, the current generation of vehicle is identified
Vehicle crash event type, and vehicle collision degree information is calculated；
The vehicle crash event type that will identify that, the impact severity information being calculated, it is raw together with vehicle position information data
Into warning message；
Vehicle running state when warning message and collision accident are occurred is uploaded to server；
Wherein, the vehicle crash event type includes the passive collision of parking, parking is passively collided, drive a vehicle passive collision and driving
Actively collide；Wherein：
The passive collision of parking refers to：Vehicle generates the first acceleration in flameout state；
Passively collision refers to for parking：Vehicle generates the first acceleration in fired state；
The passive collision of driving refers to：The engine peed stable of vehicle and generate the second acceleration；
Actively collision refers to for driving：The engine peed stable of vehicle and generate the 3rd acceleration.
2. according to the method described in claim 1, it is characterized in that, the vehicle running state includes dead ship condition, parking shape
State and driving states；Wherein：
Dead ship condition refers to：Judge that vehicle is in flameout state by onboard diagnostic system data；
Parked state refers to：Judge that vehicle is in fired state and speed is 0 by onboard diagnostic system data；
Driving states refer to：Judge that vehicle is in fired state and speed is more than 0 by onboard diagnostic system data.
3. according to the method described in claim 1, it is characterized in that, the vehicle collision degree information is including slight, medium, tight
Weight and especially severe；
Described the step of vehicle collision degree information is calculated, includes：
Pre-set acceleration rate threshold scope when the different vehicle running states corresponding to vehicle collision degree collide；
Acceleration when being collided according to different vehicle running states draws the acceleration rate threshold scope residing for the acceleration
Corresponding vehicle collision degree information.
4. according to the method described in claim 1, it is characterized in that, the vehicle acceleration data is to pass through acceleration transducer
The 3-axis acceleration data of acquisition, thirdly direction of principal axis is respectively：Vehicle perpendicular to the ground direction, vehicle heading, with vehicle row
Sail the perpendicular direction of direction horizontal plane.
5. a kind of collision accident identification device based on vehicle-mounted data, which is characterized in that including：
Data acquisition module, for real-time collection vehicle location information data, onboard diagnostic system data, vehicle acceleration number
According to；
Vehicle running state judgment module, for according to the onboard diagnostic system data and vehicle acceleration data, judging vehicle
Vehicle running state when collision time and collision accident occur；
Collision accident identification module, for according to the onboard diagnostic system data, vehicle running state and vehicle acceleration number
According to identifying the vehicle crash event type currently occurred of vehicle；
Impact severity computing module, for according to the onboard diagnostic system data, vehicle running state and vehicle acceleration number
According to vehicle collision degree information is calculated；
Warning message generation module for the vehicle crash event type that will identify that, the impact severity information being calculated, connects
With vehicle position information data, warning message is generated；
Data transmission blocks, for by warning message and collision accident generation when vehicle running state be uploaded to server；
Wherein, the vehicle crash event type includes the passive collision of parking, parking is passively collided, drive a vehicle passive collision and driving
Actively collide；Wherein：
The passive collision of parking refers to：The collision accident identification module judges that vehicle generates the first acceleration in flameout state；
Passively collision refers to for parking：The collision accident identification module judges that vehicle generates the first acceleration in fired state；
The passive collision of driving refers to：The collision accident identification module judges the engine peed stable of vehicle and generates second
Acceleration；
Actively collision refers to for driving：The collision accident identification module judges the engine peed stable of vehicle and generates the 3rd
Acceleration.
6. device according to claim 5, which is characterized in that the vehicle running state includes dead ship condition, parking shape
State and driving states；Wherein：
Dead ship condition refers to：The vehicle running state judgment module judges that vehicle is in flame-out by onboard diagnostic system data
State；
Parked state refers to：The vehicle running state judgment module judges that vehicle is in igniting by onboard diagnostic system data
State and speed are 0；
Driving states refer to：The vehicle running state judgment module judges that vehicle is in igniting by onboard diagnostic system data
State and speed are more than 0.
7. device according to claim 5, which is characterized in that the vehicle collision degree information includes slight, medium, tight
Weight and especially severe；
The impact severity computing module, for pre-setting the different vehicle running state hairs corresponding to vehicle collision degree
Acceleration rate threshold scope during raw collision；And acceleration when being collided according to different vehicle running states, draw this
The vehicle collision degree information corresponding to acceleration rate threshold scope residing for acceleration.
8. device according to claim 5, which is characterized in that the data acquisition module includes acceleration transducer, vehicle
Acceleration information is the 3-axis acceleration data gathered by acceleration transducer, thirdly direction of principal axis is respectively：Vehicle is vertical
Ground direction, vehicle heading and the perpendicular direction of vehicle heading horizontal plane.
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| CN106887054A (en) * | 2017-01-17 | 2017-06-23 | 福建天泉教育科技有限公司 | A kind of method and system of the doubtful accident condition of marked vehicle |
| CN106952361B (en) * | 2017-03-15 | 2019-07-23 | 上海工业控制安全创新科技有限公司 | A kind of efficient vehicle running state identifying system |
| CN107807599A (en) * | 2017-11-24 | 2018-03-16 | 天津中德应用技术大学 | Vehicle safety monitoring system and its traffic accident monitoring method, collision and stolen alarm method |
| CN108062856B (en) * | 2017-12-18 | 2020-04-17 | 广州亚美信息科技有限公司 | Vehicle collision detection system and method based on vehicle-mounted OBD interface |
| CN110021079B (en) * | 2018-01-10 | 2022-11-29 | 睿鑫科技（天津）有限公司 | Vehicle accident tracking method and related device |
| JP2019156068A (en) * | 2018-03-09 | 2019-09-19 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
| CN108876965A (en) * | 2018-07-24 | 2018-11-23 | 重庆长安汽车股份有限公司 | The data record method of duty is sentenced for automatic Pilot people's vehicle accident |
| CN109342765B (en) * | 2018-10-12 | 2020-11-10 | 成都四方伟业软件股份有限公司 | Vehicle collision detection method and device |
| CN109741483B (en) * | 2018-12-11 | 2021-12-03 | 成都路行通信息技术有限公司 | Automobile collision detection method based on Internet of vehicles platform |
| CN110667506B (en) * | 2019-10-18 | 2022-01-04 | 广州斯沃德科技有限公司 | Collision recognition method, device, equipment and storage medium |
| CN111415437B (en) * | 2020-03-27 | 2022-05-03 | 大陆汽车电子（连云港）有限公司 | Collision event recording system and method |
| CN112383706B (en) * | 2020-10-29 | 2021-09-28 | 安徽江淮汽车集团股份有限公司 | Collision photographing method, device and equipment based on automobile data recorder and storage medium |
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