CN106882141A - Driving behavior detection method and device - Google Patents
Driving behavior detection method and device Download PDFInfo
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- CN106882141A CN106882141A CN201710085613.3A CN201710085613A CN106882141A CN 106882141 A CN106882141 A CN 106882141A CN 201710085613 A CN201710085613 A CN 201710085613A CN 106882141 A CN106882141 A CN 106882141A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
- B60R21/0134—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 imminent contact with an obstacle, e.g. using radar systems
Abstract
The invention discloses a kind of driving behavior detection method, including step：The multiple sensors on vehicle are enabled, the data of the multiple sensor collection are obtained in the vehicle operation；When the data for having sensor to gather are undergone mutation, data and the difference of corresponding preset data that the sensor that calculating is undergone mutation is gathered；Mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine whether the driving behavior matches with default driving behavior；When the driving behavior is mismatched with default driving behavior, the prompt message during vehicle is in dangerous driving is sent.The invention also discloses a kind of driving behavior detection means.The present invention improves intelligence degree, and then more accurate control vehicle.
Description
Technical field
The present invention relates to technical field of data processing, more particularly to driving behavior detection method and device.
Background technology
With the growth in the living standard of people, self-driving automobile has become the main traffic mode of people's trip.In this
Meanwhile, also along with the appearance of dangerous driving behavior.Further investigation reveals that, in addition to drunk driving and force majeure factor, most of traffic
The cause of accident is that the bad steering custom of driving user causes.At present, user is in startup procedure, and bad steering custom is easy
Cause traffic accident, and bad driving habit can only artificially be corrected and reminded, and cause intelligence degree poor, the wagon control degree of accuracy
Difference.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
It is a primary object of the present invention to provide a kind of driving behavior detection method and device, it is intended to solve current, user
In startup procedure, bad steering custom is easily caused traffic accident, and bad driving habit can only artificially be corrected and reminded, and be led
Cause intelligence degree poor, the problem of wagon control poor accuracy.
To achieve the above object, a kind of driving behavior detection method that the present invention is provided, including step：
The multiple sensors on vehicle are enabled, the number of the multiple sensor collection is obtained in the vehicle operation
According to；
Have sensor gather data undergo mutation when, calculating undergo mutation sensor collection data with it is corresponding
The difference of preset data；
Mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine the driving behavior
Whether matched with default driving behavior；
When the driving behavior is mismatched with default driving behavior, the prompting letter that vehicle is in dangerous driving is sent
Breath.
Preferably, when the sensor undergone mutation is Gsensor, the data of the collection are acceleration information；
Whether the mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine the driving behavior
The step of being matched with default driving behavior includes：
Judge whether the difference reaches acceleration threshold value；
When acceleration threshold value is reached, judge whether to reach collision threshold value；
In not up to collision threshold value, judge acceleration direction for positive；
When the acceleration direction is for forward direction, judge that vehicle drive is anxious acceleration；
When the acceleration direction is negative sense, judge that vehicle drive is anxious deceleration；
When the acceleration direction is lateral, according to the data that GYRO is provided, carry out judging that vehicle is zig zag or anxious
Lane change；
When collision threshold value is reached, according to judging whether direction positive and negative, judgement touched before being or after touch；
When acceleration direction is lateral, it is judged to side collision.
Preferably, when the sensor undergone mutation is Gsensor and Gyro, the data of the collection are angular speed
Data, the mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine that described driving is gone
For whether matched with default driving behavior the step of include：
Judge whether the difference reaches angular speed threshold value, and judge whether angle exceedes angle threshold value；
Reaching angular speed threshold value, and during more than angle threshold value, vehicle speed rate of change is calculated；
When vehicle speed variation rate reaches speed change threshold value, judge that vehicle is zig zag or sudden turn of events road.
Preferably, it is described the collection of the multiple sensor is obtained in the vehicle operation data the step of it
Afterwards, also include：
Data to gathering are filtered, so that filtered data and curves degree is smooth；
Weighting is taken to process filtered data, vector synthesis of the data after weighting is processed on three axles；
Data after synthesis are carried out into segmentation sorting according to Gaussian Profile figure；
After data acquisition, the data after sorting are integrated in time, two dimension value is obtained by integrating；
To be orientated in running car fixed setting according to two dimension value, calculate angle deflection, and to angle analysis outbound course
Property；
Judged according to two dimension value and directionality, determine vehicle drive behavior, and perform the determination driving behavior whether with
The step of default driving behavior is matched.
Preferably, when the sensor undergone mutation is Gsensor and Gyro, methods described also includes：
There are mutation acceleration, and the angled change continuous data of Gyro sensors in two sides of the Gsensor values；
Gyro data are calculated with Gyro normal distribution data, and the company that driving is turned to is calculated according to normal distribution data
Continuous mutation and direction adjust data；
When the threshold value in sudden turn of events road is reached, it is judged to that vehicle is sudden turn of events road.
Additionally, to achieve the above object, the present invention also provides a kind of driving behavior detection means, including：
Acquisition module, for enabling the multiple sensors on vehicle, obtains the multiple in the vehicle operation
The data of sensor collection；
Computing module, during for being undergone mutation in the data for thering is sensor to gather, the sensor collection that calculating is undergone mutation
Data and corresponding preset data difference；
Determining module, for determining vehicle drive behavior according to the mapping relations of the difference and respective sensor, and really
Whether the fixed driving behavior matches with default driving behavior；
Reminding module, is in danger for when the driving behavior is mismatched with default driving behavior, sending vehicle and drives
Prompt message in sailing.
Preferably, when the sensor undergone mutation is Gsensor, the data of the collection are acceleration information；
The determining module includes：
Judging unit, for judging whether the difference reaches acceleration threshold value；Judging unit is additionally operable to
When acceleration threshold value is reached, judge whether to reach collision threshold value；Judging unit is additionally operable to
In not up to collision threshold value, judge acceleration direction for positive；
Identifying unit, for when the acceleration direction is for forward direction, judging that vehicle drive is anxious acceleration；
Identifying unit is additionally operable to
When the acceleration direction is negative sense, judge that vehicle drive is anxious deceleration；
Identifying unit is additionally operable to
When the acceleration direction is lateral, according to the data that GYRO is provided, carry out judging that vehicle is zig zag or anxious
Lane change；
The judging unit, is additionally operable to when collision threshold value is reached, according to judging whether direction is positive and negative, and judgement is touched before being
Or after touch；
The identifying unit, is additionally operable to, when acceleration direction is lateral, be judged to side collision；
Preferably, when the sensor undergone mutation is Gsensor and Gyro, the data of the collection are angular speed
Data, the judging unit is additionally operable to judge whether the difference reaches angular speed threshold value, and judge whether angle exceedes angle
Degree threshold value；
The computing module, is additionally operable to reaching angular speed threshold value, and during more than angle threshold value, calculates vehicle speed
Rate of change；
The identifying unit, is additionally operable to, when vehicle speed variation rate reaches speed change threshold value, judge that vehicle is zig zag
Or sudden turn of events road.
Preferably, described device also includes：
Processing module, for being filtered to the data for gathering, so that filtered data and curves degree is smooth；Processing module
It is additionally operable to
Weighting is taken to process filtered data, the Data Synthesis after weighting is processed；Processing module is additionally operable to
Data after synthesis are carried out into segmentation sorting according to Gaussian Profile figure；Processing module is additionally operable to
After data acquisition, the data after sorting are integrated in time, two dimension value is obtained by integrating；
The computing module, is additionally operable to the vector synthesis on three axles according to two-dimentional value, calculates angle deflection, and diagonally
Degree analysis outbound course；
The processing module, is additionally operable to be judged according to two-dimentional value and directionality, determines vehicle drive behavior.
Preferably, when the sensor undergone mutation is Gsensor and Gyro, methods described also includes：
The processing module, is additionally operable to have mutation acceleration in two sides of the Gsensor values, and Gyro sensors have
Angle change continuous data；Processing module is additionally operable to
Gyro data are calculated with Gyro normal distribution data, and the company that driving is turned to is calculated according to normal distribution data
Continuous mutation and direction adjust data；
The identifying unit, is additionally operable to, when the threshold value in sudden turn of events road is reached, be judged to that vehicle is sudden turn of events road.
The data that the present invention is driven by multiple sensor collection vehicles of vehicle, car is judged by the calculating of these data
Driving behavior, when dangerous driving (being matched with default driving behavior) is belonged to, sends prompt message, to avoid dangerous driving from leading
Cause the unsafe appearance of vehicle drive.It is prevented effectively from present, in startup procedure, bad steering custom is easily caused traffic to user
Accident, and bad driving habit can only artificially be corrected and reminded, and cause intelligence degree poor, wagon control poor accuracy is asked
Topic, improves intelligence degree, and then more accurate control vehicle.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the first embodiment of driving behavior detection method of the present invention；
Fig. 2 be one embodiment of the invention in determine vehicle drive row according to the mapping relations of the difference and respective sensor
For, and determine the driving behavior whether the schematic flow sheet matched with default driving behavior；
Fig. 3 be another embodiment of the present invention in determine vehicle drive according to the mapping relations of the difference and respective sensor
Behavior, and determine the driving behavior whether the schematic flow sheet matched with default driving behavior；
Fig. 4 is to judge the schematic flow sheet of vehicle drive action process data processing in one embodiment of the invention；
Fig. 5 is the schematic flow sheet of the second embodiment of driving behavior detection method of the present invention；
Fig. 6 is the high-level schematic functional block diagram of the first embodiment of driving behavior detection means of the present invention；
Fig. 7 is the high-level schematic functional block diagram of the embodiment of determining module one in Fig. 6；
Fig. 8 is the high-level schematic functional block diagram of the second embodiment of apparatus of the present invention.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of driving behavior detection method.
Reference picture 1, Fig. 1 is the schematic flow sheet of the first embodiment of driving behavior detection method of the present invention.
In one embodiment, the driving behavior detection method includes：
Step S10, enables the multiple sensors on vehicle, and the multiple sensor is obtained in the vehicle operation
The data of collection；
In the present embodiment, multiple sensors are onboard installed, sensor includes Gsensor gravity sensors, Gyro
Angular-rate sensor, the installation site of sensor premised on without prejudice to vehicle drive, the sensor of installation and the master control of vehicle
Equipment or the smart machine data cube computation with vehicle user, the smart machine of the data transfer that will can be gathered to vehicle user
In, the smart machine can be car-mounted terminal, mobile phone etc..Multiple sensors can also be integrated among smart machine, for example, car
In mounted terminal or concentrate on mobile phone.When being integrated in mobile phone, in order to improve detection data accuracy, vehicle is put in mobile phone
Just by each data of sensor collection vehicle integrated in mobile phone on the handset mounting of upper fixed installation.In vehicle launch
Afterwards, start the multiple sensors on vehicle, in the vehicle operation, obtain the data of the multiple sensor collection,
For example, acceleration information and/or angular velocity data.
Step S20, when the data for having sensor to gather are undergone mutation, the data of the sensor collection that calculating is undergone mutation
With the difference of corresponding preset data；
After the data for getting sensor collection, judge whether the data of sensor collection undergo mutation, the mutation,
The change of normal range (NR) is above, for example, acceleration change is normally 2~3 meters of every square of seconds, if beyond the upper limit of the scope
Value, then it is assumed that be that there occurs mutation；For example, angular speed changes normal 2-10 degree, if beyond the higher limit of the scope,
It is considered to there occurs mutation.Collection data there occurs mutation after, calculating undergo mutation sensor collection data with it is right
The difference of the preset data answered, for example, the data of Gsensor gravity sensors collection there occurs mutation, then calculates Gsensor weights
The data of force snesor collection and the difference of corresponding preset data.The preset data is normal data, for example, accelerating the number of degrees
According to being 8 meters of every square of seconds.
In order to accurately judge vehicle drive behavior, after the data of sensor collection are undergone mutation, analyte sensors are adopted
Before whether the data of collection return to mutation, if before returning to mutation, continuing to obtain the data of sensor, if after mutation,
The data of sensor collection are constant, then calculate the data of the sensor collection undergone mutation and the difference of corresponding preset data.
It is described return to mutation before be the judgement in Preset Time (1s or 2s etc.), beyond Preset Time, then needing calculate send out
The data and the difference of corresponding preset data of the sensor collection of raw mutation, judge driving behavior.
Step S30, the mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine described
Whether driving behavior matches with default driving behavior；
The different vehicle drive behaviors of different difference correspondences, the vehicle drive behavior includes turning, lane change or turn around,
Accelerate, slow down etc..Mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine the driving
Whether behavior matches with default driving behavior, the default driving behavior include but is not limited to zig zag, sudden turn of events road, it is anxious slow down or
Anxious acceleration etc..For example, the acceleration information of the driving behavior for determining meets the anxious accelerating velocity for accelerating, then it is judged as anxious acceleration.
Again for example, determining that the angular velocity data of driving behavior meets the accelerating velocity of zig zag, then it is judged as zig zag.
Step S40, when the driving behavior is matched with default driving behavior, sends vehicle and is in carrying in dangerous driving
Show information.
When the driving behavior is matched with default driving behavior, the prompt message during vehicle is in dangerous driving is sent.
For example, when the driving behavior is judged as zig zag, sending the prompt message of zig zag.Sending at vehicle in dangerous driving
In prompt message after, if the data of sensor collection are identical with the data after mutation, lasting acceleration sends prompting, with as early as possible
Correction driving behavior, returns safe driving.Preferably, in order to ensure vehicle drive safety, sending at vehicle in dangerous driving
In prompt message after, generate safe driving of vehicle operation, point out vehicle user according to generation operation drive, with ensure peace
It is complete to drive.
The data that the present embodiment is driven by multiple sensor collection vehicles of vehicle, are judged by the calculating of these data
Vehicle drive behavior, when dangerous driving (being matched with default driving behavior) is belonged to, sends prompt message, to avoid dangerous driving
Cause the unsafe appearance of vehicle drive.It is prevented effectively from present, in startup procedure, bad steering custom is easily caused friendship to user
Interpreter therefore, and bad driving habit can only artificially be corrected and reminded, and cause intelligence degree poor, and wagon control poor accuracy is asked
Topic, improves intelligence degree, and then more accurate control vehicle.
In a preferred embodiment of the present invention, reference picture 2 is described when the sensor undergone mutation is Gsensor
The data of collection are acceleration information；The mapping relations according to the difference and respective sensor determine vehicle drive row
For, and determine that the step of whether driving behavior matches with default driving behavior includes：
Step S31, judges whether the difference reaches acceleration threshold value；
Step S32, when acceleration threshold value is reached, judges whether to reach collision threshold value；
Step S33, in not up to collision threshold value, judges acceleration direction for positive；
Step S34, when the acceleration direction is for forward direction, judges that vehicle drive is anxious acceleration；
Step S35, when the acceleration direction is negative sense, judges that vehicle drive is anxious deceleration；
Step S36, when the acceleration direction is lateral, according to the data that GYRO is provided, carries out judging vehicle for anxious
Turn or sudden turn of events road；
Step S37, when collision threshold value is reached, when acceleration direction is lateral, is judged to side collision；
Step S38, prescribes a time limit collision gate is reached, according to judging whether direction positive and negative, judgement touched before being or after touch.
Judgement of the Gsensor sensors to vehicle drive behavior includes anxious acceleration, anxious deceleration and collides.Wherein：
It is anxious to accelerate：When vehicle accelerates suddenly or starts suddenly, automobile produces larger acceleration, the unexpected increasing of acceleration
Conference causes that Gsensor sensor generated datas are mutated, the effective analysis according to sensor to acceleration detection data, and one
Computing is carried out in the section time to acceleration information, according to decision condition, determines whether to belong to anxious acceleration.
It is anxious to slow down：Accelerate conversely, when vehicle brakes suddenly or slows down, the larger negative acceleration that automobile is produced is caused with anxious
Gsensor sensing datas are mutated, and acceleration magnitude is detected, and computing is carried out within a period of time, according to decision condition,
Determine whether anxious deceleration.
When the acceleration direction is lateral, according to the data that GYRO is provided, carry out judging that vehicle is zig zag or anxious
Lane change.Produce the rapid action turned, the mutation of Gsensor sensing datas, each axle of Gyro sensors suddenly in vehicle operation
Discrete data has certain mutation, meets the judgement in zig zag or sudden turn of events road, then be judged to sudden turn of events road or zig zag.
Collision detection：Collision belongs to the king-sized class behavior of acceleration political reform in fact, and is destructive, so producing
The change of raw Gsensor sensor acceleration is also especially big, samples and treatment accelerates to subtract with anxious with decision method similar to anxious
Speed.
Gsensor sensors are for the specific decision process of driving behavior：Judge whether the difference reaches acceleration
Threshold value；When acceleration threshold value is reached, judge whether to reach collision threshold value；In not up to collision threshold value, judge
Acceleration direction is forward direction；When the acceleration direction is for forward direction, judge that vehicle drive is anxious acceleration；In the acceleration side
During to for negative sense, judge that vehicle drive is anxious deceleration；When collision threshold value is reached, judge whether acceleration direction is lateral；
When acceleration direction is lateral, it is judged to side collision；Acceleration direction for it is lateral when, according to judging that whether direction positive and negative, sentences
Surely touched before being or after touch, for it is positive when, touched before being judged as, when for negative sense, touched after being judged as, when there is lateral anxious acceleration
When, to proceed by zig zag or the detection of sudden turn of events road.
In a preferred embodiment of the present invention, reference picture 3 is Gsensor and Gyro in the sensor undergone mutation
When, the data of the collection are angular velocity data, and the mapping relations according to the difference and respective sensor determine vehicle
Driving behavior, and determine that the step of whether driving behavior matches with default driving behavior includes：
Step S41, judges whether the difference reaches angular speed threshold value, and judges whether angle exceedes angle thresholding
Value；
Step S42, reaching angular speed threshold value, and during more than angle threshold value, calculates vehicle speed rate of change；
Step S43, when vehicle speed variation rate reaches speed change threshold value, judges that vehicle is zig zag or sudden turn of events road.
Produce the rapid action turned suddenly in vehicle operation, Gsensor sensing datas mutation, Gyro sensors are each
Axle discrete data has certain mutation, meets the judgement in zig zag or sudden turn of events road, then be judged to sudden turn of events road or zig zag.
Specifically, in sensing data processing procedure, the data to gathering are filtered, so that filtered data
Angularity is smoothed；Weighting is taken to process filtered data, vector synthesis of the data after weighting is processed on three axles；Will
Data after synthesis carry out segmentation sorting according to Gaussian Profile figure；After data acquisition, the data after sorting are accumulated in time
Point, obtain two dimension value by integrating；To be orientated in running car fixed setting according to two dimension value, calculate angle deflection, and diagonally
Degree analysis outbound course；Judged according to two-dimentional value and directionality, determine vehicle drive behavior, and perform the determination driving row
For whether matched with default driving behavior the step of.
With reference to Fig. 4, judging that vehicle drive action process includes following treatment：
Data acquisition, the data during being travelled by each sensor collection vehicle for setting.
Interference is processed：During the analysis of discrete data (data of sensor collection), the disturbance of sensing data is right
The precision of algorithm produces significant impact, first disturbance of data is filtered (use average and window filtering), filtered number
It is smooth according to angularity, close to actual analysis data.
Weighting and normal distribution treatment：Similar with fluctuation tuning, slope variation is not in certain amplitude, after the derivative of data
Substantially, we use data weighting, then to Data Synthesis, and in certain special time multiaxis data are carried out with a wheel split axle point
Analysis, then discrete signal conclusion treatment is carried out, the data after treatment carry out segmentation sorting according to Gaussian Profile figure, sort out closest
There may be the data of danger behavior.
Data Integral Processing：On valid data after sorting, i.e. sorting out closest to the data there may be behavior
On, two dimension value is obtained by integrating, compared by the two-dimentional value size and threshold value that add up, respective behavior generation value is sentenced
It is fixed, for example, the judgement to anxious acceleration, anxious deceleration etc..
Vectorial (direction) synthesis：
Vector synthesis according to sorting data on three axles, calculates angle deflection, and to the analysis travel direction of angle
Output.
When size of data and direction of traffic all meet Rule of judgment, corresponding driving behavior judgement is carried out to it.
In a preferred embodiment of the present invention, reference picture 5, methods described also includes：
Step S50, has mutation acceleration in two sides of the Gsensor values, and the angled change of Gyro sensors connects
Continuous data；
Gyro data are calculated Gyro normal distribution data, and calculate driving according to normal distribution data by step S60
The continuous mutation of steering and direction adjustment data；
Step S70, when the threshold value in sudden turn of events road is reached, is judged to that vehicle is sudden turn of events road.
Sudden turn of events road judges：There is mutation acceleration two sides of automobile Gsensor values, and the angled change of Gyro sensors connects
Continuous data.After Gyro data are carried out with " driving behavior angular speed mathematical algorithm " calculating, Gyro sensors two are being obtained just
State distributed data block, the threshold value that the consecutive variations mutation and direction adjustment turned to driving carry out sudden turn of events road compares, if it is satisfied,
Then it is judged to sudden turn of events road；If meeting the threshold value of zig zag, it is judged to zig zag.It is described that " computing of driving behavior angular speed is calculated
Method " includes the angular velocity data of collection Gyro sensors, calculates angular speed and angular speed judges data etc..
When judging suddenly to accelerate and suddenly slow down, within a certain period of time, each number of axle evidence to Gsensor sensors is sorted
And after carrying out " driving behavior acceleration mathematical algorithm " computing, acceleration reaches to be judged one by one to single shaft or multiaxis data
Certain value, after exceeding acceleration rate threshold according to this acceleration magnitude, and automobile is to accelerate to move ahead, and is judged to anxious acceleration.Vehicle
When acceleration direction is negative direction, it is judged to anxious deceleration." the driving behavior acceleration mathematical algorithm " includes acceleration information
Filtering, treatment of most possible hazardous act data etc..
The present invention further provides a kind of driving behavior detection means.
Reference picture 6, Fig. 6 is the high-level schematic functional block diagram of the first embodiment of driving behavior detection means of the present invention.
In one embodiment, the driving behavior detection means includes：Acquisition module 10, computing module 20, determining module
30 and reminding module 40.
The acquisition module 10, for enabling the multiple sensors on vehicle, obtains institute in the vehicle operation
State the data of multiple sensor collections；
In the present embodiment, multiple sensors are onboard installed, sensor includes Gsensor gravity sensors, Gyro
Angular-rate sensor, the installation site of sensor premised on without prejudice to vehicle drive, the sensor of installation and the master control of vehicle
Equipment or the smart machine data cube computation with vehicle user, the smart machine of the data transfer that will can be gathered to vehicle user
In, the smart machine can be car-mounted terminal, mobile phone etc..Multiple sensors can also be integrated among smart machine, for example, car
In mounted terminal or concentrate on mobile phone.When being integrated in mobile phone, in order to improve detection data accuracy, vehicle is put in mobile phone
Just by each data of sensor collection vehicle integrated in mobile phone on the handset mounting of upper fixed installation.In vehicle launch
Afterwards, start the multiple sensors on vehicle, in the vehicle operation, obtain the data of the multiple sensor collection,
For example, acceleration information and/or angular velocity data.
The computing module 20, during for being undergone mutation in the data for thering is sensor to gather, the sensing that calculating is undergone mutation
The data of device collection and the difference of corresponding preset data；
After the data for getting sensor collection, judge whether the data of sensor collection undergo mutation, the mutation,
The change of normal range (NR) is above, for example, acceleration change is normally 2~3 meters of every square of seconds, if beyond the upper limit of the scope
Value, then it is assumed that be that there occurs mutation；For example, angular speed changes normal 2-10 degree, if beyond the higher limit of the scope,
It is considered to there occurs mutation.Collection data there occurs mutation after, calculating undergo mutation sensor collection data with it is right
The difference of the preset data answered, for example, the data of Gsensor gravity sensors collection there occurs mutation, then calculates Gsensor weights
The data of force snesor collection and the difference of corresponding preset data.The preset data is normal data, for example, accelerating the number of degrees
According to being 8 meters of every square of seconds.
In order to accurately judge vehicle drive behavior, after the data of sensor collection are undergone mutation, analyte sensors are adopted
Before whether the data of collection return to mutation, if before returning to mutation, continuing to obtain the data of sensor, if after mutation,
The data of sensor collection are constant, then calculate the data of the sensor collection undergone mutation and the difference of corresponding preset data.
It is described return to mutation before be the judgement in Preset Time (1s or 2s etc.), beyond Preset Time, then needing calculate send out
The data and the difference of corresponding preset data of the sensor collection of raw mutation, judge driving behavior.
The determining module 30, for determining vehicle drive row according to the mapping relations of the difference and respective sensor
For, and determine whether the driving behavior matches with default driving behavior；
The different vehicle drive behaviors of different difference correspondences, the vehicle drive behavior includes turning, lane change or turn around,
Accelerate, slow down etc..Mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine the driving
Whether behavior matches with default driving behavior, the default driving behavior include but is not limited to zig zag, sudden turn of events road, it is anxious slow down or
Anxious acceleration etc..For example, the acceleration information of the driving behavior for determining meets the anxious accelerating velocity for accelerating, then it is judged as anxious acceleration.
Again for example, determining that the angular velocity data of driving behavior meets the accelerating velocity of zig zag, then it is judged as zig zag.
The reminding module 40, for when the driving behavior is matched with default driving behavior, sending vehicle and being in danger
Prompt message in the driving of danger.
When the driving behavior is matched with default driving behavior, the prompt message during vehicle is in dangerous driving is sent.
For example, when the driving behavior is judged as zig zag, sending the prompt message of zig zag.Sending at vehicle in dangerous driving
In prompt message after, if the data of sensor collection are identical with the data after mutation, lasting acceleration sends prompting, with as early as possible
Correction driving behavior, returns safe driving.Preferably, in order to ensure vehicle drive safety, sending at vehicle in dangerous driving
In prompt message after, generate safe driving of vehicle operation, point out vehicle user according to generation operation drive, with ensure peace
It is complete to drive.
The data that the present embodiment is driven by multiple sensor collection vehicles of vehicle, are judged by the calculating of these data
Vehicle drive behavior, when dangerous driving (being matched with default driving behavior) is belonged to, sends prompt message, to avoid dangerous driving
Cause the unsafe appearance of vehicle drive.It is prevented effectively from present, in startup procedure, bad steering custom is easily caused friendship to user
Interpreter therefore, and bad driving habit can only artificially be corrected and reminded, and cause intelligence degree poor, and wagon control poor accuracy is asked
Topic, improves intelligence degree, and then more accurate control vehicle.
In a preferred embodiment of the present invention, reference picture 7 is described when the sensor undergone mutation is Gsensor
The data of collection are acceleration information；The determining module 30 includes：
Judging unit 31, for judging whether the difference reaches acceleration threshold value；Judging unit 31 is additionally operable to
When acceleration threshold value is reached, judge whether to reach collision threshold value；Judging unit 31 is additionally operable to
In not up to collision threshold value, judge acceleration direction for positive；
Identifying unit 32, for when the acceleration direction is for forward direction, judging that vehicle drive is anxious acceleration；Add described
When velocity attitude is negative sense, judge that vehicle drive is anxious deceleration
The judging unit 31, is additionally operable to, when the acceleration direction is lateral, according to the data that GYRO is provided, carry out
Judge that vehicle is zig zag or sudden turn of events road；
The identifying unit 32, is additionally operable to when collision threshold value is reached, and when acceleration direction is lateral, is judged to lateral
Collision.
Judgement of the Gsensor sensors to vehicle drive behavior includes anxious acceleration, anxious deceleration and collides.Wherein：
It is anxious to accelerate：When vehicle accelerates suddenly or starts suddenly, automobile produces larger acceleration, the unexpected increasing of acceleration
Conference causes that Gsensor sensor generated datas are mutated, the effective analysis according to sensor to acceleration detection data, and one
Computing is carried out in the section time to acceleration information, according to decision condition, determines whether to belong to anxious acceleration.
It is anxious to slow down：Accelerate conversely, when vehicle brakes suddenly or slows down, the larger negative acceleration that automobile is produced is caused with anxious
Gsensor sensing datas are mutated, and acceleration magnitude is detected, and computing is carried out within a period of time, according to decision condition,
Determine whether anxious deceleration.
When the acceleration direction is lateral, according to the data that GYRO is provided, carry out judging that vehicle is zig zag or anxious
Lane change.Produce the rapid action turned, the mutation of Gsensor sensing datas, each axle of Gyro sensors suddenly in vehicle operation
Discrete data has certain mutation, meets the judgement in zig zag or sudden turn of events road, then be judged to sudden turn of events road or zig zag.
Collision detection：Collision belongs to the king-sized class behavior of acceleration political reform in fact, and is destructive, so producing
The change of raw Gsensor sensor acceleration is also especially big, samples and treatment accelerates to subtract with anxious with decision method similar to anxious
Speed.
Gsensor sensors are for the specific decision process of driving behavior：Judge whether the difference reaches acceleration
Threshold value；When acceleration threshold value is reached, judge whether to reach collision threshold value；In not up to collision threshold value, judge
Acceleration direction is forward direction；When the acceleration direction is for forward direction, judge that vehicle drive is anxious acceleration；In the acceleration side
During to for negative sense, judge that vehicle drive is anxious deceleration；When collision threshold value is reached, judge whether acceleration direction is lateral；
When acceleration direction is lateral, it is judged to side collision；Acceleration direction for it is lateral when, according to judging that whether direction positive and negative, sentences
Surely touched before being or after touch, for it is positive when, touched before being judged as, when for negative sense, touched after being judged as；When there is lateral urgency acceleration
When, to proceed by zig zag or the detection of sudden turn of events road.
In a preferred embodiment of the present invention, reference picture 6 and Fig. 7, the sensor undergone mutation be Gsensor and
During Gyro, the data of the collection are angular velocity data, and the judging unit 31 is additionally operable to judge whether the difference reaches
To angular speed threshold value, and judge whether angle exceedes angle threshold value；
The computing module 20, for reaching angular speed threshold value, and during more than angle threshold value, calculates vehicle speed
Rate of change；
The identifying unit 33, is additionally operable to, when vehicle speed variation rate reaches speed change threshold value, judge that vehicle is racing
Curved or sudden turn of events road.
Produce the rapid action turned suddenly in vehicle operation, Gsensor sensing datas mutation, Gyro sensors are each
Axle discrete data has certain mutation, meets the judgement in zig zag or sudden turn of events road, then be judged to sudden turn of events road or zig zag.
Specifically, in sensing data processing procedure, with reference to Fig. 8, described device also includes processing module 50, described
Processing module 50, for being filtered to the data for gathering, so that filtered data and curves degree is smooth；Processing module 50 is also used
In taking weighting to process filtered data, vector of the data after weighting is processed on three axles synthesizes；After synthesis
Data carry out segmentation sorting according to Gaussian Profile figure；After data acquisition, the data after sorting are integrated in time, by product
Separately win to obtain two-dimentional value；The computing module 20 is additionally operable to be orientated in running car fixed setting according to two-dimentional value, calculates angle
Deflection, and to angle analysis outbound course；Processing module 50 is additionally operable to, according to two-dimentional value and directionality judgement, determine that vehicle is driven
Sail behavior.
Judging that vehicle drive action process includes following treatment：
Data acquisition, the data during being travelled by each sensor collection vehicle for setting.
Interference is processed：During the analysis of discrete data (data of sensor collection), the disturbance of sensing data is right
The precision of algorithm produces significant impact, first disturbance of data is filtered (use average and window filtering), filtered number
It is smooth according to angularity, close to actual analysis data.
Weighting and normal distribution treatment：Similar with fluctuation tuning, slope variation is not in certain amplitude, after the derivative of data
Substantially, we use data weighting, then to Data Synthesis, and in certain special time multiaxis data are carried out with a wheel split axle point
Analysis, then discrete signal conclusion treatment is carried out, the data after treatment carry out segmentation sorting according to Gaussian Profile figure, sort out closest
There may be the data of danger behavior.
Data Integral Processing：On valid data after sorting, i.e. sorting out closest to the data there may be behavior
On, two dimension value is obtained by integrating, compared by the two-dimentional value size and threshold value that add up, respective behavior generation value is sentenced
It is fixed, for example, the judgement to anxious acceleration, anxious deceleration etc..
Vectorial (direction) synthesis：
Vector synthesis according to sorting data on three axles, calculates angle deflection, and to the analysis travel direction of angle
Output.
When size of data and direction of traffic all meet Rule of judgment, corresponding driving behavior judgement is carried out to it.
In a preferred embodiment of the present invention, reference picture 8, the processing module 50 is additionally operable in the Gsensor values two
There are mutation acceleration, and the angled change continuous data of Gyro sensors in individual side；
The processing module 50 is additionally operable to be calculated Gyro data Gyro normal distribution data, and according to normal distribution
Data calculate continuous mutation and the direction adjustment data that driving is turned to；
The identifying unit 32, is additionally operable to, when the threshold value in sudden turn of events road is reached, be judged to that vehicle is sudden turn of events road.
Sudden turn of events road judges：There is mutation acceleration two sides of automobile Gsensor values, and the angled change of Gyro sensors connects
Continuous data.After Gyro data are carried out with " driving behavior angular speed mathematical algorithm " calculating, Gyro sensors two are being obtained just
State distributed data block, the threshold value that the consecutive variations mutation and direction adjustment turned to driving carry out sudden turn of events road compares, if it is satisfied,
Then it is judged to sudden turn of events road；If meeting the threshold value of zig zag, it is judged to zig zag.It is described that " computing of driving behavior angular speed is calculated
Method " includes the angular velocity data of collection Gyro sensors, calculates angular speed and angular speed judges data etc..
When judging suddenly to accelerate and suddenly slow down, within a certain period of time, each number of axle evidence to Gsensor sensors is sorted
And after carrying out " driving behavior acceleration mathematical algorithm " computing, acceleration reaches to be judged one by one to single shaft or multiaxis data
Certain value, after exceeding acceleration rate threshold according to this acceleration magnitude, and automobile is to accelerate to move ahead, and is judged to anxious acceleration.Vehicle
When acceleration direction is negative direction, it is judged to anxious deceleration." the driving behavior acceleration mathematical algorithm " includes acceleration information
Filtering, treatment of most possible hazardous act data etc..
The preferred embodiments of the present invention are these are only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of driving behavior detection method, it is characterised in that including step：
The multiple sensors on vehicle are enabled, the data of the multiple sensor collection are obtained in the vehicle operation；
When the data for having sensor to gather are undergone mutation, the data of the sensor collection that calculating is undergone mutation are default with corresponding
The difference of data；
Whether mapping relations according to the difference and respective sensor determine vehicle drive behavior, and determine the driving behavior
Matched with default driving behavior；
When the driving behavior is mismatched with default driving behavior, the prompt message during vehicle is in dangerous driving is sent.
2. driving behavior detection method as claimed in claim 1, it is characterised in that be in the sensor undergone mutation
During Gsensor, the data of the collection are acceleration information；The mapping relations according to the difference and respective sensor are true
Determine vehicle drive behavior, and determine that the step of whether driving behavior matches with default driving behavior includes：
Judge whether the difference reaches acceleration threshold value；
When acceleration threshold value is reached, judge whether to reach collision threshold value；
In not up to collision threshold value, judge acceleration direction for positive；
When the acceleration direction is for forward direction, judge that vehicle drive is anxious acceleration；
When the acceleration direction is negative sense, judge that vehicle drive is anxious deceleration；
When the acceleration direction is lateral, according to the data that GYRO is provided, carry out judging that vehicle is zig zag or sudden turn of events road；
When collision threshold value is reached, according to judging whether direction positive and negative, judgement touched before being or after touch；
When acceleration direction is lateral, it is judged to side collision.
3. driving behavior detection method as claimed in claim 1, it is characterised in that be in the sensor undergone mutation
During Gsensor and Gyro, the data of the collection are angular velocity data, the mapping according to the difference and respective sensor
Relation determines vehicle drive behavior, and determines that the step of whether driving behavior matches with default driving behavior includes：
Judge whether the difference reaches angular speed threshold value, and judge whether angle exceedes angle threshold value；
Reaching angular speed threshold value, and during more than angle threshold value, vehicle speed rate of change is calculated；
When vehicle speed variation rate reaches speed change threshold value, judge that vehicle is zig zag or sudden turn of events road.
4. driving behavior detection method as claimed in claim 1, it is characterised in that described to be obtained in the vehicle operation
After the step of taking the data of the multiple sensor collection, also include：
Data to gathering are filtered, so that filtered data and curves degree is smooth；
Weighting is taken to process filtered data, vector synthesis of the data after weighting is processed on three axles；
Data after synthesis are carried out into segmentation sorting according to Gaussian Profile figure；
After data acquisition, the data after sorting are integrated in time, two dimension value is obtained by integrating；
To be orientated in running car fixed setting according to two dimension value, calculate angle deflection, and to angle analysis outbound course；
Judged according to two dimension value and directionality, determine vehicle drive behavior, and perform the determination driving behavior whether with it is default
The step of driving behavior is matched.
5. driving behavior detection method as claimed in claim 1, it is characterised in that be in the sensor undergone mutation
During Gsensor and Gyro, methods described also includes：
There are mutation acceleration, and the angled change continuous data of Gyro sensors in two sides of the Gsensor values；
Gyro data are calculated with Gyro normal distribution data, and the continuous prominent of driving steering is calculated according to normal distribution data
Become and direction adjusts data；
When the threshold value in sudden turn of events road is reached, it is judged to that vehicle is sudden turn of events road.
6. a kind of driving behavior detection means, it is characterised in that including：
Acquisition module, for enabling the multiple sensors on vehicle, obtains the multiple sensing in the vehicle operation
The data of device collection；
Computing module, during for being undergone mutation in the data for thering is sensor to gather, the number of the sensor collection that calculating is undergone mutation
According to the difference with corresponding preset data；
Determining module, for determining vehicle drive behavior according to the mapping relations of the difference and respective sensor, and determines institute
State whether driving behavior matches with default driving behavior；
Reminding module, for when the driving behavior is mismatched with default driving behavior, sending vehicle and being in dangerous driving
Prompt message.
7. driving behavior detection means as claimed in claim 6, it is characterised in that be in the sensor undergone mutation
During Gsensor, the data of the collection are acceleration information；The determining module includes：
Judging unit, for judging whether the difference reaches acceleration threshold value；Judging unit is additionally operable to
When acceleration threshold value is reached, judge whether to reach collision threshold value；Judging unit is additionally operable to
In not up to collision threshold value, judge acceleration direction for positive；
Identifying unit, for when the acceleration direction is for forward direction, judging that vehicle drive is anxious acceleration；Identifying unit is additionally operable to
When the acceleration direction is negative sense, judge that vehicle drive is anxious deceleration；
The judging unit, is additionally operable to, when the acceleration direction is lateral, according to the data that GYRO is provided, carry out judgement car
For zig zag or sudden turn of events road；
The identifying unit, is additionally operable to when collision threshold value is reached, according to judging whether direction positive and negative, judgement touched before being or after
Touch；
The identifying unit, is additionally operable to, when acceleration direction is lateral, be judged to side collision.
8. driving behavior detection means as claimed in claim 7, it is characterised in that be in the sensor undergone mutation
During Gsensor and Gyro, the data of the collection are angular velocity data, and the judging unit is additionally operable to judge that the difference is
It is no to reach angular speed threshold value, and judge whether angle exceedes angle threshold value；
The computing module, is additionally operable to reaching angular speed threshold value, and during more than angle threshold value, calculates vehicle speed change
Rate；
The identifying unit, is additionally operable to, when vehicle speed variation rate reaches speed change threshold value, judge that vehicle is zig zag or anxious
Lane change.
9. driving behavior detection means as claimed in claim 7 or 8, it is characterised in that described device also includes：
Processing module, for being filtered to the data for gathering, so that filtered data and curves degree is smooth；Processing module is also used
In
Weighting is taken to process filtered data, vector synthesis of the data after weighting is processed on three axles；Processing module
It is additionally operable to
Data after synthesis are carried out into segmentation sorting according to Gaussian Profile figure；Processing module is additionally operable to
After data acquisition, the data after sorting are integrated in time, two dimension value is obtained by integrating；
The computing module, is additionally operable to be orientated in running car fixed setting according to two-dimentional value, calculates angle deflection, and diagonally
Degree analysis outbound course；
The processing module, is additionally operable to be judged according to two-dimentional value and directionality, determines vehicle drive behavior.
10. driving behavior detection means as claimed in claim 9, it is characterised in that be in the sensor undergone mutation
During Gsensor and Gyro, methods described also includes：
The processing module, is additionally operable to have mutation acceleration in two sides of the Gsensor values, and Gyro sensors are angled
Change continuous data；Processing module is additionally operable to
Gyro data are calculated with Gyro normal distribution data, and the continuous prominent of driving steering is calculated according to normal distribution data
Become and direction adjusts data；
The identifying unit, is additionally operable to, when the threshold value in sudden turn of events road is reached, be judged to that vehicle is sudden turn of events road.
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