CN105911984B - The vehicle for reducing study to mistake travels the method and device of the probability of rectilinear direction - Google Patents
The vehicle for reducing study to mistake travels the method and device of the probability of rectilinear direction Download PDFInfo
- Publication number
- CN105911984B CN105911984B CN201610252145.XA CN201610252145A CN105911984B CN 105911984 B CN105911984 B CN 105911984B CN 201610252145 A CN201610252145 A CN 201610252145A CN 105911984 B CN105911984 B CN 105911984B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- straight line
- dimensional
- traveling
- acceleration sensor
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000001133 acceleration Effects 0.000 claims abstract description 86
- 230000005484 gravity Effects 0.000 claims description 8
- 230000009467 reduction Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007717 exclusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Navigation (AREA)
Abstract
The embodiment of the invention discloses the method and device that a kind of vehicle reducing study to mistake travels the probability of rectilinear direction, method therein includes：When the transport condition for judging vehicle is straight travel state, the three-dimensional coordinate of the 3-axis acceleration sensor output of vehicle is obtained every the first preset time；Based on M three-dimensional coordinate of the first period of 3-axis acceleration sensor output, the first straight line of instruction straight line traveling is generated；Based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, the second straight line of instruction straight line traveling is generated；First straight line and second straight line are fitted, the third straight line of revised instruction straight line traveling is generated.The embodiment of the invention also discloses the devices that the corresponding vehicle for reducing study to mistake travels the probability of rectilinear direction.Technical solution provided in an embodiment of the present invention is conducive to obtain the rectilinear direction of correctly instruction vehicle traveling, and then improves the accuracy rate of subsequent vehicle running state identification.
Description
Technical field
The present invention relates to vehicle monitoring fields, and in particular to a kind of to reduce study to wrong vehicle traveling rectilinear direction
The method and device of probability.
Background technology
With the development of society, the improvement of people's living standards, more and more people possess automobile, and the increasing of automobile quantity
Mostly also traffic accident is caused to increase, during traffic accident treatment, driving states when accident occurs are then a kind of very heavy
Whether in violation of rules and regulations the analysis means wanted can be used for analyzing driving behavior, transport condition include it is anxious accelerate, it is anxious slow down, zig zag etc..
On the other hand, with the development of car networking industry, based on the car-mounted terminal of vehicle OBD (onboard diagnostic system) interface in vehicle
Application in terms of UBI (Usage Based Insurance) is increasingly extensive, and main function is exactly to acquire vehicle condition data, point
Analyse driving behavior, including anxious acceleration, anxious deceleration, zig zag etc..Wherein, existing zig zag detection generally passes through 3-axis acceleration
Sensor detects.
In the technology for carrying out zig zag detection using 3-axis acceleration, learns and be correctly used to indicate straight line row
The fitting a straight line sailed is extremely important, otherwise in subsequent vehicle running state identification process, it may occur that report the traveling of vehicle by mistake
The phenomenon that state, generally can all be directly used in first time study to fitting a straight line the linear rows for representing vehicle in the prior art
Direction is sailed, but in the prior art, due to the influence of the factors such as section, vehicle condition, to fitting a straight line mistake can occur for study for the first time
Accidentally, lead to the rectilinear direction that cannot correctly indicate vehicle traveling, and then cause subsequent vehicle running state recognition accuracy low.
Invention content
An embodiment of the present invention provides it is a kind of reduce study to mistake vehicle travel rectilinear direction probability method and
Device, is desirably to obtain the rectilinear direction of correctly instruction vehicle traveling, and then improves the standard of subsequent vehicle running state identification
True rate.
First aspect of the embodiment of the present invention provides a kind of reduce and learns to the probability of the vehicle traveling rectilinear direction of mistake
Method, including：
When the transport condition for judging vehicle is straight travel state, the vehicle is obtained every the first preset time
The three-dimensional coordinate of 3-axis acceleration sensor output；
Based on M three-dimensional coordinate of the first period of 3-axis acceleration sensor output, instruction straight line row is generated
The first straight line sailed, the M are the positive integer more than or equal to 2；
Based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, instruction straight line row is generated
The second straight line sailed, the N are the positive integer more than or equal to 2；
The first straight line and the second straight line are fitted, the of revised instruction straight line traveling is generated
Three straight lines, the third straight line are used to indicate the rectilinear direction of the vehicle traveling.
It is further alternative, the 3-axis acceleration sensor output that the vehicle is obtained every the first preset time
Before three-dimensional coordinate, the method further includes：
After the vehicle launch, judge whether the transport condition of the vehicle is straight travel state.
It is further alternative, it is described after the vehicle launch, judge whether the transport condition of vehicle is straight-line travelling shape
State, including：
After the vehicle launch, the speed of the vehicle is obtained every the second preset time；
Judge whether the speed of the vehicle is continuously to increase or continuously reduce；
When the speed for judging the vehicle within a preset period of time is continuously to increase or continuously reduce, and judge
When the speed for going out the vehicle within a preset period of time is all higher than or is equal to predetermined threshold value, then the transport condition of the vehicle is judged
For straight travel state；
Otherwise, the transport condition of the vehicle is non-rectilinear transport condition.
Further alternative, the M three-dimensional coordinate based on 3-axis acceleration sensor output generates instruction vehicle
The first straight line of straight-line travelling, including：
Three-dimensional system of coordinate where the 3-axis acceleration sensor of the vehicle is projected into two vertical with gravity direction
Dimensional plane, to obtain the two-dimensional Cartesian coordinate system on two dimensional surface；
The three-dimensional coordinate for obtaining the 3-axis acceleration sensor output is projected in what the two-dimensional Cartesian coordinate system obtained
Two-dimensional coordinate；
Linear fit is carried out based on the M two-dimensional coordinate that linear fit algorithm obtains first period, to be referred to
Show the first straight line of straight line traveling.
It is further alternative, it is described to be fitted the first straight line and the second straight line, generate revised finger
Show the third straight line of straight line traveling, including：
It is determined using the origin of the two-dimensional Cartesian coordinate system as the center of circle, with preset length in the two-dimensional Cartesian coordinate system
For the circle of radius；
Obtain four intersection points of the first straight line and the second straight line and the circle；
Based on linear fit algorithm by the origin of four intersection points of the acquisition and the two-dimensional Cartesian coordinate system into line
Property fitting, with generate it is revised instruction straight line traveling third straight line.
Second aspect of the embodiment of the present invention provides a kind of reduce and learns to the probability of the vehicle traveling rectilinear direction of mistake
Device, described device include：
Acquisition module, for the transport condition for judging vehicle be straight travel state when, every the first preset time
Obtain the three-dimensional coordinate of the 3-axis acceleration sensor output of the vehicle；
Generation module, the M three-dimensional coordinate for being exported based on the first period of the 3-axis acceleration sensor, generation are referred to
Show that the first straight line of straight line traveling, the M are the positive integer more than or equal to 2；
The generation module is additionally operable to the N number of three-dimensional coordinate exported based on the second period of the 3-axis acceleration sensor,
The second straight line of instruction straight line traveling is generated, the N is the positive integer more than or equal to 2；
Correcting module generates revised instruction vehicle for the first straight line and the second straight line to be fitted
The third straight line of straight-line travelling, the third straight line are used to indicate the rectilinear direction of the vehicle traveling.
Further alternative, described device further includes：
Judgment module obtains the 3-axis acceleration sensor of the vehicle in the acquisition module every the first preset time
Before the three-dimensional coordinate of output, for after the vehicle launch, judging whether the transport condition of the vehicle is straight-line travelling
State.
Further alternative, the judgment module is specifically used for after the vehicle launch, is obtained every the second preset time
Take the speed of the vehicle；Judge whether the speed of the vehicle is continuously to increase or continuously reduce；Judging pre-
If the speed of the vehicle is when continuously increasing or continuously reduce in the period, and judges described within a preset period of time
When the speed of vehicle is all higher than or is equal to predetermined threshold value, then judge the transport condition of the vehicle for straight travel state；Otherwise,
The transport condition of the vehicle is non-rectilinear transport condition.
Further alternative, the generation module is three-dimensional in M for being exported based on the 3-axis acceleration sensor
Coordinate is specifically used for when generating the first straight line of instruction straight line traveling by the 3-axis acceleration sensor institute of the vehicle
Three-dimensional system of coordinate project to the two dimensional surface vertical with gravity direction, to obtain the two-dimentional rectangular co-ordinate on two dimensional surface
System；The three-dimensional coordinate for obtaining the 3-axis acceleration sensor output is projected in the two dimension seat that the two-dimensional Cartesian coordinate system obtains
Mark；Linear fit is carried out based on the M two-dimensional coordinate that linear fit algorithm obtains first period, to obtain instruction vehicle
The first straight line of straight-line travelling.
Further alternative, the correcting module is specifically used for determining with described two in the two-dimensional Cartesian coordinate system
The origin for tieing up rectangular coordinate system is the center of circle, using preset length as the circle of radius；Obtain the first straight line and the second straight line
With four intersection points of the circle；Based on linear fit algorithm by four intersection points of the acquisition and the two-dimensional Cartesian coordinate system
Origin carries out linear fit, to generate the third straight line of revised instruction straight line traveling.
It is straight-line travelling in the transport condition for judging vehicle first as can be seen that in technical solution of the embodiment of the present invention
When state, secondly the three-dimensional coordinate that the 3-axis acceleration sensor output of the vehicle is obtained every the first preset time is based on
M three-dimensional coordinate of the first period of 3-axis acceleration sensor output generates the first straight line of instruction straight line traveling,
And based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, generate the of instruction straight line traveling
Two straight lines, the N is that the first straight line and the second straight line are finally fitted by the positive integer more than or equal to 2, raw
At the third straight line of revised instruction straight line traveling, the third straight line is used to indicate the straight line side of the vehicle traveling
To.Wherein, it is fitted again by the way that the three-dimensional coordinate for being directly based upon 3-axis acceleration sensor output twice is generated straight line,
Be conducive to obtain the rectilinear direction of correctly instruction vehicle traveling, and then be conducive to improve subsequent vehicle running state identification
Accuracy rate.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the probability that a kind of reduction study that first embodiment of the invention provides travels rectilinear direction to the vehicle of mistake
Method flow diagram；
Fig. 2 is the probability that a kind of reduction study that second embodiment of the invention provides travels rectilinear direction to the vehicle of mistake
Method flow diagram；
Fig. 3 is the probability that a kind of reduction study that third embodiment of the invention provides travels rectilinear direction to the vehicle of mistake
Device structural schematic diagram；
Fig. 4 is the probability that a kind of reduction study that fourth embodiment of the invention provides travels rectilinear direction to the vehicle of mistake
Device structural schematic diagram；
Fig. 5 is the probability that a kind of reduction study that fifth embodiment of the invention provides travels rectilinear direction to the vehicle of mistake
Device structural schematic diagram.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Term " first ", " second " in description and claims of this specification and above-mentioned attached drawing etc. are for distinguishing
Different objects, rather than for describing particular order.In addition, term " comprising " and " having " and their any deformations, it is intended that
It is to cover and non-exclusive includes.Such as process, method, system, product or the equipment for containing series of steps or unit do not have
It is defined in the step of having listed or unit, but further includes the steps that optionally not listing or unit, or optionally also wrap
It includes for other intrinsic steps of these processes, method, product or equipment or unit.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Referring to Fig. 1, the vehicle for a kind of reduction study to the mistake that Fig. 1, which is first embodiment of the invention, to be provided travels straight line
The flow diagram of the method for the probability in direction, as shown in Figure 1, the vehicle row of mistake is arrived in the reduction study in the embodiment of the present invention
The method for sailing the probability of rectilinear direction includes the following steps：
S101, the transport condition for judging vehicle be straight travel state when, every the first preset time obtain described in
The three-dimensional coordinate of the 3-axis acceleration sensor output of vehicle.
It is straight to generate instruction vehicle for S102, the M three-dimensional coordinate based on the output of the first period of the 3-axis acceleration sensor
The first straight line of line traveling, the M are the positive integer more than or equal to 2.
It is straight to generate instruction vehicle for S103, N number of three-dimensional coordinate based on the output of the second period of the 3-axis acceleration sensor
The second straight line of line traveling, the N are the positive integer more than or equal to 2.
S104, the first straight line and the second straight line are fitted, generate revised instruction straight line row
The third straight line sailed, the third straight line are used to indicate the rectilinear direction of the vehicle traveling.
Optionally, the three-dimensional of 3-axis acceleration sensor output that the vehicle is obtained every the first preset time is sat
Before mark, following operation can also be performed：
After the vehicle launch, judge whether the transport condition of the vehicle is straight travel state.
Wherein, described after the vehicle launch, judge whether the transport condition of vehicle is straight travel state, it is specific
Realization method can be：
After the vehicle launch, the speed of the vehicle is obtained every the second preset time；
Judge whether the speed of the vehicle is continuously to increase or continuously reduce；
When the speed for judging the vehicle within a preset period of time is continuously to increase or continuously reduce, and judge
When the speed for going out the vehicle within a preset period of time is all higher than or is equal to predetermined threshold value, then the transport condition of the vehicle is judged
For straight travel state；
Otherwise, the transport condition of the vehicle is non-rectilinear transport condition.
Wherein, the M three-dimensional coordinate based on 3-axis acceleration sensor output generates instruction straight line row
The specific implementation for the first straight line sailed can be：
Three-dimensional system of coordinate where the 3-axis acceleration sensor of the vehicle is projected into two vertical with gravity direction
Dimensional plane, to obtain the two-dimensional Cartesian coordinate system on two dimensional surface；
The three-dimensional coordinate for obtaining the 3-axis acceleration sensor output is projected in what the two-dimensional Cartesian coordinate system obtained
Two-dimensional coordinate；
Linear fit is carried out based on the M two-dimensional coordinate that linear fit algorithm obtains first period, to be referred to
Show the first straight line of straight line traveling.
Wherein, described to be fitted the first straight line and the second straight line, it is straight to generate revised instruction vehicle
The specific implementation of third straight line of line traveling can be：
It is determined using the origin of the two-dimensional Cartesian coordinate system as the center of circle, with preset length in the two-dimensional Cartesian coordinate system
For the circle of radius；
Obtain four intersection points of the first straight line and the second straight line and the circle；
Based on linear fit algorithm by the origin of four intersection points of the acquisition and the two-dimensional Cartesian coordinate system into line
Property fitting, with generate it is revised instruction straight line traveling third straight line.
It is straight-line travelling in the transport condition for judging vehicle first as can be seen that in technical solution of the embodiment of the present invention
When state, secondly the three-dimensional coordinate that the 3-axis acceleration sensor output of the vehicle is obtained every the first preset time is based on
M three-dimensional coordinate of the first period of 3-axis acceleration sensor output generates the first straight line of instruction straight line traveling,
And based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, generate the of instruction straight line traveling
Two straight lines, the N is that the first straight line and the second straight line are finally fitted by the positive integer more than or equal to 2, raw
At the third straight line of revised instruction straight line traveling, the third straight line is used to indicate the straight line side of the vehicle traveling
To.Wherein, it is fitted again by the way that the three-dimensional coordinate for being directly based upon 3-axis acceleration sensor output twice is generated straight line,
Be conducive to obtain the rectilinear direction of correctly instruction vehicle traveling, and then be conducive to improve subsequent vehicle running state identification
Accuracy rate.
Referring to Fig. 2, the vehicle for a kind of reduction study to the mistake that Fig. 2, which is second embodiment of the invention, to be provided travels straight line
The flow diagram of the method for the probability in direction, as shown in Fig. 2, the vehicle row of mistake is arrived in the reduction study in the embodiment of the present invention
The method for sailing the probability of rectilinear direction includes the following steps：
S201, after the vehicle launch, judge whether the transport condition of the vehicle is straight travel state.
Wherein, described after the vehicle launch, judge whether the transport condition of vehicle is the specific of straight travel state
Realization method can be：
After the vehicle launch, the speed of the vehicle is obtained every the second preset time；Judge the vehicle of the vehicle
Whether speed is continuously to increase or continuously reduce；It is continuously to increase in the speed for judging the vehicle within a preset period of time
When adding or continuously reducing, and judge the speed of the vehicle within a preset period of time be all higher than or equal to predetermined threshold value when,
Then judge the transport condition of the vehicle for straight travel state；Otherwise, the transport condition of the vehicle is that non-rectilinear travels shape
State.
Specifically, after the vehicle launch, the vehicle obtains the speed of the vehicle every the second preset time, and
The vehicle speed data in 2 seconds is preserved with a data buffer zone A, the vehicle speed data in 2 seconds of above-mentioned preservation was continuous in 2 seconds
Vehicle speed data.Judge whether the vehicle speed data continuously acquired in 2 seconds is continuous increase or reduces, and the institute in 2 seconds
The speed for stating vehicle is all higher than or is equal to predetermined threshold value, then the straight line of the three-dimensional coordinate and vehicle of 3-axis acceleration output at this time
Transport condition best suits, and therefore, can most reflect the rectilinear direction of vehicle traveling.
S202, the transport condition for judging vehicle be straight travel state when, every the first preset time obtain described in
The three-dimensional coordinate of the 3-axis acceleration sensor output of vehicle.
Specifically, the vehicle establishes three-dimensional straight using three axis of the 3-axis acceleration sensor of the vehicle as reference axis
Angular coordinate system, and vehicle described in the representative of 3-axis acceleration sensor output is obtained in three seats of the 3-axis acceleration sensor
The three-dimensional coordinate of the acceleration in parameter direction.
S203, the three-dimensional system of coordinate where the 3-axis acceleration sensor of the vehicle is projected to it is vertical with gravity direction
Two dimensional surface, to obtain the two-dimensional Cartesian coordinate system on two dimensional surface.
S204, the three-dimensional coordinate for obtaining the 3-axis acceleration sensor output are projected in the two-dimensional Cartesian coordinate system and obtain
The two-dimensional coordinate arrived.
S205, linear fit is carried out based on the M two-dimensional coordinate that linear fit algorithm obtains first period, with
To the first straight line of instruction straight line traveling, the M is the positive integer more than or equal to 2.
Specifically, above-mentioned linear fit algorithm can be least square fitting, it is assumed that the M two dimension that the first period obtained
Coordinate is (x1,y1)(x2,y2)(x3,y3)…….(xM,yM), then can be calculated according to least square method method linear fit
Fitting a straight line y=a1*x+b1In parameter a1、b1And correlation coefficient r1.Wherein,
Wherein, r1Indicate the functional relation between two variables and linear matching degree, r1∈[-1,1].When the absolute value of r becomes
When being bordering on 1, illustrate that the linear relationship between x, y is good；Work as r1Absolute value level off to 0 when, illustrate that the nothing between x, y is linearly closed
System, fitting are meaningless.In the embodiment of the present invention, r1Absolute value require be greater than or equal to 0.8.
S206, linear fit is carried out based on N number of two-dimensional coordinate that linear fit algorithm obtains second period, with
To the second straight line of instruction straight line traveling, the N is the positive integer more than or equal to 2.
It should be understood that with parameter a in step S2051、b1And correlation coefficient r1Calculating process it is identical.
S207, it is determined using the origin of the two-dimensional Cartesian coordinate system as the center of circle, with pre- in the two-dimensional Cartesian coordinate system
If length is the circle of radius.
S208, four intersection points for obtaining the first straight line and the second straight line and the circle.
S209, based on linear fit algorithm by the origin of four intersection points of the acquisition and the two-dimensional Cartesian coordinate system into
Row linear fit, to generate the third straight line of revised instruction straight line traveling, the third straight line is used to indicate described
The rectilinear direction of vehicle traveling.
Theoretically, the straight line for being used to indicate straight line travel direction gives advice the origin of coordinate system by two dimension, therefore,
In fit procedure, the coordinate of origin twice can be introduced, makes the straight line and origin of the instruction straight line travel direction after fitting
It is close.
It is straight-line travelling in the transport condition for judging vehicle first as can be seen that in technical solution of the embodiment of the present invention
When state, secondly the three-dimensional coordinate that the 3-axis acceleration sensor output of the vehicle is obtained every the first preset time is based on
M three-dimensional coordinate of the first period of 3-axis acceleration sensor output generates the first straight line of instruction straight line traveling,
And based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, generate the of instruction straight line traveling
Two straight lines, the N is that the first straight line and the second straight line are finally fitted by the positive integer more than or equal to 2, raw
At the third straight line of revised instruction straight line traveling, the third straight line is used to indicate the straight line side of the vehicle traveling
To.Wherein, it is fitted again by the way that the three-dimensional coordinate for being directly based upon 3-axis acceleration sensor output twice is generated straight line,
Be conducive to obtain the rectilinear direction of correctly instruction vehicle traveling, and then be conducive to improve subsequent vehicle running state identification
Accuracy rate.
The following is an embodiment of the apparatus of the present invention, and apparatus of the present invention embodiment is for executing the method for the present invention embodiment one to two
The method of realization is illustrated only and is not disclosed with the relevant part of the embodiment of the present invention, particular technique details for convenience of description
, please refer to the embodiment of the present invention one and embodiment two.
Referring to Fig. 3, the vehicle for a kind of reduction study to the mistake that Fig. 3, which is third embodiment of the invention, to be provided travels straight line
The structural schematic diagram of the device of the probability in direction, as shown in figure 3, the vehicle row of mistake is arrived in the reduction study in the embodiment of the present invention
The device for sailing the probability of rectilinear direction comprises the following modules：
Acquisition module 301, for the transport condition for judging vehicle be straight travel state when, when first is default
Between obtain the vehicle 3-axis acceleration sensor output three-dimensional coordinate；
Generation module 302, the M three-dimensional coordinate for being exported based on the first period of the 3-axis acceleration sensor are raw
At the first straight line of instruction straight line traveling, the M is the positive integer more than or equal to 2；
The generation module 302 is additionally operable to the N number of three-dimensional seat exported based on the second period of the 3-axis acceleration sensor
Mark, generates the second straight line of instruction straight line traveling, and the N is the positive integer more than or equal to 2；
Correcting module 303 generates revised instruction for the first straight line and the second straight line to be fitted
The third straight line of straight line traveling, the third straight line are used to indicate the rectilinear direction of the vehicle traveling.
Specifically, the specific implementation of above-mentioned modules can refer to retouching for correlation step in Fig. 1 to Fig. 2 corresponding embodiments
It states, this will not be repeated here.
It is straight-line travelling in the transport condition for judging vehicle first as can be seen that in technical solution of the embodiment of the present invention
When state, secondly the three-dimensional coordinate that the 3-axis acceleration sensor output of the vehicle is obtained every the first preset time is based on
M three-dimensional coordinate of the first period of 3-axis acceleration sensor output generates the first straight line of instruction straight line traveling,
And based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, generate the of instruction straight line traveling
Two straight lines, the N is that the first straight line and the second straight line are finally fitted by the positive integer more than or equal to 2, raw
At the third straight line of revised instruction straight line traveling, the third straight line is used to indicate the straight line side of the vehicle traveling
To.Wherein, it is fitted again by the way that the three-dimensional coordinate for being directly based upon 3-axis acceleration sensor output twice is generated straight line,
Be conducive to obtain the rectilinear direction of correctly instruction vehicle traveling, and then be conducive to improve subsequent vehicle running state identification
Accuracy rate.
Referring to Fig. 4, the vehicle for a kind of reduction study to the mistake that Fig. 4, which is fourth embodiment of the invention, to be provided travels straight line
The structural schematic diagram of the device of the probability in direction, as shown in figure 4, the vehicle row of mistake is arrived in the reduction study in the embodiment of the present invention
The device for sailing the probability of rectilinear direction includes：Acquisition module 301, generation module 302, correcting module 303.
Optionally, described device can further include：
Judgment module 304 obtains the 3-axis acceleration of the vehicle in the acquisition module 301 every the first preset time
Before the three-dimensional coordinate of sensor output, for after the vehicle launch, judging whether the transport condition of the vehicle is straight
Line transport condition.
Optionally, the judgment module 304 is specifically used for after the vehicle launch, is obtained every the second preset time
The speed of the vehicle；Judge whether the speed of the vehicle is continuously to increase or continuously reduce；Judging default
The speed of the vehicle is when continuously increasing or continuously reduce in period, and judges the vehicle within a preset period of time
Speed be all higher than or equal to predetermined threshold value when, then judge the transport condition of the vehicle for straight travel state；Otherwise, institute
The transport condition for stating vehicle is non-rectilinear transport condition.
Optionally, the generation module 302, in the M three-dimensional seat for being exported based on the 3-axis acceleration sensor
Mark is specifically used for when generating the first straight line of instruction straight line traveling where the 3-axis acceleration sensor by the vehicle
Three-dimensional system of coordinate project to the two dimensional surface vertical with gravity direction, to obtain the two-dimensional Cartesian coordinate system on two dimensional surface；
The three-dimensional coordinate for obtaining the 3-axis acceleration sensor output is projected in the two-dimensional coordinate that the two-dimensional Cartesian coordinate system obtains；
Linear fit is carried out based on the M two-dimensional coordinate that linear fit algorithm obtains first period, it is straight to obtain instruction vehicle
The first straight line of line traveling.
Optionally, the correcting module 303 is specifically used for determining in the two-dimensional Cartesian coordinate system straight with the two dimension
The origin of angular coordinate system is the center of circle, using preset length as the circle of radius；Obtain the first straight line and the second straight line and institute
State four round intersection points；Based on linear fit algorithm by the origin of four intersection points and the two-dimensional Cartesian coordinate system of the acquisition
Linear fit is carried out, to generate the third straight line of revised instruction straight line traveling.
Specifically, the specific implementation of above-mentioned modules can refer to retouching for correlation step in Fig. 1 to Fig. 2 corresponding embodiments
It states, this will not be repeated here.
It is straight-line travelling in the transport condition for judging vehicle first as can be seen that in technical solution of the embodiment of the present invention
When state, secondly the three-dimensional coordinate that the 3-axis acceleration sensor output of the vehicle is obtained every the first preset time is based on
M three-dimensional coordinate of the first period of 3-axis acceleration sensor output generates the first straight line of instruction straight line traveling,
And based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, generate the of instruction straight line traveling
Two straight lines, the N is that the first straight line and the second straight line are finally fitted by the positive integer more than or equal to 2, raw
At the third straight line of revised instruction straight line traveling, the third straight line is used to indicate the straight line side of the vehicle traveling
To.Wherein, it is fitted again by the way that the three-dimensional coordinate for being directly based upon 3-axis acceleration sensor output twice is generated straight line,
Be conducive to obtain the rectilinear direction of correctly instruction vehicle traveling, and then be conducive to improve subsequent vehicle running state identification
Accuracy rate.
Referring to FIG. 5, Fig. 5 is a kind of vehicle traveling straight line for reducing study and arriving mistake disclosed in fifth embodiment of the invention
The structural schematic diagram of the device of the probability in direction.As shown in figure 5, the vehicle row of mistake is arrived in the reduction study in the embodiment of the present invention
The device for sailing the probability of rectilinear direction includes：At least one processor 401, such as CPU, at least one receiver 403, at least one
A memory 404, at least one transmitter 405, at least one communication bus 402.Wherein, communication bus 402 is for realizing this
Connection communication between a little components.Wherein, the receiver 403 of device and transmitter 405 can be wired in the embodiment of the present invention
Sending port, or wireless device, such as including antenna assembly, for carrying out signaling or data with other node devices
Communication.Memory 404 can be high-speed RAM memory, can also be non-labile memory (non-volatile
Memory), a for example, at least magnetic disk storage.Memory 404 optionally can also be at least one and be located remotely from aforementioned place
Manage the storage device of device 401.Batch processing code is stored in memory 404, and the processor 401 can pass through communication bus
402, call the code stored in memory 404 to execute relevant function.
The processor 401, for when the transport condition for judging vehicle is straight travel state, being preset every first
Time obtains the three-dimensional coordinate of the 3-axis acceleration sensor output of the vehicle；Based on the 3-axis acceleration sensor first
M three-dimensional coordinate of period output, generates the first straight line of instruction straight line traveling, and the M is just whole more than or equal to 2
Number；Based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, the of instruction straight line traveling is generated
Two straight lines, the N are the positive integer more than or equal to 2；The first straight line and the second straight line are fitted, generates and corrects
The third straight line of instruction straight line traveling afterwards, the third straight line are used to indicate the rectilinear direction of the vehicle traveling.
Optionally, the processor 401 is passed in the 3-axis acceleration for obtaining the vehicle every the first preset time
Before the three-dimensional coordinate of sensor output, it is additionally operable to after the vehicle launch, judges whether the transport condition of the vehicle is straight
Line transport condition.
Optionally, the processor 401, for after the vehicle launch, judge vehicle transport condition whether be
When straight travel state, it is specifically used for after the vehicle launch, the speed of the vehicle is obtained every the second preset time；Sentence
Whether the speed of the disconnected vehicle is continuously to increase or continuously reduce；Judging the vehicle within a preset period of time
Speed is when continuously increasing or continuously reduce, and judges that the speed of the vehicle within a preset period of time is all higher than or waits
When predetermined threshold value, then judge the transport condition of the vehicle for straight travel state；Otherwise, the transport condition of the vehicle is
Non-rectilinear transport condition.
Optionally, the processor 401, in the M three-dimensional coordinate for being exported based on the 3-axis acceleration sensor,
When generating the first straight line of instruction straight line traveling, it is specifically used for three where the 3-axis acceleration sensor of the vehicle
Dimension coordinate system projects to the two dimensional surface vertical with gravity direction, to obtain the two-dimensional Cartesian coordinate system on two dimensional surface；It obtains
The three-dimensional coordinate of the 3-axis acceleration sensor output is projected in the two-dimensional coordinate that the two-dimensional Cartesian coordinate system obtains；It is based on
The M two-dimensional coordinate that linear fit algorithm obtains first period carries out linear fit, to obtain instruction straight line row
The first straight line sailed.
Optionally, the processor 401 is generated for the first straight line and the second straight line to be fitted
When the third straight line of revised instruction straight line traveling, it is specifically used for determining with described in the two-dimensional Cartesian coordinate system
The origin of two-dimensional Cartesian coordinate system is the center of circle, using preset length as the circle of radius；Obtain the first straight line and described second directly
Four intersection points of line and the circle；Based on linear fit algorithm by four intersection points of the acquisition and the two-dimensional Cartesian coordinate system
Origin carry out linear fit, with generate it is revised instruction straight line traveling third straight line.
Specifically, the specific implementation of above-mentioned modules can refer to retouching for correlation step in Fig. 1 to Fig. 2 corresponding embodiments
It states, this will not be repeated here.
It is straight-line travelling in the transport condition for judging vehicle first as can be seen that in technical solution of the embodiment of the present invention
When state, secondly the three-dimensional coordinate that the 3-axis acceleration sensor output of the vehicle is obtained every the first preset time is based on
M three-dimensional coordinate of the first period of 3-axis acceleration sensor output generates the first straight line of instruction straight line traveling,
And based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, generate the of instruction straight line traveling
Two straight lines, the N is that the first straight line and the second straight line are finally fitted by the positive integer more than or equal to 2, raw
At the third straight line of revised instruction straight line traveling, the third straight line is used to indicate the straight line side of the vehicle traveling
To.Wherein, it is fitted again by the way that the three-dimensional coordinate for being directly based upon 3-axis acceleration sensor output twice is generated straight line,
Be conducive to obtain the rectilinear direction of correctly instruction vehicle traveling, and then be conducive to improve subsequent vehicle running state identification
Accuracy rate.
The embodiment of the present invention also provides a kind of computer storage media, wherein the computer storage media can be stored with journey
Sequence, the program include the part or complete of the monitoring method of any type service processes described in above method embodiment when executing
Portion's step.
It should be noted that for each method embodiment above-mentioned, for simple description, therefore it is all expressed as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the described action sequence because
According to the present invention, certain steps can be performed in other orders or simultaneously.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to preferred embodiment, and involved action and module are not necessarily of the invention
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary, for example, the unit division, it is only a kind of
Division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of device or unit,
Can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include：Flash disk, read-only memory (English：Read-Only Memory, referred to as：ROM), random access device (English
Text：Random Access Memory, referred to as：RAM), disk or CD etc..
It is provided for the embodiments of the invention a kind of probability for reducing study and travelling rectilinear direction to the vehicle of mistake above
Method and device be described in detail, specific case used herein carries out the principle of the present invention and embodiment
It illustrates, the explanation of above example is only intended to facilitate the understanding of the method and its core concept of the invention；Meanwhile for this field
Those skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up
Described, the content of the present specification should not be construed as limiting the invention.
Claims (10)
1. a kind of method that vehicle reducing study to mistake travels the probability of rectilinear direction, which is characterized in that the method packet
It includes：
When the transport condition for judging vehicle is straight travel state, three axis of the vehicle are obtained every the first preset time
The three-dimensional coordinate of acceleration transducer output；
Based on M three-dimensional coordinate of the first period of 3-axis acceleration sensor output, instruction straight line traveling is generated
First straight line, the M are the positive integer more than or equal to 2；
Based on N number of three-dimensional coordinate of the second period of 3-axis acceleration sensor output, instruction straight line traveling is generated
Second straight line, the N are the positive integer more than or equal to 2；
The first straight line and the second straight line are fitted, the third for generating revised instruction straight line traveling is straight
Line, the third straight line are used to indicate the rectilinear direction of the vehicle traveling.
2. the method as described in claim 1, which is characterized in that three axis for obtaining the vehicle every the first preset time
Before the three-dimensional coordinate of acceleration transducer output, the method further includes：
After the vehicle launch, judge whether the transport condition of the vehicle is straight travel state.
3. method as claimed in claim 2, which is characterized in that it is described after the vehicle launch, judge the traveling shape of vehicle
Whether state is straight travel state, including：
After the vehicle launch, the speed of the vehicle is obtained every the second preset time；
Judge whether the speed of the vehicle is continuously to increase or continuously reduce；
When the speed for judging the vehicle within a preset period of time is continuously to increase or continuously reduce, and judge
When the speed of the vehicle is all higher than or is equal to predetermined threshold value in preset time period, then judge that the transport condition of the vehicle is straight
Line transport condition；
Otherwise, the transport condition of the vehicle is non-rectilinear transport condition.
4. method as claimed in claim 3, which is characterized in that the M based on 3-axis acceleration sensor output is a
Three-dimensional coordinate generates the first straight line of instruction straight line traveling, including：
Three-dimensional system of coordinate where the 3-axis acceleration sensor of the vehicle is projected to the two dimension vertical with gravity direction to put down
Face, to obtain the two-dimensional Cartesian coordinate system on two dimensional surface；
The three-dimensional coordinate for obtaining the 3-axis acceleration sensor output is projected in the two dimension that the two-dimensional Cartesian coordinate system obtains
Coordinate；
Linear fit is carried out based on the M two-dimensional coordinate that linear fit algorithm obtains first period, to obtain instruction vehicle
The first straight line of straight-line travelling.
5. method as claimed in claim 4, which is characterized in that described to intend the first straight line and the second straight line
It closes, generates the third straight line of revised instruction straight line traveling, including：
It is determined in the two-dimensional Cartesian coordinate system using the origin of the two-dimensional Cartesian coordinate system as the center of circle, is half with preset length
The circle of diameter；
Obtain four intersection points of the first straight line and the second straight line and the circle；
Four intersection points of the acquisition and the origin of the two-dimensional Cartesian coordinate system are subjected to Linear Quasi based on linear fit algorithm
It closes, to generate the third straight line of revised instruction straight line traveling.
6. a kind of vehicle reducing study to mistake travels the device of the probability of rectilinear direction, which is characterized in that described device packet
It includes：
Acquisition module, for when the transport condition for judging vehicle is straight travel state, being obtained every the first preset time
The three-dimensional coordinate of the 3-axis acceleration sensor output of the vehicle；
Generation module, the M three-dimensional coordinate for being exported based on the first period of the 3-axis acceleration sensor generate instruction vehicle
The first straight line of straight-line travelling, the M are the positive integer more than or equal to 2；
The generation module is additionally operable to the N number of three-dimensional coordinate exported based on the second period of the 3-axis acceleration sensor, generates
Indicate that the second straight line of straight line traveling, the N are the positive integer more than or equal to 2；
It is straight to generate revised instruction vehicle for the first straight line and the second straight line to be fitted for correcting module
The third straight line of line traveling, the third straight line are used to indicate the rectilinear direction of the vehicle traveling.
7. device as claimed in claim 6, which is characterized in that described device further includes：
Judgment module obtains the 3-axis acceleration sensor output of the vehicle in the acquisition module every the first preset time
Three-dimensional coordinate before, for after the vehicle launch, judge whether the transport condition of the vehicle is straight travel state.
8. device as claimed in claim 7, which is characterized in that
The judgment module is specifically used for after the vehicle launch, the speed of the vehicle is obtained every the second preset time；
Judge whether the speed of the vehicle is continuously to increase or continuously reduce；Judging the vehicle within a preset period of time
Speed be when continuously increasing or continuously reduce, and judge the speed of the vehicle within a preset period of time be all higher than or
When equal to predetermined threshold value, then judge the transport condition of the vehicle for straight travel state；Otherwise, the transport condition of the vehicle
For non-rectilinear transport condition.
9. device as claimed in claim 8, which is characterized in that
The generation module generates instruction vehicle in the M three-dimensional coordinate for being exported based on the 3-axis acceleration sensor
When the first straight line of straight-line travelling, it is specifically used for projecting the three-dimensional system of coordinate where the 3-axis acceleration sensor of the vehicle
To the two dimensional surface vertical with gravity direction, to obtain the two-dimensional Cartesian coordinate system on two dimensional surface；Three axis is obtained to accelerate
The three-dimensional coordinate of degree sensor output is projected in the two-dimensional coordinate that the two-dimensional Cartesian coordinate system obtains；Based on linear fit algorithm
The M two-dimensional coordinate that first period is obtained carries out linear fit, to obtain the first straight line of instruction straight line traveling.
10. device as claimed in claim 9, which is characterized in that
The correcting module is specifically used for determining the origin with the two-dimensional Cartesian coordinate system in the two-dimensional Cartesian coordinate system
For the center of circle, using preset length as the circle of radius；Obtain four intersection points of the first straight line and the second straight line and the circle；
Four intersection points of the acquisition and the origin of the two-dimensional Cartesian coordinate system are subjected to linear fit based on linear fit algorithm, with
Generate the third straight line of revised instruction straight line traveling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252145.XA CN105911984B (en) | 2016-04-21 | 2016-04-21 | The vehicle for reducing study to mistake travels the method and device of the probability of rectilinear direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252145.XA CN105911984B (en) | 2016-04-21 | 2016-04-21 | The vehicle for reducing study to mistake travels the method and device of the probability of rectilinear direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105911984A CN105911984A (en) | 2016-08-31 |
| CN105911984B true CN105911984B (en) | 2018-08-28 |
Family
ID=56747712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610252145.XA Active CN105911984B (en) | 2016-04-21 | 2016-04-21 | The vehicle for reducing study to mistake travels the method and device of the probability of rectilinear direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105911984B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107082049A (en) * | 2017-01-16 | 2017-08-22 | 王忠亮 | Vehicle glazing control device |
| CN108944942A (en) * | 2017-05-26 | 2018-12-07 | 长城汽车股份有限公司 | The detection method and device of straight line traveling |
| CN110949495A (en) * | 2019-10-25 | 2020-04-03 | 浙江吉利汽车研究院有限公司 | Steering wheel angle correction method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167041A (en) * | 2011-01-07 | 2011-08-31 | 深圳市航天星网通讯有限公司 | Method for determining driving state of vehicle based on acceleration sensor |
| CN103745507A (en) * | 2013-12-31 | 2014-04-23 | 商泰软件(上海)有限公司 | Driving state analyzing method and device |
| CN104246516A (en) * | 2013-12-05 | 2014-12-24 | 华为终端有限公司 | Method and device for determining accelerated speed of vehicle |
| CN104354699A (en) * | 2014-10-08 | 2015-02-18 | 北京远特科技有限公司 | Method and device for detecting driving behavior information based on OBD (on-board diagnostic) terminal |
-
2016
- 2016-04-21 CN CN201610252145.XA patent/CN105911984B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167041A (en) * | 2011-01-07 | 2011-08-31 | 深圳市航天星网通讯有限公司 | Method for determining driving state of vehicle based on acceleration sensor |
| CN104246516A (en) * | 2013-12-05 | 2014-12-24 | 华为终端有限公司 | Method and device for determining accelerated speed of vehicle |
| CN103745507A (en) * | 2013-12-31 | 2014-04-23 | 商泰软件(上海)有限公司 | Driving state analyzing method and device |
| CN104354699A (en) * | 2014-10-08 | 2015-02-18 | 北京远特科技有限公司 | Method and device for detecting driving behavior information based on OBD (on-board diagnostic) terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105911984A (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10614592B2 (en) | Three-dimensional posture estimating method and apparatus, device and computer storage medium | |
| CN109901567B (en) | Method and apparatus for outputting obstacle information | |
| Kang et al. | Intrusion detection system using deep neural network for in-vehicle network security | |
| CN111144426B (en) | Sorting method, sorting device, sorting equipment and storage medium | |
| CN105911984B (en) | The vehicle for reducing study to mistake travels the method and device of the probability of rectilinear direction | |
| US20180247216A1 (en) | Method and system for perceiving physical bodies | |
| CN109229109B (en) | Method, device, equipment and computer storage medium for judging vehicle driving direction | |
| CN109693236A (en) | Legged type robot lands control method and device | |
| CN110363094A (en) | A kind of ship abnormal behaviour recognition methods, device and terminal device | |
| US20180231650A1 (en) | Method and system for contextualized perception of physical bodies | |
| CN106097707B (en) | Method and device for judging vehicle running state | |
| CN105957182B (en) | A kind of method and device of rectilinear direction that correcting instruction vehicle traveling | |
| CN113109783A (en) | Course angle acquisition method, device, equipment and storage medium | |
| CN110598980B (en) | Risk assessment method and device for traffic scene | |
| CN114141014B (en) | Method, device and equipment for determining parking lot and storage medium | |
| CN113406613B (en) | Personnel detection method, device, equipment and storage medium | |
| CN114021080A (en) | Trajectory prediction model training and trajectory prediction method, apparatus, device and medium | |
| US20210270605A1 (en) | Systems and methods for estimating tactile output based on depth data | |
| US10963712B1 (en) | Systems and methods for distinguishing a driver and passengers in an image captured inside a vehicle | |
| CN106537090A (en) | Device and method for determining at least one position of a mobile terminal | |
| CN108776668A (en) | Path evaluation method, system, equipment and storage medium based on road-net node | |
| CN114333269A (en) | Vehicle accident handling method and device, computer equipment and storage medium | |
| CN111210297B (en) | Method and device for dividing boarding points | |
| CN113721240A (en) | Target association method and device, electronic equipment and storage medium | |
| US20220262097A1 (en) | Label estimation device, label estimation method, and label estimation program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |