CN106274779B - A kind of detection method, device and its application of vehicle rollover and collision - Google Patents
A kind of detection method, device and its application of vehicle rollover and collision Download PDFInfo
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- CN106274779B CN106274779B CN201510287739.XA CN201510287739A CN106274779B CN 106274779 B CN106274779 B CN 106274779B CN 201510287739 A CN201510287739 A CN 201510287739A CN 106274779 B CN106274779 B CN 106274779B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0027—Post collision measures, e.g. notifying emergency services
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01013—Means for detecting collision, impending collision or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01306—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring vehicle inclination
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Air Bags (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of detection method, device and its application of vehicle rollover and collision, specific detecting step is as follows: 1) acquire X-axis, Y-axis, Z axis acceleration value, the acceleration value of wherein two axis is first subjected to Vector modulation, it is then transferred to step 2) respectively and carries out collision judgment, is transferred to step 3) and carries out rollover judgement；2) whether the acceleration value after judging synthesis is greater than crash acceleration threshold value, if so, colliding, if it is not, not colliding then, returns to step 1)；3) trigonometric function is carried out using the acceleration value of acceleration value, gravity acceleration value and an other axis after synthesis and at least three inclinations angle are calculated, and take average inclination angle, judge whether to turn on one's side.The present invention calculates vehicle collision intensity by vector synthesis, calculates vehicle rollover angle by vector splitting method, realization is comprehensive to accurately detect vehicle collision and the generation of rollover event, and precision is high, no blind spot, avoids wrong report and failing to report phenomenon generation.
Description
Technical field
The present invention relates to field of vehicle detection, the detection method of especially a kind of vehicle rollover and collision, device and its answer
With.
Background technique
In recent years, with China's economic society sustained and rapid development, the daily trip that automobile greatly facilitates people is raw
Living and production and operating activities, the masses purchase that vehicle rigid demand is vigorous, and car ownership continues to present a rapidly rising trend, and motor vehicle and drive
Personnel amount is sailed rapidly to increase.While automobile brings convenient to people's production and living, also bringing cannot be neglected security risk,
The traffic accident to take place frequently seriously threatens the security of the lives and property of people.Therefore, driving accident is found and handled in time, is to protect
Protect the important leverage of people life property safety.
Previous traditional design scheme has the drawback that first is that as external numerous automobile vendors put into a large amount of people in recent years
Power material resources carry out research and development application in the automatic call for help system of car accident, but are typically based on air bag automatic trigger；Second is that logical
Manual pushbutton is crossed to realize triggering；Third is that using mechanical acceleration transducer unit or mechanical transmission mechanism realize collision and
Rollover detection；Fourth is that using acceleration transducer detection mode, as " one kind is used for vehicle to number of patent application 200610069493.X
The method and device of collision/rollover detection, alarm ", collision rollover calculation method is more coarse, and accuracy is inadequate.
Conventional butt and rollover Comparison between detecting methods are mechanical, and installation is complicated, and artificial participation is excessively high, and accuracy is lower, accidentally
Report or miss probability are higher, and effect in practical applications is barely satisfactory, there are many disadvantages: first is that air bag triggers
Distress call, which can then be limited by external automobile vendor, can not be mounted in different vehicles, and touching in some special angles
Air bag fails in the case where hitting and rolling；Second is that manual pushbutton alarms or saves oneself to trigger, it is clear that not prompt enough and intelligence
Can, in major accident, car owner can not trigger action；Third is that mechanical acceleration transducer or mechanical transmission mechanism, function list
One is independent, and multiple sensor units is needed just to be able to achieve all directions signal detection, realizes and installation is complicated, cost is high；Fourth is that adopting
With acceleration transducer all directions component of acceleration simple computation method, error is excessive, and accuracy is lower, be easy to cause wrong report and
It fails to report.
Summary of the invention
It is a primary object of the present invention to overcome drawbacks described above in the prior art, propose a kind of accuracy it is high, without blind spot
Vehicle rollover and collision detection method, device and its application.
The present invention adopts the following technical scheme:
A kind of detection method of vehicle rollover and collision realized based on the 3-axis acceleration sensor that is installed on vehicle,
And it is as follows to preset crash acceleration threshold value, rollover angle threshold and time limit value, specific detecting step:
1) acquire X-axis, Y-axis, Z axis acceleration value, the acceleration values of wherein two axis is first subjected to Vector modulation, is then divided
It is not transferred to step 2) and carries out collision judgment, is transferred to step 3) and carries out rollover judgement；
2) whether the acceleration value after judging synthesis is greater than crash acceleration threshold value, if so, colliding, if it is not, then
It does not collide, returns to step 1)；
3) the acceleration value progress trigonometric function meter of acceleration value, gravity acceleration value and an other axis after synthesis is utilized
Calculation obtains at least three inclinations angle, and takes average inclination angle, judges whether the average slope angle is greater than rollover angle threshold, if
It is, then aggregated duration, enters step 4), if it is not, then resetting the duration, returns to step 1)；
4) judge whether the duration is greater than time limit value, if so, turning on one's side；If it is not, then returning to step 1).
Preferably, in step 1), the acceleration value of wherein X-axis and Y-axis is subjected to Vector modulation.
Preferably, in step 3), three is calculated using arcsin function, inverse cosine function and arctan function and is inclined
Oblique angle.
Preferably, in step 3), using acceleration value, gravity acceleration value and Z axis after synthesis acceleration value into
At least three inclinations angle are calculated in row trigonometric function.
Preferably, in step 3), using counter aggregated duration.
A kind of detection device of vehicle rollover and collision, which is characterized in that including following functional module:
Acquisition module, for periodically acquiring 3-axis acceleration value；
Vector modulation module, the acceleration value for Vector modulation wherein two axis；
Collision judgment module, for comparing the acceleration value after synthesis with crash acceleration threshold value to judge whether
It collides；
Tilt angle calculation module, for the acceleration to acceleration value, gravity acceleration value and an other axis after synthesis
Value carries out trigonometric function and at least three inclinations angle is calculated, and takes average inclination angle；
Rollover judgment module for comparing average slope angle and rollover angle threshold, and is sentenced in conjunction with time set
It is disconnected whether to turn on one's side；
Timing module, the duration for being greater than rollover angle threshold for adding up average slope angle.
A kind of method of vehicle remote monitoring is passed based on GPS center service system, GPS automobile travel recorder and vehicle
Sensor system realizes that the GPS automobile travel recorder includes 3-axis acceleration sensor, it is characterised in that: GPS automobile therein
Whether Tachographs are turned on one's side and/or are touched using above-mentioned any vehicle rollover and the detection method of collision detection vehicle
It hits, if rollover and/collision occurs, uploads warning message to GPS center service system.
By the above-mentioned description of this invention it is found that compared with prior art, the invention has the following beneficial effects:
The present invention acquires tri- directional acceleration values of X, Y, Z using 3-axis acceleration sensor, passes through vector synthesis meter
Calculate vehicle collision intensity, by vector splitting method calculate vehicle rollover angle, realize it is comprehensive accurately detect vehicle collision and
Rollover event occurs, and precision is high, no blind spot, and wrong report and failing to report phenomenon is avoided to occur.
The specific advantage of detection method and long-distance monitoring method of the invention is as follows: first is that intelligent automation detects, passing through
The MCU of GPS automobile travel recorder acquires 3-axis acceleration sensor acceleration value in real time, and result is calculated automatically；Second is that
Collision detection precision is high, by vector synthesis, can synthesize the acceleration value of X-axis, Y-axis, avoids collision energy damage
Mistake causes to fail to report, while being able to carry out 360 degrees omnidirection collision detection, no blind spot；Third is that rollover detection accuracy is high, pass through arrow
Decomposition method is measured, gravity acceleration value is resolved into tri- durection components of X, Y, Z, tilt angle is solved according to component value, it can
The angle of various inclined directions is detected, no blind spot is avoided reporting by mistake and be failed to report；Fourth is that realize simply, it is at low cost, only need the micro- place MCU
Reason device chip and 3-axis acceleration sensor can realize accurate detection function, reliable and stable, practical；Fifth is that installation side
Just, single sensor unit need to be only installed in parallel.
Detailed description of the invention
Fig. 1 is the flow chart of present invention collision part；
Fig. 2 is the flow chart of present invention rollover part；
Fig. 3 is the triaxial coordinate schematic diagram of 3-axis acceleration sensor；
Fig. 4 is a kind of Research on Vehicle Remote Monitoring System Based on GPRS structure of the present invention.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
Referring to figs. 1 to Fig. 3, a kind of detection method of vehicle rollover and collision is accelerated by three axis being installed on vehicle
Degree cycle sensor acquire all directions acceleration value carry out calculating judgement (period T, default may be defined as 1 milli
Second), and preset crash acceleration threshold value Pth(default definition 2.5g, g are acceleration of gravity, and value can be g=9.8m/
s2), rollover angle threshold B (default definition be 45 degree) and time limit value Tj(default definition is 10 seconds), specific detecting step is as follows:
1) acquire X-axis, Y-axis, Z axis acceleration, respectively Ax、Ay、Az, the acceleration value of X-axis, Y-axis is subjected to vector conjunction
At the acceleration value after synthesis is Axy, composite formula are as follows: | Axy|=(| Ax|2+|Ay|2)1/2, be then transferred to respectively step 2) into
Row collision judgment is transferred to step 3) and carries out rollover judgement；
2) the acceleration value A after judgement synthesisxyWhether crash acceleration threshold value P is greater thanth, if so, collide, if
It is no, then it does not collide, returns to step 1)；
3) the acceleration value A after synthesis is utilizedxy, gravity acceleration value G and Z axis acceleration value AzCarry out trigonometric function meter
Calculation obtains at least three inclinations angle, and takes average angle of inclination beta, judges whether the average tilt angle beta is greater than rollover angle threshold B,
If so, using time counter Ct4) aggregated duration enters step, if it is not, then resetting time counter Ct, return to step
It is rapid 1)；In practical application, three inclinations angle are calculated using arcsin function, inverse cosine function and arctan function, it is public
Formula is as follows:
Arcsine calculates angle formula are as follows: β 1=asin (| Axy|/G)；
Arc cosine computing angle formula are as follows: β 2=acos (| Az|/G)；
Arctangent computation angle formula are as follows: β 3=atan (| Axy|/|Az|)；
Average tilt angle formula is finally calculated are as follows: β=((β 1+ β 2+ β 3) * 360)/(3*2 π).Weight in the step
Power acceleration value G is identical as g, and value can be g=9.8m/s2。
4) judge time counter CtWhether duration time accumulated is greater than time limit value Tj, if so, turning on one's side；If it is not,
Then return to step 1).
The present invention also proposes the detection device of a kind of vehicle rollover and collision, including following functional module:
Acquisition module, for periodically acquiring 3-axis acceleration value；
Vector modulation module, the acceleration value for Vector modulation wherein two axis；
Collision judgment module, for comparing the acceleration value after synthesis with crash acceleration threshold value to judge whether
It collides；
Tilt angle calculation module, for the acceleration to acceleration value, gravity acceleration value and an other axis after synthesis
Value carries out trigonometric function and at least three inclinations angle is calculated, and takes average inclination angle；
Rollover judgment module for comparing average slope angle and rollover angle threshold, and is sentenced in conjunction with time set
It is disconnected whether to turn on one's side；
Timing module, the duration for being greater than rollover angle threshold for adding up average slope angle.
The present invention also proposes the applicating example of the above method, and a kind of method of vehicle remote monitoring is based on GPS referring to Fig. 4
Center service system, GPS automobile travel recorder and Vehicle Sensor System are realized.The GPS automobile travel recorder includes micro-
Processor MCU, memory RAM, Flash, 3-axis acceleration sensor, signals of vehicles acquisition, mobile communication module and satellite
Position module etc. primarily serves the functions such as mobile network's wireless data communication, GPS satellite positioning function and signals of vehicles acquisition.MCU
Microprocessor chip uses ST company STM32F105 chip, and three-axis acceleration transducer chip uses Freescale company
MMA8452Q chip, iic bus interface.
GPS center service system is the application software based on server, for receiving, parsing, handle GPS garage
The data of recorder upload are sailed, data are analyzed, generate report, while can remotely monitor, be remotely controlled, GP configuring S running car note
Record instrument.
Vehicle Sensor System is mounted in the various sensing systems of vehicle, externally provides pulse collection sensor, vehicle
Interfaces, other control panels such as signal transducer can be docked by pickup wire with Vehicle Sensor System, realize vehicle letter
Number acquisition.
Remote vehicle monitoring method in the present invention, using GPS automobile travel recorder collection mobile communication, Beidou/GPS dual-mode
Satellite positioning, the acquisition of vehicle working condition data are integrated, and are realized by digital mobile communication network and global satellite positioning
To the remote monitoring and administration of vehicle, location application management and correlation function of seeking help of alarming.It is mounted on vehicle centre console position,
In vehicle operation, MCU micro-chip processor obtains location information data, acquisition 3-axis acceleration sensing by bus cycles property
Whether device state collides or turns on one's side and report using above-mentioned vehicle rollover and the detection method real-time monitoring vehicle of collision
It is alert, pass through GPRS communication network upload warning message in time when alarming to GPS center service system, it is remote to reach vehicle
Range monitoring alarm purpose, to embody the importance for accurately judging vehicle collision or rollover alarming state.Using of the invention
Method can calculate automatically and accurately judge vehicle collision and roll-over state, ask for the remote alarms of GPS automobile travel recorder
Assist can provide basic guarantee.
The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited to this, all to utilize this
Design makes a non-material change to the present invention, and should all belong to behavior that violates the scope of protection of the present invention.
Claims (5)
1. the detection method of a kind of vehicle rollover and collision is realized based on the 3-axis acceleration sensor being installed on vehicle, and
It is as follows to preset crash acceleration threshold value, rollover angle threshold and time limit value, specific detecting step:
1) acquire X-axis, Y-axis, Z axis acceleration value, the acceleration values of wherein two axis is first subjected to Vector modulation, is then turned respectively
Enter step 2) and carry out collision judgment, is transferred to step 3) and carries out rollover judgement；
2) whether the acceleration value after judging synthesis is greater than crash acceleration threshold value, if so, colliding, if it is not, not sending out then
Raw collision, returns to step 1)；
3) the acceleration value A after synthesis is utilizedxy, gravity acceleration value G and an other axis acceleration value AzCarry out trigonometric function
At least three inclinations angle are calculated, and take average inclination angle, judge whether the average slope angle is greater than rollover angle threshold, if
It is, then aggregated duration, enters step 4), if it is not, then resetting the duration, returns to step 1)；The trigonometric function calculates
Include the following:
Arcsine calculates angle formula are as follows: β 1=asin (| Axy|/G)；
Arc cosine computing angle formula are as follows: β 2=acos (| Az|/G)；
Arctangent computation angle formula are as follows: β 3=atan (| Axy|/|Az|)；
4) judge whether the duration is greater than time limit value, if so, turning on one's side；If it is not, then returning to step 1).
2. a kind of detection method of vehicle rollover and collision as described in claim 1, it is characterised in that:, will in step 1)
Wherein the acceleration value of X-axis and Y-axis carries out Vector modulation.
3. a kind of detection method of vehicle rollover and collision as described in claim 1, it is characterised in that: in step 3), adopt
With counter aggregated duration.
4. the detection device of a kind of vehicle rollover and collision, which is characterized in that including following functional module:
Acquisition module, for periodically acquiring 3-axis acceleration value；
Vector modulation module, the acceleration value for Vector modulation wherein two axis；
Collision judgment module, for comparing the acceleration value after synthesis with crash acceleration threshold value to judge whether to occur
Collision；
Tilt angle calculation module, for the acceleration value A after synthesisxy, gravity acceleration value G and an other axis acceleration value
AzIt carries out trigonometric function and at least three inclinations angle is calculated, and take average inclination angle；The trigonometric function calculates
Arcsine calculates angle formula are as follows: β 1=asin (| Axy|/G)；
Arc cosine computing angle formula are as follows: β 2=acos (| Az|/G)；
Arctangent computation angle formula are as follows: β 3=atan (| Axy|/|Az|)；
Rollover judgment module, for comparing average slope angle and rollover angle threshold, and combination time set judgement is
It is no to turn on one's side；
Timing module, the duration for being greater than rollover angle threshold for adding up average slope angle.
5. a kind of method of vehicle remote monitoring is based on GPS center service system, GPS automobile travel recorder and vehicle sensory
Device system realizes that the GPS automobile travel recorder includes 3-axis acceleration sensor, it is characterised in that: GPS garage therein
Sail recorder using vehicle rollover described in claims 1 to 3 and the detection method of collision detection vehicle whether occur rollover and/or
Collision uploads warning message to GPS center service system if rollover and/or collision occurs.
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| CN201510287739.XA CN106274779B (en) | 2015-05-29 | 2015-05-29 | A kind of detection method, device and its application of vehicle rollover and collision |
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| CN107031552A (en) * | 2017-02-24 | 2017-08-11 | 深圳市保千里电子有限公司 | A kind of car crass detection method and system |
| DE102017202998A1 (en) * | 2017-02-24 | 2018-08-30 | Robert Bosch Gmbh | Method and control unit for controlling at least one assistance function in the event of a rollover of a vehicle and assistance system |
| 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 |
| CN108189836A (en) * | 2017-12-24 | 2018-06-22 | 中山市榄商置业发展有限公司 | Road condition monitoring system after a kind of vehicle of new-energy automobile |
| CN108216097A (en) * | 2018-01-23 | 2018-06-29 | 黑子信息科技（广东）有限公司 | A kind of traffic accident countermeasure and device |
| CN109001488B (en) * | 2018-04-26 | 2021-08-31 | 深圳市有为信息技术发展有限公司 | Method and system for detecting static motion of vehicle position monitoring |
| CN108922242A (en) * | 2018-06-05 | 2018-11-30 | 宁波金洋化工物流有限公司 | The preventative tracking of harmful influence haulage vehicle and control platform |
| CN108674353A (en) * | 2018-07-13 | 2018-10-19 | 山东交通学院 | Safety aid based on vehicle rollover and method |
| CN110217241A (en) * | 2019-06-19 | 2019-09-10 | 麦特汽车服务股份有限公司 | A kind of method and device for judging vehicle collision and bringing to a halt |
| 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 |
| CN110843766B (en) * | 2019-10-31 | 2021-07-13 | 泰斗微电子科技有限公司 | Vehicle attitude detection method, device, vehicle-mounted terminal, vehicle and medium |
| CN111976491A (en) * | 2020-08-27 | 2020-11-24 | 内蒙古莱拓汽车科技有限公司 | Safety protection system of trackless rubber-tyred vehicle |
| CN112509179A (en) * | 2020-12-18 | 2021-03-16 | 大连理工大学 | Automobile black box with omnidirectional collision perception and three-dimensional scene reappearance inside and outside automobile |
| CN112672306A (en) * | 2021-01-13 | 2021-04-16 | 四川九通智路科技有限公司 | Structural object posture detection method |
| CN114132283B (en) * | 2021-11-12 | 2022-11-01 | 合肥正浩机械科技有限公司 | Automatic righting system for vehicle rollover |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101168358B (en) * | 2006-10-25 | 2010-07-14 | 厦门雅迅网络股份有限公司 | Method and device used for vehicle collision/side overturn detecting and alarming |
| CN102216123A (en) * | 2008-12-26 | 2011-10-12 | 三菱电机株式会社 | Collision detecting device |
| DE102009054473A1 (en) * | 2009-12-10 | 2011-06-16 | Robert Bosch Gmbh | Method and control device for determining a type of collision of a vehicle |
| CN202294652U (en) * | 2011-11-04 | 2012-07-04 | 深圳市华盈泰科技有限公司 | Automatic recourse safety device in case of vehicle impact |
| CN102529861A (en) * | 2012-03-07 | 2012-07-04 | 浙江吉利汽车研究院有限公司 | Automatic automobile collision help requesting and rescue system and method |
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