CN204415378U - A kind of device vehicle demarcated based on vehicle intelligent terminal - Google Patents

Abstract

The utility model discloses a kind of device vehicle demarcated based on vehicle intelligent terminal, be applied to terminal, described terminal is fixed on vehicle, comprise: information acquisition module, for the acceleration/accel of the acceleration pick-up, GPS sensor and the direction sensor collection vehicle that utilize terminal embedded, speed, direction and timestamp information; Information filtering module, for filtering the data Negotiation speed gathered and direction information, selects the data under actv. linear starting state; Message processing module, for the data under the actv. linear starting state that basis is selected, calculate the conversion relational expression between terminal system of axes and vehicle axis system, and the real-time data collection of terminal gathered according to described information acquisition module and the conversion relational expression between terminal system of axes and vehicle axis system, export the information that vehicle is corresponding.Device estimated accuracy of the present utility model is very high, has good application prospect.

Description

A kind of device vehicle demarcated based on vehicle intelligent terminal

Technical field

The utility model belongs to traffic safety management technical field, particularly relates to a kind of device demarcated vehicle based on vehicle intelligent terminal.

Background technology

Safety traffic is the focal issue of society.China's automobile pollution sharply increases in recent years.2013 China's vehicle guaranteeding organic quantity breakthrough in the end of the year more than 2.5 hundred million according to statistics, the number of operating motor vehicles reaches 2.8 hundred million.Meanwhile, also along with a large amount of appearance of traffic accident.Nearly 200,000 of national traffic accident in 2013, causes numerous personal casualty, causes massive losses to family and society.For improving this situation, except formulating more perfect transport administration way and stricter driver training system, the driving condition to chaufeur, drive route and traffic information is also needed to carry out real-time tracking, set up more perfect management system, also can delimit for the responsibility after traffic accident generation provides certain foundation.Specifically be described below:

Driving condition is followed the tracks of.Namely the driving condition of vehicle is followed the tracks of, especially effectively can reduce the generation of traffic accident for the monitoring of drunk driving vehicle.The value of mobile phone acceleration sensor record is processed, and compares with each state value of typical drunk driving and can determine whether drunk driving and travel.The acceleration/accel of this process need to vehicle decomposes the acceleration/accel and side accekeration that comprise vehicle forward direction, and the correction accuracy of mobile phone system of axes and vehicle axis system is especially crucial.

Drive route is followed the trail of.Comparatively simple drive route is followed the trail of with GPS module recording track now, but its limited accuracy.Though the location information at vehicle place can be understood, can not to vehicle towards, situation of parking accurately judges, dangerous parking more easily causes traffic accident, causes casualties.This method by terminal acceleration pick-up judge driving condition (brake, turning, startup, deceleration etc.) can estimate more exactly vehicle stand, towards information such as, the gradients.These all need to estimate accurately vehicle axis system and mobile phone system of axes.

Road conditions information gathering.Traditional road conditions method of estimation has the attachment point such as wireless radio-frequency, license plate recognition technology to sample.Increased the method utilizing terminal to carry out road conditions estimation in recent years newly, and positioned mainly through base station, WIFI, GPS, infer traffic information with this.But the method has a lot of weak point: one is have the place of blocking accurately to locate in signal weakness, even can not position; Two is estimate road conditions by the method for location, have ignored the monitoring (starting parking phenomenon, acceleration and deceleration behavior, lane change situation, phenomenon of overtaking other vehicles frequently) to driving condition, can not make accurate judgement to the jam situation of road; Three is that combine with gps data and can judge current road conditions more accurately, real-time is higher if by the driving habit of acceleration pick-up assistant GPS measuring vehicle; Four is that acceleration pick-up can be tested by the planeness of degree of the jolting road pavement of measuring vehicle, helps people to select more reasonably traffic path.Similar to drive route method for tracing, need to correct accurately vehicle axis system and mobile phone system of axes.

Because direction sensor is subject to the impact of electromagnetic equipment in car, and the deployment of some geographic location device can produce considerable influence, as television transmitting tower, broadcast station, cellular base station, radar set, high tension cord, substation etc. to geomagnetic field.Therefore, someone once proposed to utilize acceleration pick-up travel direction to correct, but stricter filtration is not carried out to data estimator, acceleration pick-up travel direction is only used to correct, gross error even mistake can be brought due to the state of non-rectilinear brake, its method travel direction by emergency brake corrects and namely allows to obtain good estimated result, also affects the normal use of user to vehicle.

Summary of the invention

The purpose of this utility model is the deficiency for art methods, provides a kind of device demarcated vehicle based on vehicle intelligent terminal.

In order to realize above-mentioned object, technical solutions of the utility model are as follows:

Based on the device that vehicle intelligent terminal is demarcated vehicle, be applied to terminal, described terminal is fixed on vehicle, and be provided with acceleration pick-up, GPS sensor and direction sensor, it is characterized in that, this device comprises:

Information acquisition module, for the acceleration/accel (a of the acceleration pick-up, GPS sensor and the direction sensor collection vehicle that utilize terminal embedded _x', a _y', a _z'), speed ν, direction (w _x', w _y', w _z') and timestamp information;

Information filtering module, for filtering the data Negotiation speed gathered and direction information, selects the data under actv. linear starting state;

Message processing module, for the data under the actv. linear starting state selected according to described information filtering module, calculates terminal system of axes x', y', z' and vehicle axis system x, the conversion relational expression between y, z, and the real-time data collection of the terminal gathered according to described information acquisition module and terminal system of axes x', y', z' and vehicle axis system x, y, conversion relational expression between z, exports the corresponding informance of vehicle.

Further, described information filtering module, when carrying out overanxious to the data gathered, performs following steps:

(2.1) speed by collecting screens the starting state of vehicle: vehicle speed ν in 3s is starting state from the state that zero reaches 1.5m/s;

(2.2) from the starting state filtered out, linear starting state is filtered out further: vehicle launch state is analyzed, for being linear starting state towards undulating quantity within 4 degree;

(2.3) from the linear starting state filtered out, actv. linear starting state is filtered out further: the moment of acceleration/accel >=0.2m/s2 is the vehicle launch true moment, speed is GPS delay time from zero to moment of non-zero change and time difference in above-mentioned true moment, choose GPS delay time≤3.5s time be actv. linear starting state.

The utility model processing module is calculating terminal system of axes x', y', z' and vehicle axis system x, during conversion relational expression between y, z, performs following operation:

Vehicle axis system is obtained system of axes x after its Z axis clickwise α angle ₁, y ₁, z ₁, then after its X-axis left-hand revolution β angle, obtain x ₂, y ₂, z ₂, finally around its Y-axis left-hand revolution γ angle, overlap with terminal system of axes after vehicle axis system is rotated through three times, β angle equals the w of actv. linear starting state _{y '}aviation value; γ angle equals the w of actv. linear starting state _{z '}aviation value; Obtain mobile phone towards the α angle with vehicle forward direction according to the accekeration of horizontal surface, tried to achieve by following formula,

α=arctan (a _y1/ a _x1)+90, a _x1< 0, a _y1< 0 or a _x1< 0, a _y1> 0

α=arctan (a _y1/ a _x1)+270, a _x1> 0, a _y1< 0 or a _x1> 0, a _y1> 0

Wherein, a _x1represent at system of axes x ₁, y ₁, z ₁middle x ₁the acceleration/accel in direction, a _y1represent at system of axes x ₁, y ₁, z ₁middle y ₁the acceleration/accel in direction, is obtained by following formula:

$\left[\begin{array}{c}{a}_{x1}\\ a_{y1}\\ a_{z1}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}& \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}\\ \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}\stackrel{\&OverBar;}{a_{x^{\&prime;}}}\\ \stackrel{\&OverBar;}{a_{y^{\&prime;}}}\\ \stackrel{\&OverBar;}{a_{z^{\&prime;}}}\end{array}\right]$

for effective linear starting state acceleration/accel a _{x '}aviation value; for effective linear starting state a _{y '}aviation value; for effective linear starting state a _{z '}aviation value; a _z1represent at system of axes x ₁, y ₁, z ₁middle z ₁the acceleration/accel in direction;

Obtain terminal system of axes x' further, y', z' and vehicle axis system x, the conversion relational expression between y, z is as follows:

$\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&alpha;}& \sin \mathrm{\&alpha;}& 0\\ -\sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}& \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}\\ \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}{m}_{x^{\&prime;}}\\ m_{y^{\&prime;}}\\ m_{z^{\&prime;}}\end{array}\right]$

Wherein (m _x', m _y', m _z') be terminal real-time data collection, (m _x, m _y, m _z) for being transformed into information corresponding to vehicle axis system rear vehicle.

The beneficial effects of the utility model are, the acceleration pick-up of comprehensive application terminal, direction sensor and GPS achieve the conversion between vehicle axis system and mobile phone system of axes by the starting state of measuring vehicle, and the corresponding informance of vehicle is calculated by the real time data that terminal gathers, simple to operate, efficiency is high, and have very high estimated accuracy, there is good application prospect.

Accompanying drawing explanation

Fig. 1 is the apparatus structure schematic diagram that the utility model is demarcated vehicle based on vehicle intelligent terminal;

Fig. 2 a is the utility model vehicle axis system schematic diagram;

Fig. 2 b is the utility model mobile phone system of axes schematic diagram;

Fig. 3 is the graph of a relation towards undulating quantity and sample size;

Fig. 4 is gps data delay time and adjustment in direction precision;

Fig. 5 is vehicle axis system and mobile phone ordinate transform graph of a relation;

Fig. 6 is α many adjustment in direction result schematic diagrams;

Fig. 7 is β many adjustment in direction result schematic diagrams;

Fig. 8 is γ many adjustment in direction result schematic diagrams;

Fig. 9 is experiment results comparison diagram.

Detailed description of the invention

Be described in further details technical solutions of the utility model below in conjunction with drawings and Examples, following examples are not formed restriction of the present utility model.

Overall thought of the present utility model is the acceleration pick-up of comprehensive application terminal, direction sensor and GPS, achieve the conversion between vehicle axis system and terminal system of axes by the starting state of measuring vehicle, and demarcate the corresponding informance of vehicle according to the coordinate data of terminal Real-time Collection.In the present embodiment, terminal is mobile phone or Intelligent flat computer, is described below for mobile phone.

A kind of device demarcated vehicle based on vehicle intelligent terminal of the present embodiment as shown in Figure 1, comprises information acquisition module, information filtering module and message processing module.

Wherein, information acquisition module is mainly used in the acceleration/accel (a of acceleration pick-up, GPS sensor and the direction sensor collection vehicle utilizing terminal embedded _x', a _y', a _z'), speed ν, direction (w _x', w _y', w _z') and timestamp information.

Be fixed on by terminal on vehicle, vehicle axis system is expressed as x, y, z, as shown in Figure 2 a; Mobile phone system of axes is expressed as x', y', z', as shown in Figure 2 b.By repeatedly accelerating to start experiment, the acceleration/accel of the acceleration pick-up utilizing terminal embedded, GPS sensor and direction sensor collection vehicle, speed, direction and timestamp information.In the present embodiment, by cooperating with taxi company, gather the Acceleration of starting behavior of different chaufeur, period does not limit the driving locus, driving time etc. of taxicar.Share three mobile phones to have carried out accelerating for 4732 times to start experiment, the data that mobile phone records comprise direction value for (w _{x '}, w _{y '}, w _{z '}), accekeration is (a _{x '}, a _{y '}, a _{z '}), speed ν and timestamp information.

Information filtering module, for filtering the data Negotiation speed gathered and direction information, selects the data under actv. linear starting state.

The present embodiment utilizes the starting state of velocity measuring vehicle, and utilize mobile phone determine whether linear starting state towards undulating quantity.Namely, in vehicle launch process, speed in 3s of choosing is starting state from the state that zero reaches 1.5m/s; And the situation that choosing is not more than 4 degree towards undulating quantity is linear starting state

In experiment, vehicle parking mode is complicated, and stopping when starting and there will be acceleration turning starting state in vehicle side, tackles this and design corresponding filter algorithm in experiment.In experiment to mobile phone in vehicle launch process towards undulating quantity (w in start-up course _{y '}the difference of maxima and minima) data within 10 degree totally 2832 experiments add up, towards the relation of undulating quantity and sample size in start-up course, as Fig. 3.Size towards undulating quantity becomes parabolic relation with between sample size, in order to higher effective sample volume can be obtained guarantor to while correction accuracy, in experiment, choose the decision threshold that the situation being not more than 4 degree (differences of maxim and minimum value) towards undulating quantity is linear starting state.

Actv. linear starting state is filtered out further: due to time static, accekeration is all less than 0.2m/s from the linear starting state filtered out ², during vehicle launch, accekeration is generally greater than 0.5m/s ², in the present embodiment, choose acceleration/accel>=0.2m/s ²moment be the vehicle launch true moment, speed is GPS delay time from zero to the moment of non-zero and the time difference in above-mentioned true moment.Because gps data Information Monitoring has the regular hour to postpone, need in experiment to measure delay time gps data.When being 4 degree towards fluctuation threshold value, gps data delay time and adjustment in direction precision are as Fig. 4.In order to obtain significant condition as much as possible while guarantee precision, choosing GPS delay time is 3.5s.The situation of change of the utility model Negotiation speed, correct effective sample towards undulating quantity and GPS filtering direction delay time, the state meeting these three conditions is called actv. linear starting state.Actv. linear starting state sample 2117 is selected altogether in experiment.

Message processing module, for the data under the actv. linear starting state selected according to information filtering module, calculates terminal system of axes x', y', z' and vehicle axis system x, the conversion relational expression between y, z, and the real-time data collection of terminal gathered according to information acquisition module and terminal system of axes x', y', z' and vehicle axis system x, y, conversion relational expression between z, exports the information that vehicle is corresponding.

According to the data under actv. linear starting state, calculate x, the relation between y, z and x', y', z', is specially:

The accekeration travel direction chosen under actv. linear starting state corrects, and asks for angle and the transformational relation thereof of mobile phone system of axes and vehicle axis system using the acceleration/accel of linear starting state as the acceleration/accel of vehicle forward direction.Vehicle axis system is obtained system of axes x after its Z axis clickwise α angle ₁, y ₁, z ₁, then after its X-axis left-hand revolution β angle, obtain x ₂, y ₂, z ₂, finally around its Y-axis left-hand revolution γ angle, overlap with mobile phone system of axes, as Fig. 5 after vehicle axis system is rotated through three times.

β angle equals the w of the actv. linear starting state filtered out _{y '}aviation value; γ angle equals the w of the actv. linear starting state filtered out _{z '}aviation value; Obtain mobile phone towards the α angle with vehicle forward direction according to the accekeration of horizontal surface, tried to achieve by following formula,

α=arctan (a _y1/ a _x1)+90, a _x1< 0, a _y1< 0 or a _x1< 0, a _y1> 0

α=arctan (a _y1/ a _x1)+270, a _x1> 0, a _y1< 0 or a _x1> 0, a _y1> 0

Wherein, a _x1represent at system of axes x ₁, y ₁, z ₁middle x ₁the acceleration/accel in direction, a _y1represent at system of axes x ₁, y ₁, z ₁middle y ₁the acceleration/accel in direction, a _z1represent at system of axes x ₁, y ₁, z ₁middle z ₁the acceleration/accel in direction, is obtained by following formula:

$\left[\begin{array}{c}{a}_{x1}\\ a_{y1}\\ a_{z1}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}& \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}\\ \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}\stackrel{\&OverBar;}{a_{x^{\&prime;}}}\\ \stackrel{\&OverBar;}{a_{y^{\&prime;}}}\\ \stackrel{\&OverBar;}{a_{z^{\&prime;}}}\end{array}\right]$

for actv. linear starting state acceleration/accel a _{x '}aviation value; for actv. linear starting state a _{y '}aviation value; for actv. linear starting state a _{z '}aviation value.

Mobile phone towards the α correction accuracy with vehicle forward direction angle as Fig. 6, the correction accuracy of mobile phone x-axis rotated counterclockwise by angle β as Fig. 7, around the correction accuracy of y-axis rotated counterclockwise by angle γ as Fig. 8.α distribution is more concentrated, and the difference of maxima and minima is all less than 20 degree, and the standard deviation of angle estimation is all less than 4 degree, and value-at-risk and precision have very high practical value, and the mean square error of β and γ is all less than 1, and evaluated error is less.

Thus the conversion relational expression set up between vehicle axis system and mobile phone system of axes is as follows:

$\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&alpha;}& \sin \mathrm{\&alpha;}& 0\\ -\sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}& \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}\\ \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}{m}_{x^{\&prime;}}\\ m_{y^{\&prime;}}\\ m_{z^{\&prime;}}\end{array}\right]$

Wherein, wherein (m _x', m _y', m _z') be terminal real-time data collection, (m _x, m _y, m _z) for being transformed into information corresponding to vehicle axis system rear vehicle.

The present embodiment is data by experiment, carry out checking as follows according to above formula to vehicle all directions accekeration:

The acceleration figure gathered according to mobile phone and coordinate transformation relation formula, ask for the accekeration of each sampling instant vehicle forward direction, vertical direction and side direction.Real vehicle axis system acceleration information and coordinate transformation rear vehicle system of axes acceleration information are as Fig. 9.As seen from the figure, the true accekeration degree of agreement of coordinate transformation post-acceleration value and vehicle axis system is very high, owing to being that different mobile phones is placed on vehicle diverse location at synchronization and measures acceleration/accel, so there is no fit like a glove, but dynamic change trend and the relevant information of accekeration can be reflected equally, there is very high practical value.

Above embodiment is only in order to illustrate the technical solution of the utility model but not to be limited; when not deviating from the utility model spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the utility model, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the utility model.

Claims (3)

1. based on the device that vehicle intelligent terminal is demarcated vehicle, be applied to terminal, described terminal is fixed on vehicle, and be provided with acceleration pick-up, GPS sensor and direction sensor, it is characterized in that, this device comprises:

Information acquisition module, for the acceleration/accel (a of the acceleration pick-up, GPS sensor and the direction sensor collection vehicle that utilize terminal embedded _x', a _y', a _z'), speed ν, direction (w _x', w _y', w _z') and timestamp information;

Information filtering module, for filtering the data Negotiation speed gathered and direction information, selects the data under actv. linear starting state;

Message processing module, for the data under the actv. linear starting state selected according to described information filtering module, calculates terminal system of axes x', y', z' and vehicle axis system x, the conversion relational expression between y, z, and the real-time data collection of the terminal gathered according to described information acquisition module and terminal system of axes x', y', z' and vehicle axis system x, y, conversion relational expression between z, exports the corresponding informance of vehicle.

2. the device demarcated vehicle based on vehicle intelligent terminal according to claim 1, is characterized in that, described information filtering module, when carrying out overanxious to the data gathered, performs following steps:

(2.1) speed by collecting screens the starting state of vehicle: vehicle speed ν in 3s is starting state from the state that zero reaches 1.5m/s;

(2.2) from the starting state filtered out, linear starting state is filtered out further: vehicle launch state is analyzed, for being linear starting state towards undulating quantity within 4 degree;

(2.3) from the linear starting state filtered out, actv. linear starting state is filtered out further: the moment of acceleration/accel >=0.2m/s2 is the vehicle launch true moment, speed is GPS delay time from zero to moment of non-zero change and time difference in above-mentioned true moment, choose GPS delay time≤3.5s time be actv. linear starting state.

3. the device demarcated vehicle based on vehicle intelligent terminal according to claim 1, is characterized in that, described processing module is calculating terminal system of axes x', y', z' and vehicle axis system x, y, during conversion relational expression between z, perform following operation:

Vehicle axis system is obtained system of axes x after its Z axis clickwise α angle ₁, y ₁, z ₁, then after its X-axis left-hand revolution β angle, obtain x ₂, y ₂, z ₂, finally around its Y-axis left-hand revolution γ angle, overlap with terminal system of axes after vehicle axis system is rotated through three times, β angle equals the w of actv. linear starting state _{y '}aviation value; γ angle equals the w of actv. linear starting state _{z '}aviation value; Obtain mobile phone towards the α angle with vehicle forward direction according to the accekeration of horizontal surface, tried to achieve by following formula,

α=arctan (a _y1/ a _x1)+90, a _x1< 0, a _y1< 0 or a _x1< 0, a _y1> 0

α=arctan (a _y1/ a _x1)+270, a _x1> 0, a _y1< 0 or a _x1> 0, a _y1> 0

Wherein, a _x1represent at system of axes x ₁, y ₁, z ₁middle x ₁the acceleration/accel in direction, a _y1represent at system of axes x ₁, y ₁, z ₁middle y ₁the acceleration/accel in direction, is obtained by following formula:

$\left[\begin{array}{c}{a}_{x1}\\ a_{y1}\\ a_{z1}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}& \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}\\ \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}\stackrel{\&OverBar;}{a_{x\&prime;}}\\ \stackrel{\&OverBar;}{a_{y\&prime;}}\\ \stackrel{\&OverBar;}{a_{z\&prime;}}\end{array}\right]$

for effective linear starting state acceleration/accel a _{x '}aviation value; for effective linear starting state a _{y '}aviation value; for effective linear starting state a _{z '}aviation value; a _z1represent at system of axes x ₁, y ₁, z ₁middle z ₁the acceleration/accel in direction;

Obtain terminal system of axes x' further, y', z' and vehicle axis system x, the conversion relational expression between y, z is as follows:

$\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&alpha;}& \sin \mathrm{\&alpha;}& 0\\ -\sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ \sin \mathrm{\&beta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&beta;}& \sin \mathrm{\&beta;}\cos \mathrm{\&gamma;}\\ \cos \mathrm{\&beta;}\sin \mathrm{\&gamma;}& -\sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}{m}_{x\&prime;}\\ m_{y\&prime;}\\ m_{z\&prime;}\end{array}\right]$

Wherein (m _x', m _y', m _z') be terminal real-time data collection, (m _x, m _y, m _z) for being transformed into information corresponding to vehicle axis system rear vehicle.