CN110217241A - A kind of method and device for judging vehicle collision and bringing to a halt - Google Patents
A kind of method and device for judging vehicle collision and bringing to a halt Download PDFInfo
- Publication number
- CN110217241A CN110217241A CN201910533947.1A CN201910533947A CN110217241A CN 110217241 A CN110217241 A CN 110217241A CN 201910533947 A CN201910533947 A CN 201910533947A CN 110217241 A CN110217241 A CN 110217241A
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- China
- Prior art keywords
- acceleration
- axis
- resultant
- halt
- vehicle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B60W40/107—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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
Abstract
The present invention relates to computer field, specifically a kind of judgement vehicle collision and the method brought to a halt, the application determine the acceleration component values of initial tri- axis direction of X, Y, Z according to the data in the 3-axis acceleration sensor of vehicle stabilization state；Acceleration component values according to 3-axis acceleration sensor in tri- axis direction of X, Y, Z determine resultant acceleration；Acceleration when bringing to a halt, suddenly accelerating and collide is determined according to resultant acceleration, and then determines that fainting for resultant acceleration is worth range when vehicle is caused danger；Take in three axis the maximum axis of acceleration value as reference axis, seek resultant acceleration under stationary state, with reference to axle acceleration and with reference to the ratio of axle acceleration and resultant acceleration, as reference data, then resultant acceleration is read at any time, with reference to axle acceleration, the two ratio is calculated, determines that fainting for final resultant acceleration is worth range；According to the acceleration value that acquires in real time and the value of initially fainting determined, determine whether to collide or emergency brake.
Description
Technical field
The present invention relates to computer field, specifically a kind of judgement vehicle collision and the method and device brought to a halt.
Background technique
The continuous development of automotive society, car ownership are continuously increased, and bring being continuously increased for vehicle flow, while each
Kind of traffic accident also constantly increases, after some traffic accidents generation, often because cannot and alarm, generate serious
Consequence.Especially particularly serious traffic accident, driver and passenger often lose the ability independently alarmed, if not having vehicle road in a short time
Cross or passing cars be not on behalf of alarm, will prevent accident vehicle from and alarm rescued, often pay heavy generation
Valence.
Currently, being under environment inside car, when needing dynamically to be collided according to the setting angle of mobile unit to determine
Acceleration transducer threshold value, and then directly judge the absolute value of three axis of acceleration transducer to determine whether colliding, and
Setting angle is monitored by dynamic realtime, the mode of collision judgment caused by avoiding mobile unit direction inconsistent is simultaneously inaccurate.
Summary of the invention
The purpose of the present invention is to provide a kind of judgement vehicle collisions and the method and device brought to a halt, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the invention provides the following technical scheme:
A method of judging vehicle collision and bring to a halt, comprising the following steps:
S1, initial tri- axis direction of X, Y, Z is determined according to the data in the 3-axis acceleration sensor of vehicle stabilization state
Acceleration component values；
S2, the acceleration component values according to 3-axis acceleration sensor in tri- axis direction of X, Y, Z determine resultant acceleration；
S3, determined according to resultant acceleration bring to a halt, it is anxious accelerate and acceleration when collision, and then determine vehicle
Fainting for resultant acceleration is worth range when dangerous；
S4, it takes the maximum axis of acceleration value in three axis to seek resultant acceleration under stationary state as reference axis, refers to
Then the ratio of axle acceleration and reference axle acceleration and resultant acceleration reads resultant acceleration, ginseng as reference data at any time
Axle acceleration is examined, the two ratio is calculated, eliminates and is judged by accident caused by normal acceleration variation, determine the value of fainting of final resultant acceleration
Range；
S5, according to the acceleration value that acquires in real time and the value of initially fainting determined, determine whether to collide or emergency brake.
As a further solution of the present invention: in the step S1, the component of acceleration of tri- axis direction of X, Y, Z is respectively
ax,ay,az。
As further scheme of the invention: determining that resultant acceleration is a in the step S2, in conjunction with true in step S1
Fixed ax, ay, az, using calculation formula
A=(ax2+ay2+az2)0.5
Obtain resultant acceleration a.
As further scheme of the invention: in the step S3, fainting for resultant acceleration is worth range computation method are as follows:
Static or when driving at a constant speed, the value of resultant acceleration is acceleration of gravity vertically downward, when the acceleration for having any direction or is subtracted
In the presence of speed, the value of resultant acceleration can change, and the variation feelings of vehicle acceleration can be embodied according to calculation formula this value
Condition, vehicle bring to a halt acceleration in 0.9G or so, and anxious acceleration acceleration is in 0.5G or so, and the acceleration of product collision is in 10G
More than, the foundation that detection threshold is caused danger as vehicle can be set between 1.5-10G；
A kind of device for judging vehicle collision and bringing to a halt, comprising:
The central processing unit, for continuously read 3-axis acceleration sensor data, and through the foregoing embodiment in
Calculation formula calculated, judge that vehicle collides or brings to a halt, generate the alarm procedure for reporting control centre；
The 3-axis acceleration sensor, static state, dynamic acceleration for continuous detection any direction, are core
Heart processor carries out accident judgement and provides foundation；
The wireless module carries out information exchange with central processing unit, while being wirelessly connected in holder terminal, Neng Gou
Information exchange is carried out with holder terminal under the control of central processing unit
The alarm, connect with central processing unit, for colliding or when emergency brake sounds the alarm.
As further scheme of the invention: further including manual alarm switch, be electrically connected with central processing unit, be used for hand
Dynamic alarm for opening realizes alarm emergency.
Compared with prior art, it the beneficial effects of the present invention are: the present invention is novel in design, can be passed by 3-axis acceleration
Sensor carries out vehicle collision and that brings to a halt judge automatically, and the generation of perception accident, uploads control centre, in data automatically rapidly
During acquisition, by taking the maximum axis of acceleration value in three axis to seek closing acceleration under stationary state as reference axis
Degree, as reference data, then reads conjunction at any time and adds with reference to axle acceleration and with reference to the ratio of axle acceleration and resultant acceleration
Speed, with reference to axle acceleration, the method for both calculating ratio avoids the wrong report of alarm condition.
Detailed description of the invention
Fig. 1 is the flow diagram for the method for judging vehicle collision and bringing to a halt.
Fig. 2 is the apparatus structure schematic diagram for judging vehicle collision and bringing to a halt.
Fig. 3 is that vehicle stationary state brief acceleration acquires tables of data.
Fig. 4 is that vehicle suddenly accelerates brief acceleration to acquire tables of data.
Fig. 5 be vehicle bring to a halt brief acceleration acquire tables of data.
Fig. 6 is that vehicle crosses a pit brief acceleration acquisition tables of data.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
Please refer to Fig. 1,3-6, in the embodiment of the present invention, a method of judging vehicle collision and bring to a halt, including step
S1-S5, specific as follows:
In step sl, initial X, Y, Z tri- is determined according to the data in the 3-axis acceleration sensor of vehicle stabilization state
The acceleration component values of axis direction, wherein the component of acceleration of tri- axis direction of X, Y, Z is respectively ax, ay, az；
The installation site of above-mentioned 3-axis acceleration sensor can be placed arbitrarily, not emphasize the judgement of its corresponding direction, preferably
It is mountable on cigarette lighter socket.
In step s 2, the acceleration component values according to 3-axis acceleration sensor in tri- axis direction of X, Y, Z determine synthesis
Acceleration, resultant acceleration is a herein, in conjunction with ax, ay, the az determined in step S1, using calculation formula
A=(ax2+ay2+az2)0.5
Obtain resultant acceleration a；
In step s3, acceleration when bringing to a halt, suddenly accelerating and collide is determined according to resultant acceleration, and then is determined
Fainting for resultant acceleration is worth range when vehicle is caused danger；
It can be obtained according to the calculation formula of a in step S2, static or when driving at a constant speed, the value of resultant acceleration is vertically downward
Acceleration of gravity, in the presence of having the acceleration or deceleration of any direction, the value of resultant acceleration can change, public according to calculating
This value of formula can embody the situation of change of vehicle acceleration, and vehicle brings to a halt acceleration in 0.9G or so, anxious acceleration acceleration
In 0.5G or so, and the acceleration of product collision is in 10G or more, therefore the acceleration of vehicle collision and normal operating have significantly
The foundation that detection threshold is caused danger as vehicle can be arranged, because normal driving can not produce in difference between 1.5-10G
Raw such high acceleration；
The judgement that automobile emergency brake is carried out using resultant acceleration, due to not emphasizing the installation appearance of 3-axis acceleration sensor
State, therefore the value of resultant acceleration can not embody the direction of acceleration only embodies the value of resultant acceleration, both horizontally and vertically plus
Speed be it is indistinguishable, have 0.9G or so acceleration due to bringing to a halt in the horizontal direction, vehicle is by deceleration strip or crossing a pit
When can also generate 0.9G or acceleration larger, finally can all be embodied in close accelerate value in, cause the erroneous judgement brought to a halt,
It is therefore proposed that step S4, as follows:
In step s 4, the maximum axis of acceleration value in three axis is taken to seek conjunction under stationary state as reference axis and add
Speed, as reference data, then reads at any time and closes with reference to axle acceleration and with reference to the ratio of axle acceleration and resultant acceleration
Acceleration, with reference to axle acceleration, both calculate ratio, eliminate and judged by accident caused by normal acceleration variation, determine final synthesis plus
Fainting for speed is worth range.
Using the method in step S4, when generating the acceleration of vertical direction, with reference to axle acceleration and resultant acceleration
Ratio is basically unchanged, and when generating the acceleration with certain level component, the ratio of the two can change, in different sensings
Device posture, ratio variation is non-constant, but the variable quantity of ratio is capable of the variation of a degree of reaction acceleration level component
Amount, therefore certain threshold value is reached by resultant acceleration variation, surpass simultaneously with reference to axle acceleration and the ratio of resultant acceleration
Certain threshold value is crossed to judge bringing to a halt for vehicle, can effectively avoid vehicle by deceleration strip and crosses a pit the anxious acceleration mistake of generation
Sentence.
In step s 5, according to the acceleration value that acquires in real time and the value of initially fainting determined, determine whether to collide or
Emergency brake.
In one embodiment of the application, when determining whether to occur vehicle collision, set according to the acquisition of default frequency acquisition is vehicle-mounted
Acceleration component values in standby each reference axis of coordinate system, it is later determined that resultant acceleration；Judging resultant acceleration collected is
The threshold value of the no resultant acceleration for being greater than setting, if so, it is judged to occurring vehicle collision, thus, using the judgement of the application
The mode of vehicle collision can be realized no matter mobile unit is arbitrarily installed, and can accurately judge that vehicle actually occurred touches
It hits.
Embodiment two
Referring to Fig. 2, in the embodiment of the present invention, it is also proposed that a kind of device for judging vehicle collision and bringing to a halt, including
Central processing unit, 3-axis acceleration sensor, wireless module and alarm.
The central processing unit, for continuously read 3-axis acceleration sensor data, and through the foregoing embodiment in
Calculation formula calculated, judge that vehicle collides or brings to a halt, generate the alarm procedure for reporting control centre.
The 3-axis acceleration sensor, static state, dynamic acceleration for continuous detection any direction, are core
Heart processor carries out accident judgement and provides foundation.
The wireless module carries out information exchange with central processing unit, while being wirelessly connected in holder terminal, Neng Gou
Information exchange is carried out with holder terminal under the control of central processing unit.
The alarm, connect with central processing unit, for colliding or when emergency brake sounds the alarm.
Further include manual alarm switch, be electrically connected with central processing unit, be used for manually opened alarm, realizes that alarm is asked
It rescues.
It should be noted that 8-bit microprocessor Pic16F1825 of the above-mentioned central processing unit using Microchip.
In a typical configuration of this application, holder terminal, the equipment of service network and trusted party include one or
Multiple central processing units (CPU), input/output interface, network interface and memory, memory may include in computer-readable medium
Non-volatile memory, the forms such as random access memory (RAM) and/or Nonvolatile memory, such as read-only memory (ROM)
Or flash memory (flash RAM), memory are the examples of computer-readable medium.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of judgement vehicle collision and the method brought to a halt, which comprises the following steps:
S1, the acceleration that initial tri- axis direction of X, Y, Z is determined according to the data in the 3-axis acceleration sensor of vehicle stabilization state
Spend component value；
S2, the acceleration component values according to 3-axis acceleration sensor in tri- axis direction of X, Y, Z determine resultant acceleration；
S3, determined according to resultant acceleration bring to a halt, it is anxious accelerate and acceleration when collision, and then determine that vehicle is caused danger
When fainting for resultant acceleration be worth range；
S4, the maximum axis of acceleration value in three axis is taken to seek resultant acceleration under stationary state, reference axis adds as reference axis
Then the ratio of speed and reference axle acceleration and resultant acceleration reads resultant acceleration, reference axis as reference data at any time
Acceleration calculates the two ratio, eliminates and judges by accident caused by normal acceleration variation, determines that fainting for final resultant acceleration is worth model
It encloses；
S5, according to the acceleration value that acquires in real time and the value of initially fainting determined, determine whether to collide or emergency brake.
2. a kind of judgement vehicle collision according to claim 1 and the method brought to a halt, which is characterized in that the step S1
In, the component of acceleration of tri- axis direction of X, Y, Z is respectively ax, ay, az.
3. a kind of judgement vehicle collision according to claim 1 and the method brought to a halt, which is characterized in that the step S2
Middle determining resultant acceleration is a, in conjunction with ax, ay, the az determined in step S1, using calculation formula
A=(ax2+ay2+az2)0.5
Obtain resultant acceleration a.
4. a kind of judgement vehicle collision according to claim 1 and the method brought to a halt, which is characterized in that the step S3
In, fainting for resultant acceleration is worth range computation method are as follows: static or when driving at a constant speed, the value of resultant acceleration is vertically downward
Acceleration of gravity, in the presence of having the acceleration or deceleration of any direction, the value of resultant acceleration can change, public according to calculating
Formula embodies the situation of change of vehicle acceleration, and vehicle brings to a halt acceleration in 0.9G or so, and anxious acceleration acceleration is on the left side 0.5G
The right side, and the acceleration of product collision is in 10G or more, between 1.5-10G setting detection threshold as vehicle cause danger according to
According to.
5. a kind of judgement vehicle collision and the device brought to a halt characterized by comprising
The central processing unit, for continuously read 3-axis acceleration sensor data, and through the foregoing embodiment in meter
It calculates formula to be calculated, judges that vehicle collides or brings to a halt, generate the alarm procedure for reporting control centre；
The 3-axis acceleration sensor, static state, dynamic acceleration for continuous detection any direction, are at core
It manages device and accident judgement offer foundation is provided；
The wireless module carries out information exchange with central processing unit, while being wirelessly connected in holder terminal, can be in center
Information exchange is carried out with holder terminal under the control of processor
The alarm, connect with central processing unit, for colliding or when emergency brake sounds the alarm.
6. a kind of judgement vehicle collision according to claim 5 and the device brought to a halt, which is characterized in that further include manual
Alarm switch is electrically connected with central processing unit, is used for manually opened alarm, realizes alarm emergency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910533947.1A CN110217241A (en) | 2019-06-19 | 2019-06-19 | A kind of method and device for judging vehicle collision and bringing to a halt |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910533947.1A CN110217241A (en) | 2019-06-19 | 2019-06-19 | A kind of method and device for judging vehicle collision and bringing to a halt |
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| CN110217241A true CN110217241A (en) | 2019-09-10 |
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| CN201910533947.1A Withdrawn CN110217241A (en) | 2019-06-19 | 2019-06-19 | A kind of method and device for judging vehicle collision and bringing to a halt |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111879959A (en) * | 2020-06-08 | 2020-11-03 | 浙江高速信息工程技术有限公司 | Method for judging vehicle state and realizing vehicle interconnection based on positioning and acceleration |
| CN113655240A (en) * | 2021-09-07 | 2021-11-16 | 珠海格力电器股份有限公司 | Cargo falling posture recognition method and system |
| CN114291025A (en) * | 2021-12-31 | 2022-04-08 | 成都路行通信息技术有限公司 | Vehicle collision detection method and system based on data segmentation aggregation distribution |
| CN114429713A (en) * | 2021-12-22 | 2022-05-03 | 深圳市锐明技术股份有限公司 | Method, device and storage medium for identifying sudden speed change motion state of traffic equipment |
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