CN-122009078-A - Method and device for detecting multidirectional collision of vehicle

CN122009078ACN 122009078 ACN122009078 ACN 122009078ACN-122009078-A

Abstract

The invention relates to a vehicle multidirectional collision detection method and a device, belonging to the technical field of vehicle monitoring, wherein the vehicle multidirectional collision detection method comprises the steps of acquiring multi-axis acceleration and multi-axis angular velocity of a target vehicle at a plurality of sampling points in a target period, wherein the multi-axis comprises a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis and the second coordinate axis are parallel to a horizontal plane, the positive direction of the first coordinate axis is perpendicular to the running direction of the vehicle and points to the left side, the positive direction of the second coordinate axis is parallel to the running direction of the vehicle, and the positive direction of the third coordinate axis is perpendicular to the horizontal plane upwards; the method comprises the steps of preprocessing the multi-axis acceleration of each sampling point, determining the collision state and the collision direction of a target vehicle at each sampling point based on the preprocessed multi-axis acceleration of each sampling point, and determining the rollover state of the target vehicle at each sampling point based on the preprocessed multi-axis acceleration and the preprocessed multi-axis angular velocity of each sampling point. The invention effectively improves the accuracy of vehicle collision detection.

Inventors

GAN HAIBO
LIANG JIANGHUA

Assignees

武汉未来幻影科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (10)

1. A method for detecting a multidirectional collision of a vehicle, comprising: Acquiring multi-axis acceleration and multi-axis angular velocity of a target vehicle at a plurality of sampling points in a target period, wherein the multi-axis comprises a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis and the second coordinate axis are parallel to a horizontal plane, the positive direction of the first coordinate axis is perpendicular to the running direction of the vehicle and points to the left, the positive direction of the second coordinate axis is parallel to the running direction of the vehicle, and the positive direction of the third coordinate axis is perpendicular to the horizontal plane upwards; determining the collision state and the collision direction of the target vehicle at each sampling point based on the preprocessed multiaxial acceleration of each sampling point; And determining the rollover state of the target vehicle at each sampling point based on the preprocessed multi-axis acceleration and multi-axis angular velocity of each sampling point.
2. The method for detecting a multidirectional collision of a vehicle according to claim 1, wherein said determining the collision state and the collision direction of the target vehicle at each sampling point based on the preprocessed multiaxial acceleration of each sampling point includes: Determining collision intensity of each sampling point based on the preprocessed multiaxial acceleration of each sampling point, and determining a collision intensity threshold of each sampling point based on the vehicle speed of each sampling point; Determining the collision state of the target vehicle at each sampling point based on the collision intensity of each sampling point and the collision intensity threshold value; Under the condition that the target vehicle collides at the target sampling point, the collision direction of the target vehicle at the target sampling point is determined based on the preprocessed multi-axis acceleration of the target sampling point, wherein the target sampling point is any sampling point in the target period.
3. The method for detecting a multi-directional collision of a vehicle according to claim 2, wherein the determining the collision intensity of each sampling point based on the preprocessed multi-axis acceleration of each sampling point comprises: The collision strength of each sampling point is determined based on the following formula: Wherein, the The impact strength is indicated by the terms of the impact strength, The base intensity is indicated as such, The rate of change is indicated as being indicative of, The integrated intensity is represented by a value representing the integrated intensity, Representing the first axis acceleration after preprocessing, Representing the preprocessed acceleration of the second coordinate axis, Representing the first axis acceleration after preprocessing, Indicating the rate of change of the first coordinate axis, Indicating the rate of change of the second coordinate axis, Indicating the rate of change of the third coordinate axis, Representing the integrated intensity of the first coordinate axis, Representing the integrated intensity of the second coordinate axis, The integrated intensity of the third coordinate axis is represented, Represent the first Acceleration of the first coordinate axis of the sampling points, Represent the first Acceleration of the second coordinate axis of the sampling points, Represent the first Acceleration of the third coordinate axis of the sampling points, To take absolute value operation.
4. The vehicle multi-directional collision detection method according to claim 2, wherein the determining the collision intensity threshold value for each sampling point based on the vehicle speed for each sampling point comprises: the collision intensity threshold for each sample point is determined based on the following formula: Wherein, the A threshold value of the collision strength is indicated, Representing the base threshold value of the value, Indicating the vehicle speed.
5. The method for detecting a multi-directional collision of a vehicle according to claim 2, wherein the determining the collision status of the target vehicle at each sampling point based on the collision intensity and the collision intensity threshold value at each sampling point comprises: Under the condition that the collision intensity of the target sampling point is larger than the collision intensity threshold value of the target sampling point, determining that the target vehicle detects collision at the target sampling point; and determining that the target vehicle does not detect collision at the target sampling point under the condition that the collision intensity of the target sampling point is smaller than or equal to the collision intensity threshold value of the target sampling point.
6. The method for detecting a multi-directional collision of a vehicle according to claim 2, wherein determining a collision direction of the target vehicle at the target sampling point based on the preprocessed multi-axis acceleration of the target sampling point comprises: Determining the direction corresponding to the larger absolute value of the first coordinate axis acceleration and the second coordinate axis acceleration of the target sampling point as the collision main direction of the target vehicle at the target sampling point; And determining the direction corresponding to the smaller absolute value of the first coordinate axis acceleration and the second coordinate axis acceleration of the target sampling point as the collision auxiliary direction of the target vehicle at the target sampling point under the condition that the absolute value of the smaller absolute value of the first coordinate axis acceleration and the second coordinate axis acceleration of the target sampling point is larger than one fifth of the absolute value of the larger absolute value.
7. The method for detecting a multi-directional collision of a vehicle according to claim 1, wherein the determining the rollover state of the target vehicle at each sampling point based on the preprocessed multi-axis acceleration and multi-axis angular velocity at each sampling point comprises: and determining the rollover state of the target vehicle at each sampling point based on the preprocessed third coordinate axis acceleration and the preprocessed second coordinate axis angular velocity of each sampling point.
8. The method for detecting a multidirectional collision of a vehicle according to claim 7, wherein said determining the rollover state of the target vehicle at each sampling point based on the preprocessed acceleration of the third coordinate axis and the angular velocity of the second coordinate axis at each sampling point, comprises: Determining that the target vehicle detects rollover at the target sampling point under the condition that the acceleration of the third coordinate axis of the preprocessed target sampling point is larger than an acceleration threshold value and the angular speed of the second coordinate axis of the preprocessed target sampling point is larger than an angular speed threshold value, wherein the target sampling point is any sampling point in a target period; And determining that the target vehicle does not detect the rollover at the target sampling point under the condition that the acceleration of the third coordinate axis of the preprocessed target sampling point is smaller than or equal to the acceleration threshold value or the angular speed of the second coordinate axis of the preprocessed target sampling point is smaller than or equal to the angular speed threshold value.
9. The vehicle multi-directional collision detection method according to claim 1, characterized in that the method further comprises: And under the condition that the target vehicles detect collision at sampling points in a preset time window and the collision directions are consistent, determining that the target vehicles collide in the preset time window.
10. A vehicle multidirectional collision detecting apparatus, comprising: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring multi-axis acceleration and multi-axis angular velocity of a target vehicle at a plurality of sampling points in a target period, the multi-axis comprises a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis and the second coordinate axis are parallel to a horizontal plane, the positive direction of the first coordinate axis is perpendicular to the running direction of the vehicle and points to the left, the positive direction of the second coordinate axis is parallel to the running direction of the vehicle, and the positive direction of the third coordinate axis is perpendicular to the horizontal plane upwards; The first detection module is used for determining the collision state and the collision direction of the target vehicle at each sampling point based on the preprocessed multiaxial acceleration of each sampling point; and the second detection module is used for determining the rollover state of the target vehicle at each sampling point based on the preprocessed multiaxial acceleration and multiaxial angular velocity of each sampling point.

Description

Method and device for detecting multidirectional collision of vehicle Technical Field The invention relates to the technical field of vehicle monitoring, in particular to a method and a device for detecting multidirectional collision of a vehicle. Background With the rapid development of intelligent traffic systems and internet of vehicles, vehicle safety monitoring technology becomes an important means for guaranteeing driving safety. In the running process of the vehicle, the collision event is accurately detected in real time and the collision direction is judged, so that the method has important significance for accident analysis, insurance claim settlement, emergency rescue and the like. The traditional collision detection algorithm is mainly based on single axial acceleration threshold judgment, cannot accurately identify complex collision scenes, is low in detection precision, most systems can only detect whether a collision occurs or not, cannot accurately judge the collision direction, influences the accident reconstruction accuracy, is easy to misjudge as a collision event due to interference such as jolt, brake and the like in normal running of a vehicle, lacks an effective duration verification mechanism, is difficult to distinguish instant interference from real collision, does not have a collision state confirmation and cooling mechanism, and is easy to generate frequent jitter. Therefore, how to improve the accuracy of vehicle collision detection is a technical problem that needs to be solved. Disclosure of Invention In view of the foregoing, it is desirable to provide a method and a device for detecting a vehicle multi-directional collision, which are used for solving the problem of insufficient accuracy of the existing vehicle collision detection scheme. In order to solve the above-mentioned problems, the present invention provides, in a first aspect, a vehicle multidirectional collision detection method including: Acquiring multi-axis acceleration and multi-axis angular velocity of a target vehicle at a plurality of sampling points in a target period, wherein the multi-axis comprises a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis and the second coordinate axis are parallel to a horizontal plane, the positive direction of the first coordinate axis is perpendicular to the running direction of the vehicle and points to the left, the positive direction of the second coordinate axis is parallel to the running direction of the vehicle, and the positive direction of the third coordinate axis is perpendicular to the horizontal plane upwards; determining the collision state and the collision direction of the target vehicle at each sampling point based on the preprocessed multiaxial acceleration of each sampling point; And determining the rollover state of the target vehicle at each sampling point based on the preprocessed multi-axis acceleration and multi-axis angular velocity of each sampling point. In one possible implementation manner, the determining the collision state and the collision direction of the target vehicle at each sampling point based on the preprocessed multi-axis acceleration of each sampling point includes: Determining collision intensity of each sampling point based on the preprocessed multiaxial acceleration of each sampling point, and determining a collision intensity threshold of each sampling point based on the vehicle speed of each sampling point; Determining the collision state of the target vehicle at each sampling point based on the collision intensity of each sampling point and the collision intensity threshold value; Under the condition that the target vehicle collides at the target sampling point, the collision direction of the target vehicle at the target sampling point is determined based on the preprocessed multi-axis acceleration of the target sampling point, wherein the target sampling point is any sampling point in the target period. In one possible implementation manner, the determining the collision strength of each sampling point based on the preprocessed multi-axis acceleration of each sampling point includes: The collision strength of each sampling point is determined based on the following formula: Wherein, the The impact strength is indicated by the terms of the impact strength,The base intensity is indicated as such,The rate of change is indicated as being indicative of,The integrated intensity is represented by a value representing the integrated intensity,Representing the first axis acceleration after preprocessing,Representing the preprocessed acceleration of the second coordinate axis,Representing the first axis acceleration after preprocessing,Indicating the rate of change of the first coordinate axis,Indicating the rate of change of the second coordinate axis,Indicating the rate of change of the third coordinate axis,Representing the integrated intensity of the first coordinate axis,Repres