CN107036630B - Automatic identification system and method for installation angle of vehicle driving early warning device - Google Patents
Automatic identification system and method for installation angle of vehicle driving early warning device Download PDFInfo
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Abstract
The invention discloses an automatic recognition system and a method for the installation angle of a vehicle driving early warning device, wherein the system comprises the following components: the GPS module is used for acquiring longitude and latitude, speed and direction included angle information of the early warning device; the GSensor module is used for acquiring acceleration values in three directions on a coordinate system inside the module in real time; the MCU is used for acquiring data of the GPS module and the GSensor module in real time and sending the data to the main control processor; and the main control processor is used for calculating the shaft included angle of the xyz natural coordinate system in the positive direction of the front part of the vehicle according to the received data, so that the mounting angle of the early warning device is automatically identified and calibrated. The invention analyzes the direction data and the brake data collected by the GPS module and the acceleration sensor, and calculates the installation angle of the early warning device and the axial included angle between the xyz axis of the acceleration sensor and the xyz axis of the vehicle coordinate system, thereby having no requirement on the installation angle of the early warning device, being capable of being horizontally placed, inversely placed and laterally placed, and having simple operation, convenience and rapidness for constructors.
Description
Technical Field
The invention relates to a vehicle-mounted terminal, in particular to an automatic identification system and method for a mounting angle of a vehicle driving early warning device.
Background
With the rapid growth of the Chinese economy, automobile holding capacity increases in China at the rate of millions of vehicles per year. With the increase of road vehicles, the driver cannot timely find the danger of rear-end collision with the front vehicle due to fatigue, negligence and the like, and the occurrence of rear-end collision accidents is caused frequently.
In order to improve the driving safety, the MCU of the equipment end is used for acquiring the switching value (brake, steering lamp, etc.), the AD (oil mass), the GPS data and the data of the automobile CAN bus, the equipment end judges whether the current driving behavior is in a reasonable range through an intelligent algorithm, and then the current driving behavior is remotely transmitted to the rear end through data storage or a special traffic ministerial mark 808 protocol so as to conveniently adjust the data to standardize the driving behavior of a driver.
However, the existing system and algorithm are too complex, strict requirements are imposed on the installation position and the installation direction of the equipment end in the vehicle, and corresponding parameter setting is carried out on the setting of the parameters and the requirements of the setting according to the installation position after the installation is completed, so that installation and construction personnel can have no trouble, the operation is extremely complex, and the installation and construction personnel can not be applied easily due to improper setting.
Accordingly, the prior art is deficient and needs improvement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic identification system and method for the installation angle of a vehicle driving early warning device.
The technical scheme of the invention is as follows: the invention provides an automatic recognition system for the installation angle of a vehicle driving early warning device, which comprises:
the GPS module is used for acquiring longitude and latitude, speed and direction included angle information of the early warning device and is responsible for acquiring the installation direction of the early warning device in the first correction auxiliary recognition;
the GSensor module is used for acquiring acceleration values in three directions on a coordinate system inside the module in real time;
the MCU is used for acquiring data of the GPS module and the GSensor module in real time and sending the acquired data to the main control processor;
and the main control processor is used for analyzing the data information sent by the GPS module and the GSensor module and calculating the axial included angle of an xyz natural coordinate system of the forward direction of the front part of the vehicle, thereby realizing automatic identification and calibration of the installation angle of the early warning device.
The GPS module is made of an NEO-6M chip, and the GSensor module is made of an MMA8653FCR1 chip.
The main control processor is manufactured by a Hi3520d chip, and the MCU is manufactured by an STM8S207R8 chip.
The invention also provides an automatic identification method of the installation angle of the vehicle driving early warning device, which comprises the following steps:
step 1, mounting an early warning device on a vehicle;
step 2, driving the sameThe vehicle is in straight line travel for a certain time on flat road, and then emergency braking is carried out to make the vehicle stop moving completely, the GPS module is utilized to collect the vehicle position information in the process, and when the vehicle is braked, the GSensor module is adopted to collect the acceleration values X in three directions on the internal coordinate system of the moduleB、YBAnd ZB；
And 3, sending the data acquired by the GSensor module and the vehicle position information acquired by the GPS module to a main control processor, and calculating an axial included angle of an xyz coordinate system of the positive direction of the front part of the vehicle by the main control processor according to a formula so as to realize automatic identification and calibration of the installation angle of the early warning device, thereby completing intelligent correction.
And in the step 3, the correction of the vehicle early warning device comprises static correction and dynamic correction, when the GSensor module detects that the vehicle is in a static state, the static correction is automatically carried out, and when the GSensor module detects that the vehicle is in a motion state, the dynamic correction is automatically completed by combining the position information acquired by the GPS module.
The fixed time in the step 2 is more than 6 seconds, and the running speed of the vehicle reaches 20 Km/H.
In the step 2, the vehicle runs on a flat road in a straight line, and the height difference is less than 0.5 m.
The GSensor module includes an acceleration sensor.
In the step 2, whether the vehicle moves linearly, whether the vehicle bumps and the braking process of the vehicle are detected through the GPS module.
By adopting the scheme, the invention provides the automatic identification system and the method for the installation angle of the vehicle driving early warning device, the direction data and the brake data collected by the GPS module and the acceleration sensor are analyzed, and the installation angle of the early warning device and the axial included angle between the xyz axis of the acceleration sensor and the xyz axis of the vehicle coordinate system are calculated, so that the installation angle of the early warning device is not required, the early warning device can be horizontally placed, inversely placed and laterally placed, and the operation of constructors is simple, convenient and quick; after the early warning device is installed, the angle of the installation direction can be automatically recognized in the automobile driving process to complete the first parameter recognition and correction, various events can be analyzed and early warned after the first parameter recognition and correction is completed, and people are not required to actively adjust the parameters of the installation position.
Drawings
FIG. 1 is a functional block diagram of the dynamic identification system of the present invention.
Fig. 2 is a circuit diagram of the MCU and GSensor modules according to the present invention.
FIG. 3 is a circuit diagram of the master processor of the present invention.
Fig. 4 is a circuit diagram of the GPS module of the present invention.
Fig. 5 is a schematic view showing the acceleration components of the respective axes of the acceleration sensor in the present invention.
Fig. 6 is a schematic diagram of an original coordinate system of the acceleration sensor in the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 1, the present invention provides an automatic recognition system for an installation angle of a vehicle driving warning device, including: GPS module, GSensor module, MCU and master control processor. The GPS module is used for acquiring longitude and latitude, speed and direction included angle information of the early warning device and is responsible for acquiring the installation direction of the early warning device in the process of first correction in an auxiliary recognition mode. And the GSensor module is used for acquiring acceleration values in three directions on a coordinate system inside the module in real time. And the MCU is respectively connected with the GPS module and the GSensor module, and is used for acquiring data of the GPS module and the GSensor module in real time and sending the acquired data to the main control processor. And the main control processor is connected with the MCU and used for analyzing the data information sent by the GPS module and the GSensor module and calculating the axial included angle of an xyz natural coordinate system of the front positive direction of the vehicle, thereby realizing automatic identification and calibration of the installation angle of the early warning device.
In this embodiment, the GPS module is fabricated by using a NEO-6M chip, as shown in fig. 4, and the GSensor module is fabricated by using an MMA8653FCR1 chip, as shown in fig. 2. The master control processor is manufactured by using a Hi3520d chip, as shown in FIG. 3, and the MCU is manufactured by using an STM8S207R8 chip, as shown in FIG. 2.
The automatic identification method of the automatic identification system of the installation angle of the vehicle driving early warning device comprises the following steps:
step 1, mounting the early warning device on a vehicle.
When the early warning device is installed on a vehicle, the early warning device can be installed at will, no requirements are required for the installation position and the installation angle, the installation is convenient and fast, and the condition that the early warning device cannot be used due to improper operation cannot occur.
Step 2, driving the vehicle to linearly run for a certain time on a flat road, then performing emergency braking to completely stop the vehicle, acquiring vehicle position information by using a GPS module in the process, and acquiring acceleration values X in three directions on an internal coordinate system of the module by using a GSensor module when the vehicle is brakedB、YBAnd ZB。
In this step, the fixed time is more than 6 seconds, and the vehicle travels straight on a flat road, the traveling speed reaches 20Km/H, and the height difference is less than 0.5 m, so as to ensure that the GPS module and the GSensor module can keep continuous stable data. The circuit diagrams of the GPS module and the GSensor module are shown in fig. 2 and 4.
The data output by the GPS module comprises: the GPS module is used for preventing the vehicle from jolting in the parameter calibration process and detecting the vehicle speed to identify the braking process.
And 3, sending the data acquired by the GSensor module and the vehicle position information acquired by the GPS module to a main control processor, and calculating an axial included angle of an xyz coordinate system of the positive direction of the front part of the vehicle by the main control processor according to a formula so as to realize automatic identification and calibration of the installation angle of the early warning device, thereby completing intelligent correction.
The GSensor module comprises an acceleration sensor, and can acquire the acceleration components of the geostationary acceleration 1g inside the GSensor module on each axis in real time, as shown in fig. 5.
The original coordinate system of the acceleration sensor is shown in fig. 6, and the attitude of the carrier coordinate system B relative to the world coordinate system W is described by using Z-Y-X euler angles, which refer to: initial state B coincides with W, then B is rotated first an angle a1 around ZB axis, then an angle a2 around YB axis, and then an angle a3 around XB axis, resulting in B system (i.e., the final attitude of the aircraft or something else). This Euler angle sequence is referred to as "aeronautical order Euler angles".
a1 is generally denoted by Ψ, and represents heading or yaw;
a2 is generally denoted by θ, and represents heave or pitch;
a3 is generally denoted by phi, and represents a tilt or roll (bank or roll).
Calculating an Euler angle:
performing coordinate conversion to obtain a known vector r in the automobile coordinate systemV＝(XV,YV,ZV) Vector r in the terminal coordinate system corresponding theretoB＝(XB,YB,ZB) The relationship between can be expressed as:
wherein: (X)V,YV,ZV) For known acceleration values of three axes, (X)B,YB,ZB) The acceleration value of the equipment terminal to be solved is obtained.
In step 3, the correction to the vehicle warning device includes static correction and dynamic correction. When the GSensor module detects that the vehicle is in a static state, automatically performing static correction; when the GSensor module detects that the vehicle is in a motion state, the GSensor module combines the position information acquired by the GPS module, when the vehicle runs linearly to reach a certain speed (preferably more than 20Km/H), the vehicle is braked (no brake is needed), and dynamic correction is automatically completed. The specific process of correction is described below.
The method comprises the following steps: static correction
Static correction timing: and judging the state of an ACC line after power-on, and if the ACC is in an off state and the acceleration sensor judges that no motion exists, considering that the vehicle is static and performing static correction.
The acceleration in the vehicle reference frame is assumed to be equal to the acceleration of gravity, i.e.:
substituting equation (2) into equation (1) above can solve θ, φ, where the gravitational acceleration g is quantified as a constant 1, with the following results:
(in the static correction, if the accelerometer is found to be inverted up and down, namely theta is less than 0; theta +180 DEG)
Wherein, in the formula (4), a correction factor mu is added for preventing the Z axis from being zero, and the denominator is avoided from being zero.
Step two: dynamic correction
Dynamic correction timing: 1. and processing the positioning data of the plurality of GPS modules, wherein the variation of the accumulated course angle is less than 3, the variation of the accumulated height is less than 2, the negative maximum value of the speed variation per second is less than a threshold value (obtained by dividing the sudden braking acceleration threshold value by 2), the average speed is greater than 20km/h, and if the conditions are met simultaneously, executing dynamic correction.
Assuming that the automobile coordinate system is a terrestrial coordinate system, the continuous change of the GPS yaw angle is judged not to exceed a certain value. And judging the braking condition of the vehicle by judging the change of the GPS speed so as to carry out dynamic correction to calculate psi.
Let the three components of the accelerometer be:
substituting formula (6) for formula (1):
wherein n is the acceleration of the brake X axis in a constant speed state; substituting g as a constant for formula (7), combining formula (1) and formula (7), and removing n to obtain Ψ:
(in static correction, if theta >45 degrees or phi >45 degrees, namely X-axis acceleration | X | is >0.5 or Y-axis acceleration | Y | is >0.5, three axes are remapped, and the X axis is mapped to the Z axis or the Y axis is mapped to the Z axis)
The above step I calculates theta and phi, and the step II calculates psi.
Step three: vehicle acceleration calculation
Transposes the formula (1) to form a formula (9),
and substituting the obtained Euler angles theta, phi and psi into a formula (9) to obtain the acceleration values of the automobile in all directions.
The calibration needs to depend on the emergency braking threshold, and different values need to be adapted to different application occasions, such as large trucks and small orthotics. All thresholds are initialized to 0, and the application needs to perform a valid (non-0 and reasonable) setting of the thresholds at least once for calibration and normal operation.
And the driving behavior state can be obtained through multiple tests of the real vehicle and judgment according to the empirical threshold. The default car's empirical acceleration threshold is as follows:
(1) the collision parameter is 1g by default;
(2) rollover parameter, default 30 ° (0.86 g);
(3) the motion variation parameter is 0.02g as default;
(4) the duration of the variation within the threshold range is considered as static, and the default value is 10S;
(5) emergency brake parameters, default is 0.30 g;
(6) the emergency acceleration parameter is 0.30g as default;
(7) a sharp left turn parameter of 0.30g by default;
(8) the sharp right turn parameter is 0.30g by default.
And (3) judging vehicle collision: under the non-rollover state, the sum of squares of X-axis components and Y-axis components of the vehicle is added and is greater than a threshold value;
and (3) turning over judgment: z _ real is less than the threshold and lasts for 5 s;
and (3) emergency braking judgment: when the positioning is invalid, x _ real is less than 0, the absolute value of x _ real is greater than a threshold, and when the positioning is valid, a condition needs to be added, namely that the maximum variation of the deceleration speed obtained by the GSensor module is greater than a sudden braking threshold value 0.6;
and (3) judging the rapid acceleration: when the positioning is invalid, x _ real is greater than 0, the absolute value of x _ real is greater than a threshold, and when the positioning is valid, a condition needs to be added, namely that the maximum speed variation obtained by the GSensor module is greater than a rapid acceleration threshold 0.6;
and (4) judging sharp turning: when the positioning is invalid, the y _ real absolute value is greater than the threshold, and when the positioning is valid, a condition that the angle variation acquired by the GSensor module is greater than 40 needs to be added.
Whether events such as rollover, rapid acceleration, rapid deceleration, rapid left turn, rapid right turn, front rear-end collision, rear-end collision, left collision, right collision and the like occur in the driving process of the vehicle is identified through the model algorithm, and therefore the purpose of early warning is achieved.
In summary, the invention provides an automatic identification system and method for the installation angle of a vehicle driving early warning device, which analyze the direction data and brake data collected by a GPS module and an acceleration sensor, and calculate the installation angle of the early warning device and the axial included angle between the xyz axis of the acceleration sensor and the xyz axis of a vehicle coordinate system, so that the installation angle of the early warning device is not required, and the early warning device can be horizontally placed, inversely placed and laterally placed, and is simple, convenient and quick to operate by constructors; after the early warning device is installed, the angle of the installation direction can be automatically recognized in the automobile driving process to complete the first parameter recognition and correction, various events can be analyzed and early warned after the first parameter recognition and correction is completed, and people are not required to actively adjust the parameters of the installation position.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The automatic identification method for the installation angle of the vehicle driving early warning device is characterized by comprising the following steps of:
step 1, mounting an early warning device on a vehicle;
step 2, driving the vehicle to linearly run for a certain time on a flat road, then performing emergency braking to completely stop the vehicle, acquiring vehicle position information by using a GPS module in the process, and acquiring acceleration values X in three directions on an internal coordinate system of the module by using a GSensor module when the vehicle is brakedB、YBAnd ZB；
Step 3, sending the data acquired by the GSensor module and the vehicle position information acquired by the GPS module to a main control processor, and calculating an axial included angle of an xyz coordinate system of the positive direction of the front part of the vehicle by the main control processor according to a formula so as to realize automatic identification and calibration of the installation angle of the early warning device, thereby completing intelligent correction;
in the step 3, the correction of the vehicle early warning device comprises static correction and dynamic correction, when the GSensor module detects that the vehicle is in a static state, the static correction is automatically performed, and when the GSensor module detects that the vehicle is in a moving state, the dynamic correction is automatically completed by combining position information acquired by the GPS module;
static correction timing: after the vehicle is electrified, the state of an ACC line is judged, if the ACC is in an off state and the acceleration sensor judges that no motion exists, the vehicle is considered to be static, and static correction is carried out;
dynamic correction timing: processing the positioning data of a plurality of GPS modules, and if the change of the accumulated course angle psi is less than 3, the negative maximum value of the speed change per second is less than a threshold value, and the average speed is more than 20km/h, performing dynamic correction, wherein the threshold value is obtained by dividing the emergency braking acceleration threshold value by 2; Ψ is calculated as follows:
let the three components of the accelerometer be:
will be provided with
Substituting the following formula
2. the method for automatically recognizing the installation angle of the driving warning device for a vehicle as claimed in claim 1, wherein the predetermined time in the step 2 is 6 seconds or more, and the driving speed of the vehicle reaches 20 Km/H.
3. The method for automatically recognizing the installation angle of the vehicle driving warning device according to claim 1, wherein in the step 2, the vehicle travels straight on a flat road with a height difference of less than 0.5 m.
4. The method for automatically recognizing the installation angle of the vehicle driving warning device as claimed in claim 1, wherein the GSensor module includes an acceleration sensor.
5. The method for automatically identifying the installation angle of the driving warning device for the vehicle as claimed in claim 1, wherein in the step 2, whether the vehicle moves linearly, whether the vehicle bumps and whether the vehicle brakes are detected by a GPS module.
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| CN110967523A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Vehicle acceleration detection method and device |
| CN113619589B (en) * | 2021-07-22 | 2022-11-15 | 中汽创智科技有限公司 | Method and device for determining driving behavior information, electronic equipment and storage medium |
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