CN206991549U - A kind of traffic accident monitoring system - Google Patents
A kind of traffic accident monitoring system Download PDFInfo
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- CN206991549U CN206991549U CN201720632265.2U CN201720632265U CN206991549U CN 206991549 U CN206991549 U CN 206991549U CN 201720632265 U CN201720632265 U CN 201720632265U CN 206991549 U CN206991549 U CN 206991549U
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Abstract
The utility model embodiment discloses a kind of traffic accident monitoring system, and whether the two wheel vehicle drivers that accurately form a prompt judgement in real time get into an accident.A kind of traffic accident monitoring system of the utility model embodiment, including：Central controller, data collecting system, data handling system；The central controller is electrically connected with the data collecting system and the data handling system；The data collecting system includes accelerometer, Eulerian angles harvester, A/D modular converters；The A/D modular converters connect the accelerometer and the Eulerian angles harvester；The data handling system includes computing module and communication module；The communication module connects the A/D modular converters, and the computing module connects the communication module.
Description
Technical field
It the utility model is related to traffic accident and monitor field, more particularly to a kind of traffic accident monitoring system in real time.
Background technology
Increase year by year with the recoverable amount of China's vehicles, traffic safety problem is one big hidden as today's society
Suffer from.On May 6th, 2015, the World Health Organization represent China every year because the number of Prevention of Road Traffic Fatalities is more than 200,000.
There is a period of time of many drivers when driving every year accidentally and lead to serious consequence cannot succouring in time.
Shown according to network surveying, the whole nation still there are up to 20 cities to still allow for motorcycle to lead to including Beijing, Shanghai
OK.Display can be investigated in recent years according to motorcycle, the sales volume annual of motorcycle is in 15,000,000 or so.It can be seen that two wheel traffic
Instrument is still the main means of transport of people's life instantly.
《The multidisciplinary road safety meeting of Canada》Iing is proposed ----velocity variations are that the main of traffic accident crash severity is retouched
Symbol is stated, releases an important conclusion according to this：Acceleration acute variation is " arch-criminal " to cause a traffic accident.For motorcycle etc. two
The vehicles are taken turns, the brief acceleration that gets into an accident will exceed 3.0g, and g is acceleration of gravity.
Utility model content
The utility model embodiment discloses a kind of traffic accident monitoring system, and accurately form a prompt judgement the two wheel vehicles in real time
Whether driver gets into an accident.
The utility model embodiment provides a kind of traffic accident monitoring system, including：Central controller, data collecting system,
Data handling system；
The central controller is electrically connected with the data collecting system and the data handling system；
The data collecting system includes accelerometer, Eulerian angles harvester, A/D modular converters；
The A/D modular converters connect the accelerometer and the Eulerian angles harvester；
The data handling system includes computing module and communication module；
The communication module connects the A/D modular converters, and the computing module connects the communication module.
Preferably, the data handling system also includes data memory module, and the data memory module connects the fortune
Calculate module.
Preferably, the central controller includes miniature central processing unit.
Preferably, the central controller connects the accelerometer, the Eulerian angles harvester and A/D conversions
Module.
Preferably, the central controller, for calling the accelerometer and the Eulerian angles harvester real respectively
When gather acceleration and Euler's angular data.
Preferably, the A/D modular converters, for the accelerometer and the Eulerian angles harvester to be gathered respectively
Acceleration and Eulerian angles data conversion into numerical data.
Preferably, the central controller, it is additionally operable to receive the numerical data that the A/D modular converters are sent.
Preferably, the data handling system, for carrying out the data after processing obtains optimization to the numerical data.
Preferably, the central controller, it is additionally operable to judge whether user gets into an accident by the data after optimization.
As can be seen from the above technical solutions, the utility model embodiment has advantages below：
The utility model embodiment, which provides a kind of traffic accident monitoring system, to be included：Central controller, data collecting system, number
According to processing system；The central controller is electrically connected with the data collecting system and the data handling system；The data
Acquisition system includes accelerometer, Eulerian angles harvester, A/D modular converters；The A/D modular converters connect the acceleration
Meter and the Eulerian angles harvester；The data handling system includes computing module and communication module；The communication module connects
The A/D modular converters are connect, the computing module connects the communication module.In the present embodiment, pass through central controller, data
Acquisition module, data processing module, by the multidirectional acceleration of data collecting module collected and Eulerian angles and then pass through data
The optimization of processing module Kalman filtering and fusion calculation algorithm, pair for finally detecting obtained acceleration as real-time traffic accident
As central controller judges whether two wheel vehicle drivers get into an accident, and accurately form a prompt judgement two wheel traffic works in real time
Whether tool driver gets into an accident.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of one embodiment of the traffic accident monitoring system provided in the utility model embodiment
Figure；
Fig. 2 is a kind of structural representation of another embodiment of the traffic accident monitoring system provided in the utility model embodiment
Figure；
Fig. 3 is a kind of traffic accident monitoring system data acquisition flow schematic diagram provided in the utility model embodiment.
Embodiment
The utility model embodiment discloses a kind of traffic accident monitoring system, and accurately form a prompt judgement the two wheel vehicles in real time
Whether driver gets into an accident.
Referring to Fig. 1, a kind of one embodiment of the traffic accident monitoring system provided in the utility model embodiment includes：
Central controller, data collecting system, data handling system；
The central controller is electrically connected with the data collecting system and the data handling system；
The data collecting system includes accelerometer, Eulerian angles harvester, A/D modular converters；
The A/D modular converters connect the accelerometer and the Eulerian angles harvester；
The data handling system includes computing module and communication module；
The communication module connects the A/D modular converters, and the computing module connects the communication module.
Further, the data handling system also includes data memory module, described in the data memory module connection
Computing module.
Further, the central controller includes miniature central processing unit.
Further, the central controller connects accelerometer, the Eulerian angles harvester and the A/D and turned
Change the mold block.
Further, the central controller, for calling the accelerometer and the Eulerian angles harvester to distinguish
Collection acceleration and Euler's angular data in real time.
Further, the A/D modular converters, for the accelerometer and the Eulerian angles harvester to be adopted respectively
The acceleration of collection and Eulerian angles data conversion are into numerical data.
Further, the central controller, it is additionally operable to receive the numerical data that the A/D modular converters are sent.
Further, the data handling system, for carrying out the data after processing obtains optimization to the numerical data.
Further, the central controller, it is additionally operable to judge whether user gets into an accident by the data after optimization.
Referring to Fig. 2, an a kind of application examples of traffic accident monitoring system that the utility model embodiment provides includes：
Microprocessor, data acquisition unit, data processing unit；
Wherein microprocessor is electrically connected with data acquisition unit and data processing unit, by microprocessor realization pair
The electrical control of data acquisition unit and data processing unit.
Traffic accident monitoring method comprises the following steps：
Step 1：Central control system enters mode of operation, control data collection and processing system running.
Step 2：The traveling acceleration of the wheel of collection two vehicle driver, Eulerian angles are concurrent in real time for data collecting system
Give central control system.
Step 3：Central control system dispatches data handling system, and barbed acceleration, Euler's angular data are optimized
Processing.
Step 4：Central control system optimized after acceleration, and for judge two take turns vehicle drivers be
It is no to get into an accident.
The central control system is made up of miniature central processing unit, central processing unit by with data acquisition module, number
It is electrically connected with according to processing module, realizes the control to data acquisition module and data processing module.The data acquisition system
System includes accelerometer, Eulerian angles harvester, A/D modular converters.Enter mode of operation when electric in data collecting system, pass through
The signal pins of Acquisition Circuit collect acceleration, the analogue data of Eulerian angles.And digital number is converted into by A/D modular converters
According to.The data handling system is built on miniature central processing unit, including computing module and communication module.Communication module passes through
Receive the data signal of acquisition system transmission, and in incoming computing module, after computing module to data by optimizing processing
Obtain actual acceleration value and be stored in data memory module.Computing module, by using Kalman filtering algorithm by Noise
Acceleration and Euler's angular data draw relative real value after being handled.Computing module, by with merge calculation algorithm by
Eulerian angles obtain actual acceleration magnitude.
Wherein fusion calculation algorithm, including：
Cartesian coordinate system is established, and gathers the Eulerian angles on three coordinate directions, then calculates algorithm by merging
Calculate acceleration.
Acceleration on each axle is only relevant with the direction of acceleration of gravity, i.e., big with the angle of vertically downward direction vector
It is small relevant.Matrix representation forms are as follows：
The matrix of rotation gained about the z axis：
The matrix of gained is rotated around X-axis：
The matrix of gained is rotated around Y-axis：
The Matrix Formula wherein obtained after abbreviation rotation is as follows：
Wherein, α represents the angle of rotation, xa, ya, zaRepresent direction vector.Around vector (xa, ya, za) rotated, can
Spin matrix is first obtained, then enters the row matrix right side and multiplies, to complete coordinate parameters modification.
Now obtain rotated rear some position reached of initial position of some point.Next accelerometer is thus carried out
Calculate：
Three points are first set up respectively positioned at the unit vector apex of 3 axles, do rotation evaluation to it respectively, it is resulting
Value be respectively their points after rotation.
Due to being initially unit vector, so currency is accounting value.Total acceleration of gravity is 1g again.So as to this
When 3 points respectively where the value of z-component be component of acceleration value because gravity direction is straight down, Z axis is also perpendicular
It is straight downward.
Finally, three component of acceleration value cans are individually subtracted in the data read and eliminate a reference value.
A kind of the traffic accident monitoring device and method based on Kalman filtering and fusion calculation algorithm that the present embodiment provides relate to
And the monitoring technology of traffic accident in real time, the traffic accident detection means include central controller, data acquisition module, data processing module,
By gathering multidirectional acceleration and Eulerian angles and then the optimization of algorithm being calculated by Kalman filtering and fusion, finally will
The object that the acceleration arrived detects as real-time traffic accident, judges whether two wheel vehicle drivers get into an accident.
Another application examples such as Fig. 1, the utility model embodiment a kind of traffic accident detecting system provided includes center and controlled
System processed, data collecting system, data handling system three parts.Central control system calls data collecting system, and collection adds in real time
Speed and Euler's angular data.Then the analogue data of collection is converted into digital number by data collecting system by A/D modular converters
According to and be sent to central control system.Data handling system is by being handled data the data after being optimized.Center control
System processed judges whether the two wheel vehicles get into an accident by the way that whether the acceleration after judging optimization reaches threshold value 3.0g.
Referring to the drawings 2, central control system is made up of the embedded device comprising central processing unit, and data collecting system includes acceleration
Harvester, angular velocity detecting device.Data handling system is made up of the embedded scm of eight.
Referring to the drawings 3, the implementation procedure of data collecting system is：Step 1：Six axle sensors are initialized, acceleration is set
The accuracy rating of meter and gyroscope；Step 2：Low pass filter parameter and sample frequency are set；Step 3：Set and which kind of is selected
Data are pressed into FIFO step 4 inside six axle sensors：Wake up accelerograph and gyroscope and start adopting for acceleration and Eulerian angles
Collection；Step 5：The analogue data of collection is converted into numerical data by A/D modular converters.
Data handling procedure transfers to data handling system to perform, and its process is as follows：
The first step optimizes：Flash removed data are gone in Kalman filtering optimization.
Second step optimizes：Fusion calculation algorithm carries out posture and is integrated into one-step optimization data.Process is as follows：
Cartesian coordinate system is established, and gathers the Eulerian angles on three directions.If α represents the angle of Eulerian angles rotation,
xa,ya,zaRepresent direction vector.Around vector (xa, ya, za) rotated, spin matrix can be first obtained, its process is as follows：
The matrix of rotation gained about the z axis：
The matrix of gained is rotated around X-axis：
The matrix of gained is rotated around Y-axis：
The Matrix Formula wherein obtained after abbreviation rotation is as follows：
Then enter the row matrix right side to multiply, to complete coordinate parameters modification.Followed by acceleration calculation：At a time three
Individual point at the unit vector fixed point of 3 axles, is walked to rotate above evaluation, obtains postrotational point to it respectively respectively.Then 3
The value of z-component where putting respectively is component of acceleration value.Then three component of acceleration values are individually subtracted in obtained data
Can eliminates the acceleration magnitude then a reference value is optimized after.Central control system by judge optimize after acceleration be
No to reach threshold value 3.0g and then judge whether the two wheel vehicles get into an accident, if judging, the acceleration after optimization reaches preset
3.0g, then the information that user gets into an accident is exported, the acceleration after optimization is not reaching to preset 3.0g if judging, continues to gather
The acceleration and Euler's angular data of user.
In the present embodiment, data collecting system is called to gather acceleration and Eulerian angles number in real time by central control system
According to then the analogue data of collection is converted into numerical data by A/D and is sent to central control by data collecting system
System, data handling system go flash removed data by Kalman filtering optimization, and fusion calculation algorithm carries out posture and is integrated into one
Step optimization data, the data after being optimized, central control system is by judging whether the acceleration after optimization reaches threshold value
3.0g so judge two wheel the vehicles whether get into an accident, whether the two wheel vehicle drivers that accurately form a prompt judgement in real time
Get into an accident.
A kind of traffic accident monitoring system provided by the utility model is described in detail above, for the one of this area
As technical staff, according to the utility model embodiment thought, have change in specific embodiments and applications
Place, in summary, this specification content should not be construed as to limitation of the present utility model.
Claims (9)
- A kind of 1. traffic accident monitoring system, it is characterised in that including：Central controller, data collecting system, data handling system；The central controller is electrically connected with the data collecting system and the data handling system；The data collecting system includes accelerometer, Eulerian angles harvester, A/D modular converters；The A/D modular converters connect the accelerometer and the Eulerian angles harvester；The data handling system includes computing module and communication module；The communication module connects the A/D modular converters, and the computing module connects the communication module.
- 2. traffic accident monitoring system according to claim 1, it is characterised in that the data handling system is also deposited including data Module is stored up, the data memory module connects the computing module.
- 3. traffic accident monitoring system according to claim 2, it is characterised in that the central controller includes miniature centre Manage device.
- 4. traffic accident monitoring system according to claim 1, it is characterised in that the central controller connects the acceleration Meter, the Eulerian angles harvester and the A/D modular converters.
- 5. traffic accident monitoring system according to claim 4, it is characterised in that the central controller, it is described for calling Accelerometer and the Eulerian angles harvester gather acceleration and Euler's angular data in real time respectively.
- 6. traffic accident monitoring system according to claim 5, it is characterised in that the A/D modular converters, for that described will add Speedometer and the acceleration that the Eulerian angles harvester gathers respectively and Eulerian angles data conversion are into numerical data.
- 7. traffic accident monitoring system according to claim 6, it is characterised in that the central controller, be additionally operable to receive institute State the numerical data of A/D modular converters transmission.
- 8. traffic accident monitoring system according to claim 7, it is characterised in that the data handling system, for described Numerical data carries out processing and obtains the data after optimization.
- 9. traffic accident monitoring system according to claim 8, it is characterised in that the central controller, be additionally operable to by excellent Data after change judge whether user gets into an accident.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107038874A (en) * | 2017-06-01 | 2017-08-11 | 广东工业大学 | A kind of traffic accident monitoring method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107038874A (en) * | 2017-06-01 | 2017-08-11 | 广东工业大学 | A kind of traffic accident monitoring method and device |
| CN107038874B (en) * | 2017-06-01 | 2024-01-23 | 广东工业大学 | Traffic accident monitoring method and device |
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