CN112172665B - Method for collision alarm through IMU - Google Patents
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- CN112172665B CN112172665B CN202010978083.7A CN202010978083A CN112172665B CN 112172665 B CN112172665 B CN 112172665B CN 202010978083 A CN202010978083 A CN 202010978083A CN 112172665 B CN112172665 B CN 112172665B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The invention discloses a method for collision alarm through an IMU, which comprises the following steps: step 1, mounting an IMU on a vehicle body, wherein the IMU is connected with a rigid body part on the vehicle body; step 2, acquiring data of the IMU in real time by utilizing the MCU, wherein the data comprise triaxial acceleration and triaxial angular velocity data; step 3, analyzing and processing the obtained triaxial acceleration and triaxial angular velocity data, and judging whether a collision exists or not; and step 4, if the friction exists, alarm processing is carried out. The method can monitor and alarm the collision in all directions of the vehicle through the IMU.
Description
Technical Field
The invention relates to a collision alarm method through an IMU, and belongs to the technical field of vehicle collision monitoring.
Background
In the prior art, collision warning during parking is generally to monitor whether a vehicle is rubbed or bumped by a camera through image processing. However, the camera is generally installed behind the front glass, so that the front collision can be monitored and alarmed, and the collision beyond the range of the camera, namely, the collision in the blind area of the camera, cannot be monitored and alarmed. For this reason, a new method for comprehensively monitoring and alarming all directions of the vehicle needs to be proposed.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the method for collision alarm through the IMU can monitor and alarm all directions of the vehicle in real time.
The invention adopts the following technical scheme for solving the technical problems:
a method of collision alerting by an IMU, comprising the steps of:
step 1, mounting an IMU on a vehicle body, wherein the IMU is connected with a rigid body part on the vehicle body;
step 2, acquiring data of the IMU in real time by utilizing the MCU, wherein the data comprise triaxial acceleration and triaxial angular velocity data;
step 3, analyzing and processing the obtained triaxial acceleration and triaxial angular velocity data, and judging whether a collision exists or not;
and step 4, if the friction exists, alarm processing is carried out.
As a preferable embodiment of the present invention, the rigid body member on the vehicle body in step 1 is a suspension.
As a preferred embodiment of the present invention, the three-axis acceleration and the three-axis angular velocity in step 2 include an x-axis acceleration, a y-axis acceleration, a z-axis acceleration, an x-axis angular velocity, a y-axis angular velocity, and a z-axis angular velocity.
As a preferable scheme of the invention, the specific process of the step 3 is as follows:
step 3.1, storing triaxial acceleration and triaxial angular velocity data corresponding to the current moment and the moment from the previous moment to the current moment and the moment from the previous N moment;
step 3.2, taking a median value of the x-axis acceleration corresponding to the time from the previous time to the previous N time of the current time to obtain the median value of the x-axis acceleration; taking a median value of the y-axis acceleration corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain a y-axis acceleration median value; taking a median value of the z-axis acceleration corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain a median value of the z-axis acceleration;
step 3.3, taking a median value of the x-axis angular velocity corresponding to the time from the previous time to the previous N time of the current time to obtain the median value of the x-axis angular velocity; taking the median value of the y-axis angular velocity corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain the median value of the y-axis angular velocity; taking the median value of the z-axis angular velocity corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain the median value of the z-axis angular velocity;
step 3.4, calculating the difference value between the x-axis acceleration and the median value of the x-axis acceleration at the current moment, taking an absolute value of the difference value, and recording the absolute value as a first absolute value; calculating the difference value between the y-axis acceleration and the median value of the y-axis acceleration at the current moment, taking an absolute value of the difference value, and recording the absolute value as a second absolute value; calculating the difference value between the z-axis acceleration and the median value of the z-axis acceleration at the current moment, taking the absolute value of the difference value, and recording the absolute value as a third absolute value; calculating the difference value of the median value of the x-axis angular velocity and the x-axis angular velocity at the current moment, taking an absolute value of the difference value, and recording the absolute value as a fourth absolute value; calculating the difference value of the median value of the y-axis angular velocity and the y-axis angular velocity at the current moment, taking an absolute value of the difference value, and recording the absolute value as a fifth absolute value; calculating the difference value of the median value of the z-axis angular velocity and the z-axis angular velocity at the current moment, taking an absolute value of the difference value, and recording the absolute value as a sixth absolute value;
and 3.5, setting a threshold K, comparing the first to sixth absolute values with the threshold K, and judging that the collision exists if at least one absolute value exceeds the threshold K.
As a preferable scheme of the invention, the method for obtaining the median value of the x-axis acceleration is as follows:
the x-axis acceleration corresponding to the time N before the current time is ordered from big to small or from small to big, andnumbering the ordered sequences from N+1 until the numbering is finished to 2N; when N is odd, the median value of the x-axis acceleration is numbered in the sequence
Corresponding x-axis acceleration; when N is even, the median x-axis acceleration is numbered +.>
And->
The corresponding mean value of the x-axis acceleration.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
according to the invention, the IMU is arranged on the rigid body part of the vehicle, and triaxial acceleration and angular velocity data acquired by the IMU in real time are analyzed and processed, so that whether a collision condition exists or not is judged, and alarm processing is carried out when the collision condition exists. The method can monitor and alarm the collision of the vehicle in all directions.
Drawings
Fig. 1 is a flow chart of a method of collision alerting by an IMU in accordance with the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
While the embodiments of the present invention have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, and coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Examples
As shown in fig. 1, a flowchart of a method for collision alarm by IMU according to the present invention is shown, which comprises the following specific steps:
and 1, mounting an inertial measurement unit (Inertial Measurement Unit, IMU) on the vehicle body, wherein the IMU is connected with the rigid body of the vehicle body.
And 2, acquiring data of acceleration and angular velocity of x, y and z three axes of the IMU in real time by utilizing a micro control unit (Micro Controller Unit, MCU).
Step 3, analyzing and processing the collected data, and detecting whether a collision exists or not, wherein the method comprises the following steps:
step 3.1: the most recently received N sets of data are first saved.
Step 3.2: and taking a median value for the acquired N groups of data.
Step 3.3: and (3) continuously collecting new data, comparing the newly collected data with the median calculated in the step (3.2), and if the new data exceeds a set threshold K, considering that the situation of collision exists.
And step 4, if the friction condition exists in the step 3, carrying out alarm processing.
It should be appreciated that embodiments of the invention may be implemented or realized by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer readable storage medium configured with a computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, in accordance with the methods and drawings described in the specific embodiments. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes (or variations and/or combinations thereof) described herein may be performed under control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications), by hardware, or combinations thereof, collectively executing on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable computing platform, including, but not limited to, a personal computer, mini-computer, mainframe, workstation, network or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and so forth. Aspects of the invention may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and/or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, which when read by a computer, is operable to configure and operate the computer to perform the processes described herein. Further, the machine readable code, or portions thereof, may be transmitted over a wired or wireless network. When such media includes instructions or programs that, in conjunction with a microprocessor or other data processor, implement the steps described above, the invention described herein includes these and other different types of non-transitory computer-readable storage media. The invention also includes the computer itself when programmed according to the methods and techniques of the present invention. The computer program can be applied to the input data to perform the functions described herein, thereby converting the input data to generate output data that is stored to the non-volatile memory. The output information may also be applied to one or more output devices such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on a display.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereto, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention.
Claims (2)
1. A method for collision warning via an IMU, comprising the steps of:
step 1, mounting an IMU on a vehicle body, wherein the IMU is connected with a rigid body part on the vehicle body;
step 2, acquiring data of the IMU in real time by utilizing the MCU, wherein the data comprise triaxial acceleration and triaxial angular velocity data;
the triaxial acceleration and triaxial angular velocity include x-axis acceleration, y-axis acceleration, z-axis acceleration, x-axis angular velocity, y-axis angular velocity, and z-axis angular velocity;
step 3, analyzing and processing the obtained triaxial acceleration and triaxial angular velocity data, and judging whether a collision exists or not; the specific process is as follows:
step 3.1, storing triaxial acceleration and triaxial angular velocity data corresponding to the current moment and the moment from the previous moment to the current moment and the moment from the previous N moment;
step 3.2, taking a median value of the x-axis acceleration corresponding to the time from the previous time to the previous N time of the current time to obtain the median value of the x-axis acceleration; taking a median value of the y-axis acceleration corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain a y-axis acceleration median value; taking a median value of the z-axis acceleration corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain a median value of the z-axis acceleration;
the method for obtaining the median value of the x-axis acceleration comprises the following steps:
sequencing the x-axis acceleration corresponding to the moment from the previous moment to the previous N moment of the current moment in order from big to small or from small to big, and numbering the sequenced sequence from N+1 until the numbering is finished to 2N; when N is odd, the median value of the x-axis acceleration is numbered in the sequence
Corresponding x-axis acceleration; when N is even, the median x-axis acceleration is numbered +.>
And->
Average value of corresponding x-axis acceleration；
Step 3.3, taking a median value of the x-axis angular velocity corresponding to the time from the previous time to the previous N time of the current time to obtain the median value of the x-axis angular velocity; taking the median value of the y-axis angular velocity corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain the median value of the y-axis angular velocity; taking the median value of the z-axis angular velocity corresponding to the moment from the moment before the current moment to the moment N before the current moment to obtain the median value of the z-axis angular velocity;
step 3.4, calculating the difference value between the x-axis acceleration and the median value of the x-axis acceleration at the current moment, taking an absolute value of the difference value, and recording the absolute value as a first absolute value; calculating the difference value between the y-axis acceleration and the median value of the y-axis acceleration at the current moment, taking an absolute value of the difference value, and recording the absolute value as a second absolute value; calculating the difference value between the z-axis acceleration and the median value of the z-axis acceleration at the current moment, taking the absolute value of the difference value, and recording the absolute value as a third absolute value; calculating the difference value of the median value of the x-axis angular velocity and the x-axis angular velocity at the current moment, taking an absolute value of the difference value, and recording the absolute value as a fourth absolute value; calculating the difference value of the median value of the y-axis angular velocity and the y-axis angular velocity at the current moment, taking an absolute value of the difference value, and recording the absolute value as a fifth absolute value; calculating the difference value of the median value of the z-axis angular velocity and the z-axis angular velocity at the current moment, taking an absolute value of the difference value, and recording the absolute value as a sixth absolute value;
step 3.5, setting a threshold K, comparing the first to sixth absolute values with the threshold K, and judging that the collision exists if at least one absolute value exceeds the threshold K;
and step 4, if the friction exists, alarm processing is carried out.
2. The method of claim 1, wherein the rigid body member of the vehicle body of step 1 is a suspension.
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| CN107499314A (en) * | 2017-07-26 | 2017-12-22 | 成都西华升腾科技有限公司 | Rear-end collision preventing system based on IMU |
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