CN111879959A - Method for judging vehicle state and realizing vehicle interconnection based on positioning and acceleration - Google Patents

Method for judging vehicle state and realizing vehicle interconnection based on positioning and acceleration Download PDF

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Publication number
CN111879959A
CN111879959A CN202010511438.1A CN202010511438A CN111879959A CN 111879959 A CN111879959 A CN 111879959A CN 202010511438 A CN202010511438 A CN 202010511438A CN 111879959 A CN111879959 A CN 111879959A
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China
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vehicle
positioning
acceleration
deceleration state
reason
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CN202010511438.1A
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Chinese (zh)
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张帅
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Zhejiang Highway Information Engineering Technology Co ltd
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Zhejiang Highway Information Engineering Technology Co ltd
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Priority to CN202010511438.1A priority Critical patent/CN111879959A/en
Publication of CN111879959A publication Critical patent/CN111879959A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a method for judging vehicle states and realizing vehicle interconnection based on positioning and acceleration.A positioning module arranged on a positioning vehicle is used for positioning the position of the vehicle, and a displacement sensor arranged on the positioning vehicle is used for detecting the displacement of the positioning vehicle so as to calculate a speed value, an acceleration value and an acceleration change rate; when the positioning vehicle is in a sudden deceleration state, judging that the positioning vehicle has an accident or sudden braking, sending the reason of the sudden deceleration state to a nearby vehicle using the same positioning module, and if the reason of the sudden deceleration state is the accident, needing to detour; if the reason for the sudden deceleration state is sudden braking, normal running is possible. The invention uses the displacement sensor as a basis to judge the reason of the sudden braking of the vehicle and inform other vehicles of paying attention to road condition information.

Description

Method for judging vehicle state and realizing vehicle interconnection based on positioning and acceleration
Technical Field
The invention relates to the technical field of traffic safety, in particular to a method for judging vehicle states and realizing vehicle interconnection based on positioning and acceleration.
Background
With the rapid development of data such as internet, big data, electronic maps and the like, the number of vehicles with positioning systems is increasing, and the researches on the monitoring of traffic states, the prediction of traffic trends, the behavior of drivers and other related aspects based on the positioning data are also in the trend of blowout.
The existing driving behavior monitoring based on the positioning information is insufficient in judgment of the rapid deceleration state, the rapid deceleration state is probably caused by traffic accidents or red lights, and the judgment method of the rapid deceleration state is not accurate enough at present.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method for judging the state of a vehicle and realizing vehicle interconnection based on positioning and acceleration, which judges the reason of emergency braking of the vehicle by using a displacement sensor as a basis and informs other vehicles of paying attention to road condition information.
The invention adopts the following technical scheme:
a method for judging vehicle state and realizing vehicle interconnection based on positioning and acceleration,
(1) positioning a vehicle position by positioning a positioning module mounted on the vehicle;
(2) detecting a displacement x of the positioning vehicle by a displacement sensor mounted on the positioning vehicle;
(3) defining velocity values vn＝xnΔ t, when Δ t is extremely small, VnThe current instantaneous speed;
(4) defining an acceleration value an＝(vn-vn-1) At,/Δ t, when Δ t is extremely small, anThe current instantaneous acceleration;
(5) defining the acceleration rate of change alphan＝(an-an-1) At,/delta.t, when alpha is less than or equal to-2.22 m/s3If so, judging the state to be a rapid deceleration state;
(6) when the positioning vehicle is in a sudden deceleration state, judging that the positioning vehicle has an accident or sudden braking, and sending sudden deceleration state information to the vehicle which runs in the same direction behind and uses the same positioning module to remind the vehicle of paying attention to the road condition ahead;
(7) if a <0 and v >0 exist in the positioning vehicle 60s, the reason that the positioning vehicle is in the rapid deceleration state is sudden braking is described; if a and v in 60s are still 0, the reason that the vehicle is positioned in the rapid deceleration state is that an accident occurs;
(8) the reason of the rapid deceleration state is sent to nearby vehicles using the same positioning module, and if the reason of the rapid deceleration state is an accident, detouring is needed; if the reason for the sudden deceleration state is sudden braking, normal running is possible.
Preferably, when the positioning module signal is interrupted, the vehicle position is predicted by adopting a Kalman filtering-based vehicle self-prediction positioning navigation method.
Preferably, the positioning module is a GPS positioning module and a Beidou satellite positioning module.
Preferably, the intelligent device is further included, and the positioning module, the acceleration sensor and the speed sensor are integrated in the intelligent device.
Preferably, in the step (8): the method comprises the steps of sending the rapid deceleration state information to a vehicle which runs in the same direction behind the vehicle and uses the same positioning module, specifically sending voice information to the vehicle by using intelligent equipment, and generating vibration to remind the vehicle after the intelligent equipment of the vehicle receives the voice information.
Compared with the prior art, the invention has the following advantages: and judging the reason of the sudden braking of the vehicle by using the displacement sensor as a basis, and informing other vehicles of paying attention to road condition information. The speed, the acceleration and the acceleration change rate of the vehicle are judged by using the displacement sensor, and the using number of the sensors is reduced. The emergency braking state is divided into two reasons, and the road condition information in front of the vehicle behind can be better reminded.
Drawings
FIG. 1 is a schematic diagram of a circuit portion of the present invention.
Detailed Description
In order to facilitate understanding of the technical solutions of the present invention, the following detailed description is made with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, a method for determining a vehicle state and achieving vehicle interconnection based on location and acceleration,
(1) the vehicle position is positioned by a positioning module arranged on a positioning vehicle, and the current position of the vehicle and the street where the vehicle is located are sent to a background processor, so that the quantity of the vehicles on the same and adjacent road sections can be conveniently judged;
(2) the displacement x of the positioned vehicle is detected by a displacement sensor arranged on the positioned vehicle, so that the displacement of the vehicle in a certain period of time can be detected;
(3) defining velocity values vn＝xnΔ t, when Δ t is extremely small, VnThe current instantaneous speed; in this example, the amount of displacement, x, in adjacent 1s was measured1＝15m，x2＝10m，x30m, so a velocity v is obtained1＝15m/s，v2＝10m/s，v3＝0m/s。
(4) Defining an acceleration value an＝(vn-vn-1) At,/Δ t, when Δ t is extremely small, anThe current instantaneous acceleration; the carry-in velocity value is obtained as1＝-5m/s2，a2＝-15m/s2。
(5) Defining the acceleration rate of change alphan＝(an-an-1) At,/delta.t, when alpha is less than or equal to-2.22 m/s3When the vehicle is in a rapid deceleration state, the vehicle enters an acceleration value to obtain an alpha of 10m/s3(ii) a It is concluded that the vehicle is positioned in a state of rapid deceleration.
(6) When a positioning vehicle is in a rapid deceleration state, judging that the positioning vehicle has an accident or is suddenly braked, sending rapid deceleration state information to a vehicle which runs in the same direction behind and uses the same positioning module, and reminding the vehicle of paying attention to the road condition in front, wherein the reason is not clear because the vehicle in front is in the rapid brake state, and the rear vehicle is already on the same road section and cannot turn around, so that the vehicle needs to decelerate slowly and waits for the reason of the rapid deceleration state of the vehicle in front;
(7) if a <0 and v >0 exist in the positioning vehicle 60s, the reason that the positioning vehicle is in a rapid deceleration state is sudden braking, because the vehicle encounters a red light and does not drive through the intersection at the last moment of a green light, the vehicle can only be decelerated by sudden braking, or because the vehicle in front decelerates rapidly, and the two conditions can be recovered to continue driving as long as waiting for a certain time; if a and v in 60s are still 0, the reason that the positioning vehicle is in a rapid deceleration state is an accident, and the positioning vehicle stops running for a long time because the vehicle has the accident, so that a traffic police or a person negotiates to solve the problem and spends a long time;
(8) the reason of the rapid deceleration state is sent to nearby vehicles using the same positioning module through vehicle-mounted intelligent equipment, if the reason of the rapid deceleration state is an accident, detouring driving is needed, and the nearby vehicles can completely detour due to the fact that the nearby vehicles do not enter the road section; if the reason for the sudden deceleration state is sudden braking, normal running is possible.
When the positioning module is interrupted, the vehicle position is predicted by adopting a vehicle self-prediction positioning navigation method based on Kalman filtering.
The positioning module is a GPS positioning module or a Beidou satellite positioning module.
The intelligent device is characterized by further comprising an intelligent device, wherein the positioning module and the displacement sensor are integrated in the intelligent device, and the acceleration change rate calculation and positioning functions can be realized only by one intelligent device. The intelligent device further comprises an information sending module, an information receiving module and a processor, wherein the processor is connected with the positioning module, the information sending module, the information receiving module and the displacement sensor, and the processor can also calculate the speed, the acceleration and the acceleration change rate.
In the step (8): the information sending module sends the information of the rapid deceleration state information to the information receiving module of the vehicle which runs in the same direction behind the vehicle and uses the same positioning module, specifically, the intelligent device of the vehicle sends voice information to the vehicle, and the intelligent device of the vehicle generates vibration to remind the vehicle after receiving the voice information.
The above is only a preferred embodiment of the present invention, and the scope of the present invention is defined by the appended claims, and several modifications and amendments made by those skilled in the art without departing from the spirit and scope of the present invention should be construed as the scope of the present invention.

Claims (5)

1. A method for judging vehicle states and realizing vehicle interconnection based on positioning and acceleration is characterized by comprising the following steps:
(1) positioning a vehicle position by positioning a positioning module mounted on the vehicle;
(2) detecting a displacement x of the positioning vehicle by a displacement sensor mounted on the positioning vehicle;
(3) defining velocity values vn＝xnΔ t, when Δ t is extremely small, VnThe current instantaneous speed;
(4) defining an acceleration value an＝(vn-vn-1) At,/Δ t, when Δ t is extremely small, anThe current instantaneous acceleration;
(5) defining the acceleration rate of change alphan＝(an-an-1) At,/delta.t, when alpha is less than or equal to-2.22 m/s3If so, judging the state to be a rapid deceleration state;
(6) when the positioning vehicle is in a sudden deceleration state, judging that the positioning vehicle has an accident or sudden braking, and sending sudden deceleration state information to the vehicle which runs in the same direction behind and uses the same positioning module to remind the vehicle of paying attention to the road condition ahead;
(7) if a <0 and v >0 exist in the positioning vehicle 60s, the reason that the positioning vehicle is in the rapid deceleration state is sudden braking is described; if a and v in 60s are still 0, the reason that the vehicle is positioned in the rapid deceleration state is that an accident occurs;
(8) the reason of the rapid deceleration state is sent to nearby vehicles using the same positioning module, and if the reason of the rapid deceleration state is an accident, detouring is needed; if the reason for the sudden deceleration state is sudden braking, normal running is possible.
2. The method for judging the state of the vehicle and realizing the vehicle interconnection based on the positioning and the acceleration as claimed in claim 1, wherein when the signal of the positioning module is interrupted, the position of the vehicle is predicted by adopting a vehicle self-prediction positioning navigation method based on Kalman filtering.
3. The method for determining the state of the vehicle and realizing the interconnection of the vehicles based on the positioning and the acceleration as claimed in claim 1, wherein the positioning module is a GPS positioning module or a beidou satellite positioning module.
4. The method for judging the state of the vehicle and realizing the interconnection of the vehicles based on the positioning and the acceleration as claimed in claim 1, further comprising an intelligent device, wherein the positioning module, the acceleration sensor and the speed sensor are integrated in the intelligent device.
5. The method for determining the vehicle state and realizing the vehicle interconnection based on the positioning and the acceleration as claimed in claim 4, wherein in the step (4): the method comprises the steps of sending the rapid deceleration state information to a vehicle which runs in the same direction behind the vehicle and uses the same positioning module, specifically sending voice information to the vehicle by using intelligent equipment, and generating vibration to remind the vehicle after the intelligent equipment of the vehicle receives the voice information.
CN202010511438.1A 2020-06-08 2020-06-08 Method for judging vehicle state and realizing vehicle interconnection based on positioning and acceleration Pending CN111879959A (en)

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