CN112986620A - Automobile rapid speed change detection method and system based on three-axis acceleration sensor - Google Patents
Automobile rapid speed change detection method and system based on three-axis acceleration sensor Download PDFInfo
- Publication number
- CN112986620A CN112986620A CN202110155773.7A CN202110155773A CN112986620A CN 112986620 A CN112986620 A CN 112986620A CN 202110155773 A CN202110155773 A CN 202110155773A CN 112986620 A CN112986620 A CN 112986620A
- Authority
- CN
- China
- Prior art keywords
- peak
- speed change
- acceleration sensor
- axis
- automobile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 53
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 239000011159 matrix material Substances 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000012216 screening Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Abstract
The invention provides a method for detecting sudden speed change of an automobile based on a three-axis acceleration sensor, which comprises the following steps of: s1, calibrating the triaxial acceleration sensor; s2, calculating a rotation matrix; s3, calculating a resultant acceleration value in the horizontal direction; s4, judging a rapid speed change wave crest; and S5, judging whether the behavior is a sudden gear shifting behavior. The invention also provides an automobile rapid speed change detection system based on the three-axis acceleration sensor. The invention has the beneficial effects that: the rapid speed change detection of the automobile can be realized only through the three-axis acceleration sensor, the error is small, and the installation is convenient.
Description
Technical Field
The invention relates to an automobile detection method, in particular to an automobile rapid speed change detection method and system based on a three-axis acceleration sensor.
Background
At present, detection equipment additionally installed in industries such as automobile insurance/leasing and the like mainly has two realization modes, wherein 1 is used for calculating the running speed of a vehicle through GPS positioning information, and 2 is used for connecting an automobile OBD (on-board self-diagnosis system) module to obtain the running speed of the vehicle. And finally, judging whether the vehicle has sudden speed change behavior by using the speed change.
The mode of acquiring the speed through the GPS information is influenced by the positioning effect, has larger error and poor real-time performance, and is easy to misreport; the mode of obtaining speed through the OBD module, the mounted position is limited, and has occupied the interface, and is very inconvenient.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automobile rapid speed change detection method and system based on a three-axis acceleration sensor.
The invention provides a method for detecting the sudden change of speed of an automobile based on a three-axis acceleration sensor,
the method comprises the following steps:
s1, calibrating the triaxial acceleration sensor;
s2, calculating a rotation matrix;
s3, calculating a resultant acceleration value in the horizontal direction;
s4, judging a rapid speed change wave crest;
and S5, judging whether the behavior is a sudden gear shifting behavior.
As a further improvement of the invention, in step S1, at least two sets of acceleration values are continuously collected when the vehicle is stationary, and a three-axis average value (x) is calculated0，y0，z0)。
As a further improvement of the present invention, in step S2, it is assumed that the vehicle system n is based on the three directions defined by the three-axis acceleration sensor, i.e. the Y axis is forward, i.e. the vehicle forward direction, the Z axis is vertically downward, and the X axis is rightward, i.e. the vertical vehicle door;
then the three rotation angles from the plant system b to the vehicle system n are (Φ, θ, Ψ), and the rotation matrix is:
three axis mean (x) at rest0，y0，z0) Normalized to obtain (x)m，ym，zm) Calculating two rotation angles;
during initialization, the third rotation angle cannot be known, and is fixed firstly;
Ψ＝0
the rotation matrix is thus calculated:
as a further improvement of the present invention, in step S3, the subsequent three-axis input value (x)bi，ybi，zbi) The projection value in the vehicle body coordinate system is (x)ni，yni，zni)：
Then, the resultant acceleration value a in the horizontal direction on the vehicle bodyxy：
As a further improvement of the present invention, in step S4, the resultant acceleration-time curve of the sudden shift behavior has a peak, and the following characteristic quantities are defined for the peak:
threshold value Vt: a threshold value of a combined acceleration value of entering and exiting wave crests;
peak value Vp: maximum in the wave crest;
duration T: the number of data entered and exited;
peak offset Vo: the ratio of time to duration of time from peak to exit peak;
right obliqueRate kr: the slope of the right red line, the ratio of the threshold to the time from the peak to the exit peak subtracted from the peak;
screening for suitable peaks by threshold/peak and duration when two conditions occur, wherein Vod，Voa，kra，krdTo test the empirical values:
Vo＜＝Vod&&kr＞＝krdjudging as a sudden deceleration behavior
Vo＞＝Voa&&kr＜＝kraWhen the rapid acceleration behavior is judged, a third rotation angle is further calculated, and the triaxial data corresponding to the peak position is (x)p，yp，zp) And then:
recalculating device system b rotation to vehicle system n rotation matrix
The following sharp acceleration and sharp deceleration are mainly distinguished as follows:
yni＝dcm[3]·xbi+dcm[4]·ybi+dcm[5]·zbi。
as a further improvement of the present invention, in step S5,
the estimation of a third rotation angle is needed to enter result judgment;
first, the wave crest condition of rapid acceleration or rapid deceleration is satisfied, and then the y according to the vehicle body coordinate systemniDistinguishing the type of sudden speed change and using the third rotation angle psi corresponding to the peak valuepRejecting false alarm conditions;
third rotation angle Ψ for peak-to-peak calculationmThe difference from the previously recorded third angle of rotation Ψ is:
ΔΨ＝|Ψp-Ψ|
judging the logic as follows;
yni＜＝-Vt&&(ΔΨ＞＝170&&Δ Ψ < ═ 190), rapid deceleration behavior is detected
yni＞＝Vt&&(Δ Ψ ≦ 10| | | Δ Ψ ≦ 350), a rapid acceleration behavior is detected.
As a further improvement of the present invention, in step S1, the vehicle is held on a horizontal surface.
The invention also provides an automobile rapid speed change detection system based on the three-axis acceleration sensor, which is used for realizing the method in any one of the above.
The invention has the beneficial effects that: through the scheme, rapid speed change detection of the automobile can be realized only through the three-axis acceleration sensor, the error is small, and the installation is convenient.
Drawings
FIG. 1 is a combined acceleration-time curve diagram of a vehicle rapid speed change detection method based on a triaxial acceleration sensor.
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
As shown in fig. 1, a method for detecting a sudden change of an automobile based on a three-axis acceleration sensor specifically includes the following steps:
(1) equipment installation:
the detection equipment can be fixedly installed at any angle; the data acquisition frequency of the triaxial acceleration sensor is fixed to be 5 Hz;
(2) equipment calibration:
after the equipment is powered on and started, the installation and calibration are carried out, and the automobile is ensured to be on a horizontal road surface as much as possible;
when the vehicle is static, 100 groups of acceleration values are continuously collected, and a three-axis average value (x) is calculated0，y0，z0)。
(3) Calculating a rotation matrix:
suppose that the vehicle system n is forward with the Y-axis (vehicle forward direction), the Z-axis is vertically downward, and the X-axis is rightward (vertical door). The equipment system b takes three directions defined by the three-axis sensor as the standard;
then the three rotation angles from the plant system b to the vehicle system n are (phi, theta, psi), and the rotation matrix is:
average value at rest (x)0，y0，z0) Normalized to obtain (x)m，ym，zm) Two of the rotation angles can be calculated;
during initialization, the third rotation angle cannot be known, and is fixed firstly;
Ψ＝0
this allows the rotation matrix to be calculated:
(4) calculating a resultant acceleration value in the horizontal direction:
subsequent three-axis input value (x)bi，ybi，zbi) The projection value in the vehicle body coordinate system is (x)ni，yni，zni)：
Then, the resultant acceleration value a in the horizontal direction on the vehicle bodyxy：
(5) Abrupt change peak determination
The resultant acceleration-time curve of the rapid shift behavior has a peak, and the following characteristic quantities are defined for the peak:
threshold value Vt: threshold value of combined acceleration value of entering and exiting wave crest
Peak value Vp: maximum value in wave crest
Duration T: number of data entered and exited
Peak offset Vo: ratio of time to duration of peak to exit peak
Right slope kr: slope of the right red line, peak minus threshold to time to peak exit
Appropriate peaks are screened by threshold/peak and duration, and when the following two cases occur,
wherein Vod，Voa，kra，krdTo test the empirical values:
Vo＜＝Vod&&kr＞＝krdjudging as a sudden deceleration behavior
Vo＞＝Voa&&kr＜＝kraJudging as a sudden acceleration behavior
At this time, a third rotation angle can be further calculated, and the three-axis data corresponding to the peak position is (x)p，yp，zp) And then:
recalculating device system b rotation to vehicle system n rotation matrix
The following sharp acceleration and sharp deceleration are mainly distinguished as follows:
yni＝dcm[3]·xbi+dcm[4]·ybi+dcm[5]·zbi
(6) and (4) judging the result:
the estimation of a third rotation angle is needed to enter result judgment;
first, the wave crest condition of rapid acceleration or rapid deceleration is satisfied, and then the y according to the vehicle body coordinate systemniDistinguishing the type of sudden speed change and using the third rotation angle psi corresponding to the peak valuepAnd false alarm conditions such as ascending and descending are eliminated.
Third rotation angle Ψ for peak-to-peak calculationmThe difference from the previously recorded third angle of rotation Ψ is:
ΔΨ＝|Ψp-Ψ|
judging the logic as follows;
yni＜＝-Vt&&(ΔΨ＞＝170&&Δ Ψ < ═ 190), rapid deceleration behavior is detected
yni＞＝Vt&&(Δ Ψ ≦ 10| | | Δ Ψ ≦ 350), a rapid acceleration behavior is detected.
The invention provides a method and a system for detecting the sudden change speed of an automobile based on a three-axis acceleration sensor, which have the following advantages:
1. the cost is low, and detection can be completed only by a common three-axis sensor.
2. The installation is convenient, and the method is more suitable for most application scenes.
3. The accuracy is high, an active learning mechanism is provided, and after the installation angle is obtained, very accurate judgment can be made to eliminate the false alarm condition.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. A method for detecting sudden speed change of an automobile based on a three-axis acceleration sensor is characterized by comprising the following steps:
s1, calibrating the triaxial acceleration sensor;
s2, calculating a rotation matrix;
s3, calculating a resultant acceleration value in the horizontal direction;
s4, judging a rapid speed change wave crest;
and S5, judging whether the behavior is a sudden gear shifting behavior.
2. The automobile rapid speed change detection method based on the three-axis acceleration sensor according to claim 1, characterized in that: in step S1, at least two sets of acceleration values are continuously acquired while the vehicle is stationary, and a three-axis average value (x) is calculated0,y0,z0)。
3. The automobile rapid speed change detection method based on the three-axis acceleration sensor according to claim 2, characterized in that: in step S2, assuming that the vehicle system n is based on the three directions defined by the three-axis acceleration sensor, i.e., the Y-axis is forward, i.e., the vehicle is moving forward, the Z-axis is vertically downward, the X-axis is rightward, i.e., the vertical vehicle door, and the equipment system b is based on the three directions defined by the three-axis acceleration sensor;
then the three rotation angles from the plant system b to the vehicle system n are (Φ, θ, Ψ), and the rotation matrix is:
three axis mean (x) at rest0,y0,z0) Normalized to obtain (x)m,ym,zm) Calculating two rotation angles;
during initialization, the third rotation angle cannot be known, and is fixed firstly;
Ψ＝0
the rotation matrix is thus calculated:
4. the automobile rapid speed change detection method based on the three-axis acceleration sensor according to claim 3, characterized in that: in step S3, the subsequent three-axis input value (x)bi,ybi,zbi) The projection value in the vehicle body coordinate system is (x)ni,yni,zni)：
Then, the resultant acceleration value a in the horizontal direction on the vehicle bodyxy：
5. The automobile rapid speed change detection method based on the three-axis acceleration sensor according to claim 1, characterized in that: in step S4, the resultant acceleration-time curve of the sudden shift behavior has a peak, and the following characteristic quantities are defined for the peak:
threshold value Vt: a threshold value of a combined acceleration value of entering and exiting wave crests;
peak value Vp: maximum in the wave crest;
duration T: the number of data entered and exited;
peak offset Vo: the ratio of time to duration of time from peak to exit peak;
right slope kr: the slope of the right red line, the ratio of the threshold to the time from the peak to the exit peak subtracted from the peak;
screening for suitable peaks by threshold/peak and duration when two conditions occur, wherein Vod，Voa,kra,krdTo test the empirical values:
Vo<＝Vod&&kr>＝krdjudging as a sudden deceleration behavior
Vo>＝Voa&&kr<＝kraJudging as a sudden acceleration behavior
At this time, a third rotation angle is further calculated, and the three-axis data corresponding to the peak position is (x)p,yp,zp) And then:
recalculating device system b rotation to vehicle system n rotation matrix
The following sharp acceleration and sharp deceleration are mainly distinguished as follows:
yni＝dcm[3]·xbi+dcm[4]·ybi+dcm[5]·zbi。
6. the automobile rapid speed change detection method based on the three-axis acceleration sensor according to claim 5, characterized in that: in the step S5, in step S5,
the estimation of a third rotation angle is needed to enter result judgment;
first, the wave crest condition of rapid acceleration or rapid deceleration is satisfied, and then the y according to the vehicle body coordinate systemniDistinguishing the type of sudden speed change and using the third rotation angle psi corresponding to the peak valuepRejecting false alarm conditions;
third rotation angle Ψ for peak-to-peak calculationmThe difference from the previously recorded third angle of rotation Ψ is:
ΔΨ＝|Ψp-Ψ|
judging the logic as follows;
yni<＝-Vt&&(ΔΨ>＝170&&ΔΨ<190), a sudden deceleration behavior is detected
yni>＝Vt&&(ΔΨ<＝10||ΔΨ>350), rapid acceleration behavior is detected.
7. The automobile rapid speed change detection method based on the three-axis acceleration sensor according to claim 1, characterized in that: in step S1, the vehicle is held on a horizontal surface.
8. The utility model provides an automobile rapid speed change detecting system based on triaxial acceleration sensor which characterized in that: for implementing the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110155773.7A CN112986620A (en) | 2021-02-04 | 2021-02-04 | Automobile rapid speed change detection method and system based on three-axis acceleration sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110155773.7A CN112986620A (en) | 2021-02-04 | 2021-02-04 | Automobile rapid speed change detection method and system based on three-axis acceleration sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112986620A true CN112986620A (en) | 2021-06-18 |
Family
ID=76347076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110155773.7A Pending CN112986620A (en) | 2021-02-04 | 2021-02-04 | Automobile rapid speed change detection method and system based on three-axis acceleration sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112986620A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264486A (en) * | 2021-12-22 | 2022-04-01 | 郑州天迈科技股份有限公司 | Vehicle three-emergency detection method based on low-cost sensor |
| CN114429713A (en) * | 2021-12-22 | 2022-05-03 | 深圳市锐明技术股份有限公司 | Method, device and storage medium for identifying sudden speed change motion state of traffic equipment |
| CN114898481A (en) * | 2022-06-08 | 2022-08-12 | 上海三旗通信科技有限公司 | Method for detecting vehicle driving behavior by using acceleration sensor |
-
2021
- 2021-02-04 CN CN202110155773.7A patent/CN112986620A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264486A (en) * | 2021-12-22 | 2022-04-01 | 郑州天迈科技股份有限公司 | Vehicle three-emergency detection method based on low-cost sensor |
| CN114429713A (en) * | 2021-12-22 | 2022-05-03 | 深圳市锐明技术股份有限公司 | Method, device and storage medium for identifying sudden speed change motion state of traffic equipment |
| CN114264486B (en) * | 2021-12-22 | 2024-04-16 | 郑州天迈科技股份有限公司 | Vehicle three-emergency detection method based on low-cost sensor |
| CN114898481A (en) * | 2022-06-08 | 2022-08-12 | 上海三旗通信科技有限公司 | Method for detecting vehicle driving behavior by using acceleration sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112986620A (en) | Automobile rapid speed change detection method and system based on three-axis acceleration sensor | |
| AU2012295434B2 (en) | Method and system for determining the tilt of a vehicle | |
| US20130316310A1 (en) | Methods for determining orientation of a moving vehicle | |
| CN105109490B (en) | Method for judging sharp turn of vehicle based on three-axis acceleration sensor | |
| CN108466616B (en) | Method for automatically identifying collision event, storage medium and vehicle-mounted terminal | |
| US10249112B2 (en) | Vehicle state monitoring apparatus, vehicle state monitoring system, and vehicle state monitoring method | |
| US8898013B2 (en) | Navigation device and process integrating several hybrid inertial navigation systems | |
| CN111131617A (en) | A smart phone-based driving behavior analysis and feedback method | |
| CN106097707B (en) | Method and device for judging vehicle running state | |
| CN110345940B (en) | Method for standardizing shared bicycle parking posture and direction and bicycle lock thereof | |
| CN105818815A (en) | Method for detecting road condition information by using OBD (On-Board Diagnostics) | |
| CN108068823A (en) | A kind of vehicle drive behavioral value method | |
| CN104006822B (en) | VMT Vehicle-Miles of Travel statistical method | |
| CN103411605B (en) | A kind of vehicle-mounted non-blind area location navigation and vehicular attitude measurement mechanism and measuring method | |
| CN105523084B (en) | Method for detecting vehicle turning angle based on three-axis acceleration sensor | |
| WO2009025998A1 (en) | Vehicle safety system including accelerometers | |
| CN109816736B (en) | Automatic calibration method and system for vehicle camera and vehicle-mounted control equipment | |
| CN111665530A (en) | GPS (global positioning system) diagnosis method based on vehicle state | |
| US7657395B2 (en) | Two-axis accelerometer for detecting inclination without the effect of common acceleration | |
| US8165744B2 (en) | Methods, program products, and systems for controlling for improper installation of vehicle sensors | |
| CN112319612A (en) | Automobile steering free stroke measuring method based on visual sensor | |
| CN114898481A (en) | Method for detecting vehicle driving behavior by using acceleration sensor | |
| CN116968748A (en) | Road gradient estimation method and device | |
| Vukajlović et al. | The practical design of in-vehicle telematics device with GPS and MEMS accelerometers | |
| CN115973064A (en) | Method and system for systematically monitoring vehicle motion state |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |