CN107292983A - A kind of class hour recording method of driving training and record system - Google Patents
A kind of class hour recording method of driving training and record system Download PDFInfo
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- CN107292983A CN107292983A CN201710328138.8A CN201710328138A CN107292983A CN 107292983 A CN107292983 A CN 107292983A CN 201710328138 A CN201710328138 A CN 201710328138A CN 107292983 A CN107292983 A CN 107292983A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/10—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people together with the recording, indicating or registering of other data, e.g. of signs of identity
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
Abstract
Class hour recording method and record system the invention provides a kind of driving training, the class hour recording method comprise the following steps：When driving, the travelling data of collection vehicle, information of trainee and real-time time；The training contents of vehicle are judged according to the travelling data；The training contents, the information of trainee and the real-time time are output to Surveillance center.The class hour recording method can be according to the vehicle of training motion and the small subject state of posture automatic identification driving training, and small section's purpose subdivision driving training class hour record is carried out according to syllabus, more comprehensive driving training class hour record foundation can be provided to driving school and traffic department, while can also reflect the driving training quality of coach, student comprehensively.
Description
Technical field
The present invention relates to automobile wireless monitoring technology field, more particularly to a kind of class hour recording method of driving training and note
Recording system.
Background technology
At present, the dead and wounded number height of China's traffic accident ranks first in the world, the traffic accident that less than 3 years driving age drivers cause
Account for the 50% of whole accident amounts, the death toll caused accounts for the 36.3% of sum, this and current driver's license training and examination
There are close ties in work.Driving training management work is a chronicity, arduous work, while being also that a n-th-trem relation n is arrived
Road safety produces the important process with social stability.
Due to many Driving Schools in order to get a profit, control oil plant and student's practice periods, training class hour shrink very
To fraud.Teaching, training content is set up just for examination, and how flower of more times is being shut by taking an examination, and causes to learn
Member's training quality significantly declines, and fresh driver is turned into " road killer ", has had a strong impact on normal traffic order.
Due to the above problems, driving training class hour number is to weigh whether Vehicle driving training ensures to train matter
The important indicator of amount.The multi-functional timing device of satellite fix is mounted in the timing device on learner-driven vehicle, and the equipment has fingerprint
Checking, satellite fix（GPS, Big Dipper etc.）, wireless data transmission（GPRS, 3G etc.）, class hour registration card read-write capability.Using real-time
The mode of timing records it during Vehicle driving training and trains time started, training end time, training duration, training
The information such as mileage, F-Zero, training stage are instructed, and can be uploaded to training in management software class hour by class hour registration card.
Coach, coach's vehicle progress positioning in real time, trace playback, timing are captured by satellite fix, wireless data transmission, specified
Candid photograph, fence, car alarming etc., it is ensured that the authenticity in training class hour.
But, current driving training class hour recorder can only record the class hour of driving training, it is impossible to differentiate training at present
Subject content, thus, many driving school coaches and student are intended merely to run class hour and train with dealing with formula, and cannot supervise tool
The training subject of body, thus all driving section purpose training monitoring can not be fully achieved, so that each student can not be completely secured
Driving training quality.
The content of the invention
The technical problems to be solved by the invention are class hour recording method and the record system for providing a kind of driving training,
Aim to solve the problem that training vehicle is unable to the ongoing training contents of automatic identification in the prior art.
The present invention is achieved in that a kind of class hour recording method of driving training, comprises the following steps：
When driving, the travelling data of collection vehicle, information of trainee and real-time time；
The training contents of vehicle are judged according to the travelling data；
The training contents, the information of trainee and the real-time time are output to Surveillance center.
Further, the XYZ axis angular rates of the travelling data of the vehicle including vehicle, linear acceleration, mileage,
Speed, bearing data, vehicle sparking information, reversing information and brake information；
The training contents include right-angled bend, the starting of ramp stopping a train at a target point, curve driving, lateral parking, reversing storage.
Further, it is described when driving, travelling data, information of trainee and the real-time time of collection vehicle are specifically wrapped
Include following steps：
Corresponding information of trainee is exported according to the finger print information of input；
Real-time time, mileage, speed and the azimuth information of vehicle training are obtained using satellite positioning module；
6 axle acceleration sensors being arranged on vehicle obtain XYZ axis angular rates and linear acceleration；
The ACC lines collection vehicle sparking information exported from vehicle, from the speed of speed line collection vehicle, from reversing line collection vehicle
Brake information.
Further, the right-angled bend for judging vehicle according to the travelling data specifically includes following steps：
Judge whether vehicle travels default distance according to the mileage；
After the vehicle has travelled default distance, judge that the angle of turn of the vehicle is according to the XYZ axis angular rates
It is no between 70 degree to 120 degree；
The angle of turn of vehicle reach 70 degree to 120 degree between after, judge whether vehicle continues to move ahead according to the mileage
Default distance；
Vehicle is exported as determined the angle of turn of vehicle between 70 degree to 120 degree and if operating range is in default distance
Information in right-angled bend.
Further, the ramp stopping a train at a target point starting for judging vehicle according to the travelling data specifically includes following steps：
The speed for detecting vehicle be zero and have brake information when, car is judged according to the XYZ axis angular rates after scheduled duration
Inclination angle whether reach default angle；
Vehicle is exported if reaching default angle and is in the information that ramp stopping a train at a target point is started to walk.
Further, the curve driving for judging vehicle according to the travelling data specifically includes following steps：
Judge whether angle of turn double in preset time is more than 70 degree and turning twice to the XYZ axis angular rates
In the opposite direction；
As double angle of turn be more than 70 degree and it is in opposite direction if export information of the vehicle in curve driving.
Further, the lateral parking for judging vehicle according to the travelling data specifically includes following steps：
When detecting the reversing information of vehicle, judge whether the XYZ axis angular rates are double in preset time and turn
Bending angle in preset angular range and turn twice it is in opposite direction；
As double angle of turn in preset time in preset angular range and turn twice it is in opposite direction if
Export the information that vehicle is in lateral parking.
Further, the reversing storage for judging vehicle according to the travelling data specifically includes following steps：
When detecting the reversing information of vehicle, judge the XYZ axis angular rates angle of turn whether 70 degree to 120 degree it
Between, then judge in this way in back to back duration vehicle whether move ahead and the XYZ axis angular rates angle of turn whether
Between 70 degree to 120 degree；
Angle of turn vehicle forward and angle of turn exists between 70 degree to 120 degree and in back to back duration when such as moving backward
The information that vehicle is in reversing storage is then exported between 70 degree to 120 degree.
The present invention also provides a kind of class hour record system of driving training, including：
Acquisition module, when driving, travelling data, information of trainee and the real-time time of collection vehicle；
Judge module, the training contents of vehicle are judged according to the travelling data；
Output module, Surveillance center is output to by the training contents, the information of trainee and the real-time time.
Further, the XYZ axis angular rates of the travelling data of the vehicle including vehicle, linear acceleration, mileage,
Speed, bearing data, vehicle sparking information, reversing information and brake information；
The training contents include right-angled bend, the starting of ramp stopping a train at a target point, curve driving, lateral parking, reversing storage.
Further, the acquisition module includes：
Fingerprint authentication unit, corresponding information of trainee is exported according to the finger print information of input；
Satellite positioning module, the satellite positioning module is used for real-time time, mileage, speed and the side for obtaining vehicle training
Position information；
6 axle acceleration sensors, 6 axle acceleration sensor is arranged on vehicle, for obtaining XYZ axis angular rates and linear
Acceleration；
Data acquisition line, the data acquisition line includes the ACC lines, speed line and reversing line exported from vehicle, the ACC lines
For the sparking information of collection vehicle, the speed line is used for the speed of collection vehicle, and the reversing line is used for collection vehicle
Brake information.
Further, the judge module includes right-angled bend judging unit, and the right-angled bend judging unit includes：
Range determination subelement, it is described to judge whether vehicle travels default distance according to the mileage；
First, which turns, determines subelement, and after the vehicle has travelled default distance, institute is judged according to the XYZ axis angular rates
The angle of turn of vehicle is stated whether between 70 degree to 120 degree；
The range determination subelement, the angle of turn being additionally operable in vehicle reach 70 degree to 120 degree between after, in described
Number of passes is it is judged that whether vehicle continues the default distance that moves ahead；
The first information exports subelement, and the angle of turn of vehicle is determined at 70 degree for determining subelement in the described first turning
Between to 120 degree and the range determination subelement judge operating range then exported in default distance vehicle be in right angle
The information of turning.
Further, the judge module includes ramp stopping a train at a target point starting judging unit, and the ramp stopping a train at a target point rises
Step judging unit includes：
Second turn determine subelement, the speed for detecting vehicle be zero and have brake information when, according to institute after scheduled duration
State XYZ axis angular rates and judge whether the inclination angle of vehicle reaches default angle；
Second information exports subelement, and vehicle is exported if reaching default angle and is in the information that ramp stopping a train at a target point is started to walk.
Further, the judge module includes curve driving judging unit, and the curve driving judging unit includes：
3rd turn determine subelement, judge the XYZ axis angular rates whether angle of turn double in preset time
Turn direction more than 70 degree and twice is opposite；
3rd information exports subelement, such as double angle of turn be more than 70 degree and vehicle exported if in opposite direction in bent
The information of line traveling.
Further, the judge module includes lateral parking judging unit, the lateral parking judging unit bag
Include：
Whether base-leg turn determines subelement, when detecting the reversing information of vehicle, judge the XYZ axis angular rates default
In time double angle of turn in preset angular range and turn twice it is in opposite direction；
4th information exports subelement, and double angle of turn is in preset angular range and two such as in preset time
The then output vehicle in opposite direction of secondary turning is in the information of lateral parking.
Further, the judge module includes reversing storage judging unit, and the reversing storage judging unit includes：
5th, which turns, determines subelement, and when detecting the reversing information of vehicle, judging the angle of turn of the XYZ axis angular rates is
It is no between 70 degree to 120 degree, then judge in back to back duration whether vehicle moves ahead and the XYZ axis angular rates in this way
Angle of turn whether between 70 degree to 120 degree；
5th information exports subelement, and angle of turn is between 70 degree to 120 degree and the car in back to back duration when such as moving backward
Move ahead and angle of turn then exported between 70 degree to 120 degree vehicle be in move backward be put in storage information.
Compared with prior art, beneficial effect is the present invention：The class hour recording method of described driving training being capable of root
The small subject state of motion and posture automatic identification driving training according to the vehicle of training, and small section's purpose is carried out according to syllabus
Segment driving training class hour record, can be provided more comprehensive driving training class hour record to driving school and traffic department according to
According to while can also reflect the driving training quality of coach, student comprehensively.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of the class hour recording method of driving training provided in an embodiment of the present invention；
Fig. 2 be driving training provided in an embodiment of the present invention class hour record system module diagram；
Fig. 3 be further embodiment of this invention provide driving training class hour record system module diagram；
Fig. 4 is that the training court of right-angled bend sets schematic diagram；
Fig. 5 is ramp stopping a train at a target point and the training court setting schematic diagram of starting；
Fig. 6 is that the training court of curve driving sets schematic diagram；
Fig. 7 is that the training court of side parking sets schematic diagram；
Fig. 8 is that the training court of reversing storage sets schematic diagram；
Fig. 9 is the schematic flow sheet of horizontal alignment when vehicle is not actuated；
Figure 10 is to judge the schematic flow sheet that vehicle is started to walk in ramp stopping a train at a target point.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The class hour recording method of the driving training of the present invention, by setting driving training class hour to record in the vehicle of training
Instrument, and combined high precision satellite positioning module, learner-driven vehicle sensor IO outputs and 6 axle acceleration sensors, i.e., can be in instruction
Whether automatic identification vehicle is in during white silk：Right-angled bend, the starting of ramp stopping a train at a target point, curve driving, lateral parking, fall
Car is put in storage the training of this 5 kinds of place driving efficiencies, and these training contents and corresponding training time and information of trainee are uploaded
To Surveillance center.
As shown in figure 1, the schematic flow sheet of the class hour recording method for a kind of driving training provided in an embodiment of the present invention.
The class hour recording method of the driving training, comprises the following steps：
S101, when driving, travelling data, information of trainee and the real-time time of collection vehicle.
S102, the training contents for judging according to the travelling data vehicle.
S103, the training contents, the information of trainee and the real-time time be output to Surveillance center.
XYZ axis angular rate of the travelling data of the vehicle including vehicle, linear acceleration, mileage, speed, orientation
Data, vehicle sparking information, reversing information and brake information.The training contents, which include right-angled bend, ramp stopping a train at a target point, to be risen
Step, curve driving, lateral parking, reversing storage.
On the basis of above-described embodiment, step S101 specifically includes following steps：
Corresponding information of trainee is exported according to the finger print information of input.The finger print information can use fingerprint reading card device to enter each
The student for entering vehicle training is acquired, and the finger print information collected is matched with the information of trainee of advance typing, so
Information of trainee corresponding with the finger print information received is output to monitoring system afterwards.
Real-time time, mileage, speed and the azimuth information of vehicle training are obtained using satellite positioning module.
6 axle acceleration sensors being arranged on vehicle obtain XYZ axis angular rates and linear acceleration.
The ACC lines collection vehicle sparking information exported from vehicle, from the speed of speed line collection vehicle, from reversing line collection
The brake information of vehicle.
With reference to the various embodiments described above, the right-angled bend for judging vehicle according to the travelling data specifically includes following steps：
Judge whether vehicle travels default distance according to the mileage.The default distance can be 5 to 10m, at this
In the range of to do the adjustment of 2 meters or so scopes be also acceptable.
After the vehicle has travelled default distance, the turning angle of the vehicle is judged according to the XYZ axis angular rates
Whether degree is between 70 degree to 120 degree.
The angle of turn of vehicle reach 70 degree to 120 degree between after, judge whether vehicle continues according to the mileage
Move ahead default distance.
Exported as determined the angle of turn of vehicle between 70 degree to 120 degree and if operating range is in default distance
Vehicle is in the information of right-angled bend.
Specifically, vehicle is in the training of right-angled bend, it is desirable to which vehicle presses defined link travel with low speed, does not stop once
Car is completed, and vehicle can pass through in right-angled bend from left to right or from right to left.As shown in figure 4, being the training court of right-angled bend
Schematic diagram is set, in the training court of right-angled bend, it is desirable to which road length is more than or equal to 1.5 times of vehicle commanders, dilly have a lot of social connections for
The wheelbase of dilly adds 1m, tractor truck is had a lot of social connections for tractor wheelbase plus 3m, and other vehicles are had a lot of social connections for corresponding vehicle
Wheelbase add 0.5m.
Speed line and reversing line are needed to use when carrying out travelling data collection, when reversing line detects reversing information
Shi Ze is not judged right-angled bend.As a kind of embodiment therein, when vehicle is kept straight on 5 to 10 meters toward front, then enter
Row is turned, and angle of turn is when between 70 degree to 120 degree, then has the data of 5 to 10 meters of straight trip, then vehicle is in right-angled bend
Training contents.
With reference to the various embodiments described above, according to the travelling data judge the ramp stopping a train at a target point starting of vehicle specifically include with
Lower step：
The speed for detecting vehicle be zero and have brake information when, car is judged according to the XYZ axis angular rates after scheduled duration
Inclination angle whether reach default angle.The scheduled duration is generally shorter time range, such as, 2 seconds, 3 seconds, 4 seconds
Deng.The angle of inclination of vehicle is general at 10 degree or so.
Vehicle is exported if reaching default angle and is in the information that ramp stopping a train at a target point is started to walk.
Specifically, vehicle is in the training that ramp stopping a train at a target point is started to walk, it is desirable to which automobile driver passes through vision and sensation
Judge the gradient size in ramp, length in time and the road conditions such as have a lot of social connections, take correct operating method, control vehicle steadily to stop
Car and starting.Accomplish that the action for turning to rapid correct, gearshift, manipulation accelerator pedal, EPB and clutch pedal is accurate
Really coordinate.As shown in figure 5, setting schematic diagram for the training court of ramp stopping a train at a target point and starting.In ramp stopping a train at a target point and rise
In the training court of step, stopping a train at a target point stake bar is more than 1.5 times of vehicle commanders away from bottom of slope, and full length of grade is more than 30 meters.
Need to use speed line during ramp stopping a train at a target point and starting and brake cable is acquired to travelling data.
As a kind of embodiment therein, after vehicle parking is detected within 2 seconds, the angle of inclination of vehicle reaches 10 degree or so
When, then vehicle is in the training contents of ramp stopping a train at a target point and starting.
With reference to the various embodiments described above, the curve driving for judging vehicle according to the travelling data specifically includes following steps：
Judge whether angle of turn double in preset time is more than 70 degree and turning twice to the XYZ axis angular rates
In the opposite direction.Preset time is general to go to determine according to length of a curve.
As double angle of turn be more than 70 degree and it is in opposite direction if export information of the vehicle in curve driving.
Specifically, vehicle is in the training of curve driving, it is desirable to which vehicle advances from one end of bend to be driven into, and deceleration is kept out,
Rolled away from low gear speed from the other end.As shown in fig. 6, setting schematic diagram for the training court of curve driving.In the instruction of curve driving
Practice in field, having a lot of social connections for oversize vehicle is set to 4m, and having a lot of social connections for dilly is set to 3.5m, and having a lot of social connections for motorcycle is set to
2.5m.Radius of turn：Oversize vehicle is 12m, and dilly is 7.5m, and motorcycle is 5m.Turning arc length：3/8ths circles
Week.
Need to use speed line collection travelling data during curve driving, as one of embodiment, when
Detect vehicle and be carried out continuously opposite direction twice at the appointed time and turning of the angle more than more than 70 degree, then vehicle is in song
The training contents of line traveling.
With reference to the above embodiments, judge that the lateral parking of vehicle specifically includes following step according to the travelling data
Suddenly：
When detecting the reversing information of vehicle, judge whether the XYZ axis angular rates are double in preset time and turn
Bending angle in preset angular range and turn twice it is in opposite direction.
Double angle of turn is in preset angular range and the direction phase turned twice such as in preset time
Anti- then output vehicle is in the information of lateral parking.
Specifically, lateral parking requires that driver drives vehicle and do not touching, wiping warehouse compartment stake bar, wheel not pressure touch lane side
In the case of line, warehouse compartment sideline, by way of one enters and moves back, vehicle is moved into the warehouse compartment of right side.As shown in fig. 7, being side
The training court of parking sets schematic diagram, and the training court of side parking requires parking stall（Storehouse）Long motorbus is 1.5 times of vehicle commanders
Subtract 1m, dilly is that 1.5 times of vehicle commanders add lm, and other vehicles are 1.5 times of vehicle commanders.Parking stall（Storehouse）A width of overall width adds 80cm.Track
A width of 1.5 times of overall width add 80cm.
Need to be acquired travelling data with speed line and brake cable during lateral parking.Detecting car
It is being carried out continuously in the case of reversing and at the appointed time opposite direction twice and when angle is in 50 degree or so of turn, then vehicle
Training contents in curve driving.
With reference to the various embodiments described above, the reversing storage for judging vehicle according to the travelling data specifically includes following steps：
When detecting the reversing information of vehicle, judge the XYZ axis angular rates angle of turn whether 70 degree to 120 degree it
Between, then judge in this way in back to back duration vehicle whether move ahead and the XYZ axis angular rates angle of turn whether
Between 70 degree to 120 degree.
Angle of turn is between 70 degree to 120 degree and vehicle forward and turning angle in back to back duration when such as moving backward
Degree then exports the information that vehicle is in reversing storage between 70 degree to 120 degree.
Specifically, vehicle is in the training of reversing storage, it is desirable to which vehicle advance and retreat must not stop in way, from the control of road one end
Line（Vehicle body presses control line）Garage parking is poured into, the outbound that readvances is crossed to the other end pours into garage parking after control line, finally
Garage is rolled in advance away from.As shown in figure 8, the training court for reversing storage sets schematic diagram.
Need to use reversing line during storage of moving backward and brake cable is acquired to travelling data.When detecting car
Carried out in the case of reversing a right-angled bend and within 10 seconds vehicle travel forward do a right-angled bend when, then vehicle
Training contents in reversing storage.
When the engine start for needing to judge vehicle, it is necessary to use ACC lines, impulse line, camshaft location sensing detection
Line is acquired to the travelling data of vehicle.When vehicle stall, vehicle-state is shown " engine is not actuated "；When vehicle sparking
Afterwards, vehicle-state is shown " in engine start ".After vehicle take-offs, vehicle-state is then shown as " in vehicle traveling ".
On the basis of the logic judgment of the various embodiments described above, it is necessary to carry out the water of vehicle before recording method is entered
Flat calibration, as shown in figure 9, being the schematic flow sheet of vehicle horizontal alignment when not actuated.
Not actuated in vehicle, when speed is 0Km/h, manually operated menu carries out horizontal alignment, so as to calculate level land angle
The angle value of degree and R0.32 groups of angular velocity datas are got according to the sampling of 6 axle acceleration sensors, and each data are passed through
Multiply 875 again divided by 1000 are carried out after angle conversion, take the average value of 32 groups of data as R0 values.
, it is necessary to carry out following data processing when giveing the specific identification of content training：
Primary Stage Data prepares
Read acceleration transducer and obtain multigroup number of axle evidences of sensors X YZ tri-, according to set sensor sample cycle 100HZ and
Read cycle 10HZ determines the group number read.
One group of number of axle evidence of sensors X YZ tri- is obtained by gyroscope.
Real time data information is gathered, such as current time, speed, mileage, state of rolling backward information in real time.
Primary data processing adjustment
A, by the angle value unit conversion obtained from sensor be 0.01 degrees second.
B, the real-time R0 of calculating.
C, decision threshold are 200 degrees seconds, and the average angle for subtracting the sampling 100 times that speed is 0 using current angular is worth
To this sampling angle changing value, it is valid data to take angle change absolute value to be more than threshold values, otherwise ignores the value.
Preliminary sampling by filtration value is carried out, and average angle is subtracted according to this angle calculating what is changed when time sampled data
Angle value.
Scan mechanism state processing（Residing road state, scope is [0-12]）
A, scan mechanism state are space-time：, will when accumulative angle and this angle changing are simultaneously greater than 0 or are less than 0 simultaneously
This angle changing is included in accumulative angle, sampling interval and is included in time timing, records current real-time time；Judge whether reversing letter
Number, if then setting reversing labeled as true；Continuous 3 times（The effective processing identical with this angle changing symbol of accumulative angle changing
Number of times, is to be calculated to obtain according to the digital simulation of actual acquisition）Symbol is identical, then it represents that valid data are produced, into subject
Identification state.
When accumulative angle is different with this angle changing sign symbol, the information such as reversing mark, accumulative angle are carried out
Initialization.
B, data effectively, are recognized into specific section's purpose：When accumulative angle is identical with this angle changing symbol：More
Newly add up angle, time timing, record time；Astern signal is determined whether, if then setting reversing labeled as true, symbol is removed
The counting how many times that number position changes.
There are following three kinds of situations for angle：
The first situation：There is no astern signal, keep straight on 5 meters；When secondary angle change is 0, without astern signal, then force to preserve,
And scanning buffer.
Second of situation：Other angles are not just returned for the time being, may be considered in follow-up optimization by multiple angle groups
Synthesis [- 70, -120).
The third situation：There is a small angle before straight trip, so may result in right angle delayed fashion, straight trip exceedes
Just force for 5 meters to preserve and scanning buffer.
When accumulative angle is different with this angle changing symbol：The main distinction of the processing mode with symbol when identical exists
In：Need initially to add up angle, time timing, record time and mileage value again, before and after increase processing is for symbol in addition
The situation of change, is needed to do different disposal for the renewal for adding up the correlatives such as angle, and new data is updated and arrives correlative sequence number
1, do assignment 0 for sequence number 2,3 and handle.
Store data into caching (spatial cache is global structure body variable), and handled
Angle accumulation process before a, basis, when the accumulative angle turned over is less than or equal to -60 degree and during without astern signal, is set
Scan mechanism state is right-angled bend or the curved states of S；
B, when there is astern signal, set scan mechanism state to have astern signal state；
C, by before data duplication useful behind buffering area to buffering area, and by removing below.
Buffer state processing is scanned, and produces right-angled bend, S curved, lateral parking, reversing storage judged result, root
Respective handling is done according to the state of scan mechanism
A, dummy status：When scan mechanism state is that astern signal is effective, set scan mechanism state to have proceeded by reversing
The angle accumulation of signal, and current cache call number is recorded, so that ensuing processing confirms data buffer storage position；Work as scanning machine
When state processed is right-angled bend or effective curved signals of S, scan mechanism state is set for right-angled bend or the curved states of S, and
Record current cache call number；
When b, scan mechanism state are right-angled bend or S curved：Need to judge that right-angled bend or S are curved respectively；Angular range
- [60,120), without astern signal (being judged before), turn after the fare register kept straight on, carry out right-angled bend and S be curved
Judge：
The first, right-angled bend add up subsequent process produce angle, when cumulative angle be less than or equal to 10 degree, process generation angle
Degree is more than or equal to -120 mileage values spent and travelled during being somebody's turn to do and is less than 40 meters, then judges to produce right-angled bend, by scanning machine
State processed is set to dummy status；
Secondth, S is curved, the angle that the cumulative subsequent process of right-angled bend is produced, when cumulative angle is more than or equal to 80 degree, and the process
The mileage value of middle traveling is less than 40 meters, then judges that generation S is curved, scan mechanism state is set into dummy status；
If more than -60 degree, opened again from this angle it is noted here that working as angle in next caching index data
Begin to judge, it is not necessary that and merging below, otherwise can delayed display right-angled bend result.
If condition is invalid, need to rescan, and set new scanning to originate index number and by scan mechanism
State is set to dummy status, needs to exit previous cycle if current cache also has valid data and rescans.
When c, scan mechanism state move backward angle accumulation to proceed by：Processing during in the presence of effective astern signal, enters
Enter after state of rolling backward, if astern signal, just angle is carried out cumulative and also to judge the condition for the correlation of falling storehouse, prevent down storehouse
When timing it is long.
The first situation, scan mechanism state is to proceed by astern signal angle accumulation and effective astern signal；Here
Should be noted to be added to the angle of astern signal during mainly outbound, before be interference, be from the angle weight for having astern signal
It is new start scanning, former and later two have reversing signal angle, too wide in the gap (50m), data above are interference, it is necessary to from most
Near restarts scanning from the angle for having astern signal, is separately judged in centre, can be prevented effectively from the delayed of result, and will
Situation of the side together with storehouse is separated.
When accumulative angle is less than or equal to 20 degree, former and later two angles for having astern signal differ less than 8 meters, and current index
Process angle is more than or equal to 20 degree, the above three process angles for having astern signal and is less than or equal to -20 degree, full when condition is set up
Sufficient lateral parking, and initialization scan correlative.
Second of situation, when not having astern signal, the part needs to consider：Ignore less than 10 degree and mileage 2.5
If the angle without reversing astern signal, angle changing rate in rice are big, carry out side and the judgement of falling storehouse, side judge to be divided to two
Part, before and after, carry out caching remove before judge fall storehouse.
Lateral parking：The process angle accumulated before is less than 45 degree and mileage value changes are between [10,20], in the feelings
Under condition, judgement is re-started, and has angle that is more than -10 degree and having astern signal when wherein, process angle is recalculated
Changing value, if cumulative angle absolute value be less than 20 degree, meet lateral parking condition.
Reversing storage：The process angle accumulated before is less than 45 degree and mileage value changes are between [10,20], ungratified
In the case of, process angle be more than 45 degree, mileage changing value less than 100m and during without astern signal, the status data before cleaning
Again count, when process adds up angle absolute value more than 55 degree, judge to meet the condition of reversing storage.
It should be noted that when lateral parking and reversing storage are all unsatisfactory for, it is necessary to be included in the data removed
Astern signal.
Ramp stopping a train at a target point starting
As shown in Figure 10, to judge schematic flow sheet that vehicle is started to walk in ramp stopping a train at a target point.
A, acquisition acceleration transducer data, according to three number of axle of acquisition according to three angles are calculated, be respectively：
The angle of Z axis and horizontal plane：asin(vp_Z/R)*180/PI；
Y-axis relative to Y horizontal squares to angle：atan2(vp_Y/R, vp_Z/R)*180/PI；
X-axis relative to X horizontal squares to angle：atan2(vp_X/R, vp_Z/R)*180/PI；
Every group of angle is calculated respectively, and the summation that adds up, take the angle of X and Y-axis to add up, calculate all groups when time acquisition
Angle and after, further take out average value.
B, judge ramp pinpoint：The first step, according to the average angle angle value calculated before, is subtracted average with X-axis angle value
Angle value come calculate with calibration level angle angle difference.
When the angle difference of calculating is more than 5 degree, also to meet and stop in 2 seconds, ramp judges just effective, because of level land handle
Stop starting also can erroneous judgement be ramp.
For correctly recognizing the processing after subject
When subject recognition result is not for empty state, and subject identification shows that subject timing is no more than 10 seconds（Duration is basis
Display effect of terminal is determined）When, subject dispaly state is not updated, and real-time subject state backup exceedes in display subject timing
Updated at 10 seconds and show backup subject state.
The class hour recording method of described driving training can be according to learner-driven vehicle motion and posture, with reference in driving training
The characteristics of appearance itself, algorithm for design carried out the content that automatic identification is under training, while it is thin to carry out small section's purpose according to syllabus
Point driving training class hour record, can be provided more comprehensive driving training class hour record to driving school and traffic department according to
According to, and objectively and impartially comprehensive reflection coach, the driving training quality of student can be compared.
Another embodiment of the present invention, as shown in Fig. 2 for driving training class hour record system module diagram.Should
The class hour record system of driving training includes：
Acquisition module 201, when driving, travelling data, information of trainee and the real-time time of collection vehicle；
Judge module 202, the training contents of vehicle are judged according to the travelling data；
Output module 203, Surveillance center is output to by the training contents, the information of trainee and the real-time time.
XYZ axis angular rate of the travelling data of the vehicle including vehicle, linear acceleration, mileage, speed, orientation
Data, vehicle sparking information, reversing information and brake information.The training contents, which include right-angled bend, ramp stopping a train at a target point, to be risen
Step, curve driving, lateral parking, reversing storage.
With reference to shown in Fig. 3, the acquisition module includes：Fingerprint authentication unit 2011, satellite positioning module 2012,6 axles add
Velocity sensor 2013 and data gathering line 2014.The detailed description of each module is as follows：
Fingerprint authentication unit 2011 exports corresponding information of trainee according to the finger print information of input.
Satellite positioning module 2012 is used to obtain real-time time, mileage, speed and azimuth information of vehicle training etc..
6 axle acceleration sensors 2013 are arranged on vehicle, for obtaining XYZ axis angular rates and linear acceleration.
Data acquisition line 2014 includes the ACC lines, speed line and reversing line exported from vehicle.Wherein, the ACC lines are used
In the sparking information of collection vehicle, the speed line is used for the speed of collection vehicle, and the reversing line is used for stopping for collection vehicle
Car information.
Judge module 202 includes：Right-angled bend judging unit 2021, ramp stopping a train at a target point starting judging unit 2022, song
Line traveling judging unit 2023, lateral parking judging unit 2024 and reversing storage judging unit 2025.Each judging unit
Describe in detail as follows：
Right-angled bend judging unit 2021 includes：Range determination subelement, it is described that whether vehicle is judged according to the mileage
Travel default distance；First, which turns, determines subelement, after the vehicle has travelled default distance, according to the XYZ axles
Whether angular speed judges the angle of turn of the vehicle between 70 degree to 120 degree；The range determination subelement, is additionally operable to
The angle of turn of vehicle reach 70 degree to 120 degree between after, judge whether vehicle continues to move ahead according to the mileage default
Distance；The first information exports subelement, and the angle of turn for determining vehicle in the described first turning measure subelement exists
Between 70 degree to 120 degree and operating range that the range determination subelement judges then exports vehicle in default distance and is in
The information of right-angled bend.
Ramp stopping a train at a target point starting judging unit 2022 includes：Second, which turns, determines subelement, detects the speed of vehicle
Be zero and have brake information when, judge whether the XYZ axis angular rates reach default angle after scheduled duration；Second information
Subelement is exported, vehicle is exported if reaching default angle and is in the information that ramp stopping a train at a target point is started to walk.
Curve driving judging unit 2023 includes：3rd turn determine subelement, judge the XYZ axis angular rates whether
The turn direction of double angle of turn more than 70 degree and twice is opposite in preset time；3rd information exports subelement,
As double angle of turn be more than 70 degree and it is in opposite direction if export information of the vehicle in curve driving.
Lateral parking judging unit 2024 includes：Base-leg turn determines subelement, when the reversing information for detecting vehicle
When, judge the XYZ axis angular rates whether angle of turn double in preset time in preset angular range and
That turns twice is in opposite direction；4th information exports subelement, and double angle of turn is preset such as in preset time
Angular range in and the then output vehicle in opposite direction turned twice is in the information of lateral parking.
Reversing storage judging unit 2025 includes：5th, which turns, determines subelement, when detecting the reversing information of vehicle, sentences
The angle of turn of the disconnected XYZ axis angular rates then judges the car in back to back duration in this way whether between 70 degree to 120 degree
Whether move ahead and the XYZ axis angular rates angle of turn whether between 70 degree to 120 degree；5th information output is single
Member, angle of turn vehicle forward and angle of turn exists between 70 degree to 120 degree and in back to back duration when such as moving backward
The information that vehicle is in reversing storage is then exported between 70 degree to 120 degree.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (16)
1. the class hour recording method of a kind of driving training, it is characterised in that comprise the following steps：
When driving, the travelling data of collection vehicle, information of trainee and real-time time；
The training contents of vehicle are judged according to the travelling data；
The training contents, the information of trainee and the real-time time are output to Surveillance center.
2. class hour recording method according to claim 1, it is characterised in that the travelling data of the vehicle includes vehicle
XYZ axis angular rates, linear acceleration, mileage, speed, bearing data, vehicle sparking information, reversing information and brake letter
Breath；
The training contents include right-angled bend, the starting of ramp stopping a train at a target point, curve driving, lateral parking, reversing storage.
3. class hour recording method according to claim 1, it is characterised in that it is described when driving, collection vehicle
Travelling data, information of trainee and real-time time specifically include following steps：
Corresponding information of trainee is exported according to the finger print information of input；
Real-time time, mileage, speed and the azimuth information of vehicle training are obtained using satellite positioning module；
6 axle acceleration sensors being arranged on vehicle obtain XYZ axis angular rates and linear acceleration；
The ACC lines collection vehicle sparking information exported from vehicle, from the speed of speed line collection vehicle, from reversing line collection vehicle
Brake information.
4. class hour recording method according to claim 2, it is characterised in that the straight of vehicle is judged according to the travelling data
Turn and specifically include following steps in angle：
Judge whether vehicle travels default distance according to the mileage；
After the vehicle has travelled default distance, judge that the angle of turn of the vehicle is according to the XYZ axis angular rates
It is no between 70 degree to 120 degree；
The angle of turn of vehicle reach 70 degree to 120 degree between after, judge whether vehicle continues to move ahead according to the mileage
Default distance；
Vehicle is exported as determined the angle of turn of vehicle between 70 degree to 120 degree and if operating range is in default distance
Information in right-angled bend.
5. class hour recording method according to claim 2, it is characterised in that the slope of vehicle is judged according to the travelling data
Road stopping a train at a target point starting specifically includes following steps：
The speed for detecting vehicle be zero and have brake information when, car is judged according to the XYZ axis angular rates after scheduled duration
Inclination angle whether reach default angle；
Vehicle is exported if reaching default angle and is in the information that ramp stopping a train at a target point is started to walk.
6. class hour recording method according to claim 2, it is characterised in that the song of vehicle is judged according to the travelling data
Line traveling specifically includes following steps：
Judge whether angle of turn double in preset time is more than 70 degree and turning twice to the XYZ axis angular rates
In the opposite direction；
As double angle of turn be more than 70 degree and it is in opposite direction if export information of the vehicle in curve driving.
7. class hour recording method according to claim 2, it is characterised in that the side of vehicle is judged according to the travelling data
Orientation parking specifically includes following steps：
When detecting the reversing information of vehicle, judge whether the XYZ axis angular rates are double in preset time and turn
Bending angle in preset angular range and turn twice it is in opposite direction；
As double angle of turn in preset time in preset angular range and turn twice it is in opposite direction if
Export the information that vehicle is in lateral parking.
8. class hour recording method according to claim 2, it is characterised in that falling for vehicle is judged according to the travelling data
Car storage specifically includes following steps：
When detecting the reversing information of vehicle, judge the XYZ axis angular rates angle of turn whether 70 degree to 120 degree it
Between, then judge in this way in back to back duration vehicle whether move ahead and the XYZ axis angular rates angle of turn whether
Between 70 degree to 120 degree；
Angle of turn vehicle forward and angle of turn exists between 70 degree to 120 degree and in back to back duration when such as moving backward
The information that vehicle is in reversing storage is then exported between 70 degree to 120 degree.
9. a kind of class hour record system of driving training, it is characterised in that including：
Acquisition module, when driving, travelling data, information of trainee and the real-time time of collection vehicle；
Judge module, the training contents of vehicle are judged according to the travelling data；
Output module, Surveillance center is output to by the training contents, the information of trainee and the real-time time.
10. class hour record system according to claim 9, it is characterised in that the travelling data of the vehicle includes vehicle
XYZ axis angular rates, linear acceleration, mileage, speed, bearing data, vehicle sparking information, reversing information and brake letter
Breath；
The training contents include right-angled bend, the starting of ramp stopping a train at a target point, curve driving, lateral parking, reversing storage.
11. class hour record system according to claim 9, it is characterised in that the acquisition module includes：
Fingerprint authentication unit, corresponding information of trainee is exported according to the finger print information of input；
Satellite positioning module, the satellite positioning module is used for real-time time, mileage, speed and the side for obtaining vehicle training
Position information；
6 axle acceleration sensors, 6 axle acceleration sensor is arranged on vehicle, for obtaining XYZ axis angular rates and linear
Acceleration；
Data acquisition line, the data acquisition line includes the ACC lines, speed line and reversing line exported from vehicle, the ACC lines
For the sparking information of collection vehicle, the speed line is used for the speed of collection vehicle, and the reversing line is used for collection vehicle
Brake information.
12. class hour record system according to claim 10, it is characterised in that the judge module is sentenced including right-angled bend
Disconnected unit, the right-angled bend judging unit includes：
Range determination subelement, it is described to judge whether vehicle travels default distance according to the mileage；
First, which turns, determines subelement, and after the vehicle has travelled default distance, institute is judged according to the XYZ axis angular rates
The angle of turn of vehicle is stated whether between 70 degree to 120 degree；
The range determination subelement, the angle of turn being additionally operable in vehicle reach 70 degree to 120 degree between after, in described
Number of passes is it is judged that whether vehicle continues the default distance that moves ahead；
The first information exports subelement, and the angle of turn of vehicle is determined at 70 degree for determining subelement in the described first turning
Between to 120 degree and the range determination subelement judge operating range then exported in default distance vehicle be in right angle
The information of turning.
13. class hour record system according to claim 10, it is characterised in that the judge module includes ramp fixed point and stopped
Car starting judging unit, the ramp stopping a train at a target point starting judging unit includes：
Second turn determine subelement, the speed for detecting vehicle be zero and have brake information when, according to institute after scheduled duration
State XYZ axis angular rates and judge whether the inclination angle of vehicle reaches default angle；
Second information exports subelement, and vehicle is exported if reaching default angle and is in the information that ramp stopping a train at a target point is started to walk.
14. class hour record system according to claim 10, it is characterised in that the judge module is sentenced including curve driving
Disconnected unit, the curve driving judging unit includes：
3rd turn determine subelement, judge the XYZ axis angular rates whether angle of turn double in preset time
Turn direction more than 70 degree and twice is opposite；
3rd information exports subelement, such as double angle of turn be more than 70 degree and vehicle exported if in opposite direction in bent
The information of line traveling.
15. class hour record system according to claim 10, it is characterised in that the judge module includes lateral parking
Judging unit, the lateral parking judging unit includes：
Whether base-leg turn determines subelement, when detecting the reversing information of vehicle, judge the XYZ axis angular rates default
In time double angle of turn in preset angular range and turn twice it is in opposite direction；
4th information exports subelement, and double angle of turn is in preset angular range and two such as in preset time
The then output vehicle in opposite direction of secondary turning is in the information of lateral parking.
16. class hour record system according to claim 10, it is characterised in that the judge module includes reversing storage and sentenced
Disconnected unit, the reversing storage judging unit includes：
5th, which turns, determines subelement, and when detecting the reversing information of vehicle, judging the angle of turn of the XYZ axis angular rates is
It is no between 70 degree to 120 degree, then judge in back to back duration whether vehicle moves ahead and the XYZ axis angular rates in this way
Angle of turn whether between 70 degree to 120 degree；
5th information exports subelement, and angle of turn is between 70 degree to 120 degree and the car in back to back duration when such as moving backward
Move ahead and angle of turn then exported between 70 degree to 120 degree vehicle be in move backward be put in storage information.
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Application publication date: 20171024 |