CN106467059B - A kind of rollover alarming method and apparatus based on 3-axis acceleration sensor - Google Patents
A kind of rollover alarming method and apparatus based on 3-axis acceleration sensor Download PDFInfo
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Abstract
The rollover alarming method and apparatus based on 3-axis acceleration sensor that the invention proposes a kind of, 3-axis acceleration sensor are fixedly installed on vehicle, and the rollover alarming method the following steps are included: obtain rollover tilt angle threshold value in advance；Calculate separately the z-axis tilt angle deviant △ z of x-axis tilt angle deviant △ x of the x-axis of 3-axis acceleration sensor, the y-axis tilt angle deviant △ y of y-axis and z-axis；Judge whether △ x, △ y and △ z are greater than rollover tilt angle threshold value respectively, if any one in △ x, △ y and △ z is greater than rollover tilt angle threshold value, judges that vehicle is turned on one's side；When judging that vehicle is turned on one's side, then alarm signal is issued.The present invention is turned over by the state using rollover rear vehicle to determine whether vehicle has occurred vehicle, and judgment method is accurately simple, and therefore, rollover alarming method and apparatus alarm of the invention is promptly and accurately, practical.
Description
Technical field
The present invention relates to vehicular field more particularly to a kind of rollover alarming methods and dress based on 3-axis acceleration sensor
It sets.
Background technique
With the rapid development of our country's economy, the vehicle fleet size in China is significantly increased, on the one hand people are given in the increase of vehicle
Trip is brought convenience, while also bringing some security risks.Driving accident is found and handles in time, to protection people's life
Property safety important in inhibiting.
With the development of science and technology rollover alarming system is fitted on present vehicle, however existing rollover alarming system
System uses excessive sensing unit, and installation and realization are more difficult, and cost is high；In addition, also having based on 3-axis acceleration in the market
The side turning alarming device of sensor, the variation of acceleration and normal acceleration suffered by vehicle when by occurring by detection failure
Amount, and according to the variable quantity occur duration, direction, size and variable quantity history feature, come judge vehicle whether side
It turns over, the method for such judgement vehicle rollover is complex.
Summary of the invention
The present invention is complicated for existing vehicle rollover alarm system and method, and the high problem of implementation cost proposes one kind
Alarm promptly and accurately simple rollover alarming method and apparatus based on 3-axis acceleration sensor.
The technical solution that the present invention is proposed with regard to the technical problem is as follows:
The rollover alarming method based on 3-axis acceleration sensor that the invention proposes a kind of, 3-axis acceleration sensor are solid
Dingan County loaded on vehicle, the rollover alarming method the following steps are included:
Step S1, acquisition fits on standard ground when all wheels of vehicle in advance, and the vehicle body of vehicle is in
The x-axis, y-axis and z-axis of 3-axis acceleration sensor are respectively relative to the x-axis initial inclination angle of gravity direction when stationary state
Cx, y-axis initial inclination angle Cy and z-axis initial inclination angle Cz；Rollover tilt angle threshold value is obtained in advance；
Step S2, when the vehicle body of vehicle remains static, gravity is obtained by 3-axis acceleration sensor and is accelerated
Spend g the x-axis mapping acceleration value Bx in the x-axis of the 3-axis acceleration sensor, the y-axis mapping acceleration value By in y-axis with
And the z-axis in z-axis maps acceleration value Bz；Then the x-axis, y-axis and z-axis difference of 3-axis acceleration sensor at this time is calculated separately
X-axis test tilt angle Dx, y-axis test tilt angle Dy and z-axis relative to gravity direction test tilt angle Dz；
Wherein, cos (Dx)=Bx/g；
Cos (Dy)=By/g；
Cos (Dz)=Bz/g；
Then x-axis tilt angle deviant △ x of the x-axis of 3-axis acceleration sensor at this time, the y-axis of y-axis are calculated separately
The z-axis tilt angle deviant △ z of tilt angle deviant △ y and z-axis；
Wherein, △ x=∣ Dx-Cx ∣；
△ y=∣ Dy-Cy ∣；
△ z=∣ Dz-Cz ∣；
Step S3, judge whether △ x, △ y and △ z are greater than rollover tilt angle threshold value respectively, if in △ x, △ y and △ z
Any one is greater than rollover tilt angle threshold value, then judges that vehicle is turned on one's side；When judging that vehicle is turned on one's side, then issue
Alarm signal.
In the above-mentioned rollover alarming method of the present invention, the angle of the standard ground and horizontal direction is less than 10 °.
In the above-mentioned rollover alarming method of the present invention, rollover tilt angle threshold value is between 40 ° -60 °.
In the above-mentioned rollover alarming method of the present invention, the step S1 further includes presetting rollover duration threshold
Step；
The step S3 further include: when any one in △ x, △ y and △ z is greater than rollover tilt angle threshold value, sentence
Whether the time that the vehicle body of disconnected vehicle remain stationary state is greater than rollover duration threshold, if so, judging that vehicle has occurred
Rollover.
In the above-mentioned rollover alarming method of the present invention, the rollover duration threshold is greater than 15s.
In the above-mentioned rollover alarming method of the present invention, the alarm signal include voice signal and/or light signal and/or
Person's electronic signal.
In the above-mentioned rollover alarming method of the present invention, the step S3 further include:
When judging that vehicle is turned on one's side, the location information of the vehicle is obtained；And by the information and alarm signal of the vehicle
Vehicle remote fault rescue center is sent to by car networking system.
In the above-mentioned rollover alarming method of the present invention, the step S1 further includes presetting stationary vehicle time threshold
Step；The step S2 is further comprising the steps of:
Obtain the location information of vehicle；
If the time that the location information of vehicle remains unchanged is greater than stationary vehicle time threshold, the vehicle of the vehicle is judged
Body remains static.
In the above-mentioned rollover alarming method of the present invention, the step S2 further include:
Using the velocity of rotation of the transmission shaft of velocity sensor detection automotive wheel；
If the velocity of rotation of transmission shaft is 0, judge that the vehicle body of automobile remains static.
The invention also provides a kind of side turning alarming device based on 3-axis acceleration sensor, 3-axis acceleration sensors
It is fixedly installed on vehicle, the side turning alarming device includes:
It turns on one's side parameter setting module, is fitting in standard ground when all wheels of vehicle for obtaining in advance, and
The x-axis, y-axis and z-axis of 3-axis acceleration sensor are respectively relative to the x-axis of gravity direction when the vehicle body of vehicle remains static
Initial inclination angle Cx, y-axis initial inclination angle Cy and z-axis initial inclination angle Cz；It is also used to obtain rollover inclination in advance
Angle threshold；
Computing module, for obtaining weight by 3-axis acceleration sensor when the vehicle body of vehicle remains static
Power acceleration g maps acceleration in the x-axis mapping acceleration value Bx in the x-axis of the 3-axis acceleration sensor, the y-axis in y-axis
Z-axis in value By and z-axis maps acceleration value Bz；Then the x-axis, y-axis and z of 3-axis acceleration sensor at this time are calculated separately
Axis is respectively relative to x-axis test tilt angle Dx, the y-axis test tilt angle Dy and z-axis test tilt angle of gravity direction
Dz；
Wherein, cos (Dx)=Bx/g；
Cos (Dy)=By/g；
Cos (Dz)=Bz/g；
Then x-axis tilt angle deviant △ x of the x-axis of 3-axis acceleration sensor at this time, the y-axis of y-axis are calculated separately
The z-axis tilt angle deviant △ z of tilt angle deviant △ y and z-axis；
Wherein, △ x=∣ Dx-Cx ∣；
△ y=∣ Dy-Cy ∣；
△ z=∣ Dz-Cz ∣；
Judgment module, for judge respectively △ x, △ y and △ z whether be greater than rollover tilt angle threshold value, if △ x, △ y and
Any one in △ z is greater than rollover tilt angle threshold value, then judges that vehicle is turned on one's side；
Alarm module, for issuing alarm signal when judging that vehicle is turned on one's side.
3-axis acceleration sensor is arranged in the present invention on vehicle；Then when vehicle remains static, by using
The tilt angle of vehicle is calculated in 3-axis acceleration sensor and computer, so that it is determined that whether vehicle is in roll-over state.
The present invention is turned over by the state using rollover rear vehicle to determine whether vehicle has occurred vehicle, and judgment method is accurately simple, therefore,
Rollover alarming method and apparatus alarm of the invention is promptly and accurately, practical.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the functional block diagram of the side turning alarming device of the embodiment of the present invention.
Specific embodiment
The technical problem to be solved by the present invention is rollover alarming system is fitted on present vehicle, however it is existing
Rollover alarming system uses excessive sensing unit, and installation and realization are more difficult, and cost is high；In addition, being also based in the market
The side turning alarming device of 3-axis acceleration sensor, acceleration suffered by vehicle adds with normal when by relying on detection failure to occur
The variable quantity of speed, and according to the variable quantity occur duration, direction, size and variable quantity history feature, to judge
Whether vehicle turns on one's side, and the method for such judgement vehicle rollover is complex.The technology proposed by the present invention for solving the technical problem
Thinking is: 3-axis acceleration sensor being arranged on vehicle；Then when vehicle remains static, accelerate by using three axis
The tilt angle of vehicle is calculated in degree sensor and computer, so that it is determined that whether vehicle is in roll-over state.
It is of the invention with implementation in order to facilitate understanding by those skilled in the art, below in conjunction with the accompanying drawings and the specific embodiments to this
Technical purpose, the technical solution of invention are described in detail.
The rollover alarming method based on 3-axis acceleration sensor that the invention proposes a kind of, here, 3-axis acceleration pass
Sensor is fixedly installed on vehicle；
The rollover alarming method the following steps are included:
Step S1, acquisition fits on standard ground when all wheels of vehicle in advance, and the vehicle body of vehicle is in
The x-axis, y-axis and z-axis of 3-axis acceleration sensor are respectively relative to the x-axis initial inclination angle of gravity direction when stationary state
Cx, y-axis initial inclination angle Cy and z-axis initial inclination angle Cz；Rollover tilt angle threshold value is obtained in advance；
Here, vehicle can have the wheel of three wheels, four wheels or more.The folder on standard ground and horizontal direction
Angle is less than 10 °.Preferably, standard ground is level ground.
Further, due to the effect of frictional force, vehicle can also remain stationary state on the slope, in order to avoid by vehicle
Situation on the slope is mistakenly considered vehicle rollover state, and the present invention is provided with rollover tilt angle threshold value, rollover inclination
Angle threshold is between 40 ° -60 °.
Step S2, when the vehicle body of vehicle remains static, gravity is obtained by 3-axis acceleration sensor and is accelerated
Spend g the x-axis mapping acceleration value Bx in the x-axis of the 3-axis acceleration sensor, the y-axis mapping acceleration value By in y-axis with
And the z-axis in z-axis maps acceleration value Bz；Then the x-axis, y-axis and z-axis difference of 3-axis acceleration sensor at this time is calculated separately
X-axis test tilt angle Dx, y-axis test tilt angle Dy and z-axis relative to gravity direction test tilt angle Dz；
Wherein, cos (Dx)=Bx/g；
Cos (Dy)=By/g；
Cos (Dz)=Bz/g；
Then x-axis tilt angle deviant △ x of the x-axis of 3-axis acceleration sensor at this time, the y-axis of y-axis are calculated separately
The z-axis tilt angle deviant △ z of tilt angle deviant △ y and z-axis；
Wherein, △ x=∣ Dx-Cx ∣；
△ y=∣ Dy-Cy ∣；
△ z=∣ Dz-Cz ∣；
Here, the method whether vehicle body for judging vehicle the invention proposes two kinds remains static.
First method is to determine whether vehicle moves by GPS system, if vehicle does not move, judges that vehicle is in quiet
Only state.This method is mainly used in vehicle remote fault rescue center and is monitored by car networking to vehicle-state.
In the method, the step S1 further includes the steps that presetting stationary vehicle time threshold；The step S2
It is further comprising the steps of:
Obtain the location information of vehicle；
If the time that the location information of vehicle remains unchanged is greater than stationary vehicle time threshold, the vehicle of the vehicle is judged
Body remains static.Here, stationary vehicle time threshold is between 30min-1h.Due to mapping error problem, measurement
Vehicle location can drift about, and in order to avoid this problem, can preset location error threshold value, if vehicle is in certain
One position be the center of circle, location error threshold value be radius in the range of, then judge the vehicle be in this position.
Here, location information can be obtained by the GPS device on vehicle.
This method is more convenient to vehicle remote fault rescue center above, however not prompt enough.In order to more rapidly
Ground judges whether vehicle remains static, what whether the vehicle body for judging vehicle the invention proposes second remained static
Method.
Second method is by detecting whether wheel rotates, to judge whether vehicle remains static.
In the method, the step S2 further include:
Using the velocity of rotation of the transmission shaft of velocity sensor detection automotive wheel；
If the velocity of rotation of transmission shaft is 0, judge that the vehicle body of automobile remains static.
Step S3, judge whether △ x, △ y and △ z are greater than rollover tilt angle threshold value respectively, if in △ x, △ y and △ z
Any one is greater than rollover tilt angle threshold value, then judges that vehicle is turned on one's side；When judging that vehicle is turned on one's side, then issue
Alarm signal.
In the present invention, vehicle is colliding, and when especially colliding on the slope, vehicle is possible to be in short
Phase stationary state, later, the vehicle body of vehicle can come back to normal parking stall again.In addition, the detection of vehicle rollover also suffers from
Erroneous judgement caused by caused electric pulse interference is conducted in electromagnetic radiation.In order to avoid such case is mistakenly considered vehicle
Roll-over state, the step S1 further include the steps that presetting rollover duration threshold；
The step S3 further include: when any one in △ x, △ y and △ z is greater than rollover tilt angle threshold value, sentence
Whether the time that the vehicle body of disconnected vehicle remain stationary state is greater than rollover duration threshold, if so, judging that vehicle has occurred
Rollover.
Here, rollover duration threshold is greater than 15s.
Further, the alarm signal includes voice signal and/or light signal and/or electronic signal.Here, it reports
Alert signal is mainly the people attracted near the place where the accident occurred of vehicle, so as to Quick rescue.However, if side occurs for vehicle
The place turned over is in certain bleak and desolate positions, and in this case, possible nobody is by place where the accident occurred for a long time, if on vehicle
Human-initiated accident and when personal injury occurs, may be not in time and dead because of succouring.In order to avoid this kind of situation,
The step S3 further include:
When judging that vehicle is turned on one's side, the location information of the vehicle is obtained；And by the information and alarm signal of the vehicle
Vehicle remote fault rescue center is sent to by car networking system.
In addition, referring to Fig.1, the invention also provides a kind of side turning alarming device based on 3-axis acceleration sensor, three
Axle acceleration sensor is fixedly installed on vehicle, and the side turning alarming device includes:
It turns on one's side parameter setting module 100, is fitting in standard ground when all wheels of vehicle for obtaining in advance, and
And the vehicle body of vehicle when remaining static the x-axis, y-axis and z-axis of 3-axis acceleration sensor be respectively relative to the x of gravity direction
Axis initial inclination angle Cx, y-axis initial inclination angle Cy and z-axis initial inclination angle Cz；It is also used to obtain rollover in advance and incline
Rake angle threshold value；
Here, rollover parameter setting module 100 can be keyboard, mouse or touch screen, utilize rollover parameter setting module
The parameter of 100 inputs is maintained in memory 500.
Computing module 200, for being obtained by 3-axis acceleration sensor when the vehicle body of vehicle remains static
Gravity acceleration g is mapped in the x-axis mapping acceleration value Bx in the x-axis of the 3-axis acceleration sensor, the y-axis in y-axis to be accelerated
Z-axis in angle value By and z-axis maps acceleration value Bz；Then the x-axis, y-axis of 3-axis acceleration sensor at this time are calculated separately
X-axis test tilt angle Dx, y-axis test tilt angle Dy and the z-axis test inclination angle of gravity direction are respectively relative to z-axis
Spend Dz；
Wherein, cos (Dx)=Bx/g；
Cos (Dy)=By/g；
Cos (Dz)=Bz/g；
Then x-axis tilt angle deviant △ x of the x-axis of 3-axis acceleration sensor at this time, the y-axis of y-axis are calculated separately
The z-axis tilt angle deviant △ z of tilt angle deviant △ y and z-axis；
Wherein, △ x=∣ Dx-Cx ∣；
△ y=∣ Dy-Cy ∣；
△ z=∣ Dz-Cz ∣；
Judgment module 300, for judging whether △ x, △ y and △ z are greater than rollover tilt angle threshold value respectively, if △ x, △
Any one in y and △ z is greater than rollover tilt angle threshold value, then judges that vehicle is turned on one's side；Here, 200 He of computing module
Judgment module 300 can be the MCU of vehicle or two modules of vehicle-mounted computer.The MCU or vehicle-mounted computer of vehicle respectively with side
It turns over parameter setting module 100 and memory 500 is electrically connected.
Alarm module 400, for issuing alarm signal when judging that vehicle is turned on one's side.
Here, alarm module 400 may include buzzing loudspeaker and/or alarm lamp and/or the communication device for alarm.
Alarm module 400 is also electrically connected with the MCU of vehicle or vehicle-mounted computer.
If alarm module 400 includes communication device, vehicle passes through communication device and car networking and vehicle remote failure
Rescue center's communication connection.The car networking can be realized by wireless communication modes such as GSM, CDMA or wireless wide area networks.
3-axis acceleration sensor is arranged in the present invention on vehicle；Then when vehicle remains static, by using
The tilt angle of vehicle is calculated in 3-axis acceleration sensor and computer, so that it is determined that whether vehicle is in roll-over state.
The present invention is turned over by the state using rollover rear vehicle to determine whether vehicle has occurred vehicle, and judgment method is accurately simple, therefore,
Rollover alarming method and apparatus alarm of the invention is promptly and accurately, practical.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of rollover alarming method based on 3-axis acceleration sensor, which is characterized in that 3-axis acceleration sensor is fixed
Be installed on vehicle, the rollover alarming method the following steps are included:
Step S1, acquisition fits on standard ground when all wheels of vehicle in advance, and the vehicle body of vehicle is in static
The x-axis, y-axis and z-axis of 3-axis acceleration sensor are respectively relative to the x-axis initial inclination angle Cx of gravity direction, y-axis when state
Initial inclination angle Cy and z-axis initial inclination angle Cz；Rollover tilt angle threshold value is obtained in advance；
Step S2, when the vehicle body of vehicle remains static, gravity acceleration g is obtained by 3-axis acceleration sensor and is existed
X-axis mapping acceleration value Bx in the x-axis of the 3-axis acceleration sensor, the y-axis mapping acceleration value By in y-axis and z-axis
On z-axis map acceleration value Bz；Then the x-axis, y-axis and z-axis for calculating separately 3-axis acceleration sensor at this time are opposite respectively
Tilt angle Dz is tested in x-axis test tilt angle Dx, y-axis test tilt angle Dy and the z-axis of gravity direction；
Wherein, cos (Dx)=Bx/g；
Cos (Dy)=By/g；
Cos (Dz)=Bz/g；
Then x-axis tilt angle deviant △ x of the x-axis of 3-axis acceleration sensor at this time, the y-axis inclination of y-axis are calculated separately
The z-axis tilt angle deviant △ z of angular misalignment △ y and z-axis；
Wherein, △ x=∣ Dx-Cx ∣；
△ y=∣ Dy-Cy ∣；
△ z=∣ Dz-Cz ∣；
Step S3, judge whether △ x, △ y and △ z are greater than rollover tilt angle threshold value respectively, if any in △ x, △ y and △ z
One is greater than rollover tilt angle threshold value, then judges that vehicle is turned on one's side；When judging that vehicle is turned on one's side, then alarm is issued
Signal.
2. rollover alarming method according to claim 1, which is characterized in that the angle on the standard ground and horizontal direction
Less than 10 °.
3. rollover alarming method according to claim 1, which is characterized in that rollover tilt angle threshold value is in 40 ° -60 °
Between.
4. rollover alarming method according to claim 1, which is characterized in that the step S1 further includes presetting rollover
The step of duration threshold；
The step S3 further include: when any one in △ x, △ y and △ z is greater than rollover tilt angle threshold value, judge vehicle
Vehicle body remain stationary whether time of state is greater than rollover duration threshold, if so, judging that vehicle is turned on one's side.
5. rollover alarming method according to claim 4, which is characterized in that the rollover duration threshold is greater than 15s.
6. rollover alarming method described in -5 any one according to claim 1, which is characterized in that the alarm signal includes sound
Sound signal and/or light signal and/or electronic signal.
7. rollover alarming method described in -5 any one according to claim 1, which is characterized in that the step S3 further include:
When judging that vehicle is turned on one's side, the location information of the vehicle is obtained；And the information of the vehicle and alarm signal are passed through
Car networking system is sent to vehicle remote fault rescue center.
8. rollover alarming method according to claim 1, which is characterized in that the step S1 further includes presetting vehicle
The step of quiescent time threshold value；The step S2 is further comprising the steps of:
Obtain the location information of vehicle；
If the time that the location information of vehicle remains unchanged is greater than stationary vehicle time threshold, judge at the vehicle body of the vehicle
In stationary state.
9. rollover alarming method according to claim 1, which is characterized in that the step S2 further include:
Using the velocity of rotation of the transmission shaft of velocity sensor detection automotive wheel；
If the velocity of rotation of transmission shaft is 0, judge that the vehicle body of automobile remains static.
10. a kind of side turning alarming device based on 3-axis acceleration sensor, which is characterized in that 3-axis acceleration sensor is fixed
It is installed on vehicle, the side turning alarming device includes:
It turns on one's side parameter setting module (100), is fitting in standard ground when all wheels of vehicle for obtaining in advance, and
The x-axis, y-axis and z-axis of 3-axis acceleration sensor are respectively relative to the x-axis of gravity direction when the vehicle body of vehicle remains static
Initial inclination angle Cx, y-axis initial inclination angle Cy and z-axis initial inclination angle Cz；It is also used to obtain rollover inclination in advance
Angle threshold；
Computing module (200), for obtaining weight by 3-axis acceleration sensor when the vehicle body of vehicle remains static
Power acceleration g maps acceleration in the x-axis mapping acceleration value Bx in the x-axis of the 3-axis acceleration sensor, the y-axis in y-axis
Z-axis in value By and z-axis maps acceleration value Bz；Then the x-axis, y-axis and z of 3-axis acceleration sensor at this time are calculated separately
Axis is respectively relative to x-axis test tilt angle Dx, the y-axis test tilt angle Dy and z-axis test tilt angle of gravity direction
Dz；
Wherein, cos (Dx)=Bx/g；
Cos (Dy)=By/g；
Cos (Dz)=Bz/g；
Then x-axis tilt angle deviant △ x of the x-axis of 3-axis acceleration sensor at this time, the y-axis inclination of y-axis are calculated separately
The z-axis tilt angle deviant △ z of angular misalignment △ y and z-axis；
Wherein, △ x=∣ Dx-Cx ∣；
△ y=∣ Dy-Cy ∣；
△ z=∣ Dz-Cz ∣；
Judgment module (300), for judging whether △ x, △ y and △ z are greater than rollover tilt angle threshold value respectively, if △ x, △ y
It is greater than rollover tilt angle threshold value with any one in △ z, then judges that vehicle is turned on one's side；
Alarm module (400), for issuing alarm signal when judging that vehicle is turned on one's side.
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