CN109204318A - A kind of method and terminal device of the rapidly lane change of judgement vehicle - Google Patents

A kind of method and terminal device of the rapidly lane change of judgement vehicle Download PDF

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Publication number
CN109204318A
CN109204318A CN201810826503.2A CN201810826503A CN109204318A CN 109204318 A CN109204318 A CN 109204318A CN 201810826503 A CN201810826503 A CN 201810826503A CN 109204318 A CN109204318 A CN 109204318A
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vehicle
absolute value
lane change
angle
rapidly
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CN201810826503.2A
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CN109204318B (en
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刘均
褚之恒
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Shenzhen Launch Technology Co Ltd
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Shenzhen Launch Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/11—Pitch movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/16—Pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/18—Roll

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application is suitable for road traffic technical field, provides the method and terminal device of a kind of judgement vehicle rapidly lane change, comprising: obtain vehicle in the speed v1 of first time period T1, the absolute value △ δ of orientation angle increment1, pitching angle increment absolute value △ β1With the absolute value △ γ of rolling angle increment1；According to the mark sheet pre-seted, azimuth delta threshold a corresponding to v1 is obtained1, pitch angle delta threshold b1With roll angle delta threshold c1；According to the absolute value △ δ of orientation angle increment1, azimuth delta threshold a1, pitching angle increment absolute value △ β1, pitch angle delta threshold b1, rolling angle increment absolute value △ γ1And roll angle delta threshold c1, judge whether the vehicle occurs rapidly lane change.By establishing the corresponding relationship of rapidly lane change event and the angle changing threshold value of car speed, azimuth, pitch angle and roll angle, the accuracy for judging rapidly lane change event can be effectively improved.

Description

A kind of method and terminal device of the rapidly lane change of judgement vehicle
Technical field
The application belongs to road traffic technical field more particularly to a kind of method and terminal of the rapidly lane change of judgement vehicle are set It is standby.
Background technique
As social and economic level, intellectualization times develop, " shared economy ", " unmanned " mode are with a kind of fast The mode of speed development is presented in face of people, and gradually penetrates into consumption to all kinds of industries of production, effectively advances production Industry innovation and transition and upgrade.Shared automobile, intelligent automobile and the daily life for coming into ordinary people gradually such as unmanned.One side Face, shared automobile, unmanned etc. to public daily life bring it is many fast with convenience；On the other hand, due to lacking Platform supervision, project verification bill, technical barrier etc., the traffic as caused by driver's misoperation, intelligent terminal error in judgement Accident is growing day by day.
Abnormal lane change behavior, it is to evaluate the key factor of driver's driving behavior that such as rapidly lane change, which is judgement, accurate, can By ground judgement, rapidly lane change event is most important.Judge vehicle rapidly lane change event, can not only monitor shared vehicle, social vehicle , the real-time driving behavior of driver during the lane changes such as highway, urban road, Driving Test section such as driving school learner-driven vehicle, Reliable basis can also be provided for platform supervision, the delimitation of settlement of insurance claim responsibility etc..Meanwhile driver can also be reminded to take more in time For reasonable, effective drive manner, unnecessary loss of property, casualties are avoided.
Judge that the method False Rate of rapidly lane change event is higher at present.Therefore, judge the accurate of vehicle rapidly lane change event It spends to be improved.
Summary of the invention
In view of this, the embodiment of the present application provides the method and terminal device of a kind of judgement vehicle rapidly lane change, with solution Certainly rapidly lane change judges the low problem of precision in the prior art.
The first aspect of the embodiment of the present application provides a kind of method of judgement vehicle rapidly lane change, comprising:
Vehicle is obtained in the speed v1 of first time period T1, the absolute value △ δ of orientation angle increment1, pitching angle increment it is exhausted To value △ β1With the absolute value △ γ of rolling angle increment1；
According to the mark sheet pre-seted, azimuth delta threshold a corresponding to v1 is obtained1, pitch angle delta threshold b1With turn over Roll angle delta threshold c1, wherein the mark sheet is car speed and azimuth delta threshold, pitch angle delta threshold and rolling The mapping table of angle increment threshold value；
According to the absolute value △ δ of orientation angle increment1, azimuth delta threshold a1, pitching angle increment absolute value △ β1, bow Elevation angle delta threshold b1, rolling angle increment absolute value △ γ1And roll angle delta threshold c1, judge whether the vehicle is sent out Raw rapidly lane change.
Further, according to the absolute value △ δ of orientation angle increment1, azimuth delta threshold a1, pitching angle increment it is absolute Value △ β1, pitch angle delta threshold b1, rolling angle increment absolute value △ γ1And roll angle delta threshold c1, judge the vehicle Rapidly lane change whether occurs specifically includes:
If △ δ1> a1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ β1> b1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ γ1> c1, judge that rapidly lane change occurs for the vehicle.
Further, this method further includes: the mark sheet pre-seted further includes that car speed and azimuth second increase The corresponding relationship for measuring threshold value obtains azimuth the second delta threshold a corresponding to v1 according to the mark sheet pre-seted2；
If a1< △ δ1< a2, then judge that rapidly lane change occurs for the vehicle, wherein a1< a2。
Further, this method further includes:
Judge the type of the vehicle, wherein the type of the vehicle is cargo vehicle, offroad vehicle, dump truck, leads Draw one of vehicle, special purpose vehicle, car, car and semitrailer；
According to the type of the vehicle, the mark sheet is pre-seted；
The mark sheet that the basis pre-sets obtains azimuth delta threshold a corresponding to v11, pitch angle delta threshold b1 With roll angle delta threshold c1It specifically includes:
According to mark sheet corresponding to the type of vehicle pre-seted, azimuth delta threshold a corresponding to v1 is obtained1, bow Elevation angle delta threshold b1With roll angle delta threshold c1。
Further, if judging, rapidly lane change, this method occur for the vehicle further include:
Vehicle is obtained in the speed v2 of second time period T2, the absolute value △ δ of orientation angle increment2, pitching angle increment it is exhausted To value △ β2With the absolute value △ γ of rolling angle increment2, wherein the second time period is continuous after first period Next period；
According to the mark sheet, azimuth delta threshold a corresponding to v2 is obtained2, pitch angle delta threshold b2And roll angle Delta threshold c2；
According to the absolute value △ δ of orientation angle increment2, azimuth delta threshold a2, pitching angle increment absolute value △ β2, bow Elevation angle delta threshold b2, rolling angle increment absolute value △ γ2And roll angle delta threshold c2, judge whether the vehicle is sent out Raw rapidly lane change；
If so, determining that rapidly lane change occurs for the vehicle.
Further, vehicle is obtained in the speed v1 of first time period T1, the absolute value △ δ of orientation angle increment1, pitch angle The absolute value △ β of increment1With the absolute value △ γ of rolling angle increment1Method specifically include:
The vehicle that inertial sensor resolves is received in the azimuth information of first time period T1, pitch angle information and to turn over Roll angle information, wherein the inertial sensor includes gyroscope and accelerometer, the sensitive axes x-axis or y of the inertial sensor The direction of travel keeping parallelism of axis and the vehicle；
Speed of the vehicle of positioning device and/or onboard diagnostic system OBD transmission in first time period T1 is received to believe Breath；
According to the vehicle in the azimuth information of first time period T1, pitch angle information and rolling angle information, Yi Jisuo Vehicle is stated in the velocity information of first time period T1, obtains speed v1, orientation angle increment of the vehicle in first time period T1 Absolute value △ δ1, the absolute value △ β of pitching angle increment1With the absolute value △ γ of rolling angle increment1。
Further, receive inertial sensor resolve the vehicle first time period T1 azimuth information, bow Before elevation information and rolling angle information, this method further include:
Acquire the gyroscope output data and accelerometer output data of the inertial sensor in preset time；
By on-line proving and Error Compensation Algorithm, the gyroscope output data and accelerometer output data are carried out Amendment.
Further, this method further includes:
It is sent in straight line traveling and the positioning device received and/or the onboard diagnostic system OBD Car speed when being not less than pre-set velocity, the initial alignment of dynamic is carried out to the inertial sensor.
Further, this method further includes:
The output data of compensated data and the positioning device is combined filtering, passes through state feedback modifiers institute State position, speed and the posture information of vehicle, wherein the positioning device includes robust processing module, and the robust handles mould Block is for handling the positioning outlier of the positioning device and drift by Chi-square Test, the output number of the positioning device According to including positioning position information, velocity information and positioning accuracy factor information, the posture information includes the orientation of the vehicle Angle information, pitch angle information and rolling angle information.
The second aspect of the embodiment of the present application provides a kind of terminal device of judgement vehicle rapidly lane change, including processing Device, memory, input-output equipment and bus；The processor, memory, input-output equipment are respectively at the bus phase Even；The processor is used to execute in the embodiment of the present application first aspect any judgement vehicle rapidly method of lane change Step.
Existing beneficial effect is the embodiment of the present application compared with prior art: by establishing rapidly lane change event and vehicle Speed, azimuth, pitch angle and roll angle angle changing threshold value corresponding relationship, judgement rapidly lane change thing can be effectively improved The accuracy of part.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these Attached drawing obtains other attached drawings.
Fig. 1 is a kind of flow chart of judgement vehicle rapidly method of lane change provided by the embodiments of the present application；
Fig. 2 (a) is the sensitive axes and vehicle traveling direction of a kind of MEMS inertial sensor provided by the embodiments of the present application Correspondence diagram；
Fig. 2 (b) is the sensitive axes and vehicle traveling direction of another MEMS inertial sensor provided by the embodiments of the present application Correspondence diagram；
Fig. 3 is a kind of vehicle lane change schematic diagram provided by the embodiments of the present application；
Fig. 4 is the flow chart that another kind provided by the embodiments of the present application judges the vehicle rapidly method of lane change；
Fig. 5 be it is provided by the embodiments of the present application another judge the flow chart of the vehicle rapidly method of lane change；
Fig. 6 is a kind of schematic device of judgement vehicle rapidly lane change provided by the embodiments of the present application；
Fig. 7 is a kind of terminal device schematic diagram of judgement vehicle rapidly lane change provided by the embodiments of the present application.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
The application can be used for monitoring shared vehicle, public vehicles, driving school learner-driven vehicle etc. in highway, urban road, drive The real-time driving behavior of driver during the lane changes such as section is examined, can also delimit etc. to mention for platform supervision, settlement of insurance claim responsibility For reliable basis, in addition, the application can also be used in the driving behavior of real-time oversight user, when the dangerous driving situation of user When, it sends a warning message in time to user, to prompt user security to drive.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
In conjunction with Fig. 1, the embodiment of the present application provides a kind of method of judgement vehicle rapidly lane change, this method comprises:
Step S101 obtains vehicle in the speed v1 of first time period T1, the absolute value △ δ of orientation angle increment1, pitch angle The absolute value △ β of increment1With the absolute value △ γ of rolling angle increment1。
Optionally, for vehicle there are two types of the acquisition methods of the speed v1 of first time period T1, the first is received in vehicle The positioning device of installation is sent such as GPS (Global Positioning System, global positioning system) satellite receiver For the vehicle in the speed v1 of first time period T1, second is to receive the vehicle of onboard diagnostic system OBD transmission at first Between section T1 velocity information；
Further, if the T1 period is [t0, t1], v1 can be the speed average in the T1 period, or The velocity amplitude or the velocity amplitude at t1 moment or the velocity amplitude of any time in first time period T1 at t0 moment, the application are real Example is applied not limit this.
Optionally, absolute value △ δ of the vehicle in the orientation angle increment of first time period T11, the absolute value of pitching angle increment △β1With the absolute value △ γ of rolling angle increment1Acquisition methods are as follows: receive inertial sensor resolve the vehicle at first Between the azimuth information of section T1, pitch angle information and rolling angle information by calculating obtain vehicle in the side of first time period T1 The absolute value △ δ of parallactic angle increment1, the absolute value △ β of pitching angle increment1With the absolute value △ γ of rolling angle increment1。
Wherein, the inertial sensor is comprising gyroscope and accelerometer, and optionally, the inertial sensor is MEMS (Micro-Electro-Mechanical System, MEMS) inertial sensor, MEMS inertial sensor are used for six axis Property sensor or nine axis inertial sensors, contain at least one three-axis gyroscope and three axis accelerometer, also, the inertia passes The sensitive axes x-axis or y-axis of sensor and the direction of travel keeping parallelism of the vehicle.In conjunction with Fig. 2 (a) and Fig. 2 (b), illustratively The sensitive axes of two kinds of MEMS inertial sensors and the correspondence diagram of vehicle traveling direction are given, in Fig. 2 (a), The sensitive axes x-axis of MEMS inertial sensor and vehicle traveling direction keeping parallelism, in Fig. 2 (b), MEMS inertial sensor it is quick Feel axis y-axis and vehicle traveling direction keeping parallelism.
Step S102 obtains azimuth delta threshold a corresponding to v1 according to the mark sheet pre-seted1, pitching angle increment Threshold value b1With roll angle delta threshold c1, wherein mark sheet is car speed and azimuth delta threshold, pitch angle delta threshold With the mapping table of roll angle delta threshold.
Optionally, due to different types of vehicle, degree of flexibility is different during rapidly lane change, and angle change is different, The used time for completing entire lane change process is also different, for example, car is relatively flexible compared with semitrailer, can faster, with compared with Big steering angle completes lane change, and semitrailer then need more consideration is given to the connectivity problem in headstock and compartment, Vehicle length problem, Therefore center of gravity problem etc., and the safety problem etc. for lower wide-angle deflection of running at high speed when the mark sheet is arranged, need Different angle thresholds is pre-seted for different types of vehicle.
Correspondingly, the value of the first time period T1 in step S101 is not also identical, example for different types of vehicle Such as, the T1 value of car can be 2-4 seconds, and the T1 value of truck is 3-5s.It should be noted that above-mentioned numerical value is only Preferably to explain a kind of explanation that the embodiment of the present application is done, the embodiment of the present application is not defined.
Optionally, according to Chinese automobile classification standard, the type of the vehicle can be divided into eight kinds, respectively vapor laden Vehicle, offroad vehicle, dump truck, tractor, special purpose vehicle, car, car and semitrailer.Certainly, when the application method application When other regions, the modification of adaptability can be carried out according to the separation vehicle standard of the region, the embodiment of the present application does not do this It limits.
Based on this, optionally, the type of the vehicle is first judged, according to the type of the vehicle, pre-set the feature Table, and the mark sheet answered according to the type of the vehicle obtain azimuth delta threshold a corresponding to v11, pitching angle increment Threshold value b1With roll angle delta threshold c1。
Step S103, according to the absolute value △ δ of orientation angle increment1, azimuth delta threshold a1, pitching angle increment it is absolute Value △ β1, pitch angle delta threshold b1, rolling angle increment absolute value △ γ1And roll angle delta threshold c1, judge the vehicle Rapidly lane change whether occurs.
Optionally, if △ δ1> a1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ β1> b1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ γ1> c1, judge that rapidly lane change occurs for the vehicle.
It is another optional, it is contemplated that in addition to rapidly lane change, vehicle there is also such as into big radian ring road, turn around etc. to grasp Make, orientation angle increment is very big at this time, but and be not belonging to rapidly lane change, to avoid judging by accident, raising judge precision, it is described to pre-set Mark sheet further include car speed Yu the second delta threshold of azimuth corresponding relationship, according to the mark sheet pre-seted, Obtain azimuth the second delta threshold a corresponding to v12；If a1< △ δ1< a2, then judge that rapidly lane change occurs for the vehicle, Wherein, a1< a2。
The embodiment of the present application has comprehensively considered in different road environments, and rapidly lane change may be embodied in vehicle heading to vehicle The increment at angle changes, the vehicle such as travelled on straight road, occurs to have biggish orientation angle increment change when rapidly lane change Change；It may also be embodied in the increment variation of roll angle or pitch angle, such as in continued curve, rapidly lane change is occurring for vehicle When, orientation angle increment may change less, but its roll angle changes greatly.By establishing rapidly lane change event and vehicle speed Degree, azimuth, pitch angle and roll angle angle changing threshold value corresponding relationship, judgement rapidly lane change event can be effectively improved Accuracy.
Further, in conjunction with Fig. 3, under normal circumstances, vehicle lane change process first stage as shown in Figure 3 and second stage It constitutes, for the judgement precision for further increasing vehicle rapidly lane change, in conjunction with Fig. 4, after step s 103, this method further include:
S104 obtains vehicle in the speed v2 of second time period T2, side if step S103 judges that rapidly lane change occurs for vehicle The absolute value △ δ of parallactic angle increment2, the absolute value △ β of pitching angle increment2With the absolute value △ γ of rolling angle increment2。
Optionally, T1=T2.
Further, the embodiment of the present application provides another feasible embodiment, for example, obtains the continuous 8s of vehicle 8s data are divided into two continuous periods, respectively 1-4s and 5-8s by interior azimuth, pitch angle and rolling angular data, Respectively correspond the first stage in Fig. 3 and second stage.In 1-4s in the first stage, first time period T1 is 1-3s or 2- 4s, in the 5-8s of second stage, second time period T2 is 5-7s or 6-8s.
Above-mentioned data are a kind of feasible embodiment for car, and for other kinds of vehicle, above-mentioned data can The modification of adaptability is carried out according to type of vehicle, the embodiment of the present application does not limit this.
S105 obtains azimuth delta threshold a corresponding to v2 according to the mark sheet2, pitch angle delta threshold b2With Roll angle delta threshold c2。
S106, according to the absolute value △ δ of orientation angle increment2, azimuth delta threshold a2, the absolute value △ of pitching angle increment β2, pitch angle delta threshold b2, rolling angle increment absolute value △ γ2And roll angle delta threshold c2, judge that the vehicle is No generation rapidly lane change；If so, determining that rapidly lane change occurs for the vehicle.
Optionally, if △ δ2> a2, determine that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ2< a2, and △ β1> b2, determine that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ2< a2, and △ γ2> c2, determine that rapidly lane change occurs for the vehicle.
In the embodiment of the present application, pass through azimuth, pitch angle and the roll angle to vehicle in rapidly lane change second stage And its corresponding relationship of the angle threshold under the speed of service is judged, further improve vehicle rapidly lane change judgement essence Degree.
Further, in conjunction with Fig. 5, for the precision for improving acquired car speed, angle, the embodiment of the present application is also provided A kind of method of judgement vehicle rapidly lane change, this method comprises:
S501 acquires the gyroscope output data and accelerometer output data of the inertial sensor in preset time.
Optionally, the preset time is 5-10 seconds.
S502 exports number to the gyroscope output data and accelerometer by on-line proving and Error Compensation Algorithm According to being modified.
S503, in straight line traveling and the positioning device received and/or the onboard diagnostic system OBD When the car speed of transmission is not less than pre-set velocity, the initial alignment of dynamic is carried out to the inertial sensor.
Optionally, the pre-set velocity is 5 meter per seconds.
After completing this step, that is, the initialization of automobile navigation parameter, including vehicle location, speed, posture, gyroscope are completed Estimate with the zero bias of accelerometer.
The initial alignment of dynamic is carried out to the inertial sensor further include:
S504 is resolved by strapdown, is updated to the output data for completing the inertial sensor that dynamic is initially aligned.
Including speed update, location updating and posture renewal.
S505 determines that the state of the vehicle, the state of the vehicle are static or movement；It is in static in the vehicle When state and motion state, the strapdown is resolved by zero-velocity curve and nonholonomic restriction algorithm respectively output data into Row compensation.
Wherein, the state of the vehicle is static or movement.Optionally, judge that the method for the state of the vehicle has two Kind, one is the gyro datas or accelerometer data judgement by inertial sensor, and second is by onboard diagnostics system The car speed of system OBD output or the judgement of vehicle rotary speed data.
In this way, can effectively inhibit the diverging of vehicle heading angular data, position data.
The output data of compensated data and the positioning device is combined filtering, is fed back by state by S506 Correct the speed and posture information of the vehicle.
Wherein, the output data of the positioning device is effective position position data, speed data and the positioning accuracy factor Data.
Wherein, the positioning device includes robust processing module, and the robust processing module is by Chi-square Test to described The positioning outlier of positioning device and drift are handled, wherein positioning outlier refers to the exceptional value in location data, the positioning The output data of equipment includes positioning position information, velocity information and positioning accuracy factor information, and the posture information includes institute State azimuth information, pitch angle information and the rolling angle information of vehicle.
S507 receives the vehicle of inertial sensor resolving at the azimuth of first time period T1 and second time period T2 Information, pitch angle information and rolling angle information；The vehicle for receiving positioning device and/or onboard diagnostic system OBD transmission exists The velocity information of first time period T1 and second time period T2.
Wherein, the inertial sensor includes gyroscope and accelerometer, the sensitive axes x-axis or y of the inertial sensor The direction of travel keeping parallelism of axis and the vehicle.
According to the vehicle in the azimuth information of first time period T1, pitch angle information and rolling angle information, Yi Jisuo Vehicle is stated in the velocity information of first time period T1, obtains speed v1, orientation angle increment of the vehicle in first time period T1 Absolute value △ δ1, the absolute value △ β of pitching angle increment1With the absolute value △ γ of rolling angle increment1。
According to the vehicle in the azimuth information of second time period T2, pitch angle information and rolling angle information, Yi Jisuo Vehicle is stated in the velocity information of second time period T2, obtains speed v2, orientation angle increment of the vehicle in second time period T2 Absolute value △ δ2, the absolute value △ β of pitching angle increment2With the absolute value △ γ of rolling angle increment2。
S508 judges whether vehicle occurs rapidly lane change behavior in first time period T1.
S509, if so, judging whether vehicle occurs rapidly lane change behavior in second time period T2, if so, determining the vehicle Occur rapidly lane change.
In the embodiment of the present application, azimuth, pitch angle and rolling positioning device/inertial sensor strapdown resolved The vehicle speed information that angle, speed data and OBD are extracted further merges, the car speed extracted according to OBD interface with The angle changing interval threshold of the azimuth, pitch angle and the roll angle that pre-set establishes rapidly lane change event and car speed, side The section variation model of the angle changing of parallactic angle, pitch angle and roll angle can effectively improve the standard for judging rapidly lane change event Exactness.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit It is fixed.
Further, in conjunction with Fig. 6, the embodiment of the present application provides a kind of device for judging vehicle rapidly lane change, the dress Set includes: the first acquisition list 61, second acquisition unit 62 and judging unit 63；
First acquisition unit 61, for obtaining vehicle in the speed v1 of first time period T1, the absolute value of orientation angle increment △δ1, pitching angle increment absolute value △ β1With the absolute value △ γ of rolling angle increment1；
Second acquisition unit 62, for obtaining azimuth delta threshold a corresponding to v1 according to the mark sheet pre-seted1, Pitch angle delta threshold b1With roll angle delta threshold c1, wherein the mark sheet be car speed and azimuth delta threshold, The mapping table of pitch angle delta threshold and roll angle delta threshold；
Judging unit 63, for the absolute value △ δ according to orientation angle increment1, azimuth delta threshold a1, pitching angle increment Absolute value △ β1, pitch angle delta threshold b1, rolling angle increment absolute value △ γ1And roll angle delta threshold c1, judgement Whether the vehicle occurs rapidly lane change.
Further, judging unit 63 is specifically used for:
If △ δ1> a1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ β1> b1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ γ1> c1, judge that rapidly lane change occurs for the vehicle.
Further, the mark sheet pre-seted further includes car speed pass corresponding with the second delta threshold of azimuth System, the mark sheet that the second acquisition unit 62 is also used to pre-set according to obtain azimuth second corresponding to v1 and increase Measure threshold value a2；
The judging unit 63 is used for: if a1< △ δ1< a2, then judge that rapidly lane change occurs for the vehicle, wherein a1< a2。
Further, which further includes second judgment unit 64 and setting unit 65；
The second judgment unit 64 is used to judge the type of the vehicle, wherein the type of the vehicle is vapor laden One of vehicle, offroad vehicle, dump truck, tractor, special purpose vehicle, car, car and semitrailer；
Setting unit 65 is used for the type according to the vehicle, pre-sets the mark sheet；
Second acquisition unit 62 is specifically used for: according to mark sheet corresponding to the type of the vehicle, obtaining corresponding to v1 Azimuth delta threshold a1, pitch angle delta threshold b1With roll angle delta threshold c1。
Further, the first acquisition unit 61 is also used to: obtaining vehicle in the speed v2 of second time period T2, orientation The absolute value △ δ of angle increment2, the absolute value △ β of pitching angle increment2With the absolute value △ γ of rolling angle increment2；
The second acquisition unit 62 is also used to: according to the mark sheet, obtaining azimuth delta threshold corresponding to v2 a2, pitch angle delta threshold b2With roll angle delta threshold c2；
The judging unit 63 is also used to: according to the absolute value △ δ of orientation angle increment2, azimuth delta threshold a2, pitching The absolute value △ β of angle increment2, pitch angle delta threshold b2, rolling angle increment absolute value △ γ2And roll angle delta threshold c2, judge whether the vehicle occurs rapidly lane change；If so, determining that rapidly lane change occurs for the vehicle.
Further, which further includes receiving unit 66, for receiving the vehicle of inertial sensor resolving the The azimuth information of one period T1, pitch angle information and rolling angle information, wherein the inertial sensor include gyroscope and Accelerometer, the sensitive axes x-axis or y-axis of the inertial sensor and the direction of travel keeping parallelism of the vehicle；
The receiving unit 66 is also used to: the vehicle for receiving positioning device and/or onboard diagnostic system OBD transmission exists The velocity information of first time period T1；
The first acquisition unit 61 is specifically used for: according to the vehicle first time period T1 azimuth information, bow Elevation information and rolling angle information and the vehicle obtain the vehicle first in the velocity information of first time period T1 The absolute value △ δ of the speed v1 of period T1, orientation angle increment1, the absolute value △ β of pitching angle increment1With the exhausted of angle increment that roll To value △ γ1。
Further, which further includes acquisition unit 67 and amending unit 68；
Acquisition unit 67 is used to acquire the gyroscope output data and acceleration of the inertial sensor in preset time Count output data；
Amending unit 68 is used for by on-line proving and Error Compensation Algorithm, to the gyroscope output data and acceleration Meter output data is modified.
Further, which further includes initial aligned units 69, for travelling and receiving in the straight line When the car speed that the positioning device and/or the onboard diagnostic system OBD are sent is not less than pre-set velocity, to the inertia Sensor carries out the initial alignment of dynamic.
Further, which further includes updating unit 610, for being resolved by strapdown, to the initial alignment of completion dynamic The output data of inertial sensor be updated.
Further, which further includes third judging unit 611 and compensating unit 612；
Third judging unit 611 is used to determine the state of the vehicle, wherein the state of the vehicle is static or fortune It is dynamic；
Compensating unit 612 is used for when the vehicle remains static with motion state, respectively by zero-velocity curve and The output data that nonholonomic restriction algorithm resolves the strapdown compensates.
Further, amending unit 68 is also used to the output data of compensated data and the positioning device carrying out group Filtering is closed, the position of vehicle described in state feedback modifiers, speed and posture information are passed through, wherein the positioning device includes anti- Poor processing module, the robust processing module by Chi-square Test to the positioning outlier of the positioning device and drift at Reason, the output data of the positioning device includes positioning position information, velocity information and positioning accuracy factor information, the posture Information includes azimuth information, pitch angle information and the rolling angle information of the vehicle.
The embodiment of the present application provides a kind of device of judgement vehicle rapidly lane change, and the device is by by positioning device/used Property the vehicle speed information that extracts of the sensor strapdown azimuth, pitch angle and the roll angle that resolve, speed data and OBD into one The fusion of step, the angle changing area of the car speed extracted according to OBD interface and the azimuth, pitch angle and the roll angle that pre-set Between threshold value, establish the section changing pattern of the rapidly angle changing of lane change event and car speed, azimuth, pitch angle and roll angle Type can effectively improve the accuracy for judging rapidly lane change event.
Fig. 7 is a kind of schematic diagram of judgement vehicle rapidly terminal device of lane change provided by the embodiments of the present application.Such as Fig. 7 institute Show, the terminal device 7 for judging vehicle rapidly lane change of the embodiment includes: processor 70, memory 71 and is stored in described In memory 71 and the computer program 72 that can be run on the processor 70, such as a kind of journey of judgement vehicle rapidly lane change Sequence.The processor 70 realizes the embodiment of the method for above-mentioned each judgement vehicle rapidly lane change when executing the computer program 72 In step, such as step 101 shown in FIG. 1 is to 103.Alternatively, reality when the processor 70 executes the computer program 72 The function of each module/unit in existing above-mentioned each Installation practice, such as the function of module 61 to 612 shown in Fig. 6.
Illustratively, the computer program 72 can be divided into one or more module/units, it is one or Multiple module/units are stored in the memory 71, and are executed by the processor 70, to complete the application.Described one A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for Implementation procedure of the computer program 72 in the judgement the vehicle rapidly terminal device 7 of lane change is described.
The terminal device 7 of the judgement vehicle rapidly lane change can be desktop PC, notebook, palm PC and cloud Server etc. is held to calculate equipment.The terminal device of the judgement vehicle rapidly lane change may include, but be not limited only to, processor 70, Memory 71.It will be understood by those skilled in the art that Fig. 7 is only the example for judging the vehicle rapidly terminal device 7 of lane change, and Do not constitute the restriction to the vehicle rapidly terminal device 7 of lane change is judged, may include than illustrating more or fewer components, or Certain components or different components are combined, such as rapidly the terminal device of lane change can also include inputting to the judgement vehicle Output equipment, network access equipment, bus etc..
Alleged processor 70 can be central processing unit (Central Processing Unit, CPU), can also be Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field- Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor Deng.
The memory 71 can be the internal storage unit of the judgement vehicle rapidly terminal device 7 of lane change, such as Judge the hard disk or memory of the vehicle rapidly terminal device 7 of lane change.The memory 71 is also possible to the judgement vehicle rapidly The External memory equipment of the terminal device 7 of lane change, such as the grafting that the judgement vehicle is rapidly equipped on the terminal device 7 of lane change Formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Further, the memory 71 can also both include that the terminal of the judgement vehicle rapidly lane change is set Standby 7 internal storage unit also includes External memory equipment.The memory 71 is for storing the computer program and institute It states and judges vehicle rapidly other programs and data needed for the terminal device of lane change.The memory 71 can be also used for temporarily Store the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk, Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions Believe signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all Comprising within the scope of protection of this application.

Claims (10)

1. a kind of method of judgement vehicle rapidly lane change characterized by comprising
Vehicle is obtained in the speed v1 of first time period T1, the absolute value △ δ of orientation angle increment1, pitching angle increment absolute value △ β1With the absolute value △ γ of rolling angle increment1；
According to the mark sheet pre-seted, azimuth delta threshold a corresponding to acquisition speed v11, pitch angle delta threshold b1With turn over Roll angle delta threshold c1, wherein the mark sheet is car speed and azimuth delta threshold, pitch angle delta threshold and rolling The mapping table of angle increment threshold value；
According to the absolute value △ δ of orientation angle increment1, azimuth delta threshold a1, pitching angle increment absolute value △ β1, pitch angle Delta threshold b1, rolling angle increment absolute value △ γ1And roll angle delta threshold c1, judge whether the vehicle occurs urgency Fast lane change.
2. the method according to claim 1, wherein according to the absolute value △ δ of orientation angle increment1, orientation angle increment Threshold value a1, pitching angle increment absolute value △ β1, pitch angle delta threshold b1, rolling angle increment absolute value △ γ1And rolling Angle increment threshold value c1, judge whether the vehicle occurs rapidly lane change and specifically include:
If △ δ1> a1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ β1> b1, judge that rapidly lane change occurs for the vehicle；Or,
If 0 < △ δ1< a1, and △ γ1> c1, judge that rapidly lane change occurs for the vehicle.
3. the method according to claim 1, wherein this method further include: the mark sheet pre-seted also wraps The corresponding relationship for including car speed Yu the second delta threshold of azimuth, according to the mark sheet pre-seted, acquisition speed v1 institute Corresponding the second delta threshold of azimuth a2；
If a1< △ δ1< a2, then judge that rapidly lane change occurs for the vehicle, wherein a1< a2。
4. the method according to claim 1, wherein this method further include:
Judge the type of the vehicle；
According to the type of the vehicle, the mark sheet is pre-seted；
The mark sheet that the basis pre-sets, azimuth delta threshold a corresponding to acquisition speed v11, pitch angle delta threshold b1 With roll angle delta threshold c1It specifically includes:
According to mark sheet corresponding to the type of vehicle pre-seted, azimuth delta threshold a corresponding to acquisition speed v11, pitching Angle increment threshold value b1With roll angle delta threshold c1。
5. the method according to claim 1, wherein if judging, rapidly lane change, this method occur for the vehicle Further include:
Vehicle is obtained in the speed v2 of second time period T2, the absolute value △ δ of orientation angle increment2, the absolute value △ of pitching angle increment β2With the absolute value △ γ of rolling angle increment2, wherein the second time period is that first period is continuous later next Period；
According to the mark sheet, azimuth delta threshold a corresponding to acquisition speed v22, pitch angle delta threshold b2And roll angle Delta threshold c2；
According to the absolute value △ δ of orientation angle increment2, azimuth delta threshold a2, pitching angle increment absolute value △ β2, pitch angle Delta threshold b2, rolling angle increment absolute value △ γ2And roll angle delta threshold c2, judge whether the vehicle occurs urgency Fast lane change；
If so, determining that rapidly lane change occurs for the vehicle.
6. method according to claim 1-5, which is characterized in that obtain vehicle in the speed of first time period T1 The absolute value △ δ of v1, orientation angle increment1, the absolute value △ β of pitching angle increment1With the absolute value △ γ of rolling angle increment1Side Method specifically includes:
The vehicle of inertial sensor resolving is received in the azimuth information of first time period T1, pitch angle information and roll angle Information, wherein the inertial sensor include gyroscope and accelerometer, the sensitive axes x-axis or y-axis of the inertial sensor with The direction of travel keeping parallelism of the vehicle；
Velocity information of the vehicle that reception positioning device and/or onboard diagnostic system OBD are sent in first time period T1；
According to the vehicle in the azimuth information of first time period T1, pitch angle information and rolling angle information and the vehicle First time period T1 velocity information, obtain the vehicle the speed v1 of first time period T1, orientation angle increment it is exhausted To value △ δ1, the absolute value △ β of pitching angle increment1With the absolute value △ γ of rolling angle increment1。
7. according to the method described in claim 6, it is characterized in that, receiving the vehicle of inertial sensor resolving first Before the azimuth information of period T1, pitch angle information and rolling angle information, this method further include:
Acquire the gyroscope output data and accelerometer output data of the inertial sensor in preset time；
By on-line proving and Error Compensation Algorithm, the gyroscope output data and accelerometer output data are repaired Just.
8. the method according to the description of claim 7 is characterized in that this method further include:
In the vehicle that straight line traveling and the positioning device received and/or the onboard diagnostic system OBD are sent When speed is not less than pre-set velocity, the initial alignment of dynamic is carried out to the inertial sensor.
9. according to the method described in claim 8, it is characterized in that, this method further include:
The output data of compensated data and the positioning device is combined filtering, passes through vehicle described in state feedback modifiers Position, speed and posture information, wherein the positioning device includes robust processing module, and the robust processing module is used In being handled by Chi-square Test the positioning outlier of the positioning device and drift, the output data packet of the positioning device Positioning position information, velocity information and positioning accuracy factor information are included, the posture information includes the azimuth letter of the vehicle Breath, pitch angle information and rolling angle information.
10. a kind of terminal device of judgement vehicle rapidly lane change characterized by comprising
Processor, memory, input-output equipment and bus；
The processor, memory, input-output equipment are connected respectively at the bus；
The processor for execute judgement vehicle as described in any one of claim 1 to 9 rapidly the method for lane change the step of.
CN201810826503.2A 2018-07-25 2018-07-25 Method and terminal equipment for judging rapid lane change of vehicle Active CN109204318B (en)

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