CN107036630A - A kind of automatic recognition system and method for vehicle drive prior-warning device setting angle - Google Patents
A kind of automatic recognition system and method for vehicle drive prior-warning device setting angle Download PDFInfo
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- CN107036630A CN107036630A CN201710289686.4A CN201710289686A CN107036630A CN 107036630 A CN107036630 A CN 107036630A CN 201710289686 A CN201710289686 A CN 201710289686A CN 107036630 A CN107036630 A CN 107036630A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The present invention discloses a kind of automatic recognition system and method for vehicle drive prior-warning device setting angle, and the system includes：GPS module, longitude and latitude, speed and angular separation information for gathering prior-warning device；GSensor modules, the acceleration magnitude in three directions is fastened for real-time acquisition module intrinsic coordinates；MCU, for gathering the data of GPS module and GSensor modules in real time, and is sent to main control processor；And main control processor, the axle clamp angle of the xyz naturals system of coordinates for calculating front part of vehicle positive direction according to the data of reception, so as to realize automatic identification and the setting angle of calibration prior-warning device.The bearing data and brake data that the present invention is gathered to GPS module and acceleration transducer are analyzed, calculate the angle of prior-warning device installation, and the axle clamp angle of the xyz axles of acceleration transducer and vehicle axis system xyz axles, do not required so as to the setting angle to prior-warning device, it can keep flat, put upside down and put can for side, workmen is simple to operate, convenient and swift.
Description
Technical field
The present invention relates to car-mounted terminal, more particularly to a kind of automatic recognition system of vehicle drive prior-warning device setting angle
And method.
Background technology
With the rapid growth of China's economic, car ownership is Chinese annual with the speed increase of millions of.With
Road vehicle increases, and driver can not have found the danger knocked into the back with front truck in time because of reasons such as fatigue, carelessness, cause rear-end collision
Generation event happen occasionally.
In order to lift the security of driving, switching value (brake, steering of collection vehicle are carried out often through the MCU of equipment end
Lamp etc.), AD (oil mass), the data of gps data and automobile CAN-bus, equipment end judges current driving by intelligent algorithm
Then behavior marks the transmission of 808 protocol remotes whether within zone of reasonableness by data storage or by special Ministry of Communications
To rear end, to facilitate called data data to carry out the driving behavior of specification driver.
But, existing system, algorithm are excessively complicated, have to equipment end installation site in the car, installation direction and strictly
Ask, while being carried out corresponding to parameter setting according to installation site to the setting and its requirement of parameter after installation, so install and apply
Workman person will have no way of doing it, and operation is extremely complex, and be easy to lead to not application because setting is improper.
Therefore, the prior art is defective, it is necessary to improve.
The content of the invention
The purpose of the present invention be overcome the deficiencies in the prior art there is provided a kind of vehicle drive prior-warning device setting angle from
Dynamic identifying system and method.
Technical scheme is as follows：The present invention provides a kind of automatic identification of vehicle drive prior-warning device setting angle
System, including：
GPS module, longitude and latitude, speed and angular separation information for gathering prior-warning device, and responsible collection are rectified first
Timing assists in identifying the installation direction of prior-warning device；
GSensor modules, the acceleration magnitude in three directions is fastened for real-time acquisition module intrinsic coordinates；
The data collected for gathering the data of GPS module and GSensor modules in real time, and are sent to master control by MCU
Processor；
And main control processor, for analyzing the data message that GPS module and GSensor modules are sended over, calculate
The axle clamp angle of the xyz naturals system of coordinates of front part of vehicle positive direction, so as to realize automatic identification and the established angle of calibration prior-warning device
Degree.
The GPS module is formed using NEO-6M chip manufacturings, and the GSensor modules use MMA8653FCR1 chips
It is made.
The main control processor is formed using Hi3520d chip manufacturings, and the MCU is using STM8S207R8 chip manufacturings
Into.
The present invention also provides a kind of automatic identifying method of vehicle drive prior-warning device setting angle, comprises the following steps：
Step 1, prior-warning device is installed on vehicle；
Step 2, vehicle straight-line travelling certain time on flat road is driven, brought to a halt afterwards so that vehicle
Complete stop motion, in this process using GPS module collection vehicle positional information, and in vehicle brake, using GSensor
Module acquisition module intrinsic coordinates fastens the acceleration magnitude X in three directionsB、YBAnd ZB；
The vehicle position information that step 3, data and GPS module that GSensor modules are collected are collected is sent to master
Processor is controlled, main control processor calculates the axle clamp angle of the xyz coordinate systems of front part of vehicle positive direction according to formula, it is automatic to realize
Identification and the setting angle of calibration prior-warning device, so as to complete intelligent correction.
In the step 3, the correction to vehicle early warning device includes static shift correction and dynamic calibration, when GSensor moulds
When block detects vehicle and remained static, static shift correction is carried out automatically, and motion shape is in when GSensor modules detect vehicle
State, the positional information collected with reference to GPS module, is automatically performed dynamic calibration.
Certain time in the step 2 is more than 6 seconds, and the travel speed of vehicle reaches 20Km/H.
Vehicle straight-line travelling on flat road in the step 2, difference in height is less than 0.5 meter.
The GSensor modules include an acceleration transducer.
It is to detect whether vehicle moves along a straight line, whether vehicle jolts and vehicle by GPS module in the step 2
Brake process.
Using such scheme, the present invention provides automatic recognition system and the side of a kind of vehicle drive prior-warning device setting angle
Method, the bearing data gathered to GPS module and acceleration transducer and brake data are analyzed, and calculate prior-warning device installation
Angle, and xyz axles and the vehicle axis system xyz axles of acceleration transducer axle clamp angle, so as to the peace to prior-warning device
Dress angle do not require, can keep flat, put upside down and side put can, workmen is simple to operate, convenient and swift；The prior-warning device is pacified
After the completion of dress, can during car steering automatic identification installation direction angle complete first parameter identification correction, after the completion of i.e.
All kinds of event analysis, early warning can be carried out, adjustment of the installation site for parameter is actively carried out without personnel.
Brief description of the drawings
Fig. 1 moves the functional framework schematic diagram of identifying system for the present invention.
Fig. 2 is the circuit diagram of MCU and GSensor modules in the present invention.
Fig. 3 is the circuit diagram of main control processor in the present invention.
Fig. 4 is the circuit diagram of GPS module in the present invention.
Fig. 5 for acceleration transducer each axle in the present invention component of acceleration schematic diagram.
Fig. 6 is acceleration transducer original coordinate system schematic diagram in the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Referring to Fig. 1, the present invention provides a kind of automatic recognition system of vehicle drive prior-warning device setting angle, including：
GPS module, GSensor modules, MCU and main control processor.The GPS module, longitude and latitude, speed for gathering prior-warning device
Degree and angular separation information, and it is responsible for assisting in identifying when collection is corrected first the installation direction of prior-warning device.The GSensor moulds
Block is used for the acceleration magnitude that real-time acquisition module intrinsic coordinates fastens three directions.The MCU respectively with the GPS module and
GSensor modules are connected, and for gathering the data of GPS module and GSensor modules in real time, and the data collected are sent to
Main control processor.The main control processor is connected with the MCU, for analyzing GPS module and GSensor modules send over
Data message, calculates the axle clamp angle of the xyz naturals system of coordinates of front part of vehicle positive direction, so as to realize that automatic identification is pre- with calibration
The setting angle of alarm device.
In the present embodiment, the GPS module is formed using NEO-6M chip manufacturings, as shown in figure 4, the GSensor
Module is formed using MMA8653FCR1 chip manufacturings, as shown in Figure 2.The main control processor is using Hi3520d chip manufacturings
Into as shown in figure 3, the MCU is formed using STM8S207R8 chip manufacturings, as shown in Figure 2.
The automatic identifying method of the automatic recognition system of above-mentioned vehicle drive prior-warning device setting angle, including following step
Suddenly：
Step 1, prior-warning device is installed on vehicle.
When the prior-warning device is installed on vehicle, can arbitrarily it install, it is not any to installation site and setting angle
It is required that, it is quick and easy for installation, and will not occur the situation for leading to not use because of misoperation.
Step 2, vehicle straight-line travelling certain time on flat road is driven, brought to a halt afterwards so that vehicle
Complete stop motion, in this process using GPS module collection vehicle positional information, and in vehicle brake, using GSensor
Module acquisition module intrinsic coordinates fastens the acceleration magnitude X in three directionsB、YBAnd ZB。
In this step, the certain time is more than 6 seconds, and vehicle straight-line travelling, travel speed on flat road
20Km/H is reached, difference in height is less than 0.5 meter, to ensure that the GPS module and GSensor modules can keep lasting stable number
According to.The circuit diagram of the GPS module and GSensor modules is as shown in Fig. 2 and Fig. 4.
The data of GPS module output include：Longitude and latitude, car speed, angular separation, this three project data is only in early warning
Calibration is used device before completing automatically first, it is therefore an objective to the travel direction of angle mate-assist algorithm identification vehicle, longitude and latitude, should
GPS module is used for vehicle during preventing calibration parameter and jolted, and detects car speed to recognize brake process.
The vehicle position information that step 3, data and GPS module that GSensor modules are collected are collected is sent to master
Processor is controlled, main control processor calculates the axle clamp angle of the xyz coordinate systems of front part of vehicle positive direction according to formula, it is automatic to realize
Identification and the setting angle of calibration prior-warning device, so as to complete intelligent correction.
The GSensor modules include an acceleration transducer, and its internal geostationary acceleration 1g can be gathered in real time
Component of acceleration on each axle, as shown in Figure 5.
Acceleration transducer original coordinate system as shown in fig. 6, using Z-Y-X Eulerian angles describe carrier coordinate system B relative to
World coordinate system W posture, Z-Y-X Eulerian angles just refer to：Original state B systems overlap with W systems, and then B systems are first around the rotation of ZB axles
One angle a1, then rotates an angle a2 around YB axles, then rotates an angle a3 around XB axles, has obtained B systems (namely
The final carriage of aircraft or other things).This Eulerian angles order is referred to as " aviation order Eulerian angles (aerospace
sequence Euler angles)”。
A1 is generally represented with Ψ, represents direction or driftage (heading or yaw)；
A2 is generally represented with θ, represents lifting or pitching (elevation or pitch)；
A3 is generally represented with φ, is represented and is tilted or roll (bank or roll).
Calculate Eulerian angles：
Carry out a known vector r under Coordinate Conversion, vehicle axis systemV=(XV,YV,ZV) corresponding terminal sits
Vector r under mark systemB=(XB,YB,ZB) between relation can be expressed as:
Wherein：(XV,YV,ZV) acceleration magnitude of three axles, (X for known toB,YB,ZB) be device end to be asked acceleration magnitude.
In the step 3, the correction to vehicle early warning device includes static shift correction and dynamic calibration.When GSensor moulds
When block detects vehicle and remained static, static shift correction is carried out automatically；Motion shape is in when GSensor modules detect vehicle
State, the positional information collected with reference to GPS module reaches certain speed (preferably greater than 20Km/H), so when its straight line is travelled
Braked and (need not deliberately be braked) afterwards, be automatically performed dynamic calibration.The concrete processing procedure of correction is described below.
Step one：Static correction
Static correction opportunity：Judge ACC wire states after upper electricity, if ACC is off states, and acceleration transducer is sentenced
Break as without motion, then it is assumed that stationary vehicle, then carry out static shift correction.
Assuming that the acceleration under automobile reference frame is equal to acceleration of gravity, i.e.,：
The formula (1) that wushu (2) substitutes into above can solve θ, φ, and wherein gravity acceleration g is quantified as constant 1, as a result as follows：
(during static shift correction, if finding, reversion is θ above and below accelerometer<0；Then：θ+180°)
It is to prevent Z axis from being zero addition correction factor μ wherein in formula (4), it is to avoid denominator is zero.
Step 2：Dynamic calibration
Dynamic calibration opportunity：1st, the location data of multiple GPS modules is handled, the change of accumulation course angle is less than 3, accumulation height
Change is less than 2, and velocity variations per second bear maximum and are less than threshold value (acceleration rate threshold of bringing to a halt divided by 2 draw), average speed>
20km/h, above-mentioned condition is set up simultaneously, then carries out execution dynamic calibration.
Assuming that vehicle axis system is terrestrial coordinate system, judge that GPS yaw angles persistently change not less than certain value.By sentencing
Disconnected GPS velocity changes to judge vehicle brake situation, so that carrying out dynamic calibration calculates Ψ.
If three components of accelerometer are：
Formula (6) is substituted into formula (1)：
Wherein n is the acceleration of X-axis of being braked at the uniform velocity under state；G is substituted into formula (7), convolution (1) and formula as constant
(7) n that, divides out can solve Ψ：
(during static shift correction, if θ>45 ° or φ>At 45 °, i.e. X-axis acceleration | x |>0.5 or Y-axis acceleration | y |>When 0.5,
Three axles are remapped, and X-axis is mapped as into Z axis or Y-axis is mapped as into Z axis)
θ, φ are calculated above by step one, Ψ is calculated by step 2.
Step 3：Pickup is calculated
Become formula (9) after carrying out transposition using formula (1),
Eulerian angles θ, φ, Ψ will be obtained to bring into after formula (9), you can obtain the acceleration magnitude in automobile all directions.
Calibration needs dependence to bring to a halt threshold value, need to be adapted to different values for different application occasion, such as truck and small rectifys
Car difference is very big.All threshold values are initialized as 0, and application program at least needs to carry out once threshold value effective (non-zero and rational)
Set, calibration and normal operation could be carried out.
Repeatedly tested by real vehicle, rule of thumb threshold decision can draw driving behavior state.Give tacit consent to the experience of car
Acceleration rate threshold is as follows：
(1) collision parameter, is defaulted as 1g；
(2) overturning parameter, is defaulted as 30 ° (0.86g)；
(3) movement change amount parameter, is defaulted as 0.02g；
(4) variable quantity duration in threshold range thinks static, and default value is 10S；
(5) bring to a halt parameter, be defaulted as 0.30g；
(6) anxious acceleration parameter, is defaulted as 0.30g；
(7) hard port parameter, is defaulted as 0.30g；
(8) anxious right-hand bend parameter, is defaulted as 0.30g.
Collide and judge：Under non-overturning state, plus meter vehicle X, the quadratic sum of Y-axis component is more than threshold value；
Overturn and judge：Z_real is less than threshold value, and continues 5s；
Bring to a halt judgement：When positioning invalid, x_real<0, x_real absolute value be more than threshold value, position it is effective when, it is necessary to plus
Entering condition --- the maximum variable quantity of geard-down speed that GSensor modules are obtained is more than emergency brake threshold value * 0.6；
It is anxious to accelerate to judge：When positioning invalid, x_real>0, x_real absolute value be more than threshold value, position it is effective when, it is necessary to plus
Entering condition --- the maximum variable quantity of speed that GSensor modules are obtained is more than anxious acceleration threshold value * 0.6；
Zig zag judges：When positioning invalid, y_real absolute values are more than threshold value, it is necessary to add bar when positioning effective
The angle variable quantity that part --- GSensor modules are obtained is more than 40.
Recognize whether vehicle travel process occurs turning on one's side by above-mentioned model algorithm, overturn, it is anxious accelerate, it is anxious slow down, it is anxious left
Turn, it is anxious turn right, it is preceding knock into the back, after knock into the back, left collision, the event such as right collision, so as to complete the purpose of early warning.
In summary, the present invention provides a kind of automatic recognition system and method for vehicle drive prior-warning device setting angle,
The bearing data and brake data gathered to GPS module and acceleration transducer is analyzed, and calculates prior-warning device installation
Angle, and xyz axles and the vehicle axis system xyz axles of acceleration transducer axle clamp angle, so as to the installation to prior-warning device
Angle do not require, can keep flat, put upside down and side put can, workmen is simple to operate, convenient and swift；The prior-warning device is installed
After the completion of, automatic identification installation direction angle the correction of parameter identification first can be completed during car steering, after the completion of
All kinds of event analysis, early warning are carried out, adjustment of the installation site for parameter is actively carried out without personnel.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Any modifications, equivalent substitutions and improvements made within principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of automatic recognition system of vehicle drive prior-warning device setting angle, it is characterised in that including：
When GPS module, longitude and latitude, speed and angular separation information for gathering prior-warning device, and responsible collection are corrected first
Assist in identifying the installation direction of prior-warning device；
GSensor modules, the acceleration magnitude in three directions is fastened for real-time acquisition module intrinsic coordinates；
MCU, the data for gathering GPS module and GSensor modules in real time, and the data collected are sent to master control processing
Device；
And main control processor, for analyzing the data message that GPS module and GSensor modules are sended over, calculate vehicle
The axle clamp angle of the xyz naturals system of coordinates of anterior positive direction, so as to realize automatic identification and the setting angle of calibration prior-warning device.
2. the automatic recognition system of vehicle drive prior-warning device setting angle according to claim 1, it is characterised in that institute
State GPS module to form using NEO-6M chip manufacturings, the GSensor modules are formed using MMA8653FCR1 chip manufacturings.
3. the automatic recognition system of vehicle drive prior-warning device setting angle according to claim 1, it is characterised in that institute
State main control processor to form using Hi3520d chip manufacturings, the MCU is formed using STM8S207R8 chip manufacturings.
4. a kind of automatic identifying method of vehicle drive prior-warning device setting angle, it is characterised in that comprise the following steps：
Step 1, prior-warning device is installed on vehicle；
Step 2, vehicle straight-line travelling certain time on flat road is driven, brought to a halt afterwards so that vehicle is complete
Stop motion, in this process using GPS module collection vehicle positional information, and in vehicle brake, using GSensor modules
Acquisition module intrinsic coordinates fastens the acceleration magnitude X in three directionsB、YBAnd ZB；
The vehicle position information that step 3, data and GPS module that GSensor modules are collected are collected is sent at master control
Device is managed, main control processor calculates the axle clamp angle of the xyz coordinate systems of front part of vehicle positive direction according to formula, to realize automatic identification
Setting angle with calibrating prior-warning device, so as to complete intelligent correction.
5. the automatic identifying method of vehicle drive prior-warning device setting angle according to claim 4, it is characterised in that institute
State in step 3, the correction to vehicle early warning device includes static shift correction and dynamic calibration, when GSensor modules detect car
When remaining static, static shift correction is carried out automatically, is kept in motion when GSensor modules detect vehicle, with reference to GPS
The positional information that module is collected, is automatically performed dynamic calibration.
6. the automatic identifying method of vehicle drive prior-warning device setting angle according to claim 4, it is characterised in that
Certain time in the step 2 is more than 6 seconds, and the travel speed of vehicle reaches 20Km/H.
7. the automatic identifying method of vehicle drive prior-warning device setting angle according to claim 4, it is characterised in that
Vehicle straight-line travelling on flat road in the step 2, difference in height is less than 0.5 meter.
8. the automatic identifying method of vehicle drive prior-warning device setting angle according to claim 4, it is characterised in that institute
Stating GSensor modules includes an acceleration transducer.
9. the automatic identifying method of vehicle drive prior-warning device setting angle according to claim 4, it is characterised in that institute
State in step 2 is to detect whether vehicle moves along a straight line, whether vehicle jolts and the brake process of vehicle by GPS module.
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| CN107036630B (en) | 2020-09-25 |
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