WO2023075206A1

WO2023075206A1 - Method and apparatus for detecting driving behavior without yaw calculation

Info

Publication number: WO2023075206A1
Application number: PCT/KR2022/015281
Authority: WO
Inventors: 민영석; 한용희
Original assignee: 캐롯손해보험 주식회사
Priority date: 2021-10-28
Filing date: 2022-10-11
Publication date: 2023-05-04

Abstract

A method and an apparatus for detecting driving behavior without yaw calculation are disclosed. According to one aspect of the present disclosure, provided is a method for detecting driving behavior, comprising the steps of: estimating the roll angle and the pitch angle of a sensor coordinate system with respect to a vehicle coordinate system; converting acceleration and angular velocity on the sensor coordinate system into acceleration and angular velocity on a target coordinate system by using the roll angle and the pitch angle; and detecting the driving behavior of a vehicle by using the acceleration and the angular velocity on the target coordinate system.

Description

Method and apparatus for detecting driving behavior without yaw calculation

The present disclosure relates to methods and apparatus for sensing driving behavior of a vehicle.

The information described in this section simply provides background information on the present invention and does not constitute prior art.

In order to detect vehicle driving behavior (eg, acceleration, deceleration, rotation direction, etc.), a device including an acceleration sensor and a gyro sensor is generally installed in a vehicle to estimate the attitude of the device relative to the vehicle.

The posture of the device can be expressed as roll, pitch, and yaw. Among them, a particularly large amount of calculation is required to calculate the yaw, and it is difficult to calculate an accurate yaw value by external noise such as vehicle vibration. There is a problem with it being difficult.

The main object of the present disclosure is to provide a method and apparatus capable of detecting a driving behavior of a vehicle without yaw calculation.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to one aspect of the present disclosure, the process of estimating the roll angle and pitch angle of the sensor coordinate system with respect to the vehicle coordinate system; converting the acceleration and angular velocity on the sensor coordinate system into the acceleration and angular velocity on the target coordinate system using the roll angle and the pitch angle; and detecting the driving behavior of the vehicle using the acceleration and angular velocity on the target coordinate system.

According to another aspect of the present disclosure, the estimation unit for estimating the roll angle and the pitch angle of the sensor coordinate system with respect to the vehicle coordinate system; a conversion unit that converts the acceleration and angular velocity on the sensor coordinate system into acceleration and angular velocity on the target coordinate system using the roll angle and the pitch angle; and a sensing unit configured to detect a driving behavior of the vehicle using acceleration and angular velocity on the target coordinate system.

As described above, according to the exemplary embodiment of the present disclosure, a driving behavior of a vehicle may be detected without calculating a yaw. By not using a yaw whose accuracy is reduced due to external noise such as vehicle vibration, there is an effect that accurate driving behavior detection is possible through a small amount of calculation.

The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is an exemplary view for explaining a sensor coordinate system and a vehicle coordinate system according to an embodiment of the present disclosure.

2 is a schematic block diagram of an apparatus for detecting driving behavior according to an embodiment of the present disclosure.

3 is a flowchart illustrating a driving behavior sensing method according to an exemplary embodiment of the present disclosure.

Hereinafter, some embodiments of the present disclosure will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description will be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present disclosure. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. Throughout the specification, when a part 'includes' or 'includes' a certain component, it means that it may further include other components without excluding other components unless otherwise stated. . In addition, the '... Terms such as 'unit' and 'module' refer to a unit that processes at least one function or operation, and may be implemented as hardware, software, or a combination of hardware and software.

The detailed description set forth below in conjunction with the accompanying drawings is intended to describe exemplary embodiments of the present disclosure, and is not intended to represent the only embodiments in which the present disclosure may be practiced.

Prior to describing various embodiments of the present disclosure, a coordinate system and a conversion relationship between coordinate systems mentioned in the present disclosure will be described.

Referring to FIG. 1 , the coordinate system used in the present disclosure is divided into a vehicle coordinate system and a sensor coordinate system. The vehicle coordinate system assumes that the vehicle is placed on a plane perpendicular to the direction of gravity (hereafter referred to as the horizontal plane), with the Y ^V axis pointing in the traveling direction of the vehicle, the X ^V axis pointing in the vehicle width direction, and the Z ^V axis pointing in the vehicle height direction. composed of axes. The sensor coordinate system is a coordinate system in which a specific axis coincides with a specific direction of a sensor provided in a vehicle, and is composed of an X ^S axis, a Y ^S axis, and a Z ^S axis that are orthogonal to each other.

The relative rotation between the vehicle coordinate system and the sensor coordinate system may be expressed as a roll angle (γ), a pitch angle (θ), and a yaw angle (φ).

A conversion matrix for converting an arbitrary point or vector on the sensor coordinate system to a point or vector on the vehicle coordinate system may be defined as in Equation 1.

Acceleration and angular velocity measured by a sensor provided in the vehicle, that is, acceleration and angular velocity on the sensor coordinate system may be converted into acceleration and angular velocity on the vehicle coordinate system as shown in Equations 2 and 3.

here,

is the i-axis acceleration on the sensor coordinate system (i-axis is the X ^S axis, Y ^S axis, or Z ^S axis),

is the i-axis acceleration (i-axis is X ^V axis, Y ^V axis, or Z ^V axis) on the vehicle coordinate system.

here,

is the i-axis angular velocity on the sensor coordinate system (i-axis is the X ^S axis, Y ^S axis, or Z ^S axis),

is the i-axis angular velocity on the vehicle coordinate system (i-axis is the X ^V axis, the Y ^V axis, or the Z ^V axis).

Acceleration and angular velocity on the vehicle coordinate system can be used to sense the driving behavior of the vehicle. For example, acceleration on the Y ^{and V} axes in the direction of travel of the vehicle.

If has a positive value, it can be determined that the vehicle is accelerating, and if it has a negative value, it can be determined that the vehicle is decelerating. In addition, the angular velocity of the Z ^V axis in the vertical direction of the vehicle

If has a positive value, it can be determined that the vehicle rotates counterclockwise, and if it has a negative value, it can be determined that the vehicle rotates clockwise.

Meanwhile, in order to convert the acceleration and angular velocity on the sensor coordinate system to the acceleration and angular velocity on the vehicle coordinate system, estimation of the roll angle, pitch angle, and yaw angle must be preceded.

When the vehicle is in a steady state, that is, when the vehicle is traveling at constant speed or is stopped, a constant acceleration value (eg, a value close to the acceleration due to gravity) is measured by the sensor due to the influence of gravity.

Therefore, based on the relationship between the gravitational acceleration on the vehicle coordinate system and the acceleration on the sensor coordinate system, the roll angle and the pitch angle can be estimated as shown in Equations 4 and 5.

The yaw angle may be obtained as shown in Equation 6 using the acceleration, pitch angle, and roll angle measured when the vehicle travels at constant speed or accelerates and decelerates straight after stopping.

here,

is the i-axis acceleration on the sensor coordinate system measured at point in time s,

is the i-axis acceleration on the sensor coordinate system measured at point in time k.

In order to estimate the yaw angle, it is first necessary to determine whether the vehicle is driving at constant speed or driving with straight acceleration after stopping. For example, it may be determined whether acceleration and angular velocity measured at an arbitrary point in time after determining that the vehicle is in a constant velocity environment satisfy a straight-going condition and an acceleration/deceleration condition. Here, the acceleration/deceleration condition may be a condition in which the amount of change in acceleration on the X ^S -Y ^S plane of the sensor coordinate system is equal to or greater than a preset critical acceleration, and the straight ahead condition may be a condition in which an angular velocity is equal to or less than a preset critical angular velocity. These acceleration/deceleration conditions and straight forward conditions may be expressed as Equations 7 and 8.

Here, Δa _φ is a preset critical acceleration. The critical acceleration may be set in consideration of noise and the like.

Here, Δω _φ is a predetermined critical angular velocity. The critical angular velocity may be set in consideration of noise and the like.

In this way, in order to estimate the yaw angle of the sensor coordinate system with respect to the vehicle coordinate system, it is necessary to detect a series of steps in which the vehicle travels at constant speed or travels with straight acceleration after stopping, which results in a waste of calculation time and resources.

The present disclosure proposes a method for detecting a driving behavior of a vehicle without using such a yaw angle.

As shown in FIG. 2 , the driving behavior detection apparatus 20 according to an embodiment of the present disclosure includes a sensor unit 200, an estimation unit 210, a conversion unit 220, an acquisition unit 230, and a determination unit ( 240) and the sensing unit 250 in whole or in part. All blocks shown in FIG. 2 are not essential components, and some blocks included in the driving behavior detection device 20 may be added, changed, or deleted in another embodiment. That is, in the case of FIG. 2 , the driving behavior detecting device 20 according to an embodiment of the present disclosure illustrates a component for detecting a driving behavior of a vehicle by way of example, and the driving behavior detecting device 20 is another It should be recognized that the implementation of functions may have more or less components than those shown or a configuration of different components.

According to embodiments, the driving behavior detection device 20 may be configured to be mounted on a vehicle. For example, the driving behavior detecting device 20 may be configured in the form of a plug so as to be mounted on a cigar jack, which is a terminal for supplying external power provided in a vehicle. As another example, the driving behavior detection device 20 may be configured to be plugged into a USB port provided in a vehicle.

According to embodiments, the driving behavior detection device 20 may be implemented as a device carried by a vehicle occupant. For example, the driving behavior detecting device 20 may be a mobile device such as a smart phone, a smart watch, and a tablet. The driving behavior detecting device 20 may mount an application for detecting a driving behavior of a vehicle.

The sensor unit 200 outputs acceleration and angular velocity for each axis direction of the sensor coordinate system. The sensor unit 200 may include, for example, an inertial measurement unit (IMU) including a 3-axis acceleration sensor and a 3-axis gyro sensor. Since each component included in the sensor unit 200 is a well-known component, a detailed description thereof will be omitted.

The estimator 210 estimates a pitch angle and a roll angle, which are relative rotation angles of the sensor coordinate system with respect to the vehicle coordinate system, based on the acceleration and angular velocity output by the sensor unit 200 .

The estimator 210 may determine whether the vehicle is in a constant speed environment based on the acceleration and angular velocity measured for a predetermined time prior to estimating the roll angle and the pitch angle. Here, the predetermined time is longer than or equal to the minimum time required to determine the constant velocity environment, and may be set in consideration of the measurement period of the sensor unit 200, but is not limited thereto.

For example, the estimator 210 determines that, when the difference between the accelerations measured for a certain period of time and the gravitational acceleration is maintained below a preset critical acceleration and the magnitudes of the angular velocities measured for a specific time are maintained below the preset critical angular velocity, the vehicle It can be judged to be in a constant velocity environment. This constant velocity environment determination condition can be expressed as in Equation 9.

here,

is the i-axis acceleration on the sensor coordinate system measured at point in time k,

is the i-axis angular velocity on the sensor coordinate system measured at point k, g is the magnitude of the gravitational acceleration, Δa _steady is the critical acceleration, _Δω is the critical angular velocity, and N _steady is the minimum time required to determine the constant velocity environment.

The estimator 210 according to an embodiment of the present disclosure determines whether the acceleration and angular velocity output by the sensor unit 200 for a predetermined time satisfy a constant speed condition, a measurement start point (k _start ) and a measurement end time point. It is possible to determine whether the acceleration and angular velocity of (k _end ) each satisfy the constant velocity condition, but is not limited to this example. For example, the estimator 210 according to another embodiment of the present disclosure determines whether all accelerations and angular velocities output by the sensor unit 200 for a predetermined period of time satisfy a constant speed condition, or whether the sensor unit 200 for a predetermined period of time It is possible to determine whether the average of the accelerations and the averages of the angular velocities outputted by each satisfies the constant speed condition.

If it is determined that the vehicle is in a constant velocity environment, the estimator 210 obtains the roll angle and the pitch angle from the acceleration on the sensor coordinate system using Equations 4 and 5.

Here, the estimator 210 may estimate the roll angle and the pitch angle using one of the accelerations used to determine whether the vehicle is in a constant velocity environment or an average of corresponding accelerations, but is not limited thereto. For example, the estimator 210 may estimate the roll angle and the pitch angle using acceleration measured after it is determined that the vehicle is in a constant velocity environment.

The conversion unit 220 calculates a transformation matrix using the pitch angle and roll angle, and converts the coordinate system of the acceleration and angular velocity output from the sensor unit 200 (S310).

The conversion unit 220 according to an embodiment of the present disclosure converts acceleration and angular velocity on the sensor coordinate system into acceleration and angular velocity on a third coordinate system (hereinafter, an object coordinate system) other than the vehicle coordinate system. In this case, the target coordinate system may have an X axis and a Y axis that are offset by a predetermined angle from the X ^V axis and the Y ^V axis of the vehicle coordinate system, and a Z axis parallel to the Z ^V axis of the vehicle coordinate system. In the present disclosure, each axis of the target coordinate system may be expressed as an X ^V" axis, a Y ^V" axis, and a Z ^V" axis.

Here, a conversion matrix for converting an arbitrary point on the sensor coordinate system to an arbitrary point on the target coordinate system can be calculated as shown in Equation 10.

The conversion unit 220 may convert the acceleration and angular velocity expressed on the sensor coordinate system into the target coordinate system using a conversion matrix as shown in Equations 11 and 12.

here,

is the i-axis acceleration (i-axis is the X ^V" axis, the Y ^V" axis, or the Z ^V" axis) on the target coordinate system.

here,

is the i-axis angular velocity (i-axis is the X ^V" axis, the Y ^V" axis, or the Z ^V" axis) on the target coordinate system.

Acquisition unit 230 acquires information related to the speed of the vehicle. Information related to the speed of the vehicle may be any one of location, speed, and acceleration, but is not limited thereto.

For example, the acquisition unit 230 may calculate the speed of the vehicle by obtaining a global positioning system (GPS) value as information related to the speed of the vehicle. In this case, the acquisition unit 230 may include a GPS receiver. As another example, the acquisition unit 230 may acquire the absolute speed of the vehicle from the vehicle's OBD (On Board Diagnostics) as information related to the vehicle's speed. In this case, the acquisition unit 230 may include a communication unit for communicating with the OBD of the vehicle. As another example, the acquisition unit 230 may calculate the speed of the vehicle by tracking sensor values output by the sensor unit 200 with a steady state of the vehicle as a starting point.

The determination unit 240 determines a reference axis and a reference sign based on the change in acceleration and speed of the vehicle on the target coordinate system.

The determination unit 240 determines a reference axis and a reference sign for detecting rotation of the vehicle among two axes orthogonal to the vertical direction of the vehicle in the target coordinate system, that is, the X ^V" axis and the Y ^V" axis.

When the vehicle satisfies the straight-line condition of Equation 8, the magnitude of the component orthogonal to the vertical direction of the vehicle in the acceleration on the target coordinate system, that is,

corresponds to the magnitude of straight-line acceleration of the vehicle. The determination unit 240 determines two axes orthogonal to the vertical direction of the vehicle in the target coordinate system, and an axis having a larger magnitude of acceleration as a reference axis. for example,

go

If larger, the X ^V" axis can be determined as the reference axis.

The determination unit 240 detects an increase in the speed of the vehicle based on information related to the speed of the vehicle. The determination unit 240 determines the acceleration with respect to the reference axis on the target coordinate system at the time when the speed of the vehicle increases as the reference sign. For example, assuming that the reference axis is the X ^V" axis, at the point when the speed of the vehicle increases

When has a negative value, the determination unit 240 may determine the reference code as a negative sign (-).

The sensor 250 detects the driving behavior of the vehicle using acceleration and angular velocity on the target coordinate system.

The sensing unit 250 according to an embodiment of the present disclosure may detect acceleration and deceleration of the vehicle based on an acceleration along one of two axes orthogonal to the vertical direction of the vehicle in the target coordinate system. The sensor 250 may detect acceleration and deceleration of the vehicle based on the acceleration with respect to the reference axis of the target coordinate system. The sensor 250 may detect acceleration and deceleration of the vehicle by comparing the sign of the acceleration on the reference axis of the target coordinate system with the reference sign.

Specifically, the sensor 250 determines that the vehicle is accelerating when the reference sign and the sign of acceleration on the reference axis are the same, and determines that the vehicle is decelerating when the reference sign and the sign of acceleration on the reference axis are different. can do. For example, assuming that the reference axis is the X ^V" axis and the reference sign is a negative sign (-), the X ^V" axis acceleration

If has a negative value, it can be determined that the vehicle is accelerating, and if it has a positive value, it can be determined that the vehicle is decelerating.

The sensor 250 according to an embodiment of the present disclosure may include an angular velocity with respect to an axis corresponding to a vertical direction of the vehicle in the target coordinate system, that is, the Z ^V" axis.

Based on the rotation of the vehicle can be detected.

For example, the sensor 250 may determine the angular velocity with respect to an axis corresponding to the vertical direction of the vehicle in the target coordinate system.

Since the method illustrated in FIG. 3 can be performed by the driving behavior detection device 20 described above in FIG. 2 , detailed descriptions of overlapping contents will be omitted.

The driving behavior detecting apparatus 20 estimates the pitch angle and roll angle of the sensor coordinate system with respect to the vehicle coordinate system (S300). According to embodiments, the driving behavior detecting device 20 determines whether the vehicle is driving at constant speed or is stopped, and based on the acceleration measured during constant speed driving or stopping of the vehicle, the sensor coordinate system with respect to the vehicle coordinate system. Pitch angle and roll angle can be estimated.

The driving behavior detecting apparatus 20 converts acceleration and angular velocity on the sensor coordinate system into acceleration and angular velocity on the target coordinate system using the estimated roll angle and pitch angle (S310). The driving behavior detecting apparatus 20 may calculate a transformation matrix for converting the acceleration and angular velocity on the sensor coordinate system into the acceleration and angular velocity on the target coordinate system using the pitch angle and the roll angle.

The driving behavior detecting apparatus 20 determines a reference axis and a reference sign for detecting rotation of the vehicle (S320).

According to embodiments, the driving behavior detecting apparatus 20 may determine a reference axis among two axes orthogonal to the vertical direction of the vehicle in the target coordinate system. Specifically, the driving behavior detecting apparatus 20 may determine, as a reference axis, an axis having a greater magnitude of acceleration among two axes orthogonal to the vertical direction of the vehicle in the target coordinate system.

According to embodiments, the driving behavior detecting apparatus 20 may detect an increase in vehicle speed and determine a sign of acceleration on a reference axis at a time when the vehicle speed increases as a reference sign.

The driving behavior detecting apparatus detects acceleration and deceleration of the vehicle using the acceleration with respect to the reference axis (S330). For example, the driving behavior detecting apparatus 20 may determine that the vehicle is accelerating if the sign of the acceleration on the reference axis and the predetermined reference sign are the same at any point in time, and determine that the vehicle is decelerating if they are different.

The driving behavior detecting device detects rotation of the vehicle using the angular velocity in the vertical direction of the vehicle (S340). For example, the driving behavior detecting apparatus 20 determines that the vehicle rotates counterclockwise if the angular velocity of an axis corresponding to the vertical direction of the vehicle in the target coordinate system has a positive value, and if it has a negative value, the vehicle rotates clockwise. It can be judged by rotating in the direction.

As described above, since the method for detecting driving behavior according to an embodiment of the present disclosure uses a simple conversion matrix considering only roll angle and pitch angle, the amount of computation can be reduced compared to the conventional method for detecting driving behavior. In addition, since there is no need to detect whether the vehicle is driving at constant speed or traveling with straight acceleration after stopping, a stateless type of implementation is possible.

In the drawings, it is described that each process is sequentially executed, but this is merely an example of the technical idea of an embodiment of the present disclosure. In other words, those skilled in the art to which an embodiment of the present disclosure belongs may change and execute the order described in the drawings without departing from the essential characteristics of the embodiment of the present disclosure, or one or more of the processes. Since it will be possible to apply various modifications and variations by executing in parallel, the drawings are not limited to a time-series order.

Various implementations of the systems and techniques described herein may include digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and/or their can be realized in combination. These various implementations may include being implemented as one or more computer programs executable on a programmable system. A programmable system includes at least one programmable processor (which may be a special purpose processor) coupled to receive data and instructions from and transmit data and instructions to a storage system, at least one input device, and at least one output device. or may be a general-purpose processor). Computer programs (also known as programs, software, software applications or code) contain instructions for a programmable processor and are stored on a “computer readable medium”.

A computer-readable recording medium includes all kinds of recording devices that store data that can be read by a computer system. These computer-readable 　recording media include non-volatile or non-transitory media such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, magneto-optical disk, and storage device. It may be a medium, and may further include a transitory medium such as a data transmission medium. In addition, the computer-readable recording medium may be distributed to computer systems connected through a network, and computer-readable codes may be stored and executed in a distributed manner.

Various implementations of the systems and techniques described herein may be implemented by a programmable computer. Here, the computer includes a programmable processor, a data storage system (including volatile memory, non-volatile memory, or other types of storage systems, or combinations thereof) and at least one communication interface. For example, a programmable computer may be one of a server, network device, set top box, embedded device, computer expansion module, personal computer, laptop, personal data assistant (PDA), cloud computing system, or mobile device.

The above description is merely an example of the technical idea of the present embodiment, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of the present embodiment, but to explain, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of this embodiment should be construed according to the claims below, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights of this embodiment.

(Description of code)

20: driving behavior detection device

CROSS-REFERENCE TO RELATED APPLICATIONCROSS-REFERENCE TO RELATED APPLICATION

This patent application is a patent application number 10-2021-0146138 filed in Korea on October 28, 2021 and a patent filed in Korea on December 02, 2021, which are incorporated herein by reference in their entirety. Priority is claimed for Application No. 10-2021-0171257.

Claims

estimating roll angles and pitch angles of the sensor coordinate system with respect to the vehicle coordinate system;

converting the acceleration and angular velocity on the sensor coordinate system into the acceleration and angular velocity on the target coordinate system using the roll angle and the pitch angle; and

A process of detecting a driving behavior of a vehicle using acceleration and angular velocity on the target coordinate system

Driving behavior detection method comprising a.
According to claim 1,

The process of detecting the driving behavior of the vehicle,

Detecting the rotation of the vehicle based on the angular velocity about an axis corresponding to the vertical direction of the vehicle in the target coordinate system

Driving behavior detection method comprising a.
According to claim 2,

The process of detecting the rotation of the vehicle,

If the angular velocity with respect to an axis corresponding to the vertical direction of the vehicle in the target coordinate system has a positive value, it is determined that the vehicle rotates counterclockwise, and if it has a negative value, it is determined that the vehicle rotates clockwise. Driving behavior detection method characterized in that.
According to claim 1,

The process of detecting the driving behavior of the vehicle,

determining a reference axis among two axes orthogonal to a vertical direction of the vehicle in the target coordinate system;

The process of detecting acceleration and deceleration of the vehicle based on the acceleration with respect to the reference axis

Driving behavior detection method comprising a.
According to claim 4,

The process of determining

The method of detecting driving behavior, characterized in that determining an axis having a greater magnitude of acceleration as a reference axis among two axes orthogonal to the vertical direction of the vehicle.
According to claim 4,

The process of determining

detecting an increase in speed of the vehicle; and

Determining the sign of the acceleration with respect to the reference axis at the time when the speed of the vehicle increases as a reference sign

Driving behavior detection method comprising a.
According to claim 6,

The process of detecting the acceleration and deceleration of the vehicle,

If the reference sign and the sign of acceleration with respect to the reference axis are the same, it is determined that the vehicle is accelerating, and if the reference sign and the sign of acceleration with respect to the reference axis are different, it is determined that the vehicle is decelerating. A driving behavior detection method.
According to claim 1,

The conversion process is

Calculating a conversion matrix for converting the acceleration and angular velocity on the sensor coordinate system into the acceleration and angular velocity on the target coordinate system using the roll angle and the pitch angle

Driving behavior detection method comprising a.
According to claim 1,

The estimation process is

determining whether the vehicle is traveling at a constant speed or is stopped; and

estimating a roll angle and a pitch angle of the sensor coordinate system with respect to the vehicle coordinate system based on the acceleration measured while the vehicle is traveling at constant speed or stopped;

Driving behavior detection method comprising a.
an estimation unit for estimating roll and pitch angles of the sensor coordinate system with respect to the vehicle coordinate system;

a conversion unit that converts the acceleration and angular velocity on the sensor coordinate system into acceleration and angular velocity on the target coordinate system using the roll angle and the pitch angle; and

A sensing unit for detecting a driving behavior of a vehicle using acceleration and angular velocity on the target coordinate system.

Driving behavior detection device comprising a.
According to claim 10,

the sensor,

The driving behavior detection apparatus of claim 1 , wherein rotation of the vehicle is sensed based on an angular velocity about an axis corresponding to a vertical direction of the vehicle in the target coordinate system.
According to claim 11,

the sensor,

If the angular velocity with respect to an axis corresponding to the vertical direction of the vehicle in the target coordinate system has a positive value, it is determined that the vehicle rotates counterclockwise, and if it has a negative value, it is determined that the vehicle rotates clockwise. Driving behavior detection device characterized in that.
According to claim 10,

The driving behavior detection device according to claim 1 , wherein acceleration and deceleration of the vehicle are sensed based on an acceleration of one of two axes orthogonal to a vertical direction of the vehicle in the target coordinate system.
According to claim 13,

Among the two axes orthogonal to the vertical direction of the vehicle in the target coordinate system, an axis having a greater magnitude of acceleration is determined as a reference axis, and an increase in the speed of the vehicle is detected to determine the reference axis at the time when the speed of the vehicle increases. Determining unit for determining the sign of acceleration as a reference sign

Driving behavior detection device further comprising a.
According to claim 14,

the sensor,

If the reference sign and the sign of acceleration with respect to the reference axis are the same, it is determined that the vehicle is accelerating, and if the reference sign and the sign of acceleration with respect to the reference axis are different, it is determined that the vehicle is decelerating. driving behavior detection device.