CN114370875A - Vehicle state detection method and device and terminal equipment - Google Patents
Vehicle state detection method and device and terminal equipment Download PDFInfo
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Abstract
The application is applicable to the technical field of data processing, and provides a method, a device and a terminal device for detecting a vehicle state, wherein the method comprises the following steps: acquiring a first acceleration value set acquired by a triaxial acceleration sensor in a preset time period; the first set of acceleration values comprises a plurality of sets of acceleration values; each group of acceleration values comprises the acceleration values of each axial direction collected by the three-axis acceleration sensor; smoothing the acceleration values in the first acceleration value set according to a preset smoothing algorithm to obtain a second acceleration value set; determining the acceleration standard deviation of the vehicle in a preset time period according to the second acceleration value set; determining the state of the vehicle according to the acceleration standard deviation and a standard deviation threshold value. The vehicle state detection method can accurately determine the state of the vehicle, and improves the detection accuracy of the vehicle state.
Description
Technical Field
The present application belongs to the field of data processing technologies, and in particular, to a method and an apparatus for detecting a vehicle state, a terminal device, and a computer-readable storage medium.
Background
The vehicle attitude is an important parameter for vehicle operation, and plays an extremely important role in the safety control of the vehicle. At present, the state (including the moving state and the static state) of the vehicle is generally judged according to the value change amplitude of the three-axis acceleration sensor.
In the prior art, a standard deviation of each axis in a triaxial acceleration sensor of a certain vehicle in a period of time is generally obtained, the standard deviation of each axis is compared with a standard deviation threshold value, and a vehicle state is determined according to a comparison result. However, in the prior art, when the standard deviations of the three axes are counted respectively, the comparison result between the standard deviation and the standard deviation threshold value on each axis is different due to the numerical difference between the three axes, the vehicle state cannot be determined, and the detection accuracy of the vehicle state is reduced.
Disclosure of Invention
The embodiment of the application provides a method and a device for detecting a vehicle state, a terminal device and a computer readable storage medium, which can solve the problems that the vehicle state cannot be determined and the detection accuracy of the vehicle state is reduced in the prior art.
In a first aspect, an embodiment of the present application provides a method for detecting a vehicle state, including:
acquiring a first acceleration value set acquired by a triaxial acceleration sensor in a preset time period; the first set of acceleration values comprises a plurality of sets of acceleration values; each group of acceleration values comprises the acceleration value of each axial direction acquired by the triaxial acceleration sensor;
smoothing the acceleration values in the first acceleration value set according to a preset smoothing algorithm to obtain a second acceleration value set;
determining the acceleration standard deviation of the vehicle in the preset time period according to the second acceleration value set;
and determining the state of the vehicle according to the acceleration standard deviation and a standard deviation threshold value.
Optionally, the determining the state of the vehicle according to the acceleration standard deviation and the standard deviation threshold includes:
when the acceleration standard deviation is detected to be larger than the standard deviation threshold value, determining that the vehicle is in a motion state;
determining that the vehicle is in a stationary state when it is detected that the acceleration standard deviation is less than or equal to the standard deviation threshold.
Optionally, the smoothing processing is performed on the acceleration values in the first acceleration value set according to a preset smoothing algorithm to obtain a second acceleration value set, and the method includes:
and calculating the mean value of the acceleration values in the same axial direction in any two groups of adjacent acceleration values in the first acceleration value set to obtain a second acceleration value set.
Optionally, each set of acceleration values in the second set of acceleration values is obtained according to the following formula:
wherein, ai' represents an acceleration value of the X-axis in the i-th set of acceleration values in the second set of acceleration values, bi' represents an acceleration value of the Y axis in the i-th set of acceleration values in the second set of acceleration values, ci' represents an acceleration value of the Z axis in the i-th set of acceleration values in the second set of acceleration values, aiRepresenting an acceleration value of the X-axis of an i-th set of acceleration values of the first set of acceleration values, biAcceleration values representing the Y-axis of the i-th set of acceleration values of the first set of acceleration values, ciA Z-axis acceleration value in an ith set of acceleration values in the first set of acceleration values, and n represents a set number of acceleration values in the second set of acceleration values.
Optionally, the determining, according to the second acceleration value set, an acceleration standard deviation of the vehicle within the preset time period includes:
performing modulus calculation on each group of acceleration values in the second acceleration value set to obtain a modulus value corresponding to each group of acceleration values;
and determining the acceleration standard deviation according to the mode values corresponding to the acceleration values of all the groups.
Optionally, after determining the acceleration standard deviation of the vehicle within the preset time period according to the second acceleration value set, the method further includes:
and acquiring a historical acceleration standard deviation set of the vehicle in a historical time period, and determining the historical acceleration standard deviation set as the standard deviation threshold value according to the historical acceleration standard deviation set.
Optionally, the obtaining a historical acceleration standard deviation set of the vehicle in a historical time period, and determining the historical acceleration standard deviation set as the standard deviation threshold according to the historical acceleration standard deviation set, includes:
sorting a plurality of historical acceleration standard deviations in the historical acceleration standard deviation set from large to small, and determining the maximum value and the minimum value in the historical acceleration standard deviation set;
and calculating the mean value of the historical acceleration standard deviations except the maximum value and the minimum value in the historical acceleration standard deviation set to obtain a historical mean value, and determining the historical mean value as the standard deviation threshold value.
In a second aspect, an embodiment of the present application provides a vehicle state detection apparatus, including:
the acquisition unit is used for acquiring a first acceleration value set acquired by the triaxial acceleration sensor within a preset time period; the first set of acceleration values comprises a plurality of sets of acceleration values; each group of acceleration values comprises the acceleration value of each axial direction acquired by the triaxial acceleration sensor;
the processing unit is used for smoothing acceleration values in the first acceleration value set according to a preset smoothing algorithm to obtain a second acceleration value set;
a standard deviation determining unit, configured to determine an acceleration standard deviation of the vehicle within the preset time period according to the second acceleration value set;
and the state determining unit is used for determining the state of the vehicle according to the acceleration standard deviation and a standard deviation threshold value.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for detecting a vehicle state according to any one of the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the vehicle state detection method according to any one of the first aspect.
In a fifth aspect, the present application provides a computer program product, when the computer program product runs on a terminal device, the terminal device may execute the vehicle state detection method according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that:
according to the method for detecting the vehicle state provided by the embodiment of the application, according to a preset smoothing algorithm, smoothing processing is carried out on all acceleration values in a first acceleration value set acquired by a three-axis acceleration sensor in a preset time period, the influence of acceleration values with larger individual errors in the first acceleration value set on later-stage acceleration standard deviations can be reduced, a second acceleration value set is obtained, then the acceleration standard deviations of the vehicle in the preset time period are determined according to the smoothed second acceleration value set, and because each group of acceleration values in the first acceleration value set comprises the acceleration values of each axis in the three-axis acceleration sensor, the acceleration standard deviations obtained according to the second acceleration value set are the acceleration standard deviations of all the axes, and finally, according to the acceleration standard deviations and a standard deviation threshold value, the vehicle state can be accurately determined, the detection accuracy of the vehicle state is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flowchart illustrating an implementation of a method for detecting a vehicle state according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating an implementation of S103 in the method for detecting a vehicle state according to an embodiment of the present application;
fig. 3 is a flowchart illustrating an implementation of S104 in the method for detecting a vehicle state according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle state detection device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for detecting a vehicle state according to an embodiment of the present disclosure. An execution subject of the vehicle state detection method provided by the embodiment of the application is terminal equipment. The terminal device can be a smart phone, a tablet computer or a desktop computer.
As shown in fig. 1, a method for detecting a vehicle state according to an embodiment of the present application may include steps S101 to S104, which are detailed as follows:
in S101, acquiring a first acceleration value set acquired by a triaxial acceleration sensor in a preset time period; the first set of acceleration values comprises a plurality of sets of acceleration values; each set of acceleration values comprises acceleration values of each axial direction acquired by the three-axis acceleration sensor.
In the embodiment of the application, the terminal device can acquire the first acceleration value set of the vehicle in the preset time period through the triaxial acceleration sensor installed on the vehicle. The preset time period may be set according to actual needs, and is not limited herein, and for example, the preset time period may be set to 1 second.
In practical applications, since the three-axis acceleration sensor mainly decomposes the spatial acceleration on X, Y, Z three axes, each set of acceleration values in the first set of acceleration values includes acceleration values of each axis (X, Y, Z three axes) acquired by the three-axis acceleration sensor.
In an embodiment of the present application, to avoid that the processing time of the subsequent terminal device is too long due to too many sets of acceleration values acquired by the terminal device within the preset time period, the terminal device may acquire a set of acceleration values acquired by the three-axis acceleration sensor at preset time intervals after determining the start time of the preset time period until the end time of the preset time period is reached. Wherein the preset time interval may be set to 0.1 second.
For example, assuming that the preset time period is 1 second, the starting time of the preset time period is 01:01:01 second, and the preset time interval is zero point one second, the terminal device may obtain a first group of acceleration values at 01:01:01.1, a second group of acceleration values at 01:01:01.2, and so on, and the terminal device may obtain a tenth group of acceleration values at the ending time of the preset time period, that is, 01:01:02, so as to obtain a first acceleration value set within the preset time period.
In S102, an acceleration value in the first acceleration value set is smoothed according to a preset smoothing algorithm to obtain a second acceleration value set.
In the embodiment of the present application, the preset smoothing algorithm may be determined according to actual needs, and is not limited herein, and for example, the preset smoothing algorithm may be a mean smoothing algorithm, a weight smoothing algorithm, or a least square smoothing algorithm.
In an implementation manner of the embodiment of the present application, when the terminal device performs smoothing processing on the acceleration values in the first acceleration value set by using a mean value smoothing algorithm, a second acceleration value set is obtained, which is detailed as follows:
and calculating the mean value of the acceleration values in the same axial direction in any two groups of adjacent acceleration values in the first acceleration value set to obtain a second acceleration value set.
In this embodiment, each set of acceleration values of the first acceleration value set includes three axial acceleration values, so that after the terminal device obtains the average value of the same axial acceleration value of any two adjacent sets of acceleration values, the terminal device can determine the three axial average values obtained by the two adjacent sets of acceleration values as a new set of acceleration values, and then obtain the second acceleration value set. For example, assume that a set of acceleration values in the first set of acceleration values is: (a)i,bi,ci) And the acceleration values of the adjacent group are as follows: (a)i+1,bi+1,ci+1) And then the new set of acceleration values, i.e. the set of acceleration values in the second set of acceleration values corresponding to the ith set of acceleration values in the first set of acceleration values, is:
wherein the content of the first and second substances,
in an embodiment of the present application, in order to improve the processing efficiency of the terminal device, when the terminal device obtains a group of acceleration values in the first acceleration value set, the terminal device may determine a corresponding average value according to the group of acceleration values in real time. Based on this, the terminal device may obtain each set of acceleration values in the second set of acceleration values in real time according to the following formula:
wherein, ai' represents the mean of the X-axis in the i-th set of acceleration values in the second set of acceleration values, bi' means of Y-axis in i-th acceleration value in second acceleration value set, ci' means of Z-axis in i-th acceleration value in second acceleration value set, aiRepresenting the acceleration value of the X-axis of the i-th set of acceleration values of the first set of acceleration values, biAcceleration values representing the Y-axis of the i-th set of acceleration values in the first set of acceleration values, ciThe acceleration values representing the Z-axis in the ith set of acceleration values in the first set of acceleration values, and n represents the number of sets of acceleration values in the second set of acceleration values.
It should be noted that, the first set of acceleration values in the first set of acceleration values is: (a)1,b1,c1) Of its corresponding second set of acceleration values (a)1′,b1′,c1′)＝(a1,b1,c1)。
In another embodiment of the present application, after obtaining the first acceleration value set within a preset time period, the terminal device may further determine the corresponding mean values one by one, so as to obtain a second acceleration value set. Based on this, the terminal device may obtain each set of acceleration values in the second set of acceleration values according to the following formula:
wherein, aj' represents an acceleration value of the X axis in the j-th set of acceleration values in the second set of acceleration values, bj' means of the Y-axis in the j-th set of acceleration values in the second set of acceleration values, cj' means of Z-axis in j-th acceleration value in second acceleration value set, ajRepresenting the acceleration value of the X-axis in the jth set of acceleration values in the first set of acceleration values, bjAcceleration values representing the Y-axis of the jth set of acceleration values in the first set of acceleration values, cjIndicating a first accelerationThe acceleration values of the Z axis in the jth set of acceleration values in the set of values, and n represents the number of sets of acceleration values in the second set of acceleration values.
It should be noted that the last set of acceleration values in the first set of acceleration values is: (a)n,bn,cn) Then, the last acceleration value (a) in the corresponding second acceleration value setn′,bn′,cn′)＝(an,bn,cn)。
In another implementation manner of the embodiment of the present application, the terminal device may further perform smoothing processing on the acceleration values in the first acceleration value set by using a least square smoothing algorithm to obtain a second acceleration value set.
In practical application, the least square smoothing algorithm includes five-point three-time smoothing, seven-point three-time smoothing, nine-point three-time smoothing and the like. In connection with S101, since the first acceleration value set may include 10 sets of acceleration values, which are multiples of 5, the following description will take an example in which the first acceleration value set includes 10 sets of acceleration values, and a five-point cubic smoothing algorithm.
In this embodiment, the terminal device may specifically obtain each set of acceleration values in the second acceleration value set according to the following formula:
wherein, ak' represents an acceleration value of the X axis in the kth set of acceleration values in the second set of acceleration values, bk' denotes an acceleration value of the Y axis in the kth set of acceleration values in the second set of acceleration values, ck' means toAcceleration value of Z-axis in the kth set of acceleration values in two sets of acceleration values, akRepresenting the acceleration value of the X-axis of the kth set of acceleration values of the first set of acceleration values, bkAcceleration values representing the Y-axis of the kth set of acceleration values in the first set of acceleration values, ckRepresenting a Z-axis acceleration value in a kth set of acceleration values in the first set of acceleration values.
In S103, the acceleration standard deviation of the vehicle in the preset time period is determined according to the second acceleration value set.
In the embodiment of the application, the terminal device may determine the acceleration standard deviation of the vehicle within the preset time period according to the plurality of sets of acceleration values in the second acceleration value set. Because each set of acceleration values in the second acceleration value set comprises the mean value of the acceleration values of three axial directions (the X axis, the Y axis and the Z axis), the acceleration standard deviations are the acceleration standard deviations with uniform three axial directions, and the condition that each axial direction has the corresponding acceleration standard deviation and the three acceleration standard deviations are mutually unequal is avoided.
In an embodiment of the present application, the terminal device may specifically determine the standard deviation of the acceleration through steps S1031 to S1032 shown in fig. 2, which are detailed as follows:
in S1031, performing modulo operation on each set of acceleration values in the second set of acceleration values to obtain a modulo value corresponding to each set of acceleration values.
In S1032, the acceleration standard deviation is determined according to the modulus values corresponding to all the groups of acceleration values.
In this embodiment, the terminal device may specifically calculate the modulus value corresponding to each group of acceleration values through the following formula:
wherein d isiRepresenting the modulus, a, corresponding to the ith set of acceleration values in the second set of acceleration valuesi' indicating X-axis correspondence in the i-th set of acceleration values in the second set of acceleration valuesAcceleration value, bi' represents the acceleration value corresponding to the Y axis in the ith group of acceleration values in the second acceleration value set, ci' denotes an acceleration value corresponding to the Z axis in the ith set of acceleration values in the second set of acceleration values, and n denotes the number of sets of acceleration values in the second set of acceleration values.
After obtaining the modulus values corresponding to the acceleration values of all the groups in the second acceleration value set according to the formula, the terminal device may determine the mean value of all the modulus values, and determine the acceleration standard deviation of the vehicle within the preset time period according to all the modulus values and the mean value of all the modulus values.
In an embodiment of the present application, the terminal device may specifically calculate an acceleration standard deviation of the vehicle within a preset time period according to the following formula:
wherein std represents an acceleration standard deviation of the vehicle within a preset time period, diAnd the module values corresponding to the ith group of acceleration values in the second acceleration value set are represented, mu represents the mean value of the module values corresponding to all groups of acceleration values in the second acceleration value set, and n represents the group number of the acceleration values in the second acceleration value set.
In S104, the state of the vehicle is determined based on the acceleration standard deviation and a standard deviation threshold.
It should be noted that the standard deviation threshold can be set according to actual needs, and is not limited herein.
In an embodiment of the present application, the terminal device may specifically determine the standard deviation threshold by the following steps, which are detailed as follows:
and acquiring a historical acceleration standard deviation set of the vehicle in a historical time period, and determining the historical acceleration standard deviation set as the standard deviation threshold value according to the historical acceleration standard deviation set.
In this embodiment, the historical time period may be any time period before the preset time period, and is not limited herein.
In one implementation manner of this embodiment, the terminal device may randomly select one historical acceleration standard deviation from the historical acceleration standard deviation set, and determine the historical acceleration standard deviation as the standard deviation threshold.
In another implementation manner of this embodiment, in order to ensure the accuracy of the standard deviation threshold, the terminal device may further calculate a historical mean of the historical acceleration standard deviation set, and determine the historical mean as the standard deviation threshold.
In another implementation manner of this embodiment, in order to avoid the influence of individual history acceleration standard deviations with larger differences in the history acceleration standard deviation set on the above-mentioned mean, the terminal device may further sort all the history acceleration standard deviations in the history acceleration standard deviation set according to a descending order, and determine a maximum value and a minimum value in the history acceleration standard deviation set. After that, the terminal device may eliminate the maximum value and the minimum value, perform mean calculation only according to the historical acceleration standard deviations except the maximum value and the minimum value, obtain a historical mean of the historical acceleration standard deviation set, and determine the historical matrix as the standard deviation threshold.
In the embodiment of the application, after the terminal device obtains the acceleration standard deviation and the standard deviation threshold, the terminal device may compare the acceleration standard deviation with the standard deviation threshold, and determine the state of the vehicle according to the comparison result.
When detecting that the acceleration standard deviation is greater than the standard deviation threshold, the terminal device may execute step S1041 shown in fig. 3; when detecting that the acceleration standard deviation is less than or equal to the standard deviation threshold, the terminal device may execute step S1042 shown in fig. 3, which is detailed as follows:
in S1041, when it is detected that the acceleration standard deviation is greater than the standard deviation threshold, it is determined that the vehicle is in a moving state.
In S1042, when it is detected that the acceleration standard deviation is less than or equal to the standard deviation threshold, it is determined that the vehicle is in a stationary state.
In this embodiment, when the terminal device detects that the acceleration standard deviation is greater than the standard deviation threshold, it indicates that the acceleration value change amplitude acquired by the triaxial acceleration sensor within the preset time period is large, and therefore, it can be determined that the vehicle is in a moving state.
When the terminal device detects that the acceleration standard deviation is smaller than or equal to the standard deviation threshold value, it indicates that the change amplitude of the acceleration value collected by the triaxial acceleration sensor in the preset time period is small (can be ignored), and therefore, it can be determined that the vehicle is in a stationary state.
As can be seen from the above, according to the method for detecting a vehicle state provided in the embodiment of the present application, according to a preset smoothing algorithm, acceleration values in a first acceleration value set acquired by a three-axis acceleration sensor within a preset time period are smoothed, so that an influence of an acceleration value with a large individual error in the first acceleration value set on a later-stage acceleration standard deviation can be reduced, a second acceleration value set is obtained, and then an acceleration standard deviation of the vehicle within the preset time period is determined according to the smoothed second acceleration value set, because the first acceleration value set includes a plurality of sets of acceleration values, and each set of acceleration values includes an acceleration value of each axial direction acquired by the three-axis acceleration sensor, the acceleration standard deviation obtained according to the second acceleration value set is an acceleration standard deviation of all axes, and therefore, according to the acceleration standard deviation and a standard deviation threshold, the state of the vehicle can be accurately determined, and the detection accuracy of the state of the vehicle is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 4 shows a block diagram of a vehicle state detection device according to an embodiment of the present application, and for convenience of explanation, only the relevant parts of the embodiment of the present application are shown. Referring to fig. 4, the vehicle state detection device 400 includes: an acquisition unit 41, a processing unit 42, a standard deviation determination unit 43, and a state determination unit 44. Wherein:
the obtaining unit 41 is configured to obtain a first acceleration value set collected by a triaxial acceleration sensor within a preset time period; the first set of acceleration values comprises a plurality of sets of acceleration values; each set of acceleration values comprises acceleration values of each axial direction acquired by the three-axis acceleration sensor.
The processing unit 42 is configured to perform smoothing processing on the acceleration values in the first acceleration value set according to a preset smoothing algorithm to obtain a second acceleration value set.
The standard deviation determination unit 43 is configured to determine an acceleration standard deviation of the vehicle within the preset time period according to the second acceleration value set.
The vehicle state determination unit 44 is configured to determine the state of the vehicle based on the acceleration standard deviation and a standard deviation threshold.
In an embodiment of the present application, the vehicle state determination unit 44 specifically includes: a motion state determination unit and a stationary state determination unit. Wherein:
the motion state determination unit is used for determining that the vehicle is in a motion state when the acceleration standard deviation is detected to be larger than the standard deviation threshold value.
The stationary state determination unit is configured to determine that the vehicle is in a stationary state when it is detected that the acceleration standard deviation is less than or equal to the standard deviation threshold.
In an embodiment of the present application, the processing unit is specifically configured to: and calculating the mean value of the acceleration values in the same axial direction in any two groups of adjacent acceleration values in the first acceleration value set to obtain a second acceleration value set.
In one embodiment of the present application, each set of acceleration values in the second set of acceleration values is obtained according to the following formula:
wherein, ai' represents an X-axis acceleration value of an ith set of acceleration values of the second set of acceleration values,bi' represents an acceleration value of the Y axis in the i-th set of acceleration values in the second set of acceleration values, ci' represents an acceleration value of the Z axis in the i-th set of acceleration values in the second set of acceleration values, aiRepresenting an acceleration value of the X-axis of an i-th set of acceleration values of the first set of acceleration values, biAcceleration values representing the Y-axis of the i-th set of acceleration values of the first set of acceleration values, ciA Z-axis acceleration value in an ith set of acceleration values in the first set of acceleration values, and n represents a set number of acceleration values in the second set of acceleration values.
In an embodiment of the present application, the standard deviation determining unit 43 specifically includes: a modulus unit and a numerical value determination unit. Wherein:
and the modulus calculating unit is used for calculating the modulus of each group of acceleration values in the second acceleration value set to obtain the modulus value corresponding to each group of acceleration values.
And the numerical value determining unit is used for determining the acceleration standard deviation according to the modulus values corresponding to all groups of acceleration values.
In one embodiment of the present application, the vehicle state detection apparatus 400 further includes: a threshold determination unit.
The threshold value determining unit is used for acquiring a historical acceleration standard deviation set of the vehicle in a historical time period and determining the historical acceleration standard deviation set as the standard deviation threshold value.
In an embodiment of the present application, the threshold determining unit specifically includes: a sorting unit and a calculating unit. Wherein:
the sorting unit is used for sorting the plurality of historical acceleration standard deviations in the historical acceleration standard deviation set from large to small, and determining the maximum value and the minimum value in the historical acceleration standard deviation set.
The calculation unit is configured to perform mean calculation on historical acceleration standard deviations in the historical acceleration standard deviation set except for the maximum value and the minimum value to obtain a historical mean, and determine the historical mean as the standard deviation threshold.
As can be seen from the above, according to the detection apparatus for a vehicle state provided in the embodiment of the present application, according to a preset smoothing algorithm, the acceleration values in the first acceleration value set acquired by the three-axis acceleration sensor within the preset time period are smoothed, so that the influence of the acceleration value with a large individual error in the first acceleration value set on the later-stage acceleration standard deviation can be reduced, a second acceleration value set is obtained, and then the acceleration standard deviation of the vehicle within the preset time period is determined according to the smoothed second acceleration value set, because the first acceleration value set includes a plurality of sets of acceleration values, and each set of acceleration values includes each axial acceleration value acquired by the three-axis acceleration sensor, the acceleration standard deviation obtained according to the second acceleration value set is the acceleration standard deviation of all axes, and therefore, according to the acceleration standard deviation and the standard deviation threshold, the state of the vehicle can be accurately determined, and the detection accuracy of the state of the vehicle is improved.
Fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 5, the terminal device 5 of this embodiment includes: at least one processor 50 (only one is shown in fig. 5), a memory 51, and a computer program 52 stored in the memory 51 and operable on the at least one processor 50, wherein the processor 50 executes the computer program 52 to implement the steps in any one of the above-mentioned embodiments of the vehicle state detection method.
Those skilled in the art will appreciate that fig. 5 is only an example of the terminal device 5, and does not constitute a limitation to the terminal device 5, and may include more or less components than those shown, or combine some components, or different components, such as an input-output device, a network access device, and the like.
The Processor 50 may be a Central Processing Unit (CPU), and the Processor 50 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may in some embodiments be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in any one of the above-mentioned embodiments of the method for detecting a vehicle state may be implemented.
The embodiment of the present application provides a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in any one of the above embodiments of the vehicle state detection method when executed.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in any one of the above-mentioned embodiments of the method for detecting a vehicle state may be implemented.
The embodiment of the present application provides a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in any one of the above embodiments of the vehicle state detection method when executed.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed vehicle state detection apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of detecting a vehicle state, characterized by comprising:
acquiring a first acceleration value set acquired by a triaxial acceleration sensor in a preset time period; the first set of acceleration values comprises a plurality of sets of acceleration values; each group of acceleration values comprises the acceleration value of each axial direction acquired by the triaxial acceleration sensor;
smoothing the acceleration values in the first acceleration value set according to a preset smoothing algorithm to obtain a second acceleration value set;
determining the acceleration standard deviation of the vehicle in the preset time period according to the second acceleration value set;
and determining the state of the vehicle according to the acceleration standard deviation and a standard deviation threshold value.
2. The method for detecting a vehicle state according to claim 1, wherein said determining the state of the vehicle based on the acceleration standard deviation and a standard deviation threshold value comprises:
when the acceleration standard deviation is detected to be larger than the standard deviation threshold value, determining that the vehicle is in a motion state;
determining that the vehicle is in a stationary state when it is detected that the acceleration standard deviation is less than or equal to the standard deviation threshold.
3. A method for detecting a vehicle state according to claim 1, wherein said smoothing acceleration values of said first set of acceleration values according to a predetermined smoothing algorithm to obtain a second set of acceleration values comprises:
and calculating the mean value of the acceleration values in the same axial direction in any two groups of adjacent acceleration values in the first acceleration value set to obtain a second acceleration value set.
4. A method of detecting a vehicle condition according to claim 3 wherein each set of acceleration values in said second set of acceleration values is obtained according to the following formula:
wherein, ai' represents an acceleration value of the X-axis in the i-th set of acceleration values in the second set of acceleration values, bi' represents in said second set of acceleration valuesAcceleration value of Y-axis in i-th set of acceleration values, ci' represents an acceleration value of the Z axis in the i-th set of acceleration values in the second set of acceleration values, aiRepresenting an acceleration value of the X-axis of an i-th set of acceleration values of the first set of acceleration values, biAcceleration values representing the Y-axis of the i-th set of acceleration values of the first set of acceleration values, ciA Z-axis acceleration value in an ith set of acceleration values in the first set of acceleration values, and n represents a set number of acceleration values in the second set of acceleration values.
5. The method of detecting a vehicle condition of claim 1 wherein said determining a vehicle acceleration standard deviation over said preset time period from said second set of acceleration values comprises:
performing modulus calculation on each group of acceleration values in the second acceleration value set to obtain a modulus value corresponding to each group of acceleration values;
and determining the acceleration standard deviation according to the mode values corresponding to the acceleration values of all the groups.
6. The method of detecting a vehicle condition of claim 1 wherein said determining a vehicle acceleration standard deviation over said preset time period based on said second set of acceleration values further comprises:
and acquiring a historical acceleration standard deviation set of the vehicle in a historical time period, and determining the historical acceleration standard deviation set as the standard deviation threshold value according to the historical acceleration standard deviation set.
7. The method for detecting a vehicle state according to claim 6, wherein said acquiring a set of historical acceleration standard deviations of the vehicle over a historical period of time and determining the set of historical acceleration standard deviations as the standard deviation threshold value comprises:
sorting a plurality of historical acceleration standard deviations in the historical acceleration standard deviation set from large to small, and determining the maximum value and the minimum value in the historical acceleration standard deviation set;
and calculating the mean value of the historical acceleration standard deviations except the maximum value and the minimum value in the historical acceleration standard deviation set to obtain a historical mean value, and determining the historical mean value as the standard deviation threshold value.
8. A vehicle state detection device characterized by comprising:
the acquisition unit is used for acquiring a first acceleration value set acquired by the triaxial acceleration sensor within a preset time period; the first set of acceleration values comprises a plurality of sets of acceleration values; each group of acceleration values comprises the acceleration value of each axial direction acquired by the triaxial acceleration sensor;
the processing unit is used for smoothing acceleration values in the first acceleration value set according to a preset smoothing algorithm to obtain a second acceleration value set;
a standard deviation determining unit, configured to determine an acceleration standard deviation of the vehicle within the preset time period according to the second acceleration value set;
and the state determining unit is used for determining the state of the vehicle according to the acceleration standard deviation and a standard deviation threshold value.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method for detecting a vehicle state according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of detecting a vehicle state according to any one of claims 1 to 7.
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