CN105427625B - Vehicle turning recognition methods and device - Google Patents
Vehicle turning recognition methods and device Download PDFInfo
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- CN105427625B CN105427625B CN201510828026.XA CN201510828026A CN105427625B CN 105427625 B CN105427625 B CN 105427625B CN 201510828026 A CN201510828026 A CN 201510828026A CN 105427625 B CN105427625 B CN 105427625B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The present invention, which provides a kind of vehicle turning recognition methods and device, this method, to be included：To preset the sampling interval, the steering wheel rotational angle and speed of vehicle corresponding to each sampling time point are gathered；According to preset vehicle rotational angle model, it is determined that vehicle rotational angle corresponding to each sampling time point, wherein, vehicle rotational angle model describes vehicle rotational angle and steering wheel rotational angle, speed, the corresponding relation for turning over vehicle rotation time needed for vehicle rotational angle；The turn fragment of vehicle is determined according to steering wheel rotational angle, vehicle rotational angle, so as to realize that the vehicle turning fragment based on steering wheel rotational angle, vehicle rotational angle accurately identifies.
Description
Technical field
The invention belongs to automobile technical field, is specifically related to a kind of vehicle turning recognition methods and device.
Background technology
With generally use of the vehicle in people live, the vehicle fleet size travelled on highway is rapidly increasing.It is adjoint and
Come, people are also increasingly surging for the degree of concern of traffic safety.Wherein, for the safe early warning and peace in driving conditions
The guidance of full driving behavior, turns into study hotspot, and the basis of these study hotspots is often based on to vehicle running state
Collection, analysis.
The transport condition of vehicle includes diversified characterization parameter, wherein, the steering of vehicle or perhaps state of turning round
And one of important characterization parameter, the parameter traffic safety of its Adjacent vehicles and are driven for itself traffic safety of vehicle
It is significant to sail behavior guiding.
At present, the identification for vehicle turning is mostly to use GPS location signal, by calculating vehicle at multiple time points
Angle change between GPS location judges whether vehicle turns round.The problem of due to GPS location precision, turned round for low-angle
Identification does not have versatility, so as to cause the recognition accuracy of vehicle turning not high.
The content of the invention
For problems of the prior art, the present invention provides a kind of vehicle turning recognition methods and device, to reality
Now vehicle turning fragment is accurately identified.
The invention provides a kind of vehicle turning recognition methods, including：
To preset the sampling interval, the steering wheel rotational angle and speed of vehicle corresponding to each sampling time point are gathered；
According to preset vehicle rotational angle model, it is determined that vehicle rotational angle corresponding to each sampling time point, wherein, car
Rotational angle model describes vehicle rotational angle and steering wheel rotational angle, speed, turned over needed for vehicle rotational angle
The corresponding relation of vehicle rotation time；
The turn fragment of the vehicle is determined according to the steering wheel rotational angle, the vehicle rotational angle.
The invention provides a kind of vehicle turning identification device, including：
Acquisition module, for preset the sampling interval, the steering wheel for gathering vehicle corresponding to each sampling time point to rotate
Angle and speed；
First determining module, for according to preset vehicle rotational angle model, it is determined that car corresponding to each sampling time point
Rotational angle, wherein, vehicle rotational angle model describes vehicle rotational angle and steering wheel rotational angle, speed, turned over
The corresponding relation of vehicle rotation time needed for vehicle rotational angle；
Second determining module, for determining the vehicle according to the steering wheel rotational angle, the vehicle rotational angle
Turn fragment.
Vehicle turning recognition methods provided by the invention and device, based on pre-establish describe vehicle rotational angle with
Steering wheel rotational angle, speed, turn over vehicle rotation time needed for vehicle rotational angle corresponding relation vehicle angle of rotation
Model is spent, can be according to this after the steering wheel rotational angle of vehicle corresponding to each sampling time point and speed is collected
Vehicle rotational angle model determines vehicle rotational angle corresponding to each sampling time point.So as to according to each sampling time
Steering wheel rotational angle, vehicle rotational angle are capable of determining that in each sampling time point whether vehicle is in corresponding to point
Turn state, so as to realize that the vehicle turning fragment based on steering wheel rotational angle, vehicle rotational angle accurately identifies.
Brief description of the drawings
Fig. 1 is the flow chart of vehicle turning recognition methods embodiment one of the present invention；
Fig. 2 is the flow chart of vehicle turning recognition methods embodiment two of the present invention；
Fig. 3 is the schematic diagram of vehicle rotational angle model of the present invention；
Fig. 4 is the schematic diagram of vehicle turning identification device embodiment one of the present invention；
Fig. 5 is the schematic diagram of vehicle turning identification device embodiment two of the present invention.
Embodiment
Fig. 1 is the flow chart of vehicle turning recognition methods embodiment one of the present invention, in the present embodiment, vehicle turning identification
Method is performed by vehicle turning identification device, and the vehicle turning identification device is arranged in vehicle, as shown in figure 1, the vehicle turns
Curved recognition methods comprises the following steps：
Step 101, with preset the sampling interval, gather the steering wheel rotational angle of vehicle corresponding to each sampling time point and
Speed.
In the present embodiment, the above-mentioned sampling interval such as can be 1s.In actual applications, triggering performs the present embodiment and provided
The condition of vehicle turning recognition methods be such as that the steering wheel rotational angle for detecting vehicle is more than certain threshold value.
Collection to steering wheel rotational angle and speed can be based on senser element commonly used in the prior art and realize, realize
Do not repeated in principle the present embodiment.
When detecting that above-mentioned trigger condition meets, the vehicle turning recognition methods of the present embodiment is performed.
Specifically, in the present embodiment, it is necessary first to gather steering wheel rotational angle and car corresponding to each sampling time point
Speed.
Step 102, according to preset vehicle rotational angle model, it is determined that vehicle angle of rotation corresponding to each sampling time point
Degree.
Wherein, vehicle rotational angle model describes vehicle rotational angle and steering wheel rotational angle, speed, turns over vehicle
The corresponding relation of vehicle rotation time needed for rotational angle.
The process of establishing of the vehicle rotational angle model will be described in subsequent embodiment.In the present embodiment, car is only emphasized
Corresponding pass be present in rotational angle and steering wheel rotational angle, speed, the vehicle rotation time that turns over needed for vehicle rotational angle
System, after the vehicle rotational angle model is established, can be based on the model, corresponding according to each sampling time point collected
Steering wheel rotational angle, the parameter such as speed, determine vehicle rotational angle corresponding to each sampling time point.
Step 103, the turn fragment for determining according to steering wheel rotational angle, vehicle rotational angle vehicle.
In the present embodiment, can steering wheel rotational angle, vehicle rotational angle according to corresponding to each sampling time point it is true
Determine the turn fragment of vehicle.
Specifically, following deterministic process can be carried out, for each sampling time point i to determine vehicle successively
Turn state, wherein, i takes the integer more than or equal to 1：
If | ui| >=P, and vi≠ 0, it is determined that sampling time point i corresponds to vehicle turning point, wherein, uiFor the sampling time
Steering wheel rotational angle corresponding to point i, viFor speed corresponding to sampling time point i, P is the first predetermined threshold value；
If | ui|<P, and vi≠ 0, then when the vehicle rotational angle according to corresponding to multiple sampling time points difference determines sampling
Between point i whether correspond to vehicle turning point, wherein, multiple sampling time points include sampling time point i；
If continuous multiple sampling time points be present corresponds to vehicle turning point, it is determined that vehicle is in continuous multiple samplings
Turn state is in during time point, i.e. the turn fragment of vehicle is timeslice corresponding to continuous multiple sampling time points
Section.
Pass through above-mentioned deterministic process：First, using steering wheel rotational angle as foundation, if sampling time point i is corresponding
Steering wheel rotational angle uiHigher than the first predetermined threshold value, such as 90 degree, then it can directly determine that sampling time point i corresponds to
Vehicle turning point, i.e., some time point during vehicle turning.Otherwise, if steering wheel corresponding to sampling time point i rotates
Angle uiLess than the first predetermined threshold value, then and then according to comprising multiple sampling time points including sampling time point i correspond to respectively
Vehicle rotational angle determine whether sampling time point i corresponds to vehicle turning point.
If finally determine that sampling time point i corresponds to vehicle turning point, when being next directed to adjacent next sampling
Between point i+1, carry out above-mentioned deterministic process, so circulation is gone down, and at least one above-mentioned vehicle turning point is unsatisfactory for until running into
The sampling time point of decision condition.So as to it will continuously both correspond to the duration of multiple sampling time points of vehicle turning point
Between be considered the period that vehicle is under turn state.
Wherein, according to multiple sampling time points, corresponding vehicle rotational angle determines whether sampling time point i corresponds to respectively
In vehicle turning point, can realize in the following way：
If it is default to be more than or equal to second for the absolute value sum of vehicle rotational angle corresponding to multiple sampling time points difference
Threshold value, it is determined that sampling time point i corresponds to vehicle turning point, wherein, the second predetermined threshold value is less than the first predetermined threshold value.
As an example it is assumed that the number for the sampling time point chosen is 3, it is respectively：I-1, i, i+1, accordingly, this three
Individual sampling time point respectively corresponding to vehicle rotational angle be：θi-1, θi, θi+1.Assuming that these three vehicle rotational angle absolute values
Sum is expressed as C1i, then：
C1i=| θi-1|+|θi|+|θi+1|。
If C1i>=P1, then it is assumed that sampling time point i corresponds to vehicle turning point, wherein, P1 is the second predetermined threshold value,
Such as 45 degree.
In the present embodiment, describe vehicle rotational angle and steering wheel rotational angle, speed based on what is pre-established, turn over
The vehicle rotational angle model of the corresponding relation of vehicle rotation time needed for vehicle rotational angle, when collecting each sampling
Between point corresponding to vehicle steering wheel rotational angle and speed after, can be determined according to the vehicle rotational angle model each
Vehicle rotational angle corresponding to sampling time point.So as to according to steering wheel rotational angle, vehicle corresponding to each sampling time point
Rotational angle is capable of determining that in each sampling time point whether vehicle is in turn state, so as to realize based on steering wheel
Rotational angle, the vehicle turning fragment of vehicle rotational angle accurately identify.
Fig. 2 is the flow chart of vehicle turning recognition methods embodiment two of the present invention, as shown in Fig. 2 can include following step
Suddenly：
The corresponding relation of the front vehicle wheel rotational angle of step 201, the steering wheel rotational angle for determining vehicle and vehicle.
Step 202, according to the steering wheel rotational angle of vehicle and the corresponding relation of the front vehicle wheel rotational angle of vehicle, it is determined that
Vehicle rotational angle model.
In the present embodiment, with reference to vehicle rotational angle model schematic as shown in Figure 3, exemplary illustration is established vehicle and turned
The process of dynamic angle model.
Assuming that being positive angle during steering wheel rotate counterclockwise, it is for negative angle, steering wheel angle of rotation to turn clockwise
Degree is expressed as u.
Assuming that front vehicle wheel is positive angle to left avertence, it is expressed as negative angle, the rotational angle of front vehicle wheel to the right
Due to the steering wheel of each vehicle rotational angle and front vehicle wheel rotational angle relation be not it is unified, because
This, only provides a kind of pair of the steering wheel rotational angle and front vehicle wheel rotational angle of certain vehicle for counting and obtaining in the present embodiment
It should be related to：
Wherein, u ∈ [- 5 π, 5 π].
Assuming that the simplified model of vehicle is as shown in left in Figure 3, car body AB, the distance between front and back wheel is L, then front and back wheel
Turning radius be respectively：
The turning process of vehicle is as shown in right in Figure 3, it is assumed that vehicle is θ from the AB angles for turning to A ' B ', and the used time is
T, the speed of vehicle is v (m/s), then has：
V × t=R1 × θ
I.e.：
Above-mentioned corresponding relation is a kind of vehicle rotational angle model that the present embodiment illustrates.In practical application, due to
The steering wheel rotational angle of different automobile types may be different from the corresponding relation of front vehicle wheel rotational angle, cause the vehicle finally given
Rotational angle model is not quite similar, still, the steering wheel rotational angle of different automobile types and the corresponding relation of front vehicle wheel rotational angle
It can be obtained by being fitted to many experiments statistics, it is hereby achieved that corresponding different vehicle rotational angle model.
Step 203, with preset the sampling interval, gather the steering wheel rotational angle of vehicle corresponding to each sampling time point and
Speed.
Step 204, according to preset vehicle rotational angle model, it is determined that vehicle angle of rotation corresponding to each sampling time point
Degree.
The vehicle rotational angle model provided based on the example above, in the present embodiment, for any sampling time point i come
Say, its corresponding vehicle rotational angle
Step 205, the turn fragment for determining according to steering wheel rotational angle, vehicle rotational angle vehicle.
In the present embodiment, determined according to steering wheel rotational angle, vehicle rotational angle vehicle turn fragment process with
The process of embodiment illustrated in fig. 1 is similar, does not repeat.But in the present embodiment what deserves to be explained is, according to including the sampling time
Corresponding vehicle rotational angle determines whether sampling time point i turns corresponding to vehicle to multiple sampling time points including point i respectively
During curved point, the numbers of multiple sampling time points can set multigroup, for example set three groups, first group is 3, second group
For 5, the 3rd group is 7, moreover, the selection principle of sampling time point can be centered on sampling time point i, is chosen respectively
The adjacent a number of sampling time point in its left and right.
As an example it is assumed that the vehicle of first group, second group and the not corresponding multiple sampling time points of third component rotates
Angle absolute value sum is：C1i, C2i, C3i, wherein：
C1i=| θi-1|+|θi|+|θi+1|；
C2i=| θi-2|+|θi-1|+|θi|+|θi+1|+|θi+2|；
C3i=| θi-3|+|θi-2|+|θi-1|+|θi|+|θi+1|+|θi+2|+|θi+3|。
If meet C1i>=P1, or C2i>=P2, or C3i>=P3, then can determine that sampling time point i corresponds to
Vehicle turning point.
Wherein, P1, P2 and P3 can be with identical or different, it is to be understood that when P1, P2 and P3 are different, P1<P2<
P3。
In actual applications, it is assumed that P1, P2 are identical with P3, for example are all 45 degree, then above-mentioned C1i, C2i, C3iUsed
Journey can be：If C1iLess than P1, then C2 is calculatedi, and judge C2iWhether P2 is more than or equal to；If C2iLess than P2, then count
Calculate C3i, and judge C3iWhether P3 is more than or equal to, if C3iLess than P3, it is determined that the sampling time, point i did not correspond to vehicle
Turn state, i.e. vehicle is not on turn state.
Step 206, the turn fragment according to vehicle, determine whether vehicle is in dangerous driving state.
In the present embodiment, after the turn fragment of vehicle is determined, the determination result can be based on, whether carries out vehicle
Analysis in dangerous driving state judges.In the analysis deterministic process of the dangerous driving state, it can need to combine vehicle
Other running condition information comprehensive descisions.
For simple example, if vehicle is in turn state, and now the steering indicating light of vehicle is not called a taxi, Huo Zheche
Do not touched on the brake, or current speed is more than certain threshold value, then can consider that vehicle is in dangerous driving state.
In the present embodiment, the corresponding relation structure of the front vehicle wheel rotational angle of steering wheel rotational angle and vehicle based on vehicle
Build and describe vehicle rotational angle and steering wheel rotational angle, speed, turn over vehicle rotation time needed for vehicle rotational angle
Corresponding relation vehicle rotational angle model.Collecting the steering wheel rotational angle of vehicle corresponding to each sampling time point
After speed, vehicle rotational angle corresponding to each sampling time point can be determined according to the vehicle rotational angle model.
So as to be capable of determining that according to steering wheel rotational angle, vehicle rotational angle corresponding to each sampling time point in each sampling
During time point, whether vehicle is in turn state, so as to realize that the vehicle based on steering wheel rotational angle, vehicle rotational angle turns
Bending section accurately identifies.In addition it is possible to the recognition result based on vehicle turning state carries out the judgement of vehicle risk driving,
Be advantageous to carry out the prompting of dangerous driving behavior in time, improve travel safety.
Fig. 4 is the schematic diagram of vehicle turning identification device embodiment one of the present invention, as shown in figure 4, the vehicle turning identifies
Device includes：Acquisition module 11, the first determining module 12, the second determining module 13.
Acquisition module 11, for preset the sampling interval, the steering wheel for gathering vehicle corresponding to each sampling time point to turn
Dynamic angle and speed.
First determining module 12, for according to preset vehicle rotational angle model, it is determined that corresponding to each sampling time point
Vehicle rotational angle, wherein, vehicle rotational angle model describes vehicle rotational angle and steering wheel rotational angle, speed, turned
Cross the corresponding relation of the vehicle rotation time needed for vehicle rotational angle.
Second determining module 13, for determining the car according to the steering wheel rotational angle, the vehicle rotational angle
Turn fragment.
Second determining module 13 includes：First determining unit 131, the second determining unit 132, the 3rd determining unit
133。
First determining unit 131, for being directed to each sampling time point i successively, | ui| >=P, and viWhen ≠ 0, institute is determined
State sampling time point i and correspond to vehicle turning point, wherein, uiFor steering wheel rotational angle, v corresponding to the sampling time point ii
For speed corresponding to the sampling time point i, P is the first predetermined threshold value.
Second determining unit 132, in | ui|<P, and viWhen ≠ 0, according to car corresponding to multiple sampling time points difference
Rotational angle determines whether the sampling time point i corresponds to vehicle turning point, wherein, wrapped in the multiple sampling time point
Include the sampling time point i.
3rd determining unit 133, for when continuous multiple sampling time points be present and correspond to vehicle turning point, it is determined that
The turn fragment of the vehicle is time slice corresponding to continuous multiple sampling time points.
Wherein, second determining unit 132 is specifically used for：Turn in vehicle corresponding to the multiple sampling time point difference
When the absolute value sum of dynamic angle is more than or equal to the second predetermined threshold value, determine that the sampling time point i corresponds to vehicle turning
Point, wherein, second predetermined threshold value is less than first predetermined threshold value.
The vehicle turning identification device of the present embodiment can be used for the technical side for performing embodiment of the method shown in above-mentioned Fig. 1
Case, its implementing principle and technical effect is similar, and here is omitted.
Fig. 5 is the schematic diagram of vehicle turning identification device embodiment two of the present invention, as shown in figure 5, in embodiment illustrated in fig. 4
On the basis of, the vehicle turning identification device also includes：3rd determining module 21, the 4th determining module 22.
3rd determining module 21, for determining that the steering wheel rotational angle of the vehicle rotates with the front vehicle wheel of the vehicle
The corresponding relation of angle.
4th determining module 22, rotated for the front vehicle wheel of the steering wheel rotational angle according to the vehicle and the vehicle
The corresponding relation of angle, determine the vehicle rotational angle model.
Further, the vehicle turning identification device also includes：5th determining module 23.
5th determining module 23, for the turn fragment according to the vehicle, determine whether the vehicle is driven in danger
Sail state.
The vehicle turning identification device of the present embodiment can be used for the technical side for performing embodiment of the method shown in above-mentioned Fig. 2
Case, its implementing principle and technical effect is similar, and here is omitted.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program
Upon execution, the step of execution includes above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (8)
- A kind of 1. vehicle turning recognition methods, it is characterised in that including：To preset the sampling interval, the steering wheel rotational angle and speed of vehicle corresponding to each sampling time point are gathered；According to preset vehicle rotational angle model, it is determined that vehicle rotational angle corresponding to each sampling time point, wherein, vehicle turns Dynamic angle model describes vehicle rotational angle and steering wheel rotational angle, speed, turns over vehicle needed for vehicle rotational angle The corresponding relation of rotation time；The turn fragment of the vehicle is determined according to the steering wheel rotational angle, the vehicle rotational angle；Methods described also includes：Determine the corresponding relation of the steering wheel rotational angle of the vehicle and the front vehicle wheel rotational angle of the vehicle；According to the steering wheel rotational angle of the vehicle and the corresponding relation of the front vehicle wheel rotational angle of the vehicle, it is determined that described Vehicle rotational angle model.
- 2. according to the method for claim 1, it is characterised in that described according to the steering wheel rotational angle, the vehicle Rotational angle determines the turn fragment of the vehicle, including：Each sampling time point i is directed to successively, if | ui| >=P, and vi≠ 0, it is determined that the sampling time point i corresponds to vehicle Turn point, wherein, uiFor steering wheel rotational angle, v corresponding to the sampling time point iiFor corresponding to the sampling time point i Speed, P are the first predetermined threshold value；If | ui|<P, and vi≠ 0, then when according to multiple sampling time points, corresponding vehicle rotational angle determines the sampling respectively Between point i whether correspond to vehicle turning point, wherein, the multiple sampling time point includes the sampling time point i；If continuous multiple sampling time points be present corresponds to vehicle turning point, it is determined that the turn fragment of the vehicle is described Time slice corresponding to continuous multiple sampling time points.
- 3. according to the method for claim 2, it is characterised in that the vehicle according to corresponding to multiple sampling time points difference Rotational angle determines whether the sampling time point i corresponds to vehicle turning point, including：If it is default to be more than or equal to second for the absolute value sum of vehicle rotational angle corresponding to the multiple sampling time point difference Threshold value, it is determined that the sampling time point i corresponds to vehicle turning point, wherein, second predetermined threshold value is less than described first Predetermined threshold value.
- 4. according to the method in any one of claims 1 to 3, it is characterised in that methods described also includes：According to the turn fragment of the vehicle, determine whether the vehicle is in dangerous driving state.
- A kind of 5. vehicle turning identification device, it is characterised in that including：Acquisition module, for preset the sampling interval, gathering the steering wheel rotational angle of vehicle corresponding to each sampling time point And speed；First determining module, for according to preset vehicle rotational angle model, it is determined that vehicle corresponding to each sampling time point turns Dynamic angle, wherein, vehicle rotational angle model describes vehicle rotational angle and steering wheel rotational angle, speed, turns over vehicle The corresponding relation of vehicle rotation time needed for rotational angle；Second determining module, for determining turning for the vehicle according to the steering wheel rotational angle, the vehicle rotational angle Bending section；Also include：3rd determining module, for determining the steering wheel rotational angle of the vehicle and the front vehicle wheel rotational angle of the vehicle Corresponding relation；4th determining module, for the front vehicle wheel rotational angle of the steering wheel rotational angle according to the vehicle and the vehicle Corresponding relation, determine the vehicle rotational angle model.
- 6. device according to claim 5, it is characterised in that second determining module includes：First determining unit, for being directed to each sampling time point i successively, | ui| >=P, and viWhen ≠ 0, the sampling is determined Time point i corresponds to vehicle turning point, wherein, uiFor steering wheel rotational angle, v corresponding to the sampling time point iiTo be described Speed corresponding to sampling time point i, P are the first predetermined threshold value；Second determining unit, in | ui|<P, and viWhen ≠ 0, according to vehicle angle of rotation corresponding to multiple sampling time points difference Degree determines whether the sampling time point i corresponds to vehicle turning point, wherein, the multiple sampling time point includes described adopt Sample time point i；3rd determining unit, for when corresponding to vehicle turning point in the presence of continuous multiple sampling time points, determining the car Turn fragment be time slice corresponding to continuous multiple sampling time points.
- 7. device according to claim 6, it is characterised in that second determining unit is specifically used for：The multiple When the absolute value sum of vehicle rotational angle is more than or equal to the second predetermined threshold value corresponding to sampling time point difference, it is determined that described Sampling time point i corresponds to vehicle turning point, wherein, second predetermined threshold value is less than first predetermined threshold value.
- 8. device according to claim 7, it is characterised in that also include：5th determining module, for the turn fragment according to the vehicle, determine whether the vehicle is in dangerous driving state.
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| CN108122298B (en) * | 2016-11-30 | 2021-06-29 | 厦门雅迅网络股份有限公司 | Method and system for improving accuracy of steering wheel angle data of vehicle |
| CN107521559B (en) * | 2017-07-03 | 2020-03-31 | 驭势科技（北京）有限公司 | Steering angle calibration method, motion trajectory calculation method and device and vehicle-mounted device |
| CN113554891B (en) * | 2021-07-19 | 2022-07-01 | 江苏南大苏富特智能交通科技有限公司 | Method for constructing electronic map road network based on bus GPS track |
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| CN204020698U (en) * | 2014-07-25 | 2014-12-17 | 北汽福田汽车股份有限公司 | The prompt system of Vehicular turn and there is its automobile |
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