CN110254436A - Driving behavior analysis method, apparatus, equipment and medium based on motion sensor - Google Patents
Driving behavior analysis method, apparatus, equipment and medium based on motion sensor Download PDFInfo
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- CN110254436A CN110254436A CN201810206808.3A CN201810206808A CN110254436A CN 110254436 A CN110254436 A CN 110254436A CN 201810206808 A CN201810206808 A CN 201810206808A CN 110254436 A CN110254436 A CN 110254436A
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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
- B60W40/105—Speed
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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
- B60W40/107—Longitudinal acceleration
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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
- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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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
- 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
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention discloses driving behavior analysis method, apparatus, equipment and medium based on motion sensor.This method comprises: the acceleration information and speed data and direction of motion data of the acquisition vehicles；The posture of driving behavior collector is corrected, the Y-axis of the posture of driving behavior collector is overlapped with the driving direction of the vehicles, and the X-axis of driving behavior collector and the driving direction of the vehicles are vertical；Establish the transformational relation of the spatial coordinate axis of driving behavior collector and the spatial coordinate axis of the vehicles；According to acceleration information in the first projection components value of the driving direction of the vehicles, judge that the vehicles are in first normal or the first improper driving behavior；According to second projection components value of the acceleration information in the X-axis of driving behavior collector, judge that the vehicles are in second normal or the second improper driving behavior；In conjunction with the first and second projection components values, judge that the vehicles are in the normal still improper driving behavior of third of third.
Description
Technical field
The present invention relates to traffic trip technical field more particularly to a kind of driving behavior analysis sides based on motion sensor
Method, device, equipment and medium.
Background technique
Currently, with car networking technology, unmanned, semi-automatic driving technology development, the rise of UBI industry and big
The extensive use of data technique, acquisition vehicle operation data and the driving behavior for analyzing driver become more and more important.It realizes
To the big data analysis of driving behavior, the related algorithm in driving behavior mode identification procedure is studied, realizes safe driving behavior
With effective differentiation of violation driving behavior, it is necessary to there is accurately vehicle operation data.
Have on the market now merely using inertia measurement device (inertia device) strapdown mode, to judge the side of driving behavior
Method.Make it since it lacks the data of vehicle heading and travel speed there are bigger in terms of posture initialization
Error even mistake, causes to the not accurate enough of driving behavior analysis, or even larger anchor occurs and miss.There are also simple using used
Property measurement device (inertia device) flat-bed format analyzes driving behavior.Due to using inertia device flat-bed format, analysis knot
Fruit is relatively accurate.But its be need during installation manual-alignment (Z axis of acceleration is overlapped with gravity direction, X-axis with
Vehicle heading is vertical, Y-axis is overlapped with vehicle heading) Lai Shixian.Thus it is installed very troublesome and needs to compare
More professional personnel could install.If installation slightly deviation, which will lead to driving behavior analysis, does not prepare even mistake.Therefore
This kind of product also has higher requirement to the installation site of vehicle, that is, has to be mounted on specified position product and be possible to just
Often work.
It is to be driven using GNSS module and using information such as the speed of GNSS simulation output, directions to realize there are also some equipment
Sail behavior judgement.This mode has to use GNSS module and in normal operating conditions could be into dependent on GNSS module
Row driving behavior judgement；GNSS cannot position or cannot prepare to determine because will lead to by environmental factors such as weather, GNSS signal intensity
Position or the larger situation of position error, in this case can not be accurate or can not judge driving behavior.In addition using this
Mode also will increase the problem of product cost and small product size.Due to having used GNSS module so being equipped with to installation position certain
It is required that GNSS module could be in optimal operating mode only under most suitable position, only when GNSS module is in most
Good mode is possible to analyze the driving behavior for comparing preparation.
In addition, also some equipment are to obtain speed by reading the OBD data in former vehicle CAN bus on the market now
Information in order to realize and incomplete driving behavior (no Vehicular turn acceleration information at least cannot achieve driving for zig zag
Sail behavioural analysis).This kind of equipment is the OBD interface of vehicle to be occupied, the acquisition of OBD data, the analysis for then also wanting profession first
The OBD interface of professional, followed by all vehicles are all different, this certainly will will lead to some equipment and can not fix or influence
Driver drives vehicle, and also results in this kind of equipment and be difficult to popularize.In addition, the form of this product determines being easy for it
Plug characteristic, thus user can arbitrarily pull out equipment very much.
Other equipment directly can obtain speed for analyzing incomplete driving from pulse speed transmission line on the market
Behavior (same because at least cannot achieve the driving behavior analysis of zig zag without Vehicular turn acceleration information).However not
So vehicle all supports speed to transmit by pulse mode.And this kind of equipment have to profession staff just can be carried out peace
Dress, because to obtain speed signal from vehicle speed pulse transmission line, this necessarily will affect former vehicle ECU and receives vehicle last this equipment
Fast signal, while also destroying former fare road.
In conclusion it is above-mentioned it is various in the prior art or using inertia device when, since inertia device drives in acquisition
There are the reasons of error or mistake to be difficult to obtain separately through inertia device when behavior, in addition, to measurement driving behavior
The installation site of equipment require also very strict, need artificially to be aligned the driving direction of headstock, when artificial installation, it is easy to go out
Existing installation error, is unfavorable for being widely used for driving behavior analysis device.Furthermore some shape designs to driving behavior equipment
It has higher requirements, cannot realize the form of diverse of equipment, while limiting the application scenarios of product, such as change the shape of product
Size adapts to certain specific application scenarios.These all leverage user experience.
In addition, a serious problem is that, if the initialization of above equipment posture is incorrect, you can't get correct
Driving behavior, it is such as anxious when accelerating, it is possible to which that obtain zig zag as a result, such driving behavior for being easy to be collected into mistake, with reality
The driving behavior on border is not met, and causes to receive mistake when data collection or the traffic control department analysis traffic accident of subsequent UBI
Information easily causes dispute.
Summary of the invention
In view of this, the driving behavior analysis method, apparatus that the embodiment of the invention provides a kind of based on motion sensor,
Equipment and medium, to solve to acquire data inaccuracy in existing driving behavior analysis technology and to driving behavior analysis equipment
The complicated technical problem of installation positioning.
In a first aspect, the present invention provides a kind of driving behavior analysis method based on motion sensor, wherein include:
Motion sensor by being set to driving behavior collector acquires the acceleration information of the vehicles, the driving row
It is set on the vehicles for collector；
The speed data and direction of motion number of the vehicles are acquired by the locating module being set on driving behavior collector
According to；
According to the speed data and the direction of motion data, the posture of the driving behavior collector is corrected, it is described
The Y-axis of the posture of driving behavior collector is overlapped with the driving direction of the vehicles, the X-axis of the driving behavior collector
It is vertical with the driving direction of the vehicles；
The conversion for establishing the spatial coordinate axis of the driving behavior collector and the spatial coordinate axis of the vehicles is closed
System；
According to the acceleration information in the first projection components value of the driving direction of the vehicles, the friendship is judged
Logical tool is in the first normal driving behavior or the first improper driving behavior；
According to second projection components value of the acceleration information in the X-axis of the driving behavior collector, institute is judged
It states the vehicles and is in the second normal driving behavior or the second improper driving behavior；
In conjunction with the first projection components value and the second projection components value, judge that the vehicles are being in third just
Normal driving behavior or the improper driving behavior of third.
Preferably, the described first improper driving behavior suddenly accelerates one of driving behavior and anxious deceleration driving behavior.
Preferably, one in the described second improper driving behavior left sharp turn driving behavior and right sharp turn driving behavior
Kind.
Preferably, the left sudden turn of events road driving behavior of the improper driving behavior of the third, the driving behavior of right sudden turn of events road and frequently
At least one of lane change driving behavior.
Preferably, the angular velocity data and magnetic of the vehicles are acquired by being set to the motion sensor of driving behavior collector
Field intensity detection data, by the angular velocity data and the magnetic field strength detection data, improve the acceleration information from
Precision when the spatial coordinate axis of the driving behavior collector is converted to the spatial coordinate axis of the vehicles.
Preferably, the driving behavior analysis method based on motion sensor further include: according to the acceleration information
The first projection components value in the Y-axis, X-axis and Z axis of the spatial coordinate axis of the vehicles, the second projection components respectively
Value and third projection components value, judge whether the vehicles occur traffic accident, and the traffic accident is collision and side
At least one of turn over.
Preferably, it is described according to the acceleration information respectively in Y-axis, the X-axis of the spatial coordinate axis of the vehicles
And the first projection components value, the second projection components value and third projection components value on Z axis, judge that the vehicles are
No generation traffic accident, the traffic accident are at least one of collision and rollover, comprising:
When the third projection components value on the Z axis is more than the first preset range, the vehicles hair is tentatively judged
Raw traffic accident, and the traffic accident is vehicles rollover；
When tentatively judging the traffic accident is vehicles rollover, pass through the first projection components value of the Y-axis
Variation and the variation auxiliary of the second projection components value of the X-axis confirm that the rollover of the vehicles judges whether accurately；
When the first projection components value of the Y-axis is more than the second preset range, tentatively judge that the vehicles occur
Traffic accident, and the traffic accident collides for the vehicles；
When tentatively judging that the traffic accident collides for the vehicles, pass through the second projection point of the X-axis
The variation auxiliary of the third projection components value of the variation and Z axis of magnitude confirms whether the collision judgment of the vehicles is quasi-
Really；
When the second projection components value of the X-axis is more than tentatively to judge that the vehicles occur in third preset range
Traffic accident, and the traffic accident is that side collision occurs for the vehicles；
When tentatively judging the traffic accident is that side collision occurs for the vehicles, thrown by the first of the Y-axis
The variation auxiliary of the third projection components value of the variation and Z axis of shadow component value confirms that the collision judgment of the vehicles is
It is no accurate.
Second aspect, the present invention also provides a kind of driving behavior analysis device based on motion sensor, comprising:
First acquisition module acquires the acceleration of the vehicles for the motion sensor by being set to driving behavior collector
Degree evidence, the driving behavior collector are set on the vehicles；
Second acquisition module acquires the speed of the vehicles for the locating module by being set on driving behavior collector
Data and direction of motion data；
Correction module, for correcting the driving behavior acquisition according to the speed data and the direction of motion data
The Y-axis of the posture of device, the posture of the driving behavior collector is overlapped with the driving direction of the vehicles, the driving row
It is vertical with the driving direction of the vehicles for the X-axis of collector；
Coordinate transferring, for establishing the spatial coordinate axis of the driving behavior collector and standing for the vehicles
The transformational relation of body reference axis；
First judgment module, for according to the acceleration information the vehicles driving direction first projection
Component value judges that the vehicles are in the first normal driving behavior or the first improper driving behavior；
Second judgment module, for according to the acceleration information in the X-axis of the driving behavior collector second
Projection components value judges that the vehicles are in the second normal driving behavior or the second improper driving behavior；
Third judgment module, in conjunction with the first projection components value and the second projection components value, described in judgement
The vehicles are in the behavior of third normal driving or the improper driving behavior of third.
The third aspect, the driving behavior analysis equipment based on motion sensor that the present invention also provides a kind of, which is characterized in that
Include: at least one processor, the computer program instructions of at least one processor and storage in the memory, works as institute
It states and realizes such as the described in any item methods in front when computer program instructions are executed by the processor.
Fourth aspect, the present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program instructions,
Wherein, such as the described in any item methods in front are realized when the computer program instructions are executed by processor.
Driving behavior analysis method, apparatus, equipment and medium based on motion sensor of the invention, by driving row
For motion sensor and locating module are arranged on collector, driven by speed data and direction of motion data, and correction
The posture of behavior collector, it is established that the coordinate between driving behavior collector and the vehicles for carrying driving behavior collector
Transformational relation is judged that the vehicles are in by the projection components of the acceleration information of acquisition and normally driven on aforementioned base
Behavior or improper driving behavior are sailed, acquisition data inaccuracy present in existing driving behavior analysis technology is not only solved
The problem of, and the positioning of the installation without considering driving behavior collector, it can be put on a vehicle, be not necessarily to any attitude
The installation of driving behavior collector can be realized in dedicated technician, and can accurately be collected into the driving behavior of user.This
Invention can almost simulate true driving behavior, high with the practical driving behavior goodness of fit, the data acquisition for being subsequent UBI or
Traffic control department provides accurate data when analyzing traffic accident, will not cause dispute, improve the user experience of each side.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, for those of ordinary skill in the art, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 shows the flow diagram of the driving behavior analysis method the present invention is based on motion sensor.
Fig. 2 shows the flow diagrams of the computation method for attitude of Fig. 1.
Fig. 3 shows the detail flowchart of the driving behavior analysis of Fig. 1.
Fig. 4 shows the structural schematic diagram of the driving behavior analysis device based on motion sensor of the embodiment of the present invention.
Fig. 5 shows the structural schematic diagram of the driving behavior analysis equipment based on motion sensor of the embodiment of the present invention.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below, in order to make mesh of the invention
, technical solution and advantage be more clearly understood, with reference to the accompanying drawings and embodiments, the present invention is further retouched in detail
It states.It should be understood that specific embodiment described herein is only configured to explain the present invention, it is not configured as limiting the present invention.
To those skilled in the art, the present invention can be real in the case where not needing some details in these details
It applies.Below the description of embodiment is used for the purpose of better understanding the present invention to provide by showing example of the invention.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence " including ... ", it is not excluded that wrapping
Include in the process, method, article or equipment of the element that there is also other identical elements.
As shown in Figure 1, the present invention provides a kind of driving behavior analysis method based on motion sensor, comprising:
S1, the acceleration information that the vehicles are acquired by the motion sensor for being set to driving behavior collector, it is described to drive
Behavior collector is sailed on the vehicles；Here the vehicles are preferably automobile, including someone drives a car, nobody
Driving.Certainly it is not limited to automobile, can also be daily middle fork truck, other land mobile tools, such as children toy car
Deng.Here driving behavior collector is a vehicle accessory, is primarily used to driving row when acquisition drives a conveyance
For information, traffic driving behavior processing is carried out for subsequent traffic management department and the data acquisition of UBI provides data and supports.This is driven
Behavior collector is sailed when applying in automotive field, can be collect driving behavior vehicle-mounted box, onboard charger or
It is the instrument board collected the vehicle device console for driving row data or be collection driving behavior data.In addition, above-mentioned driving behavior
Collector can be fixed on automobile with an independent device, and in middle control vehicle device, automobile intelligent instrument board, or being can
It is detachably fixed onboard charger, in vehicle-mounted T-BOX (Telematics BOX), dismantles or adjust at any time as needed position
It sets.Here it is installed without professional, driver can accurately be collected into driving behavior number according to arbitrarily installation oneself is liked
According to.Motion sensor can be inertial sensor, which can be set to inside driving behavior collector, or be set to
Outside it, or it is integrated on the circuit board of driving behavior collector.Inertial sensor includes gravity accelerometer, angle speed
Spend sensor or Magnetic Sensor.Inertial sensor mainly detects the moment of inertia, such as speed, acceleration, angular speed parameter.
S2, the speed data and the direction of motion that the vehicles are acquired by the locating module being set on driving behavior collector
Data；Here locating module can be GNSS locating module, be acquired to speed data and direction of motion data, obtains and hands over
The data of logical tool speed data in the process of moving and the direction of motion.After installing driving behavior collector, positioning mould
Block passes through the processing of this step, and the Attitude Calculation for completing driving behavior collector is just in after Attitude Calculation is completed and is sent
Dormant state due to not needing locating module such as GNSS locating module after the completion of Attitude Calculation, thus solves production on the market
Product cannot accomplish the problem of low-power consumption.
S3, according to the speed data and the direction of motion data, correct the posture of the driving behavior collector, institute
The Y-axis for stating the posture of driving behavior collector is overlapped with the driving direction of the vehicles, the X of the driving behavior collector
Axis is vertical with the driving direction of the vehicles；Driving direction refers to the tail portion of the vehicles to the direction on head, such as automobile
The direction on tail portion to head.Preferably, it is consistent with the right-hand rotation direction of the vehicles that this X-axis positive direction can be set, then X
The negative direction of axis is consistent with the left-hand rotation direction of the vehicles.Setting helps to judge the left-hand rotation of the vehicles in time, turn right in this way
Whether driving behavior is normal driving behavior, reduces a large amount of data and calculates.
The conversion of the spatial coordinate axis of S4, the spatial coordinate axis for establishing the driving behavior collector and the vehicles
Relationship；Here, driving behavior collector itself has a three-dimensional coordinate system, this three-dimensional coordinate system is according to driving behavior collector
Installation site on a vehicle, the three-dimensional coordinate system with the vehicles be in most cases it is different, therefore, to obtain
Accurate acceleration information and its component are obtained, then needs to establish the specific transformational relation of the two.According to transformational relation, will drive
Some numerical value of behavior collector is sat in the solid of coordinate projection to the vehicles of the spatial coordinate axis of driving behavior collector
On parameter, corresponding X-axis component value and Y-axis component value and z-component value are generated.Further, it is also possible to by the vehicles
On the data projection of spatial coordinate axis to the spatial coordinate axis of driving behavior collector, corresponding component value is generated.The present invention makes
Its actual coordinate is converted to vehicle plane place using acceleration of gravity after mounting by inertia measurement device (inertia device)
Coordinate (Attitude Calculation), and by external GNSS speed and the direction GNSS by the Y-axis after conversion rotate some angles (by
Acceleration after GNSS speed, direction, conversion is calculated jointly) being overlapped of Lai Shixian vehicle heading and Y-axis, X-axis with
Vehicle heading is vertical.The present invention is mounted on after vehicle since it is in stationary state, after the completion of Attitude Calculation not
Need external GNSS speed and direction that can accurately and comprehensively analyze driving behavior again.
S5, according to the acceleration information in the first projection components value of the driving direction of the vehicles, judge institute
It states the vehicles and is in the first normal driving behavior or the first improper driving behavior；Here acceleration information is included in described
Component of acceleration in the spatial coordinate axis X, Y, Z axis of driving behavior collector.Here the first projection components are adding in Y-axis
Velocity component.Preferably, the described first improper driving behavior suddenly accelerates one of driving behavior and anxious deceleration driving behavior.
Correspondingly, the first normal driving behavior is normal acceleration one of driving behavior and normal deceleration driving behavior.
S6, the second projection components value according to the acceleration information in the X-axis of the driving behavior collector, judgement
The vehicles are in the second normal driving behavior or the second improper driving behavior；Here the second projection components value is
Component of acceleration in X-axis.Preferably, the described second improper driving behavior left sharp turn driving behavior and right sharp turn are driven
Sail one of behavior.Correspondingly, the second normal driving behavior is normal left-hand bend driving behavior and normally has turning to drive
Sail one of behavior.
S7, in conjunction with the first projection components value and the second projection components value, judge that the vehicles are in the
Three normal driving behaviors or the improper driving behavior of third.Here it is incorporated in adding on the component of acceleration and Y-axis in X-axis
Velocity component, to judge that the vehicles are currently in normal driving behavior or improper driving behavior.Preferably, the third
At least one in the left sudden turn of events road driving behavior of improper driving behavior, the driving behavior of right sudden turn of events road and frequent lane change driving behavior
Kind.Correspondingly, third normal driving behavior is corresponding normal left lane change driving behavior, normal right lane change driving behavior and non-
At least one of frequent lane change driving behavior.
Driving behavior analysis method based on motion sensor of the invention is transported by being arranged on driving behavior collector
Dynamic sensor and locating module by speed data and direction of motion data, and correct the posture of driving behavior collector,
The coordinate transformation relation between driving behavior collector and the vehicles for carrying driving behavior collector is set up, in aforementioned base
On plinth, judge that the vehicles are in normal driving behavior or improper drive by the projection components of the acceleration information of acquisition
Behavior is sailed, not only solves the problem for acquiring data inaccuracy present in existing driving behavior analysis technology, and without examining
The installation positioning for considering driving behavior collector, can be put on a vehicle with any attitude, be not necessarily to dedicated technician
It realizes the installation of driving behavior collector, and can accurately be collected into the driving behavior of user.The present invention can almost simulate
True driving behavior, experiment shows very close true car steering behavior, high with the practical driving behavior goodness of fit, is
Accurate data are provided when the data of subsequent UBI acquire or traffic control department analyzes traffic accident, dispute will not be caused, are promoted
The user experience of each side.
In a preferred embodiment, the motion sensor by being set to driving behavior collector acquires the angle of the vehicles
Speed data and magnetic field strength detection data, by the angular velocity data and the magnetic field strength detection data, described in raising
When acceleration information is converted from the spatial coordinate axis of the driving behavior collector to the spatial coordinate axis of the vehicles
Precision.
In a preferred embodiment, the driving behavior analysis method based on motion sensor further include: S8, foundation
The acceleration information the first projection components in the Y-axis, X-axis and Z axis of the spatial coordinate axis of the vehicles respectively
Value, the second projection components value and third projection components value, judge whether the vehicles occur traffic accident, the traffic
Accident is at least one of collision and rollover.
Specifically, it is described according to the acceleration information respectively in Y-axis, the X-axis of the spatial coordinate axis of the vehicles
And the first projection components value, the second projection components value and third projection components value on Z axis, judge that the vehicles are
No generation traffic accident, the traffic accident are at least one of collision and rollover, comprising:
When the third projection components value on the Z axis is more than the first preset range, the vehicles hair is tentatively judged
Raw traffic accident, and the traffic accident is vehicles rollover；
When tentatively judging the traffic accident is vehicles rollover, pass through the first projection components value of the Y-axis
Variation and the variation auxiliary of the second projection components value of the X-axis confirm that the rollover of the vehicles judges whether accurately；
When the first projection components value of the Y-axis is more than the second preset range, tentatively judge that the vehicles occur
Traffic accident, and the traffic accident collides for the vehicles；
When tentatively judging that the traffic accident collides for the vehicles, pass through the second projection point of the X-axis
The variation auxiliary of the third projection components value of the variation and Z axis of magnitude confirms whether the collision judgment of the vehicles is quasi-
Really；
When the second projection components value of the X-axis is more than tentatively to judge that the vehicles occur in third preset range
Traffic accident, and the traffic accident is that side collision occurs for the vehicles；
When tentatively judging the traffic accident is that side collision occurs for the vehicles, thrown by the first of the Y-axis
The variation auxiliary of the third projection components value of the variation and Z axis of shadow component value confirms that the collision judgment of the vehicles is
It is no accurate.Above-mentioned first preset range, the second preset range and third preset range can be according to the actual needs of UBI business
Setting, range can be the same or different, to each other without direct relation.
Further, after completing the aforementioned steps, the present invention is based on the driving behavior analysis methods of motion sensor also
It include: that judging result is uploaded to server or server is uploaded to by mobile communication terminal.Transmission mode can be
Line transmission, is also possible to be wirelessly transferred.The judging result is according to the first projection components value, the second projection components value, third
Projection components be worth current driving behavior normally whether conclusion.In normal driving behavior, comprising: the first normal driving row
For, the second normal driving behavior, the behavior of third normal driving and without traffic accident behavior.In improper driving behavior, remove
Outside including the above-mentioned first improper driving behavior, the second improper driving behavior and the improper driving behavior of third, further include
Traffic accident.
In addition, it should be noted that, in the driving behavior analysis method of the invention based on motion sensor, without as now
There are technology GNSS locating module integrated like that or GNSSR locating module, does not also need integrated OBD data acquisition and OBD data
Analysis module.The hardware components of driving behavior analysis method based on motion sensor of the invention have mainly used the low function of bluetooth
The chips such as consumption, inertia measurement sensor (inertia device or motion sensor).The above method through the invention, which completes, to be compared
Comprehensive driving behavior, these driving behaviors include but is not limited to left sharp turn, right sharp turn, anxious deceleration, anxious acceleration, emergency brake
The analysis such as vehicle, sudden turn of events road, frequent lane change, slight impact, collision.Due to having used Bluetooth Low Energy chip so base of the invention
Driving behavior collector in the driving behavior analysis method of motion sensor is also equipped with and server interaction and cell phone application
Interaction and the function of wirelessly updating firmware (OTA), this system that driving behavior collector is installed keep using constantly
Newest firmware.
The present invention is mainly attached using Bluetooth Low Energy chip with mobile phone, then is adopted by mobile phone A pp with driving behavior
The driving behavior analysis system of storage carries out data interaction.And it will be in the data of driving behavior analysis system using mobile phone as gateway
Reach server, corresponding driving behavior message using App is pushed to user after parsing data by server.Server issues
Configuration parameter and OTA upgrading be also as website to give these data forwardings to driving behavior analysis system by mobile phone A pp.
The driving behavior analysis system of driving behavior collector accelerates to complete the first of posture with GNSS information using gravity
Beginningization eliminates complicated platform mechanical system, and system structure is extremely simple, reduces the volume and weight of system, drops simultaneously
Low cost, simplifies maintenance, improves reliability, shorten the starting time of whole system, also eliminates and platform
The related error of system.Comprehensive (full posture) work is allowed to set to improve the accuracy of driving behavior analysis, reduce
The complexity of standby installation.
And mobile communication terminal such as mobile phone has driving behavior analysis system and server friendship as communication gate
Mutual and update firmware function.
The driving behavior analysis system of driving behavior collector of the invention in real time to mobile phone send driving behavior data with
Ensure the timeliness of data.Driving behavior analysis system no longer needs to obtain GNSS information from mobile phone after the completion of posture initializes
It can thus work in low-power consumption mode.System power supply module of the invention provides reliable and stable working power for system；Shape
State instruction reflects the current working condition of system (init state, working condition)；Bluetooth Low Energy module is system and hand
The channel of data interaction is provided between machine；Main control chip is responsible for the task debugging of whole system and function is realized；Inertia measurement
The main function of completing driving behavior analysis.
The hardware of the driving analysis system of driving behavior collector of the present invention specifically includes that inertia measurement device, master control core
Piece, Bluetooth Low Energy, state instruction device and several parts of system power supply.Wherein, system power supply provides reliable and stable for system
Working power；State instruction device reflects the current working condition of system (init state, working condition)；The low function of bluetooth
Consumption module provides the channel of data interaction between system and mobile phone, and this system is using Bluetooth Low Energy chip and combines soft
Part algorithm also achieves low-power consumption after realizing correct, comprehensive driving behavior analysis, this better than it is existing on the market cannot
It works in the product of low-power consumption.It is also that client saves product use cost while saving the energy.Bluetooth Low Energy chip
Mainly realize the function of this system and extraneous data interaction, this function can also select GPRS, NFC, RF2.4G,
The communications such as 315MHz, 433MHz.In addition it can using the wired communication modes such as serial ports, SPI, I2C completing and
The external world carries out data interaction.Main control chip is responsible for the task debugging of whole system and function is realized；Inertia measurement device is mainly complete
At the function of driving behavior analysis, the inertia measurement device that the present invention selects is the chip for exporting 3 axle acceleration values, can also be selected
With the inertia device of 6 axis, 9 axis or multiaxis.At the beginning of this system completes posture using mathematical algorithm using civilian inertia measurement device
Beginningization, driving behavior analysis.Compared to judgement driving behavior present on the market not comprehensively, not accurately for product in its function
On enriched, take full advantage of system resource.
Inertia measurement device mainly includes: Attitude Calculation, driving behavior analysis.Wherein Attitude Calculation includes: static initial
Change, dynamic initialization and dynamic correct static initialization bring Attitude Calculation error.Static initialization is added using gravity
Speed carries out Attitude Calculation, i.e., the true coordinate of the inertia device of driving behavior analysis system is passed through gravity on its each axis
Component calculate the angle between each reference axis of driving behavior analysis system and vehicle plane.And then it is distributed over each coordinate
The inertia values of axis are transformed into vehicle plane.Dynamic initialization is using the Y-axis and vehicle after GNSS speed and the conversion of GNSS angle calculation
Angle between driving direction is overlapped with completing the Y-axis after conversion with driving direction, and the X-axis after conversion is vertical with driving direction
Effect.The attitude error that dynamic calculates when correcting static is that GNSS speed and GNSS are continued to use after the completion of dynamic initialization
Angle is come error brought when correcting static initialization to provide the precision of system.As shown in Fig. 2, being the process of Attitude Calculation
Schematic diagram.And driving behavior analysis specifically include that it is anxious accelerate, it is anxious slow down, bring to a halt, left sharp turn, right sharp turn, sudden turn of events road,
Frequent lane change, slight impact and severe crash etc. in a short time.It is the detailed stream of driving behavior analysis of the present invention as shown in Figure 3
Journey.Driving behavior analysis is to be more than or less than in the case of completing according to posture initialization by detecting the inertia values of a period of time
The analysis that some threshold value carries out.The driving behavior of zig zag (left and right) is mainly analyzed by X-axis.The anxious of driver accelerates, suddenly subtracts
Speed, the driving behavior brought to a halt mainly are analyzed by Y-axis.Sudden turn of events road frequently sells of one's property in the short time, collides and slight impact is by X-axis
It combines analysis with Y-axis.
It is static just that the present invention uses acceleration of gravity to carry out posture first when starting and being mounted on vehicle or other devices
The true coordinate of inertia device (is transformed into vehicle plane) by beginningization.Then GNSS letter is obtained from mobile phone by Bluetooth Low Energy chip
Breath carries out dynamic initialization, i.e., using the Y-axis after GNSS speed and the conversion of GNSS angle calculation and between vehicle heading
Angle is overlapped with completing the Y-axis after conversion with driving direction, the effect vertical with driving direction of the X-axis after conversion.It is first in dynamic
It also will continue to using GNSS speed and GNSS angle come error brought when correcting static initialization after the completion of beginningization to provide
The precision of system.
Technical solution of the present invention in addition to apply automotive field can also apply to the needs such as unmanned plane, ship analysis drive
Sail the related fields of behavior.
Refer to Fig. 4, a kind of driving behavior analysis device based on motion sensor characterized by comprising
First acquisition mould 10, the acceleration of the vehicles is acquired for the motion sensor by being set to driving behavior collector
Degree evidence, the driving behavior collector are set on the vehicles；
Second acquisition module 20 acquires the speed of the vehicles for the locating module by being set on driving behavior collector
Degree evidence and direction of motion data；
Correction module 30, for correcting the driving behavior and adopting according to the speed data and the direction of motion data
The Y-axis of the posture of storage, the posture of the driving behavior collector is overlapped with the driving direction of the vehicles, the driving
The X-axis of behavior collector is vertical with the driving direction of the vehicles；
Coordinate transferring 40, for establishing the spatial coordinate axis and the vehicles of the driving behavior collector
The transformational relation of spatial coordinate axis；
First judgment module 50, for according to the acceleration information the vehicles driving direction first throw
Shadow component value judges that the vehicles are in the first normal driving behavior or the first improper driving behavior；
Second judgment module 60, for according to the acceleration information in the X-axis of the driving behavior collector
Two projection components values judge that the vehicles are in the second normal driving behavior or the second improper driving behavior；
Third judgment module 70, for judging institute in conjunction with the first projection components value and the second projection components value
It states the vehicles and is in the behavior of third normal driving or the improper driving behavior of third.
Preferably, the described first improper driving behavior suddenly accelerates one of driving behavior and anxious deceleration driving behavior.
Preferably, one in the described second improper driving behavior left sharp turn driving behavior and right sharp turn driving behavior
Kind.
Preferably, the left sudden turn of events road driving behavior of the improper driving behavior of the third, the driving behavior of right sudden turn of events road and frequently
At least one of lane change driving behavior.
Preferably, the angular velocity data and magnetic of the vehicles are acquired by being set to the motion sensor of driving behavior collector
Field intensity detection data, by the angular velocity data and the magnetic field strength detection data, improve the acceleration information from
Precision when the spatial coordinate axis of the driving behavior collector is converted to the spatial coordinate axis of the vehicles.
The driving behavior analysis device based on motion sensor further include: the 4th judgment module, for according to described in
Acceleration information the first projection components value in the Y-axis, X-axis and Z axis of the spatial coordinate axis of the vehicles, respectively
Two projection components values and third projection components value, judge whether the vehicles occur traffic accident, the traffic accident
At least one of to collide and turning on one's side.
4th judgment module, comprising:
First judging unit, for tentatively sentencing when the third projection components value on the Z axis is more than the first preset range
Traffic accident occurs for the vehicles that break, and the traffic accident is vehicles rollover；
Second judgment unit, for passing through the Y-axis when tentatively judging the traffic accident is vehicles rollover
The variation of the first projection components value and the variation auxiliary of the second projection components value of the X-axis confirm the sides of the vehicles
It turns over and judges whether accurately；
Third judging unit, for tentatively judging when the first projection components value of the Y-axis is more than the second preset range
Traffic accident occurs for the vehicles, and the traffic accident collides for the vehicles；
4th judging unit, for passing through institute when tentatively judging that the traffic accident collides for the vehicles
The variation auxiliary for stating the variation of the second projection components value of X-axis and the third projection components value of the Z axis confirms the traffic work
Whether the collision judgment of tool is accurate；
5th judging unit, for being more than preliminary judgement in third preset range when the second projection components value of the X-axis
Traffic accident occurs for the vehicles, and the traffic accident is that side collision occurs for the vehicles；
6th judging unit, for leading to when tentatively judging the traffic accident is that side collision occurs for the vehicles
The variation auxiliary for crossing the variation of the first projection components value of the Y-axis and the third projection components value of the Z axis confirms the friendship
Whether the collision judgment of logical tool is accurate.
In addition, in conjunction with the driving behavior analysis based on motion sensor of Fig. 1, Fig. 2 and Fig. 3 embodiment of the present invention described
Method can be by being realized based on the driving behavior analysis equipment of motion sensor.Fig. 5 shows provided in an embodiment of the present invention
The hardware structural diagram of driving behavior analysis equipment based on motion sensor.
Driving behavior analysis equipment based on motion sensor may include processor 401 and be stored with computer program
The memory 402 of instruction.
Specifically, above-mentioned processor 401 may include central processing unit (CPU) or specific integrated circuit
(Application Specific Integrated Circuit, ASIC), or may be configured to implement implementation of the present invention
One or more integrated circuits of example.
Memory 402 may include the mass storage for data or instruction.For example it rather than limits, memory
402 may include hard disk drive (Hard Disk Drive, HDD), floppy disk drive, flash memory, CD, magneto-optic disk, tape or logical
With the combination of universal serial bus (Universal Serial Bus, USB) driver or two or more the above.It is closing
In the case where suitable, memory 402 may include the medium of removable or non-removable (or fixed).In a suitable case, it stores
Device 402 can be inside or outside data processing equipment.In a particular embodiment, memory 402 is nonvolatile solid state storage
Device.In a particular embodiment, memory 402 includes read-only memory (ROM).In a suitable case, which can be mask
ROM, programming ROM (PROM), erasable PROM (EPROM), the electric erasable PROM (EEPROM), electrically-alterable ROM of programming
(EAROM) or the combination of flash memory or two or more the above.
Processor 401 is by reading and executing the computer program instructions stored in memory 402, to realize above-mentioned implementation
Any one driving behavior analysis method based on motion sensor in example.
In one example, the driving behavior analysis equipment based on motion sensor may also include communication interface 403 and total
Line 410.Wherein, as shown in figure 5, processor 401, memory 402, communication interface 403 are connected by bus 410 and completed mutually
Between communication.
Communication interface 403 is mainly used for realizing in the embodiment of the present invention between each module, device, unit and/or equipment
Communication.
Bus 410 include hardware, software or both, by the component of the driving behavior analysis equipment based on motion sensor that
This is coupled together.For example it rather than limits, bus may include accelerated graphics port (AGP) or other graphics bus, enhancing
Industry Standard Architecture (EISA) bus, front side bus (FSB), super transmission (HT) interconnection, Industry Standard Architecture (ISA) bus, nothing
Limit bandwidth interconnection, low pin count (LPC) bus, memory bus, micro- channel architecture (MCA) bus, peripheral component interconnection (PCI)
Bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association part
(VLB) combination of bus or other suitable buses or two or more the above.In a suitable case, bus
410 may include one or more buses.Although specific bus has been described and illustrated in the embodiment of the present invention, the present invention considers to appoint
What suitable bus or interconnection.
In addition, in conjunction with the driving behavior analysis method based on motion sensor in above-described embodiment, the embodiment of the present invention
A kind of computer readable storage medium be can provide to realize.Computer program is stored on the computer readable storage medium to refer to
It enables；The computer program instructions realize any one driving based on motion sensor in above-described embodiment when being executed by processor
Sail behavior analysis method.
It should be clear that the invention is not limited to specific configuration described above and shown in figure and processing.
For brevity, it is omitted here the detailed description to known method.In the above-described embodiments, several tools have been described and illustrated
The step of body, is as example.But method process of the invention is not limited to described and illustrated specific steps, this field
Technical staff can be variously modified, modification and addition after understanding spirit of the invention, or suitable between changing the step
Sequence.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
It closes.When realizing in hardware, it may, for example, be electronic circuit, specific integrated circuit (ASIC), firmware appropriate, insert
Part, function card etc..When being realized with software mode, element of the invention is used to execute program or the generation of required task
Code section.Perhaps code segment can store in machine readable media program or the data-signal by carrying in carrier wave is passing
Defeated medium or communication links are sent." machine readable media " may include any medium for capableing of storage or transmission information.
The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), soft
Disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can be via such as internet, inline
The computer network of net etc. is downloaded.
It should also be noted that, the exemplary embodiment referred in the present invention, is retouched based on a series of step or device
State certain methods or system.But the present invention is not limited to the sequence of above-mentioned steps, that is to say, that can be according in embodiment
The sequence referred to executes step, may also be distinct from that the sequence in embodiment or several steps are performed simultaneously.
The above description is merely a specific embodiment, it is apparent to those skilled in the art that,
For convenience of description and succinctly, the system, module of foregoing description and the specific work process of unit can refer to preceding method
Corresponding process in embodiment, details are not described herein.It should be understood that scope of protection of the present invention is not limited thereto, it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or substitutions,
These modifications or substitutions should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of driving behavior analysis method based on motion sensor characterized by comprising
Motion sensor by being set to driving behavior collector acquires the acceleration information of the vehicles, and the driving behavior is adopted
Storage is set on the vehicles；
The speed data and direction of motion data of the vehicles are acquired by the locating module being set on driving behavior collector；
According to the speed data and the direction of motion data, the posture of the driving behavior collector, the driving are corrected
The Y-axis of the posture of behavior collector is overlapped with the driving direction of the vehicles, the X-axis of the driving behavior collector and institute
The driving direction for stating the vehicles is vertical；
Establish the transformational relation of the spatial coordinate axis of the driving behavior collector and the spatial coordinate axis of the vehicles；
According to the acceleration information in the first projection components value of the driving direction of the vehicles, the traffic work is judged
Tool is in the first normal driving behavior or the first improper driving behavior；
According to second projection components value of the acceleration information in the X-axis of the driving behavior collector, the friendship is judged
Logical tool is in the second normal driving behavior or the second improper driving behavior；
In conjunction with the first projection components value and the second projection components value, judge that the vehicles are in third and normally drive
Sail behavior or the improper driving behavior of third.
2. the driving behavior analysis method according to claim 1 based on motion sensor, which is characterized in that described first
Improper driving behavior suddenly accelerates one of driving behavior and anxious deceleration driving behavior.
3. the driving behavior analysis method according to claim 1 based on motion sensor, which is characterized in that described second
One of improper driving behavior left sharp turn driving behavior and right sharp turn driving behavior.
4. the driving behavior analysis method according to claim 1 based on motion sensor, which is characterized in that the third
At least one in the left sudden turn of events road driving behavior of improper driving behavior, the driving behavior of right sudden turn of events road and frequent lane change driving behavior
Kind.
5. the driving behavior analysis method according to claim 1 based on motion sensor, which is characterized in that by being set to
The angular velocity data and magnetic field strength detection data of the motion sensor acquisition vehicles of driving behavior collector, by described
Angular velocity data and the magnetic field strength detection data improve solid of the acceleration information from the driving behavior collector
Precision when reference axis is converted to the spatial coordinate axis of the vehicles.
6. the driving behavior analysis method according to any one of claims 1 to 5 based on motion sensor, feature exist
In the driving behavior analysis method based on motion sensor further include: according to the acceleration information respectively in the friendship
The Y-axis, X-axis and the first projection components value, the second projection components value and third on Z axis for leading to the spatial coordinate axis of tool are thrown
Shadow component value, judges whether the vehicles occur traffic accident, and the traffic accident is at least one in collision and rollover
Kind.
7. the driving behavior analysis method according to claim 6 based on motion sensor, which is characterized in that the foundation
The acceleration information the first projection components in the Y-axis, X-axis and Z axis of the spatial coordinate axis of the vehicles respectively
Value, the second projection components value and third projection components value, judge whether the vehicles occur traffic accident, the traffic
Accident is at least one of collision and rollover, comprising:
When the third projection components value on the Z axis is more than the first preset range, tentatively judge that the vehicles are handed over
Interpreter's event, and the traffic accident is vehicles rollover；
When tentatively judging the traffic accident is vehicles rollover, pass through the change of the first projection components value of the Y-axis
Change and the variation auxiliary of the second projection components value of the X-axis confirms that the rollover of the vehicles judges whether accurately；
When the first projection components value of the Y-axis is more than the second preset range, tentatively judge that traffic occurs for the vehicles
Accident, and the traffic accident collides for the vehicles；
When tentatively judging that the traffic accident collides for the vehicles, pass through the second projection components value of the X-axis
Variation and the variation auxiliary of third projection components value of the Z axis confirm whether the collision judgment of the vehicles accurate；
When the second projection components value of the X-axis is more than tentatively to judge that traffic occurs for the vehicles in third preset range
Accident, and the traffic accident is that side collision occurs for the vehicles；
When tentatively judging the traffic accident is that side collision occurs for the vehicles, pass through the first projection point of the Y-axis
The variation auxiliary of the third projection components value of the variation and Z axis of magnitude confirms whether the collision judgment of the vehicles is quasi-
Really.
8. a kind of driving behavior analysis device based on motion sensor characterized by comprising
First acquisition module acquires the acceleration degree of the vehicles for the motion sensor by being set to driving behavior collector
According to the driving behavior collector is set on the vehicles；
Second acquisition module acquires the speed data of the vehicles for the locating module by being set on driving behavior collector
With direction of motion data；
Correction module, for correcting the driving behavior collector according to the speed data and the direction of motion data
The Y-axis of posture, the posture of the driving behavior collector is overlapped with the driving direction of the vehicles, and the driving behavior is adopted
The X-axis of storage is vertical with the driving direction of the vehicles；
Coordinate transferring, spatial coordinate axis and the three-dimensional of the vehicles for establishing the driving behavior collector are sat
The transformational relation of parameter；
First judgment module, for according to the acceleration information the driving direction of the vehicles the first projection components
Value, judges that the vehicles are in the first normal driving behavior or the first improper driving behavior；
Second judgment module, for the second projection according to the acceleration information in the X-axis of the driving behavior collector
Component value judges that the vehicles are in the second normal driving behavior or the second improper driving behavior；
Third judgment module, for judging the traffic in conjunction with the first projection components value and the second projection components value
Tool is in the behavior of third normal driving or the improper driving behavior of third.
9. a kind of driving behavior analysis equipment based on motion sensor characterized by comprising at least one processor, extremely
The computer program instructions of a few memory and storage in the memory, when the computer program instructions are described
Such as method of any of claims 1-7 is realized when processor executes.
10. a kind of computer readable storage medium, is stored thereon with computer program instructions, which is characterized in that when the calculating
Such as method of any of claims 1-7 is realized when machine program instruction is executed by processor.
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