Vehicle falling detection method and device

Abstract

The invention discloses a vehicle falling detection method and device, the method is applied to a vehicle-mounted device, and the method comprises the steps that first information is obtained, the first information comprises accelerated speeds of a vehicle in a first direction, a second direction and a third direction, and / or angular speeds of the vehicle in the first direction, the second direction and the third direction, the first direction, the second direction and the third direction are three coordinate axis directions of a three-dimensional coordinate system respectively; and then, according to the first information, determining whether the vehicle falls off or not. According to the method, in consideration of possible vehicle direction change, rolling and other situations when a vehicle falls off, falling detection is carried out on the vehicle according to acceleration of the vehicle in a first direction, a second direction and a third direction and / or angular velocity of the vehicle in the first direction, the second direction and the third direction, and the vehicle falling detection accuracy is improved. Therefore, whether the vehicle falls off or not can be determined, and the accuracy of vehicle falling detection can be ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Vehicles, and in particular to a vehicle falling detection method and device. BACKGROUND

[0002] With the rapid development of the automobile technology field, more and more people choose to travel by car, which makes people pay more and more attention to the safety of car travel.

[0003] When a vehicle falls due to natural environmental factors such as road collapse, bridge rupture, or human driving errors, it may cause vehicle damage, casualties, and even large-scale traffic accidents. In order to reduce casualties, resource losses, and other situations caused by falling accidents, it is necessary to detect whether a vehicle has fallen. SUMMARY

[0004] The present application provides a vehicle falling detection method and device for determining whether a vehicle has fallen.

[0005] In a first aspect, the present application provides a vehicle falling detection method, which can be applied to a vehicle-mounted device, or a module (such as a processor, processing unit, chip, circuit, etc.) of the vehicle-mounted device, or a system corresponding to the vehicle-mounted device. Based on this, the method comprises: obtaining first information, wherein the first information comprises the acceleration of the vehicle in a first direction, a second direction and a third direction, and / or the angular velocity of the vehicle in the first direction, the second direction and the third direction, and the first direction, the second direction and the third direction are the directions of the three coordinate axes of a three-dimensional coordinate system; and then determining whether the vehicle has fallen according to the first information.

[0006] In the above method, the first direction can be the x-coordinate axis direction of the three-dimensional coordinate system, the second direction can be the y-coordinate axis direction of the three-dimensional coordinate system, and the third direction can be the z-coordinate axis direction of the three-dimensional coordinate system. Or, equivalent to the ground, the first direction and the second direction are horizontal directions, and the third direction is a vertical direction. The present application takes into account the possible changes in the direction of the vehicle and the rolling of the vehicle when the vehicle falls, so that the falling of the vehicle is detected according to the acceleration of the vehicle in the first direction, the second direction and the third direction (which is generally not the gravitational acceleration), and / or the angular velocity of the vehicle in the first direction, the second direction and the third direction, rather than the change in the speed of the vehicle in the third direction. This not only determines whether the vehicle has fallen, but also ensures the accuracy of the vehicle falling detection.

[0007] In a possible implementation, the determining, according to the first information, whether the vehicle has a drop event includes: if the acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0008] Alternatively, the determining, according to the first information, whether the vehicle has a drop event includes: determining a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction, and the acceleration of the vehicle in the third direction; and if the combined acceleration is greater than or equal to a first threshold, it is determined that the vehicle has a drop event.

[0009] In the implementation, the implementation can be applied to a scenario in which the first information includes the acceleration and the angular velocity of the vehicle in the first direction, the second direction, and the third direction, or a scenario in which the first information includes only the acceleration of the vehicle in the first direction, the second direction, and the third direction. The drop detection is performed on the vehicle only by using the acceleration of the vehicle in the first direction, the second direction, and the third direction, so that the drop detection can be performed on the vehicle with a lower amount of data, the consumption of computing resources is reduced, and the computing efficiency is improved.

[0010] In a possible implementation, the determining, according to the first information, whether the vehicle has a drop event includes: if the angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0011] Alternatively, the determining, according to the first information, whether the vehicle has a drop event includes: determining an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determining an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determining an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and if the angle of the vehicle in the first direction is greater than or equal to an angle threshold corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to an angle threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0012] In the above implementation, the scenario can be applied in a case where the first information includes the acceleration and the angular velocity of the vehicle in the first direction, the second direction and the third direction, or a case where the first information only includes the angular velocity of the vehicle in the first direction, the second direction and the third direction. The vehicle is detected for the drop only by the angular velocity of the vehicle in the first direction, the second direction and the third direction, so that the vehicle can be detected for the drop with a lower amount of data, the consumption of computing resources is reduced, and the computing efficiency is improved.

[0013] In a possible implementation, the determining, according to the first information, whether the vehicle has the drop event includes: if the acceleration of the vehicle in the first direction is greater than or equal to the acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to the acceleration threshold corresponding to the second direction, the acceleration of the vehicle in the third direction is greater than or equal to the acceleration threshold corresponding to the third direction, the angular velocity of the vehicle in the first direction is greater than or equal to the angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to the angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to the angular velocity threshold corresponding to the third direction, it is determined that the vehicle has the drop event.

[0014] Alternatively, the determining, according to the first information, whether the vehicle has the drop event includes: determining a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction and the acceleration of the vehicle in the third direction; if the combined acceleration is greater than or equal to a first threshold, the angular velocity of the vehicle in the first direction is greater than or equal to the angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to the angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to the angular velocity threshold corresponding to the third direction, it is determined that the vehicle has the drop event.

[0015] Alternatively, the determining whether the vehicle has the falling event according to the first information comprises: determining an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determining an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determining an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determining that the vehicle has the falling event if the angle of the vehicle in the first direction is greater than or equal to a corresponding angle threshold of the first direction, the angle of the vehicle in the second direction is greater than or equal to a corresponding angle threshold of the second direction, the angle of the vehicle in the third direction is greater than or equal to a corresponding angle threshold of the third direction, the acceleration of the vehicle in the first direction is greater than or equal to a corresponding acceleration threshold of the first direction, the acceleration of the vehicle in the second direction is greater than or equal to a corresponding acceleration threshold of the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to a corresponding acceleration threshold of the third direction.

[0016] Alternatively, the determining whether the vehicle has the falling event according to the first information comprises: determining a combined acceleration of the vehicle in the first direction, the second direction and the third direction; determining an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determining an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determining an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determining that the vehicle has the falling event if the combined acceleration is greater than or equal to a first threshold, the angle of the vehicle in the first direction is greater than or equal to a corresponding angle threshold of the first direction, the angle of the vehicle in the second direction is greater than or equal to a corresponding angle threshold of the second direction, and the angle of the vehicle in the third direction is greater than or equal to a corresponding angle threshold of the third direction.

[0017] In the above implementation, the scenario can be applied in the first information comprising the acceleration and the angular velocity of the vehicle in the first direction, the second direction and the third direction. The falling detection of the vehicle is performed only by the acceleration of the vehicle in the first direction, the second direction and the third direction, and the angular velocity of the vehicle in the first direction, the second direction and the third direction, so as to ensure the accuracy of the falling detection of the vehicle.

[0018] In a possible implementation manner, the determining, according to the first information, whether the vehicle has a falling event includes: inputting the first information into a first model to obtain a detection result output by the first model, the detection result output by the first model being used to indicate that the vehicle has a falling event or the detection result output by the first model being used to indicate that the vehicle does not have a falling event, and a training convergence target of the first model being the first information when the vehicle has a falling event.

[0019] In the implementation manners, the first model can be a neural network model, a deep learning model or a deep neural network model. The first information when the vehicle has a falling event can include acceleration of the vehicle in the first direction, the second direction and the third direction and / or angular velocity of the vehicle in the first direction, the second direction and the third direction. It can be understood that the falling of the vehicle is detected by the first model, so that the efficiency of the falling detection of the vehicle can be improved.

[0020] In a possible implementation manner, the method further includes: broadcasting first indication information and giving an alarm when it is determined that the vehicle has a falling event, the first indication information being used to indicate that the vehicle has a falling, and the first indication information including a position of the falling of the vehicle.

[0021] In the implementation manners, the falling event is transmitted to the outside world through the first indication information, so that other vehicles can be reminded to prevent secondary accidents and the like, thereby reducing casualties and resource losses caused by the falling accident. The alarm can be used for calling for help to ensure the real-time rescue for the falling event.

[0022] In a second aspect, the present application provides a vehicle falling detection method, which can be applied to a vehicle-mounted device, a module (such as a processor, a processing unit, a chip, a circuit or the like) of the vehicle-mounted device or a system corresponding to the vehicle-mounted device. Based on this, the method includes: obtaining first information and second information, the first information including acceleration and angular velocity of the vehicle in a first direction, a second direction and a third direction, the first direction, the second direction and the third direction being three coordinate axes of a three-dimensional coordinate system respectively, and the second information including at least one of the following: tire pressure of the vehicle, suspension height of the vehicle and environment information; and then determining, according to the first information and the second information, whether the vehicle has a falling event.

[0023] In the method, the falling of the vehicle is detected in combination with the first information and the second information, so that not only whether the vehicle has a falling event can be determined, but also the accuracy of the falling detection of the vehicle can be ensured.

[0024] In a possible implementation manner, the determining, according to the first information and the second information, whether the first vehicle is in a falling state includes:

[0025] determining, according to the second information, whether the vehicle has a drop event, when it is determined that the first information satisfies the following detection condition;

[0026] The detection condition comprises:

[0027] The acceleration of the vehicle in the first direction is greater than or equal to the acceleration threshold corresponding to the first direction;

[0028] The acceleration of the vehicle in the second direction is greater than or equal to the acceleration threshold corresponding to the second direction;

[0029] The acceleration of the vehicle in the third direction is greater than or equal to the acceleration threshold corresponding to the third direction;

[0030] The angular velocity of the vehicle in the first direction is greater than or equal to the angular velocity threshold corresponding to the first direction;

[0031] The angular velocity of the vehicle in the second direction is greater than or equal to the angular velocity threshold corresponding to the second direction;

[0032] The angular velocity of the vehicle in the third direction is greater than or equal to the angular velocity threshold corresponding to the third direction.

[0033] In a possible implementation, the determining, according to the second information, whether the vehicle has a drop event comprises: determining that the vehicle has a drop event if the tire pressure of the vehicle is greater than or equal to a pressure threshold;

[0034] Alternatively, the determining, according to the second information, whether the vehicle has a drop event comprises: determining that the vehicle has a drop event if the suspension height of the vehicle is less than or equal to a height threshold;

[0035] Alternatively, the determining, according to the second information, whether the vehicle has a drop event comprises: determining that the vehicle has a drop event if the similarity between the environment information corresponding to the current moment of the vehicle and the environment information corresponding to the previous moment of the vehicle at the current moment is less than or equal to a second threshold.

[0036] In the above implementation, the tire pressure of the vehicle can be the tire pressure of all wheels of the vehicle, or the tire pressure of part of the wheels of the vehicle; the suspension height of the vehicle can be the suspension height corresponding to all wheels of the vehicle, or the suspension height corresponding to part of the wheels of the vehicle; the environment information corresponding to the vehicle includes but is not limited to visual images (such as images collected by an image collection device arranged on the vehicle, visual data measured by a visual sensor), laser point clouds (such as laser point clouds generated based on a millimeter wave radar, an ultrasonic radar, a laser radar arranged on the vehicle).

[0037] In a possible implementation, the determining whether the first vehicle is in a falling state according to the first information and the second information includes: inputting the first information and the second information into a second model to obtain a detection result output by the second model, the detection result output by the second model being used to indicate that the vehicle has a falling event, or the detection result output by the second model being used to indicate that the vehicle does not have a falling event; and wherein a training convergence target of the second model is the first information and the second information when the vehicle has a falling event.

[0038] In the implementation, the second model can be a neural network model, a deep learning model, or a deep neural network model. The first information when the vehicle has a falling event can include acceleration of the vehicle in the first direction, the second direction, and the third direction when the vehicle has a falling event, and / or angular velocity of the vehicle in the first direction, the second direction, and the third direction when the vehicle has a falling event. The second information when the vehicle has a falling event can include tire pressure of the vehicle when the vehicle has a falling event, and / or suspension height of the vehicle when the vehicle has a falling event, and / or similarity between environment information when the vehicle has a falling event and environment information corresponding to a previous moment of the vehicle when the vehicle has a falling event. It can be understood that the second model can be used to detect whether the vehicle has a falling event, so that the efficiency of vehicle falling detection can be improved.

[0039] In a possible implementation, the method further includes: broadcasting first indication information and giving an alarm when it is determined that the vehicle has a falling event, the first indication information being used to indicate that the vehicle has a falling event, and the first indication information including a position of the falling vehicle.

[0040] In a third aspect, the present application provides a device, the device being arranged in a vehicle (i.e., the device is a vehicle-mounted device), and the device includes an acquisition module and a processing module. The acquisition module is configured to acquire first information, the first information including acceleration of the vehicle in a first direction, a second direction, and a third direction, and / or angular velocity of the vehicle in the first direction, the second direction, and the third direction, the first direction, the second direction, and the third direction being three coordinate axes of a three-dimensional coordinate system, respectively. The processing module is configured to determine whether the vehicle has a falling event according to the first information.

[0041] In a possible implementation, the processing module is specifically configured to: if the acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction, it is determined that the vehicle has a falling event.

[0042] In a possible implementation, the processing module is specifically configured to: determine a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction, and the acceleration of the vehicle in the third direction; and determine that the vehicle has a drop event if the combined acceleration is greater than or equal to a first threshold value.

[0043] In a possible implementation, the processing module is specifically configured to: determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determine that the vehicle has a drop event if the angle of the vehicle in the first direction is greater than or equal to an angle threshold value corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold value corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to an angle threshold value corresponding to the third direction.

[0044] In a possible implementation, the processing module is specifically configured to: determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determine that the vehicle has a drop event if the angle of the vehicle in the first direction is greater than or equal to an angle threshold value corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold value corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to an angle threshold value corresponding to the third direction.

[0045] In a possible implementation, the processing module is specifically configured to: determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determine that the vehicle has a drop event if the angle of the vehicle in the first direction is greater than or equal to an angle threshold value corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold value corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to an angle threshold value corresponding to the third direction.

[0046] In a possible implementation, the processing module is specifically configured to: determine a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction, and the acceleration of the vehicle in the third direction; and determine that the vehicle has a rollover event if the combined acceleration is greater than or equal to a first threshold value, the angular velocity of the vehicle in the first direction is greater than or equal to a corresponding angular velocity threshold value of the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to a corresponding angular velocity threshold value of the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to a corresponding angular velocity threshold value of the third direction.

[0047] In a possible implementation, the processing module is specifically configured to: determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determine that the vehicle has a rollover event if the angle of the vehicle in the first direction is greater than or equal to a corresponding angle threshold value of the first direction, the angle of the vehicle in the second direction is greater than or equal to a corresponding angle threshold value of the second direction, the angle of the vehicle in the third direction is greater than or equal to a corresponding angle threshold value of the third direction, the acceleration of the vehicle in the first direction is greater than or equal to a corresponding acceleration threshold value of the first direction, the acceleration of the vehicle in the second direction is greater than or equal to a corresponding acceleration threshold value of the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to a corresponding acceleration threshold value of the third direction.

[0048] In a possible implementation, the processing module is specifically configured to: determine a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction, and the acceleration of the vehicle in the third direction; and determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determine that the vehicle has a rollover event if the combined acceleration is greater than or equal to a first threshold value, the angle of the vehicle in the first direction is greater than or equal to a corresponding angle threshold value of the first direction, the angle of the vehicle in the second direction is greater than or equal to a corresponding angle threshold value of the second direction, and the angle of the vehicle in the third direction is greater than or equal to a corresponding angle threshold value of the third direction.

[0049] In a possible implementation, the processing module is specifically configured to: input the first information into a first model to obtain a detection result output by the first model, the detection result output by the first model being used to indicate that the vehicle has a falling event, or the detection result output by the first model being used to indicate that the vehicle does not have a falling event; and wherein a training convergence target of the first model is the first information when the vehicle has a falling event.

[0050] In a possible implementation, the processing module is further configured to: when it is determined that the vehicle has a falling event, broadcast first indication information and perform an alarm, the first indication information being used to indicate that the vehicle has a fall, and the first indication information including a position of the fall of the vehicle.

[0051] In a fourth aspect, the present application provides a device, the device is arranged in a vehicle (i.e., the device is a vehicle-mounted device), and the device includes an acquisition module and a processing module; wherein the acquisition module is configured to acquire first information and second information, the first information including acceleration and angular velocity of the vehicle in a first direction, a second direction and a third direction, the first direction, the second direction and the third direction being three coordinate axes of a three-dimensional coordinate system respectively, and the second information including at least one of the following: tire pressure of the vehicle, suspension height of the vehicle, and environmental information; and the processing module is configured to determine whether the vehicle has a falling event according to the first information and the second information.

[0052] In a possible implementation, the processing module is specifically configured to: when it is determined that the first information satisfies a detection condition, determine whether the vehicle has a falling event according to the second information.

[0053] The detection condition includes:

[0054] The acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction;

[0055] The acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction;

[0056] The acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction;

[0057] The angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction;

[0058] The angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction;

[0059] The angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction.

[0060] In a possible implementation, the processing module is specifically configured to: determine that the vehicle has the drop event if the tire pressure of the vehicle is greater than or equal to a pressure threshold.

[0061] In a possible implementation, the processing module is specifically configured to: determine that the vehicle has the drop event if the suspension height of the vehicle is less than or equal to a height threshold.

[0062] In a possible implementation, the processing module is specifically configured to: determine that the vehicle has the drop event if a similarity between the environment information corresponding to the current moment of the vehicle and the environment information corresponding to a previous moment of the vehicle at the current moment is less than or equal to a second threshold.

[0063] In a possible implementation, the processing module is specifically configured to: input the first information and the second information into a second model to obtain a detection result output by the second model, the detection result output by the second model being used to indicate that the vehicle has the drop event, or the detection result output by the second model being used to indicate that the vehicle does not have the drop event; and wherein a training convergence target of the second model is the first information and the second information when the vehicle has the drop event.

[0064] In a possible implementation, the processing module is further configured to: broadcast first indication information and perform an alarm when it is determined that the vehicle has the drop event, the first indication information being used to indicate that the vehicle has the drop event, and the first indication information including a position of the drop of the vehicle.

[0065] In a fifth aspect, the present application provides a vehicle, comprising an inertial measurement unit (IMU) and an apparatus for executing the method in the first aspect or the second aspect, the IMU being configured to measure acceleration (including acceleration of the vehicle in a first direction, a second direction and a third direction) and angular velocity (including angular velocity of the vehicle in the first direction, the second direction and the third direction) corresponding to the vehicle. Optionally, the vehicle further comprises a tire pressure monitoring system (TPMS) sensor configured to measure tire pressure of the vehicle; optionally, the vehicle further comprises a suspension sensor configured to measure suspension height of the vehicle; and optionally, the vehicle further comprises an image acquisition device and a vehicle-mounted radar device, the image acquisition device and the vehicle-mounted radar device being configured to generate environment information corresponding to the vehicle.

[0066] In a sixth aspect, the present application provides a system, which comprises a vehicle and a network device (such as a cloud server) for executing the method in the first aspect or the second aspect; wherein the network device is configured to receive first indication information sent by the vehicle, and send second indication information to other vehicles, the first indication information being used for indicating that the vehicle has fallen, and the first indication information comprising a position where the vehicle falls, and the second indication information being used for indicating the vehicle that has fallen, and the second indication information comprising a position where the vehicle that has fallen is located.

[0067] In a seventh aspect, a computer device is provided, which comprises a processor, a memory, a communication interface, and a bus, the processor, the memory, and the communication interface are connected through the bus and complete communication with each other, the memory is configured to store computer execution instructions, and when the computer device is running, the processor executes the computer execution instructions in the memory to execute the operation steps of the method in the first aspect or the second aspect by using hardware resources in the computer device.

[0068] In an eighth aspect, an apparatus is provided, which comprises one or more processors and one or more memories, the one or more memories store one or more computer programs, the one or more computer programs comprise instructions, when the instructions are executed by the one or more processors, the apparatus executes the operation steps of the method in the first aspect or the second aspect.

[0069] In a ninth aspect, a chip system is provided, which comprises at least one chip and a memory, the at least one chip is configured to read and execute a program stored in the memory to realize the operation steps of the method in the first aspect or the second aspect.

[0070] In a tenth aspect, a non-volatile computer readable storage medium is provided, which comprises a program, when the program is running on an apparatus, the apparatus executes the operation steps of the method in the first aspect or the second aspect.

[0071] In an eleventh aspect, a computer program product is provided, which, when running on an apparatus, makes the apparatus execute the operation steps of the method in the first aspect or the second aspect.

[0072] On the basis of the implementation manners of the above aspects, the present application can be further combined to provide more implementation manners. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 FIG. 1 is a structural schematic diagram of a vehicle-mounted device provided by the present application;

[0074] Figure 2 A flowchart of a vehicle falling detection method provided for the present application is shown in FIG. 1;

[0075] Figure 3 A schematic diagram of an application scenario provided for the present application is shown in FIG. 2;

[0076] Figure 4 A flowchart of a falling avoidance control method provided for the present application is shown in FIG. 3;

[0077] Figure 5 A structural schematic diagram of another vehicle-mounted device provided for the present application is shown in FIG. 4;

[0078] Figure 6 A flowchart of another vehicle falling detection method provided for the present application is shown in FIG. 5;

[0079] Figure 7 A schematic diagram of another application scenario provided for the present application is shown in FIG. 6;

[0080] Figure 8 A structural schematic diagram of a device provided for the present application is shown in FIG. 7;

[0081] Figure 9 A structural schematic diagram of a device provided for the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0082] In recent years, with the development of the automobile industry, with the rapid development of the automobile technology field, more and more people choose to travel by car, which also makes people pay more and more attention to the safety of driving.

[0083] When a vehicle falls due to natural environmental factors such as road collapse, bridge rupture, or human driving errors, it may cause vehicle damage, personnel casualties, and even large-scale traffic accidents. In order to reduce the casualties, resource losses, and other situations caused by falling accidents, it is necessary to detect whether the vehicle has fallen.

[0084] In related technologies, considering that when a vehicle falls, the vehicle has a height change in the falling direction, the vehicle is detected for falling according to the height change speed and the height change condition of the vehicle. However, some vehicles do not have a horizontal height sensor (used to measure the height of the vehicle), so these vehicles cannot perform falling detection.

[0085] To this end, the present application provides a vehicle fall detection method, which is configured to determine whether a vehicle has a fall event according to the acceleration of the vehicle in a first direction, a second direction and a third direction, and / or the angular velocity of the vehicle in the first direction, the second direction and the third direction. The acceleration of the vehicle in the first direction, the second direction and the third direction, and the angular velocity of the vehicle in the first direction, the second direction and the third direction can be measured by an inertial measurement unit (IMU) arranged on the vehicle. It can be understood that a general vehicle is provided with an IMU, so the vehicle fall detection method of the present application can be applied to a large number of vehicles, thereby improving the universality of vehicle fall detection.

[0086] Figure 1 A schematic structural diagram of a vehicle-mounted device is provided in the present application, which comprises a data center unit and a vehicle information unit (VIU). The data center unit can be a mobile data center (MDC), which comprises a data cleaning unit. The data cleaning unit is configured to receive first information measured by an inertial measurement unit (including the acceleration of the vehicle in a first direction, a second direction and a third direction, and / or the angular velocity of the vehicle in the first direction, the second direction and the third direction), and clean the data. The data cleaning includes but is not limited to invalid data, completion, difference, filtering, slope limiting, so as to ensure the accuracy of subsequent vehicle fall detection. The vehicle information unit VIU comprises a fall detection unit. The fall detection unit is configured to determine whether the vehicle has a fall event according to the acceleration of the vehicle in the first direction, the second direction and the third direction, and / or the angular velocity of the vehicle in the first direction, the second direction and the third direction after data cleaning.

[0087] Figure 2 A flowchart of a vehicle fall detection method is provided in the present application. The flowchart is applied to the vehicle-mounted device shown in the above Figure 1 The vehicle-mounted device can be arranged on a vehicle for realizing intelligent driving. For example, the vehicle is provided with a driving system, such as an advanced driving system (ADS). Optionally, the level of the ADS installed on the vehicle can be at least one of the following: L2 (combined driving assistance), L3 (conditional automatic driving), L4 (high automatic driving) and L5 (complete automatic driving).

[0088] As shown in the above Figure 2 The method can comprise the following steps:

[0089] Step 201: obtaining first information, the first information comprising acceleration of the vehicle in a first direction, a second direction and a third direction, and / or angular velocity of the vehicle in the first direction, the second direction and the third direction.

[0090] In a possible implementation, the first information is measured by an IMU. The IMU is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of a target object. For example, the IMU generally includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometers are used to measure the acceleration signals of the target object in the independent three axes of the carrier coordinate system, and the gyroscopes are used to measure the angular velocity signals of the carrier relative to the navigation coordinate system. Therefore, the IMU can measure the angular velocity and acceleration of the target object (such as a vehicle) in a three-dimensional space.

[0091] It can be understood that the three-dimensional space can be calibrated according to a three-dimensional coordinate system, which can be a space rectangular coordinate system. In this process, the first direction, the second direction and the third direction are the directions of the three coordinate axes of the three-dimensional coordinate system respectively; for example, the first direction can be the direction of the x coordinate axis of the three-dimensional coordinate system, the second direction can be the direction of the y coordinate axis of the three-dimensional coordinate system, and the third direction can be the direction of the z coordinate axis of the three-dimensional coordinate system. Or, equivalent to the ground, the first direction and the second direction are horizontal directions, and the third direction is a vertical direction.

[0092] For example, the normal driving scene of the vehicle generally can include the following three scenes. In different scenes, the acceleration of the vehicle in the first direction, the second direction and the third direction, and the angular velocity of the vehicle in the first direction, the second direction and the third direction can be different.

[0093] Scene 1, vehicle horizontal driving scene. In this scene, it is assumed that the driving direction of the vehicle is not the first direction or the second direction, for example, the driving direction of the vehicle forms an angle of 45° with the first direction or the second direction. When the vehicle is driving at a constant speed, the acceleration of the vehicle in the first direction, the second direction and the third direction is 0. When the vehicle is accelerating, the acceleration of the vehicle in the first direction and the second direction is greater than 0, and the acceleration of the vehicle in the third direction is 0. In this scene, when the driving direction of the vehicle does not change, the angular velocity of the vehicle in the first direction, the second direction and the third direction is 0. When the driving direction of the vehicle changes, the angular velocity of the vehicle in the first direction and the second direction is 0, and the angular velocity of the vehicle in the third direction is not 0.

[0094] Scene 2, vehicle upward driving (such as uphill) scene.

[0095] Scene 3, vehicle downward driving (such as downhill) scene.

[0096] In the two scenarios, it is assumed that the angle between the driving direction of the vehicle and the first direction, the second direction, and the third direction is 45°. When the vehicle is uniformly driving, the acceleration of the vehicle in the first direction, the second direction, and the third direction is 0; when the vehicle is accelerating, the acceleration of the vehicle in the first direction, the second direction, and the third direction is greater than 0. When the driving direction of the vehicle does not change, the angular velocity of the vehicle in the first direction, the second direction, and the third direction is 0; when the driving direction of the vehicle changes, for example, the angle between the driving direction of the vehicle and the third direction changes (for example, from 45° to 30°), at this time, the angular velocity of the vehicle in the first direction and the second direction is 0, and the angular velocity of the vehicle in the third direction is not 0.

[0097] It can be understood that when the vehicle is normally driving, under acceleration, deceleration, turning, and the like, the acceleration of the vehicle in the first direction, the second direction, and the third direction, and the angular velocity of the vehicle in the first direction, the second direction, and the third direction are small or 0. Based on this, considering the rotation and rolling of the vehicle that may exist when the vehicle falls, in this case, the acceleration of the vehicle in the first direction, the second direction, and the third direction, or the angular velocity of the vehicle in the first direction, the second direction, and the third direction is large, so the vehicle can be detected for falling according to the acceleration of the vehicle in the first direction, the second direction, and the third direction, and / or the angular velocity of the vehicle in the first direction, the second direction, and the third direction. The specific detection manner is referred to step 202 described below.

[0098] Step 202: determining whether the vehicle has a falling event according to the first information.

[0099] In a possible implementation manner, before step 202 is performed, the obtained first information can be subjected to data cleaning, so as to ensure the accuracy of subsequent vehicle falling detection. The data cleaning includes but is not limited to invalid data elimination, completion, difference, filtering, and slope limiting, which are not limited in the present application.

[0100] In the flow, the data included in the first information can be in the following three cases:

[0101] Case 2.1: the first information only includes the acceleration of the vehicle in the first direction, the second direction, and the third direction;

[0102] Case 2.2: the first information only includes the angular velocity of the vehicle in the first direction, the second direction, and the third direction;

[0103] Case 2.3: the first information includes both the acceleration of the vehicle in the first direction, the second direction, and the third direction, and the angular velocity of the vehicle in the first direction, the second direction, and the third direction.

[0104] For case 2.1, whether the vehicle has a drop event can be determined only according to the acceleration of the vehicle in the first direction, the second direction and the third direction; for case 2.2, whether the vehicle has a drop event can be determined only according to the angular velocity of the vehicle in the first direction, the second direction and the third direction; for case 2.3, whether the vehicle has a drop event can be determined according to the acceleration of the vehicle in the first direction, the second direction and the third direction, or according to the angular velocity of the vehicle in the first direction, the second direction and the third direction, or according to the acceleration of the vehicle in the first direction, the second direction and the third direction and the angular velocity of the vehicle in the first direction, the second direction and the third direction.

[0105] In case 2.1 or case 2.3, whether the vehicle has a drop event can be determined according to the acceleration of the vehicle in the first direction, the second direction and the third direction, which can include the following two ways:

[0106] In way 2.1.1, if the acceleration of the vehicle in the first direction is greater than or equal to the acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to the acceleration threshold corresponding to the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to the acceleration threshold corresponding to the third direction, it is determined that the vehicle has a drop event; wherein the acceleration threshold corresponding to the first direction, the acceleration threshold corresponding to the second direction and the acceleration threshold corresponding to the third direction can be values preset according to experience, which are not limited in detail herein.

[0107] On the contrary, if the acceleration of the vehicle in the first direction is less than the acceleration threshold corresponding to the first direction, or the acceleration of the vehicle in the second direction is less than the acceleration threshold corresponding to the second direction, or the acceleration of the vehicle in the third direction is less than the acceleration threshold corresponding to the third direction, it is determined that the vehicle does not have a drop event.

[0108] In way 2.1.2, the combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction and the acceleration of the vehicle in the third direction is determined, based on which, if the combined acceleration is greater than or equal to a first threshold, it is determined that the vehicle has a drop event. The combined acceleration refers to the vector sum of the relative acceleration, the dependent acceleration and the Coriolis acceleration of the target object (such as the vehicle in the present application) in the compound motion. The combined acceleration is a known technical means in the art, and therefore will not be described in detail herein. For example, the sum acceleration is the sum of the acceleration in the first direction, the acceleration in the second direction and the acceleration in the third direction. The first threshold can be a value preset according to experience, which is not limited in detail herein.

[0109] On the contrary, if the combined acceleration is less than the first threshold, it is determined that the vehicle does not have a drop event.

[0110] In case 2.2 or case 2.3, determining whether the vehicle has a drop event according to the angular velocities of the vehicle in the first direction, the second direction and the third direction can include the following two manners:

[0111] Manner 2.2.1, if the angular velocity of the vehicle in the first direction is greater than or equal to the angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to the angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to the angular velocity threshold corresponding to the third direction, it is determined that the vehicle has a drop event; wherein the angular velocity threshold corresponding to the first direction, the angular velocity threshold corresponding to the second direction, and the angular velocity threshold corresponding to the third direction can be values preset according to experience, which are not specifically limited herein.

[0112] On the contrary, if the angular velocity of the vehicle in the first direction is less than the angular velocity threshold corresponding to the first direction, or the angular velocity of the vehicle in the second direction is less than the angular velocity threshold corresponding to the second direction, or the angular velocity of the vehicle in the third direction is less than the angular velocity threshold corresponding to the third direction, it is determined that the vehicle does not have a drop event.

[0113] Manner 2.2.2, the angle of the vehicle in the first direction is determined according to the angular velocity of the vehicle in the first direction, the angle of the vehicle in the second direction is determined according to the angular velocity of the vehicle in the second direction, and the angle of the vehicle in the third direction is determined according to the angular velocity of the vehicle in the third direction; based on this, if the angle of the vehicle in the first direction is greater than or equal to the angle threshold corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to the angle threshold corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to the angle threshold corresponding to the third direction, it is determined that the vehicle has a drop event. Wherein the angular velocity refers to the angle rotated by the target object in unit time, so according to the angular velocity and the angle of the vehicle at the previous moment of the current moment (the interval between the current moment and the previous moment can be unit time), the angle of the vehicle at the current moment can be determined. Therefore, for any direction (first direction, second direction, or third direction), the angle of the vehicle in the direction can be determined according to the angular velocity of the vehicle in the direction. The angle threshold corresponding to the first direction, the angle threshold corresponding to the second direction, and the angle threshold corresponding to the third direction can be values preset according to experience, which are not specifically limited herein.

[0114] On the contrary, if the angle of the vehicle in the first direction is less than the angle threshold corresponding to the first direction, or the angle of the vehicle in the second direction is less than the angle threshold corresponding to the second direction, or the angular velocity of the vehicle in the third direction is less than the angle threshold corresponding to the third direction, it is determined that the vehicle does not have a drop event.

[0115] Based on the above description, in case 2.3, determining whether the vehicle has a drop event according to the acceleration of the vehicle in the first direction, the second direction and the third direction, and the angular velocity of the vehicle in the first direction, the second direction and the third direction, can include the following four ways (i.e. the above-mentioned way 2.1.1, way 2.1.2 and way 2.2.1, way 2.2.2 are combined two by two to obtain the four ways):

[0116] Way 2.3.1, if the acceleration of the vehicle in the first direction is greater than or equal to the acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to the acceleration threshold corresponding to the second direction, the acceleration of the vehicle in the third direction is greater than or equal to the acceleration threshold corresponding to the third direction, the angular velocity of the vehicle in the first direction is greater than or equal to the angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to the angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to the angular velocity threshold corresponding to the third direction, that is, the acceleration of any direction is greater than or equal to the acceleration threshold corresponding to the direction, and the angular velocity of any direction is greater than or equal to the angular velocity threshold corresponding to the direction, it is determined that the vehicle has a drop event.

[0117] On the contrary, if the acceleration of the vehicle in the first direction is less than the acceleration threshold corresponding to the first direction, or the acceleration of the vehicle in the second direction is less than the acceleration threshold corresponding to the second direction, or the acceleration of the vehicle in the third direction is less than the acceleration threshold corresponding to the third direction, or the angular velocity of the vehicle in the first direction is less than the angular velocity threshold corresponding to the first direction, or the angular velocity of the vehicle in the second direction is less than the angular velocity threshold corresponding to the second direction, or the angular velocity of the vehicle in the third direction is less than the angular velocity threshold corresponding to the third direction, that is, the acceleration of any direction is less than the acceleration threshold corresponding to the direction, or the angular velocity of any direction is less than the angular velocity threshold corresponding to the direction, it is determined that the vehicle does not have a drop event.

[0118] Way 2.3.2, if the combined acceleration is greater than or equal to the first threshold, the angular velocity of the vehicle in the first direction is greater than or equal to the angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to the angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to the angular velocity threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0119] On the contrary, if the combined acceleration is less than the first threshold, or the angular velocity of the vehicle in the first direction is less than the angular velocity threshold corresponding to the first direction, or the angular velocity of the vehicle in the second direction is less than the angular velocity threshold corresponding to the second direction, or the angular velocity of the vehicle in the third direction is less than the angular velocity threshold corresponding to the third direction, it is determined that the vehicle does not have a drop event.

[0120] Manner 2.3.3, if the angle of the vehicle in the first direction is greater than or equal to the angle threshold corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to the angle threshold corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to the angle threshold corresponding to the third direction, the acceleration of the vehicle in the first direction is greater than or equal to the acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to the acceleration threshold corresponding to the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to the acceleration threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0121] On the contrary, if the angle of the vehicle in the first direction is less than the angle threshold corresponding to the first direction, or the angle of the vehicle in the second direction is less than the angle threshold corresponding to the second direction, or the angle of the vehicle in the third direction is less than the angle threshold corresponding to the third direction, or the acceleration of the vehicle in the first direction is less than the acceleration threshold corresponding to the first direction, or the acceleration of the vehicle in the second direction is less than the acceleration threshold corresponding to the second direction, or the acceleration of the vehicle in the third direction is less than the acceleration threshold corresponding to the third direction, it is determined that the vehicle does not have a drop event.

[0122] Manner 2.3.4, if the combined acceleration is greater than or equal to the first threshold, the angle of the vehicle in the first direction is greater than or equal to the angle threshold corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to the angle threshold corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to the angle threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0123] On the contrary, if the combined acceleration is less than the first threshold, or the angle of the vehicle in the first direction is less than the angle threshold corresponding to the first direction, or the angle of the vehicle in the second direction is less than the angle threshold corresponding to the second direction, or the angle of the vehicle in the third direction is less than the angle threshold corresponding to the third direction, it is determined that the vehicle does not have a drop event.

[0124] The present application takes into account that when the vehicle has a drop event, there may be a vehicle rotation, rolling and the like, which may cause the acceleration of the vehicle in the first direction, the second direction and the third direction, and the angular velocity of the vehicle in the first direction, the second direction and the third direction to be larger, so the vehicle is detected for drop according to the acceleration of the vehicle in the first direction, the second direction and the third direction (not generally the gravitational acceleration), and / or the angular velocity of the vehicle in the first direction, the second direction and the third direction, and the threshold corresponding to any direction (including the acceleration threshold and the angular velocity threshold), rather than the change in speed of the vehicle, which not only determines whether the vehicle has a drop event, but also ensures the accuracy of the vehicle drop detection.

[0125] In a possible implementation, in the case 2.1, the case 2.2, or the case 2.3, the first information can be directly input into the first model to obtain a detection result output by the first model. It can be understood that the detection result output by the first model is used to indicate that the vehicle has a falling event, or the detection result output by the first model is used to indicate that the vehicle does not have a falling event.

[0126] The first model can be a neural network model, a deep learning model, or a deep neural network model. For example, the first model can be a self-supervised model obtained by training a sample, or the first model can be a Transformer model. The first model can be a one-dimensional convolutional network structure. The training convergence target of the first model is the first information when the vehicle has a falling event, which can include the acceleration of the vehicle in the first direction, the second direction, and the third direction when the vehicle has a falling event, and / or the angular velocity of the vehicle in the first direction, the second direction, and the third direction when the vehicle has a falling event. The first model is used for falling detection of the vehicle, which can improve the efficiency of vehicle falling detection.

[0127] In a possible implementation, when it is determined that the vehicle has a falling event, the vehicle-mounted device broadcasts first indication information and performs an alarm. The broadcasting manner can include voice broadcast by a vehicle-mounted sound system, or uploading to a cloud, and the first indication information is used to indicate that the vehicle has a falling event, and the first indication information includes a position of the vehicle falling. The alarm can be understood as a distress call, and the alarm means can be preset by a user, for example, dialing an alarm phone, an emergency phone, or a phone number of an emergency contact person, to ensure the real-time performance of rescue for the falling event.

[0128] Optionally, the first indication information can further include personnel information (for example, owner information) in the vehicle falling, vehicle information (for example, a vehicle model and a license plate number) falling, a falling height of the vehicle falling, and environment information of the position of the vehicle falling. In this way, detailed information can be provided for rescue, and the success rate of rescue can be improved.

[0129] An example is shown in the following table. Figure 3 An application scenario provided in the present application is shown in the following table. Figure 1The data center unit and vehicle information unit shown also include a Cockpit Domain Controller (CDC). The data center unit includes a data cleaning unit, the vehicle information unit includes a drop detection unit and a collision avoidance control unit, and the CDC includes a drop event alarm unit and a drop event alert unit. Specifically, the inertial measurement unit is used to measure the first information of the first vehicle, the data cleaning unit is used to clean the first information, and the drop detection unit is used to implement the above-mentioned functions. Figure 2 The method described above utilizes vehicle-to-X (V2X) wireless communication technology in the T-BOX. Based on this, when the drop detection unit determines that a vehicle drop event has occurred, it can send a first indication message to the network device via the T-BOX and a first command to the drop event alarm unit. This first command is used to cause the drop event alarm unit to call for help. Optionally, when a vehicle drop event is determined, the avoidance control unit can perform preset avoidance control operations (such as tightening seat belts, clamping seats, and adjusting suspension stiffness and damping to the minimum). This allows the suspension to absorb the impact force generated during the drop to the maximum extent, securing the occupants in their seats and protecting their personal safety.

[0130] Similarly, when other vehicles (referred to as the second vehicle here for distinction from the first vehicle mentioned above) determine that a vehicle has fallen, the second vehicle will also send a first indication message to the network device. Based on this, the first vehicle can obtain a second indication message sent by the network device. This second indication message indicates the location of the vehicle that has fallen (such as the second vehicle here), and includes the location of the vehicle that fell. In this way, the first vehicle can know the location of the fall and thus take evasive action in advance. Combined with... Figure 3 , Figure 4 A flowchart illustrating a fall avoidance control method provided in this application is shown below. Figure 4 As shown, this method can be applied to a vehicle information unit. Further, steps 401-404 of this method are applied to a drop detection unit, and steps 405-407 of this method are applied to an obstacle avoidance control unit. The method includes the following steps:

[0131] Step 401: Receive second indication information, which is used to indicate the location of the second vehicle where the fall occurred.

[0132] Step 402: Based on the location of the second vehicle, determine whether the first vehicle (i.e., the vehicle itself) needs to give way. If it needs to give way, proceed to step 403; otherwise, return to step 401.

[0133] In this step, whether the first vehicle passes the location of the second vehicle can be determined according to the location of the first vehicle, and information such as the driving direction, target address, and driving route of the first vehicle. If the first vehicle passes the location of the second vehicle, it is determined that the first vehicle needs to avoid. If the first vehicle does not pass the location of the second vehicle, it is determined that the first vehicle does not need to avoid. The driving direction, target address, and driving route of the first vehicle can be obtained from a map application deployed on a terminal device used by a user in the first vehicle, which is not limited herein.

[0134] Optionally, when it is determined that the first vehicle needs to avoid, a second instruction (see Figure 3 ) can be sent to the falling event reminding unit. The second instruction is used to instruct to perform an avoiding reminding, so that the falling event reminding unit reminds the user (such as the driver) in the vehicle that a falling event has occurred in the vehicle in front, and needs to take timely avoiding measures. Exemplarily, the reminding manner includes but is not limited to: text reminding, voice reminding, steering wheel vibration reminding, and buzzer reminding.

[0135] In step 403, whether the first vehicle can avoid is determined according to the location of the second vehicle. If the first vehicle can avoid, step 404 is performed, otherwise step 405 is performed.

[0136] In this step, the distance between the second vehicle and the first vehicle can be determined according to the location of the second vehicle and the current location of the first vehicle. Then, whether the first vehicle can stop or avoid the location before reaching the location of the second vehicle can be determined according to the current driving speed of the first vehicle and the distance between the second vehicle and the first vehicle. If yes, it is determined that the first vehicle can avoid, otherwise it is determined that the first vehicle cannot avoid.

[0137] In step 404, whether the first vehicle can avoid by braking is determined according to the distance between the second vehicle and the first vehicle. If the first vehicle can avoid by braking, step 406 is performed, otherwise step 407 is performed.

[0138] In this step, whether the first vehicle can stop before reaching the location of the second vehicle is determined according to the current driving speed of the first vehicle and the distance between the second vehicle and the first vehicle. If yes, it is determined that the first vehicle can avoid by braking, otherwise it is determined that the first vehicle cannot avoid by braking.

[0139] In step 405, a preset avoiding control operation is performed.

[0140] The preset avoidance control operation in this step includes tightening the seat belt and clamping the seat, so as to fix the user in the vehicle on the seat and protect the personal safety of the user in the vehicle. It can also include adjusting the suspension stiffness and damping to the minimum, so as to maximize the suspension to absorb the impact force generated when falling, and further protect the personal safety of the user in the vehicle.

[0141] Step 406, brake the first vehicle, tighten the seat belt and clamp the seat.

[0142] In this step, a preset braking torque is applied to the first vehicle, so that the first vehicle can be braked (also known as emergency braking), so that the first vehicle can stop before reaching the position of the second vehicle, and in this process, the safety belt is tightened and the seat is clamped to protect the personal safety of the user in the vehicle.

[0143] Step 407, brake and steer the first vehicle, tighten the seat belt and clamp the seat.

[0144] In this step, considering the possibility that the position of the second vehicle is located in one lane (such as the outer lane) of multiple vehicles, when it is determined that the first vehicle cannot stop before reaching the position of the second vehicle by relying on braking, the first vehicle is not only braked but also steered, so that the first vehicle can travel to other lanes (such as the inner lane) before reaching the position of the second vehicle, and in this process, the safety belt is tightened and the seat is clamped to protect the personal safety of the user in the vehicle.

[0145] In order to further improve the accuracy of vehicle falling detection, Figure 5Another schematic structural diagram of a vehicle-mounted device is provided in the present application, which includes a data center unit and a vehicle information unit. The data center unit can be a mobile data center (MDC), which includes a data cleaning unit and an identification unit. The data cleaning unit is configured to receive first information measured by an inertial measurement unit and clean the data. The identification unit is configured to receive tire pressure measured by a tire pressure sensor (such as a tire pressure monitoring system (TPMS) sensor), and / or suspension height measured by a suspension sensor, and / or image collected by an image collection device (such as a visual sensor), and / or laser point cloud generated by a vehicle-mounted radar device (such as a laser radar, a millimeter wave radar, an ultrasonic radar), and generate environment information (i.e. environment information around the vehicle) according to the image and / or the laser point cloud. The tire pressure can be the tire pressure of all wheels (usually 4) of the vehicle, or the tire pressure of part of the wheels (such as front wheels) of the vehicle. Since the suspension is generally one-to-one corresponding to the wheel, the suspension height of the vehicle can be the suspension height corresponding to all wheels of the vehicle, or the suspension height corresponding to part of the wheels of the vehicle, which is not limited in the present application. Optionally, the identification unit can participate in subsequent drop detection by calculating the average value of the tire pressure of multiple wheels and the average value of the suspension height corresponding to multiple wheels.

[0146] Figure 6 Another schematic flow diagram of a vehicle drop detection method is provided in the present application. The flow is applied to the vehicle-mounted device shown in the above Figure 5 , or a module (such as a processor, a processing unit, a chip, a circuit, etc.) of the vehicle-mounted device, or a system corresponding to the vehicle-mounted device. The vehicle-mounted device can be arranged on a vehicle for realizing intelligent driving. For example, the vehicle is installed with a driving system, such as an advanced driving system (ADS). Optionally, the level of the ADS installed on the vehicle can be at least one of the following: L2 level (combined driving assistance), L3 level (conditional automatic driving), L4 level (high automatic driving), and L5 level (complete automatic driving).

[0147] As shown in Figure 6 , the method can include the following steps:

[0148] Step 601: obtaining first information and second information, the first information including acceleration and angular velocity of the vehicle in a first direction, a second direction and a third direction, and the second information including at least one of the following: tire pressure of the vehicle, suspension height of the vehicle, and environment information.

[0149] In the flow, the first information can refer to the description of step 201, and the present application will not be repeated here. The tire pressure of the vehicle can be the average value of the tire pressure of multiple wheels of the vehicle (all wheels or part of the wheels of the vehicle), and the suspension height of the vehicle can be the average value of the suspension height of multiple suspensions of the vehicle (all suspensions or part of the suspensions of the vehicle).

[0150] Step 602: According to the first information and the second information, it is determined whether the vehicle has a drop event.

[0151] In a possible implementation, before step 202 is performed, the obtained first information can be subjected to data cleaning (such as Figure 5 The data cleaning unit in the embodiment subjects the first information to data cleaning, and the second information can also be subjected to data cleaning (such as Figure 5 The recognition unit in the embodiment subjects the second information to data cleaning), so as to ensure the accuracy of subsequent vehicle drop detection. The data cleaning includes but is not limited to invalid data extraction, completion, difference, filtering, and slope limiting, which are not limited by the present application.

[0152] In a possible implementation, when it is determined that the first information meets the detection condition, the vehicle is determined to have a drop event according to the second information. The detection condition can refer to the mode 2.1.1 and the mode 2.1.2 corresponding to the case 2.1, the mode 2.2.1 and the mode 2.2.2 corresponding to the case 2.2, and the mode 2.3.1, the mode 2.3.2, the mode 2.3.3, and the mode 2.3.4 corresponding to the case 2.3 in step 202. That is, in step 202, if it is determined that the vehicle has a drop event according to the first information, the detection condition in the implementation is met. Exemplarily, the detection condition includes the following contents:

[0153] The acceleration of the vehicle in the first direction is greater than or equal to the acceleration threshold value corresponding to the first direction;

[0154] The acceleration of the vehicle in the second direction is greater than or equal to the acceleration threshold value corresponding to the second direction;

[0155] The acceleration of the vehicle in the third direction is greater than or equal to the acceleration threshold value corresponding to the third direction;

[0156] The angular velocity of the vehicle in the first direction is greater than or equal to the angular velocity threshold value corresponding to the first direction;

[0157] The angular velocity of the vehicle in the second direction is greater than or equal to the angular velocity threshold value corresponding to the second direction;

[0158] The angular velocity of the vehicle in the third direction is greater than or equal to the angular velocity threshold value corresponding to the third direction.

[0159] In the flow, the data included in the second information can be in the following 3 cases:

[0160] Case 6.1, the second information only includes the tire pressure of the vehicle, or the second information only includes the suspension height of the vehicle, or the second information only includes the environmental information.

[0161] Case 6.2, the second information includes the tire pressure of the vehicle and the suspension height of the vehicle, or the second information includes the tire pressure of the vehicle and the environmental information, or the second information includes the suspension height of the vehicle and the environmental information.

[0162] Case 6.3, the second information includes the tire pressure of the vehicle, the suspension height of the vehicle, and the environmental information.

[0163] For case 6.1, on the basis that the first information satisfies the above detection condition, if the tire pressure of the vehicle is greater than or equal to the pressure threshold, it is determined that the vehicle has a drop event; or, if the suspension height of the vehicle is less than or equal to the height threshold, it is determined that the vehicle has a drop event; or, if the similarity between the environmental information corresponding to the current time of the vehicle and the environmental information corresponding to the previous time of the vehicle at the current time is less than or equal to the second threshold, it is determined that the vehicle has a drop event. The pressure threshold, the height threshold, and the second threshold can be values preset according to experience, which are not limited in the present application. The similarity between the environmental information at the current time and the environmental information at the previous time can be calculated by cosine similarity, Euclidean distance, Manhattan distance, etc., such as calculating the similarity between the image at the current time and the image at the previous time.

[0164] For case 6.2, on the basis that the first information satisfies the above detection condition, if the tire pressure of the vehicle is greater than or equal to the pressure threshold, and the suspension height of the vehicle is less than or equal to the height threshold, it is determined that the vehicle has a drop event; or, if the tire pressure of the vehicle is greater than or equal to the pressure threshold, and the similarity between the environmental information corresponding to the current time of the vehicle and the environmental information corresponding to the previous time of the vehicle at the current time is less than or equal to the second threshold, it is determined that the vehicle has a drop event; or, if the suspension height of the vehicle is less than or equal to the height threshold, and the similarity between the environmental information corresponding to the current time of the vehicle and the environmental information corresponding to the previous time of the vehicle at the current time is less than or equal to the second threshold, it is determined that the vehicle has a drop event.

[0165] For case 6.3, on the basis that the first information satisfies the above detection condition, if the tire pressure of the vehicle is greater than or equal to the pressure threshold, the suspension height of the vehicle is less than or equal to the height threshold, and the similarity between the environmental information corresponding to the current time of the vehicle and the environmental information corresponding to the previous time of the vehicle at the current time is less than or equal to the second threshold, it is determined that the vehicle has a drop event.

[0166] On the contrary, on the basis that the first information satisfies the detection condition, if the tire pressure of the vehicle is less than the pressure threshold, it is determined that the vehicle does not have a drop event; or if the suspension height of the vehicle is greater than the height threshold, it is determined that the vehicle does not have a drop event; or if the similarity between the environment information corresponding to the current time of the vehicle and the environment information corresponding to the previous time of the vehicle at the current time is greater than the second threshold, it is determined that the vehicle does not have a drop event.

[0167] The present application considers that when the vehicle has a drop event, the tire pressure of the vehicle increases and the suspension height of the vehicle shortens when the vehicle lands. Therefore, on the basis that the first information satisfies the detection condition, the tire pressure and / or the suspension height can be used to further detect the drop of the vehicle, so as to ensure the accuracy of the drop detection of the vehicle. Similarly, considering that the environment information of adjacent two time periods changes greatly when the vehicle has a drop event, on the basis that the first information satisfies the detection condition, the similarity between the environment information of adjacent two time periods (including the current time) can be used to further detect the drop of the vehicle, so as to ensure the accuracy of the drop detection of the vehicle.

[0168] Optionally, the second information can also include vehicle auxiliary airbag information (or collision output signal). For example, on the basis that the first information satisfies the detection condition, if it is determined that the vehicle auxiliary airbag is in an open state (or the collision output signal indicates that a collision occurs), it is determined that the vehicle has a drop event. It can be seen that the possible situation of the vehicle drop can be used as a factor for vehicle drop detection, so as to ensure the accuracy of the vehicle drop detection.

[0169] In a possible implementation, the first information and the second information can be directly input into the second model to obtain the detection result output by the second model. It can be understood that the detection result output by the second model is used to indicate that the vehicle has a drop event, or the detection result output by the second model is used to indicate that the vehicle does not have a drop event.

[0170] The second model can be a neural network model, a deep learning model, or a deep neural network model. For example, the second model can be a self-supervised model trained using training samples, or it can be a Transformer model, or a one-dimensional convolutional network structure. The training convergence objective of this second model is the first information (which may include the acceleration in the first, second, and third directions, and / or the angular velocity in the first, second, and third directions) and the second information (which may include the tire pressure, suspension height, and / or environmental information at the time of the fall) and the similarity between the environmental information at the time of the fall and the environmental information at the moment preceding the fall. It can be understood that using the second model for vehicle fall detection improves the efficiency of vehicle fall detection.

[0171] In one possible implementation, upon determining that a vehicle has fallen, the onboard device broadcasts a first indication message and issues an alarm. This first indication message can be referenced from the above. Figure 2 The description of the method is not repeated here.

[0172] For example, Figure 7 A schematic diagram illustrating another application scenario provided in this application includes a vehicle (referred to herein as the first vehicle to distinguish it from other vehicles) and network equipment (such as a cloud storage unit). The vehicle includes an inertial measurement unit, tire pressure sensors, suspension sensors, an image acquisition device, vehicle-mounted radar equipment, an in-vehicle device, and a telematics box (T-BOX). The in-vehicle device includes... Figure 5 The data center unit and vehicle information unit shown also include a Cockpit Domain Controller (CDC). The data center unit includes a data cleaning unit and an identification unit, the vehicle information unit includes a drop detection unit and an avoidance control unit, and the CDC includes a drop event alarm unit and a drop event alert unit.

[0173] The functions of the inertial measurement unit, tire pressure sensor, suspension sensor, image acquisition device, and vehicle radar equipment can be referenced above. Figure 5 The description of the drop detection unit is omitted here. Figure 6The method described above utilizes vehicle-to-X (V2X) wireless communication technology in the T-BOX. Based on this, when the drop detection unit determines that a vehicle drop event has occurred, it can send a first indication message to the network device via the T-BOX and a first command to the drop event alarm unit. This first command is used to cause the drop event alarm unit to call for help. Optionally, when a vehicle drop event is determined, the avoidance control unit can perform preset avoidance control operations (such as tightening seat belts, clamping seats, and adjusting suspension stiffness and damping to the minimum). This allows the suspension to absorb the impact force generated during the drop to the maximum extent, securing the occupants in their seats and protecting their personal safety.

[0174] Similarly, when other vehicles (referred to as the second vehicle here for distinction from the first vehicle mentioned above) determine that a vehicle has fallen, they will also send a first indication message to the network device. Based on this, the first vehicle can obtain a second indication message sent by the network device. This second indication message indicates the location of the vehicle that has fallen (such as the second vehicle here), and includes the location of the vehicle that fell. In this way, the first vehicle can know the location of the fall and thus take evasive action in advance. For details, please refer to the above. Figure 4 The fall avoidance control method described herein will not be elaborated upon here.

[0175] Based on the above Figure 2 and Figure 6 This application describes in detail the vehicle drop detection method provided in this application. The following will combine... Figure 8 This application describes the apparatus provided for performing the above-described method.

[0176] Figure 8 This is a schematic diagram of the structure of an apparatus provided in this application. The apparatus 800 can be used to implement the above-described vehicle drop detection method, and therefore can also achieve the beneficial effects of the above-described method embodiments.

[0177] like Figure 8 As shown, the device 800 includes an acquisition module 810 and a processing module 820; in execution Figure 2 In the vehicle fall detection method, the acquisition module 810 is used to acquire first information, which includes the acceleration of the vehicle in a first direction, a second direction, and a third direction, and / or the angular velocity of the vehicle in the first direction, the second direction, and the third direction, where the first direction, the second direction, and the third direction are the three coordinate axes of a three-dimensional coordinate system; the processing module 820 is used to determine whether the vehicle has experienced a fall event based on the first information.

[0178] In a possible implementation, the processing module 820 is specifically configured to: if the acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0179] In a possible implementation, the processing module 820 is specifically configured to: determine a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction, and the acceleration of the vehicle in the third direction; and if the combined acceleration is greater than or equal to a first threshold, it is determined that the vehicle has a drop event.

[0180] In a possible implementation, the processing module 820 is specifically configured to: if the angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0181] In a possible implementation, the processing module 820 is specifically configured to: determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and if the angle of the vehicle in the first direction is greater than or equal to an angle threshold corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to an angle threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0182] In a possible implementation, the processing module 820 is specifically configured to: if the acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction, the acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction, the angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction, it is determined that the vehicle has a drop event.

[0183] In a possible implementation, the processing module 820 is specifically configured to: determine a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction, and the acceleration of the vehicle in the third direction; and determine that the vehicle has a falling event if the combined acceleration is greater than or equal to a first threshold value, the angular velocity of the vehicle in the first direction is greater than or equal to a corresponding angular velocity threshold value of the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to a corresponding angular velocity threshold value of the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to a corresponding angular velocity threshold value of the third direction.

[0184] In a possible implementation, the processing module 820 is specifically configured to: determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determine that the vehicle has a falling event if the angle of the vehicle in the first direction is greater than or equal to a corresponding angle threshold value of the first direction, the angle of the vehicle in the second direction is greater than or equal to a corresponding angle threshold value of the second direction, the angle of the vehicle in the third direction is greater than or equal to a corresponding angle threshold value of the third direction, the acceleration of the vehicle in the first direction is greater than or equal to a corresponding acceleration threshold value of the first direction, the acceleration of the vehicle in the second direction is greater than or equal to a corresponding acceleration threshold value of the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to a corresponding acceleration threshold value of the third direction.

[0185] In a possible implementation, the processing module 820 is specifically configured to: determine a combined acceleration of the acceleration of the vehicle in the first direction, the acceleration of the vehicle in the second direction, and the acceleration of the vehicle in the third direction; and determine an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determine an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determine an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; and determine that the vehicle has a falling event if the combined acceleration is greater than or equal to a first threshold value, the angle of the vehicle in the first direction is greater than or equal to a corresponding angle threshold value of the first direction, the angle of the vehicle in the second direction is greater than or equal to a corresponding angle threshold value of the second direction, and the angle of the vehicle in the third direction is greater than or equal to a corresponding angle threshold value of the third direction.

[0186] In a possible implementation, the processing module 820 is specifically configured to: input the first information into a first model to obtain a detection result output by the first model, the detection result output by the first model being used to indicate that the vehicle has a falling event, or the detection result output by the first model being used to indicate that the vehicle does not have a falling event; and wherein a training convergence target of the first model is the first information when the vehicle has a falling event.

[0187] In a possible implementation, the processing module 820 is further configured to: when it is determined that the vehicle has a falling event, broadcast first indication information and perform an alarm, the first indication information being used to indicate that the vehicle has a fall, and the first indication information including a position of the fall of the vehicle.

[0188] In the vehicle falling detection method, Figure 2 In the vehicle falling detection method, the obtaining module 810 is configured to: obtain first information and second information, the first information including acceleration and angular velocity of the vehicle in a first direction, a second direction and a third direction, the first direction, the second direction and the third direction being directions of three coordinate axes of a three-dimensional coordinate system, and the second information including at least one of the following: tire pressure of the vehicle, suspension height of the vehicle, and environmental information; and the processing module 820 is configured to: determine, according to the first information and the second information, whether the vehicle has a falling event.

[0189] In a possible implementation, the processing module 820 is specifically configured to: when it is determined that the first information satisfies a detection condition, determine, according to the second information, whether the vehicle has a falling event.

[0190] The detection condition includes:

[0191] The acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction;

[0192] The acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction;

[0193] The acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction;

[0194] The angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction;

[0195] The angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction;

[0196] The angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction.

[0197] In a possible implementation, the processing module 820 is specifically configured to: determine that the vehicle has the drop event if the tire pressure of the vehicle is greater than or equal to a pressure threshold.

[0198] In a possible implementation, the processing module 820 is specifically configured to: determine that the vehicle has the drop event if the suspension height of the vehicle is less than or equal to a height threshold.

[0199] In a possible implementation, the processing module is specifically configured to: determine that the vehicle has the drop event if a similarity between the environment information corresponding to the current moment of the vehicle and the environment information corresponding to a previous moment of the vehicle at the current moment is less than or equal to a second threshold.

[0200] In a possible implementation, the processing module 820 is specifically configured to: input the first information and the second information into a second model to obtain a detection result output by the second model, the detection result output by the second model being used to indicate that the vehicle has the drop event, or the detection result output by the second model being used to indicate that the vehicle does not have the drop event; and wherein a training convergence target of the second model is the first information and the second information when the vehicle has the drop event.

[0201] In a possible implementation, the processing module 820 is further configured to: broadcast first indication information and perform an alarm when it is determined that the vehicle has the drop event, the first indication information being used to indicate that the vehicle has the drop, and the first indication information including a position of the drop of the vehicle.

[0202] The acquisition module 810 and the processing module 820 can be implemented by software or by hardware. For example, the implementation of the acquisition module 810 is described below.

[0203] As an example of a software functional unit, the obtaining module 810 can include code running on a compute instance. The compute instance can include at least one of a physical host (computing device), a virtual machine, a container. Further, the compute instance can be one or more. For example, the obtaining module 810 can include code running on multiple hosts / virtual machines / containers. It should be noted that the multiple hosts / virtual machines / containers for running the code can be distributed in the same region, or in different regions. Further, the multiple hosts / virtual machines / containers for running the code can be distributed in the same availability zone (AZ), or in different AZs, each of which includes one data center or multiple data centers in close geographical proximity. Generally, one region can include multiple AZs.

[0204] Similarly, the multiple hosts / virtual machines / containers for running the code can be distributed in the same virtual private cloud (VPC), or in multiple VPCs. Generally, one VPC is set up in one region, and communication between two VPCs in the same region, or between VPCs in different regions, needs to be set up in each VPC to set up a communication gateway, and the interconnection between VPCs is realized through the communication gateway.

[0205] As an example of a hardware functional unit, the obtaining module 810 can include at least one computing device, such as a server, etc. Alternatively, the obtaining module 810 can also be a device implemented by a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or a programmable logic device (PLD), etc. The PLD can be implemented by a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), a data processing unit (DPU), a neural network processing unit (NPU), a system on chip (SoC), an offload card, an acceleration card, or any combination thereof.

[0206] The multiple computing devices included in the acquisition module 810 can be distributed in the same region or in different regions. Similarly, the multiple computing devices included in the acquisition module 810 can be distributed in the same Availability Zone (AZ) or in different AZs. Likewise, the multiple computing devices included in the acquisition module 810 can be distributed in the same Virtual Private Cloud (VPC) or in multiple VPCs. These multiple computing devices can be any combination of computing devices such as servers, ASICs, PLDs, CPLDs, FPGAs, GALs, DPUs, NPUs, SoCs, offloading cards, and accelerator cards.

[0207] Based on the above embodiments, this application also provides a device that can implement the methods in the above embodiments and has the functions of device 800. (See also...) Figure 9 As shown, the device 900 includes a transceiver 901, a processor 902, and a memory 903. The transceiver 901, the processor 902, and the memory 903 are interconnected.

[0208] Optionally, the transceiver 901, the processor 902, and the memory 903 are interconnected via a bus 904. The bus 904 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0209] The transceiver 901 is used to receive and send signals to enable communication with other devices.

[0210] The function of the processor 902 can be referred to the description in the above embodiments, and will not be repeated here.

[0211] The processor 902 can be a central processing unit (CPU), a network processor (NP), or a combination of the CPU and the NP, etc. The processor 902 can further include a hardware chip. The hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The processor 902 can be implemented by hardware, and can also execute corresponding software. The steps of the method disclosed in the embodiments of the present application can be directly embodied by the processor 902, or be embodied by a combination of hardware and software modules in the processor 902.

[0212] The memory 903 is configured to store program instructions and data, etc. Specifically, the program instructions can include program codes, and the program codes include computer operation instructions. The memory 903 can include a volatile memory such as a random access memory (RAM), and can also include a non-volatile memory such as at least one disk memory, a hard disk drive (HDD), or a solid state drive (SSD). The memory 903 can also be any other medium capable of carrying or storing program codes in the form of instructions or data structures and capable of being accessed by a computer, and the present application does not limit the memory 903. The processor 902 executes the program instructions stored in the memory 903 to implement the above functions, thereby implementing the method provided in the above embodiments.

[0213] Based on the above embodiments, the present application further provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a computer, the computer program causes the computer to execute the method provided in the above embodiments.

[0214] Optionally, the computer can include, but is not limited to, a terminal device, a network device, and other communication devices.

[0215] The storage medium can be any available medium that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

[0216] Based on the above embodiments, the present application further provides a chip for reading a computer program stored in a memory, and implementing the method provided in the above embodiments. Optionally, the chip can include a processor, which is coupled with the memory, and is configured to read the computer program stored in the memory, and implement the method provided in the above embodiments. Optionally, the chip can further include a memory, a communication interface, a power supply module, and the like. The memory is configured to store the computer program; the communication interface is configured to receive and send data; and the power supply unit is configured to supply power for the processor.

[0217] Based on the above embodiments, the present application provides a chip system, which includes a processor configured to support a computer device to implement the above embodiments. In a possible design, the chip system further includes a memory configured to store necessary programs and data of the computer device. The chip system can be composed of a chip, or include the chip and other discrete devices.

[0218] Those skilled in the art should understand that embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) containing computer-usable program code.

[0219] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems) and computer program products according to this application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and a combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The apparatus for implementing the functions specified in a flow or multiple flows and / or blocks.

[0220] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0221] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that are executed on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0222] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A vehicle drop detection method characterized by, The method is applied to a vehicle-mounted device, and the method comprises: obtaining first information, wherein the first information comprises accelerations of a vehicle in a first direction, a second direction and a third direction, and / or angular velocities of the vehicle in the first direction, the second direction and the third direction, wherein the first direction, the second direction and the third direction are directions of three coordinate axes of a three-dimensional coordinate system respectively; determining, according to the first information, whether a drop event of the vehicle occurs.

2. The method of claim 1, wherein, The determining, according to the first information, whether the drop event of the vehicle occurs comprises: if the acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction, it is determined that the drop event of the vehicle occurs. Alternatively, the determining, according to the first information, whether the drop event of the vehicle occurs comprises: determining a resultant acceleration of the vehicle in the first direction, the second direction and the third direction; if the resultant acceleration is greater than or equal to a first threshold, it is determined that the drop event of the vehicle occurs.

3. The method of claim 1, wherein, The determining, according to the first information, whether the drop event of the vehicle occurs comprises: if the angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction, it is determined that the drop event of the vehicle occurs. Alternatively, the determining, according to the first information, whether the drop event of the vehicle occurs comprises: determining an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; if the angle of the vehicle in the first direction is greater than or equal to an angle threshold corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to an angle threshold corresponding to the third direction, it is determined that the drop event of the vehicle occurs.

4. The method of claim 1, wherein, The determining, according to the first information, whether the drop event of the vehicle occurs comprises: If the acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction, the acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction, the angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction, it is determined that the vehicle has a drop event; Alternatively, the determining whether the vehicle has a drop event according to the first information comprises: determining a combined acceleration of the vehicle in the first direction, the second direction and the third direction; If the combined acceleration is greater than or equal to a first threshold, the angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold corresponding to the first direction, the angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold corresponding to the second direction, and the angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold corresponding to the third direction, it is determined that the vehicle has a drop event; Alternatively, the determining whether the vehicle has a drop event according to the first information comprises: determining an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determining an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determining an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; If the angle of the vehicle in the first direction is greater than or equal to an angle threshold corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold corresponding to the second direction, the angle of the vehicle in the third direction is greater than or equal to an angle threshold corresponding to the third direction, the acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold corresponding to the first direction, the acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold corresponding to the second direction, and the acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold corresponding to the third direction, it is determined that the vehicle has a drop event; Alternatively, the determining whether the vehicle has a drop event according to the first information comprises: determining a combined acceleration of the vehicle in the first direction, the second direction and the third direction; determining an angle of the vehicle in the first direction according to the angular velocity of the vehicle in the first direction, determining an angle of the vehicle in the second direction according to the angular velocity of the vehicle in the second direction, and determining an angle of the vehicle in the third direction according to the angular velocity of the vehicle in the third direction; If the combined acceleration is greater than or equal to a first threshold value, the angle of the vehicle in the first direction is greater than or equal to an angle threshold value corresponding to the first direction, the angle of the vehicle in the second direction is greater than or equal to an angle threshold value corresponding to the second direction, and the angle of the vehicle in the third direction is greater than or equal to an angle threshold value corresponding to the third direction, it is determined that the vehicle has a falling event.

5. The method of claim 1, wherein, The determining whether the vehicle has a falling event according to the first information comprises: inputting the first information into a first model to obtain a detection result output by the first model, the detection result output by the first model being used to indicate that the vehicle has a falling event or the detection result output by the first model being used to indicate that the vehicle does not have a falling event; wherein a training convergence target of the first model is the first information when the vehicle has a falling event.

6. The method according to any one of claims 1 to 5, wherein, The method further comprises: broadcasting first indication information and giving an alarm when it is determined that the vehicle has a falling event, the first indication information being used to indicate that the vehicle has a falling event, and the first indication information comprising a position of the falling of the vehicle.

7. A vehicle drop detection method characterized by, The method is applied to a vehicle-mounted device, and the method comprises: obtaining first information and second information, the first information comprising acceleration and angular velocity of a vehicle in a first direction, a second direction and a third direction, the first direction, the second direction and the third direction being three coordinate axis directions of a three-dimensional coordinate system, and the second information comprising at least one of the following: tire pressure of the vehicle, suspension height of the vehicle, and environmental information; determining whether the vehicle has a falling event according to the first information and the second information.

8. The method of claim 7, wherein, The determining whether the vehicle has a falling event according to the first information and the second information comprises: determining whether the vehicle has a falling event according to the second information when it is determined that the first information satisfies the following detection condition; The detection condition comprises: acceleration of the vehicle in the first direction is greater than or equal to an acceleration threshold value corresponding to the first direction; acceleration of the vehicle in the second direction is greater than or equal to an acceleration threshold value corresponding to the second direction; acceleration of the vehicle in the third direction is greater than or equal to an acceleration threshold value corresponding to the third direction; angular velocity of the vehicle in the first direction is greater than or equal to an angular velocity threshold value corresponding to the first direction; angular velocity of the vehicle in the second direction is greater than or equal to an angular velocity threshold value corresponding to the second direction; angular velocity of the vehicle in the third direction is greater than or equal to an angular velocity threshold value corresponding to the third direction.

9. The method of claim 8, wherein, The determining whether the vehicle has a falling event according to the second information comprises: if the tire pressure of the vehicle is greater than or equal to a pressure threshold value, it is determined that the vehicle has a falling event; or, the determining whether the vehicle has a falling event according to the second information comprises: if the suspension height of the vehicle is less than or equal to a height threshold value, it is determined that the vehicle has a falling event; or, the determining whether the vehicle has a falling event according to the second information comprises: If a similarity between the environment information corresponding to the current time of the vehicle and the environment information corresponding to a previous time of the vehicle at the current time is less than or equal to a second threshold, it is determined that the vehicle has a falling event.

10. The method of claim 7, wherein, The determining whether the first vehicle is in a falling state according to the first information and the second information includes: inputting the first information and the second information into a second model to obtain a detection result output by the second model, the detection result output by the second model being used to indicate that the vehicle has a falling event, or the detection result output by the second model being used to indicate that the vehicle does not have a falling event; The training convergence target of the second model is the first information and the second information when the vehicle has a falling event.

11. The method according to any one of claims 7 to 10, wherein, The method further includes: broadcasting first indication information and giving an alarm when it is determined that the vehicle has a falling event, the first indication information being used to indicate that the vehicle has a falling, and the first indication information including a position of the falling of the vehicle.

12. An apparatus, comprising: The device is arranged in a vehicle, and the device includes: an acquisition module configured to acquire first information, the first information including acceleration of the vehicle in a first direction, a second direction and a third direction, and / or angular velocity of the vehicle in the first direction, the second direction and the third direction, the first direction, the second direction and the third direction being three coordinate axes of a three-dimensional coordinate system respectively; a processing module configured to determine whether the vehicle has a falling event according to the first information.

13. An apparatus, comprising: The device is arranged in a vehicle, and the device includes: an acquisition module configured to acquire first information and second information, the first information including acceleration and angular velocity of the vehicle in a first direction, a second direction and a third direction, the first direction, the second direction and the third direction being three coordinate axes of a three-dimensional coordinate system respectively, and the second information including at least one of the following: tire pressure of the vehicle, suspension height of the vehicle, and environment information; a processing module configured to determine whether the vehicle has a falling event according to the first information and the second information.

14. An apparatus, comprising: comprise one or more processors and one or more memories, the one or more memories storing one or more computer programs including instructions that, when executed by the one or more processors, cause the device to perform the method of any one of claims 1-11. comprise an inertial measurement unit (IMU) configured to measure acceleration and angular velocity corresponding to the vehicle, and a device configured to perform the method of any one of claims 1-11.

15. A vehicle characterized by comprising: comprise a vehicle and a network device configured to perform the method of any one of claims 1-11.

16. A system, comprising: ​ ​ The network device is configured to receive first indication information sent by the vehicle, and send second indication information to other vehicles, the first indication information is used to indicate that the vehicle has a falling event, the first indication information comprises a position where the vehicle falls, and the second indication information is used to indicate the vehicle having the falling event, and the second indication information comprises a position where the vehicle having the falling event is located.

17. A non-transitory computer readable storage medium, comprising: The non-transitory computer readable storage medium comprises a program which, when executed on the apparatus, causes the apparatus to carry out the method of any one of claims 1-11.

18. A computer program product, characterised in that, The computer program product, when executed on the apparatus, causes the apparatus to carry out the method of any one of claims 1-11.

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