Driving Behavior Recognition Method, Device, Equipment and Storage Medium

Abstract

The present invention relates to the field of artificial intelligence, and discloses a driving behavior recognition method, device, equipment and storage medium. The driving behavior recognition method includes: obtaining a vibration signal wave of a vehicle, and judging whether the vehicle is in an operating state according to the vibration signal wave; if it is in an operating state, obtaining operating data according to a gyroscope and an acceleration sensor, and calculating an acceleration vector; according to the acceleration vector, judging whether an angle of displacement direction change exceeds an angle threshold within a first time interval, and judging whether an acceleration value exceeds an acceleration threshold within a second time interval; if the angle threshold and / or the acceleration threshold are exceeded, record it in a log and send out corresponding alarm information. In addition, the present invention also relates to blockchain technology, and the privacy information of users can be stored in the blockchain. In the present invention, compared with the solution of monitoring the operating state by the GPS system, the monitoring of the operating behavior of the vehicle is achieved with less power consumption and less private information.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence, and particularly to a driving behavior recognition method, device, equipment and storage medium. Background Art

[0002] With the continuous development of the economy and the increasing consumption capacity of families, cars, as household consumer goods, are entering thousands of households. As a driving tool, a car requires certain driving qualities, and each family needs to have sufficient driving qualities when obtaining a car. Although most drivers have received training in obtaining a driver's license, there are still many improper driving behaviors on the road. The large number of car drivers brings great difficulties to correction, and basically can only rely on large-scale publicity and the driver's self-awareness of improper driving behaviors.

[0003] Among the improper driving behaviors, the most important one is the frequent rapid acceleration and rapid deceleration during driving. Although most of the driving behaviors of rapid acceleration, rapid deceleration and sharp turning do not cause substantial harm, such driving behaviors have huge potential safety hazards. Sometimes, due to years of driving experience, the driver himself does not realize the harm of these driving behaviors. When the harm is realized, the accident has already occurred. There is a need for a tool that can remind individuals of their driving behaviors and improve driving behaviors. Generally speaking, GPS positioning is used to record driving behaviors, but GPS positioning involves personal privacy and consumes a large amount of power. Summary of the Invention

[0004] The main object of the present invention is to solve the technical problem that the power consumption of the mobile phone is too large when using the GPS system to identify the rapid acceleration and rapid deceleration behaviors of a car.

[0005] The first aspect of the present invention provides a driving behavior recognition method, including:

[0006] Obtain the vibration signal wave of the vehicle, and judge whether the vehicle is in a running state according to the vibration signal wave;

[0007] If the vehicle is in a running state, obtain the running data of the vehicle in the running state according to the preset gyroscope and the preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the running data;

[0008] According to the acceleration vector, judge whether the displacement direction change angle of the vehicle in the running state exceeds the preset angle threshold within the preset first time interval, and judge whether the acceleration value of the vehicle in the running state exceeds the preset acceleration threshold within the preset second time interval;

[0009] If the angle threshold and / or the acceleration threshold is exceeded, record the operating state of the vehicle exceeding the angle threshold and / or the acceleration threshold in a preset log and send a corresponding alarm message.

[0010] Optionally, in the first implementation manner of the first aspect of the present invention, determining whether the vehicle is in an operating state according to the vibration signal wave includes:

[0011] Decompose the vibration signal wave into a preset number of wave functions according to a preset wavelet basis function;

[0012] Process all the wave functions using a preset denoising algorithm to generate corresponding denoised wave functions;

[0013] Generate a denoised signal wave according to all the denoised wave functions;

[0014] Determine whether the vehicle is in an operating state according to the frequency and amplitude of the denoised signal wave.

[0015] Optionally, in the second implementation manner of the first aspect of the present invention, obtaining the operating data of the vehicle in the operating state according to a preset gyroscope and a preset acceleration sensor, and calculating the acceleration vector of the vehicle according to the operating data includes:

[0016] Obtain the rotation angle of the operating state in the preset gyroscope;

[0017] Obtain the displacement plane of the vehicle according to the rotation angle;

[0018] Obtain the sensed acceleration vector of the operating state in the preset acceleration sensor;

[0019] Obtain the acceleration vector of the vehicle on the displacement plane according to the displacement plane and the sensed acceleration vector.

[0020] Optionally, in the third implementation manner of the first aspect of the present invention, obtaining the sensed acceleration vector of the operating state in the preset acceleration sensor includes:

[0021] Obtain the axis acceleration values corresponding to three mutually perpendicular axes in the three-dimensional measurement axes in the preset acceleration sensor, and obtain the axis acceleration directions corresponding to the three axes;

[0022] Generate axis acceleration vectors corresponding to the three axes respectively according to the axis acceleration values corresponding to the three axes and the axis acceleration directions corresponding to the three axes;

[0023] According to the corresponding axis acceleration vector of the three axes and the preset vector synthesis rule, the sensing acceleration vector of the operating state is obtained.

[0024] Optionally, in the fourth implementation manner of the first aspect of the present invention, the determining whether the angle of change in the displacement direction of the vehicle in the operating state exceeds a preset angle threshold within a preset first time interval includes:

[0025] Obtain the initial displacement direction of the vehicle at the initial point of the preset first time interval, and obtain the acceleration vector of the vehicle at the initial point of the first time interval;

[0026] According to the acceleration vector, obtain the angle of change in the initial displacement direction within the first time interval;

[0027] According to the angle of change in the initial displacement direction, obtain the maximum angle of the angle of change, and determine whether the maximum angle exceeds a preset angle threshold.

[0028] Optionally, in the fifth implementation manner of the first aspect of the present invention, the obtaining the initial displacement direction of the vehicle at the initial point of the preset first time interval includes:

[0029] Control the gyroscope to be in a horizontal damping state to correct the error of the gyroscope;

[0030] Control the gyroscope to be in an undamped state to obtain the initial displacement direction of the vehicle at the initial point of the first time interval.

[0031] Optionally, in the sixth implementation manner of the first aspect of the present invention, the determining whether the acceleration value of the vehicle in the operating state exceeds a preset acceleration threshold within a preset second time interval includes:

[0032] Calculate the rate-of-change function of the acceleration value of the vehicle in the operating state within the preset second time interval;

[0033] Determine whether the value of the rate-of-change function within the second time interval exceeds a preset rate-of-change threshold;

[0034] If so, determine whether the acceleration value within the second time interval exceeds a preset acceleration threshold.

[0035] The second aspect of the present invention provides a driving behavior recognition device, including:

[0036] An acquisition module, configured to acquire a vibration signal wave of a vehicle, and determine whether the vehicle is in an operating state according to the vibration signal wave;

[0037] A vector operation module, configured to, if the vehicle is in an operating state, obtain the operating data of the vehicle in the operating state according to a preset gyroscope and a preset acceleration sensor, and calculate an acceleration vector of the vehicle according to the operating data;

[0038] A judgment module, configured to judge whether an angle change of a displacement direction of the vehicle in the operating state exceeds a preset angle threshold within a preset first time interval according to the acceleration vector, and judge whether an acceleration value of the vehicle in the operating state exceeds a preset acceleration threshold within a preset second time interval;

[0039] A recording module, configured to, if the angle threshold and / or the acceleration threshold is exceeded, record the operating state of the vehicle exceeding the angle threshold and / or the acceleration threshold in a preset log and send a corresponding alarm message.

[0040] Optionally, in the first implementation manner of the second aspect of the present invention, the obtaining module is specifically configured to:

[0041] Decompose the vibration signal wave into a preset number of wave functions according to a preset wavelet basis function;

[0042] Process all the wave functions using a preset denoising algorithm to generate corresponding denoised wave functions;

[0043] Generate a denoised signal wave according to all the denoised wave functions;

[0044] Judge whether the vehicle is in an operating state according to the frequency and amplitude of the denoised signal wave.

[0045] Optionally, in the second implementation manner of the second aspect of the present invention, the vector operation module is specifically configured to:

[0046] Obtain a rotation angle of the operating state in a preset gyroscope;

[0047] Obtain a displacement plane of the vehicle according to the rotation angle;

[0048] Obtain a sensed acceleration vector of the operating state in a preset acceleration sensor;

[0049] Obtain an acceleration vector of the vehicle on the displacement plane according to the displacement plane and the sensed acceleration vector.

[0050] Optionally, in the third implementation manner of the second aspect of the present invention, the vector operation module is further specifically configured to:

[0051] Obtain the axis acceleration values corresponding to three mutually perpendicular axes among the three-dimensional measurement axes in the preset acceleration sensor, and obtain the axis acceleration directions corresponding to the three axes;

[0052] Generate axis acceleration vectors corresponding to the three axes respectively according to the axis acceleration values corresponding to the three axes and the axis acceleration directions corresponding to the three axes;

[0053] Obtain the sensing acceleration vector of the operating state according to the axis acceleration vectors corresponding to the three axes and the preset vector synthesis rule.

[0054] Optionally, in the fourth implementation manner of the second aspect of the present invention, the judgment module further includes a first judgment unit, and the first judgment unit is specifically used for:

[0055] Obtain the initial displacement direction of the vehicle at the initial point of the preset first time interval, and obtain the acceleration vector of the vehicle at the initial point of the first time interval;

[0056] Obtain the change angle of the initial displacement direction in the first time interval according to the acceleration vector;

[0057] Obtain the maximum angle of the change angle according to the change angle of the initial displacement direction, and judge whether the maximum angle exceeds the preset angle threshold.

[0058] Optionally, in the fifth implementation manner of the second aspect of the present invention, the first judgment unit is further specifically used for:

[0059] Control the gyroscope to be in a horizontal damping state to correct the error of the gyroscope;

[0060] Control the gyroscope to be in an undamped state to obtain the initial displacement direction of the vehicle at the initial point of the first time interval.

[0061] Optionally, in the sixth implementation manner of the second aspect of the present invention, the judgment module further includes a second judgment unit, and the second judgment unit is specifically used for:

[0062] Calculate the change rate function of the acceleration value of the vehicle in the operating state within the preset second time interval;

[0063] Judge whether the value of the change rate function exceeds the preset change rate threshold within the second time interval;

[0064] If so, judge whether the acceleration value exceeds the preset acceleration threshold within the second time interval.

[0065] In a third aspect of the present invention, a driving behavior recognition device is provided, including: a memory and at least one processor, wherein instructions are stored in the memory, and the memory and the at least one processor are interconnected through a line; the at least one processor invokes the instructions in the memory to enable the driving behavior recognition device to execute the above-mentioned driving behavior recognition method.

[0066] In a fourth aspect of the present invention, a computer-readable storage medium is provided, in which instructions are stored, and when it runs on a computer, it enables the computer to execute the above-mentioned driving behavior recognition method.

[0067] In the technical solution provided by the present invention, a vibration signal wave of a vehicle is acquired, and it is determined whether the vehicle is in an operating state according to the vibration signal wave; if it is in an operating state, operating data is acquired according to a gyroscope and an acceleration sensor, and an acceleration vector is calculated; according to the acceleration vector, it is determined whether the angle of change in the displacement direction exceeds an angle threshold within a first time interval, and it is determined whether the acceleration value exceeds an acceleration threshold within a second time interval; if the angle threshold and / or the acceleration threshold is exceeded, it is recorded in a log and corresponding alarm information is issued. In the embodiments of the present invention, the beneficial effect of the present invention is that the operation of the vehicle is monitored without using a GPS positioning system, the driving behavior is reminded by using the alarm information and recorded in the terminal, and the operation behavior of the vehicle is monitored with less power consumption and less acquisition of private information records. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 It is a schematic diagram of the first embodiment of the driving behavior recognition method in the embodiments of the present invention;

[0069] Figure 2 It is a schematic diagram of the second embodiment of the driving behavior recognition method in the embodiments of the present invention;

[0070] Figure 3 It is a schematic diagram of the third embodiment of the driving behavior recognition method in the embodiments of the present invention;

[0071] Figure 4 It is a schematic diagram of the fourth embodiment of the driving behavior recognition method in the embodiments of the present invention;

[0072] Figure 5 It is a schematic diagram of the fifth embodiment of the driving behavior recognition method in the embodiments of the present invention;

[0073] Figure 6 It is a schematic diagram of an embodiment of the driving behavior recognition device in the embodiments of the present invention;

[0074] Figure 7 It is a schematic diagram of another embodiment of the driving behavior recognition device in the embodiments of the present invention;

[0075] Figure 8 This is a schematic diagram of an embodiment of the driving behavior recognition device in the embodiments of the present invention. Detailed implementation manners

[0076] The embodiments of the present invention provide a driving behavior recognition method, device, equipment and storage medium. In the technical solution provided by the present invention, a vibration signal wave of a vehicle is acquired, and it is determined whether the vehicle is in an operating state according to the vibration signal wave; if it is in an operating state, operating data is acquired according to a gyroscope and an acceleration sensor, and an acceleration vector is calculated; according to the acceleration vector, it is determined whether an angle change of a displacement direction exceeds an angle threshold within a first time interval, and it is determined whether an acceleration value exceeds an acceleration threshold within a second time interval; if the angle threshold and / or the acceleration threshold is exceeded, it is recorded in a log and corresponding alarm information is sent out. In the embodiments of the present invention, the beneficial effect of the present invention is that the operation of the vehicle is monitored without using a GPS positioning system, the driving behavior is reminded by using the alarm information and recorded in a terminal, and the monitoring of the operation behavior of the vehicle is obtained with less power consumption and less private information recording.

[0077] Terms such as "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0078] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to Figure 1 , the first embodiment of the driving behavior recognition method in the embodiments of the present invention includes:

[0079] 101. Acquire a vibration signal wave of a vehicle, and determine whether the vehicle is in an operating state according to the vibration signal wave;

[0080] In this embodiment, when acquiring the vibration signal wave, a clustering algorithm is used to collect the amplitude and frequency of the state of the vehicle at rest, and the clustering centers of different data are obtained. Then, the amplitude and frequency of the vehicle during movement are collected, and new clustering centers are formed for different data. For example, using the distance formula of the average clustering distance:

[0081]

[0082] Let the objective function obtain the minimum value under the constraint conditions to obtain and The expression of, where represents the i-th cluster center of the minority class sample set Y t of, is the fuzzy classification matrix and represents the membership degree of different samples to the cluster center, is the distance from different samples to different cluster centers, m ∈ [1, +∞] is the weighting exponent, k, i, t, q belong to positive integers, The corresponding first expression is:

[0083]

[0084] The corresponding second expression is:

[0085]

[0086] represents the membership degree of different samples to different cluster centers, is the cluster center. There are many ways to obtain the cluster center. Generally, common ones include the K-MEANS clustering algorithm, the mean shift clustering algorithm, the DBSCAN clustering algorithm, the expectation maximization (EM) clustering using the Gaussian mixture model (GMM), and the hierarchical clustering algorithm. After finally training the data, a data judgment model is obtained. After obtaining the vibration signal wave, the forest algorithm is used to classify and process the data to judge whether the vehicle is in a running state.

[0087] 102. If the vehicle is in a running state, obtain the running data of the vehicle in the running state according to the preset gyroscope and the preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the running data;

[0088] In this embodiment, when obtaining the running data of the running state, the "accelerometer" sensor can be used to obtain the acceleration generated by inertia under Newton's second law. However, during the running that generates inertia, there may be some road obstacles that affect data acquisition. Therefore, when obtaining, statistics will be performed to use variance and expectation to judge whether the acceleration is caused by fluctuations similar to stones on the road. If the fluctuation is less than 10% within the specified time and the variance is greater than 0.11, it is considered that the data is interfered by the road conditions at this time, and the data will be discarded, and then re-obtained and the displacement direction and the acceleration in the displacement direction will be calculated again.

[0089] 103. Determine whether the displacement direction change angle of the vehicle during the preset first time interval when the vehicle is in the running state exceeds a preset angle threshold according to the acceleration vector, and determine whether the acceleration value of the vehicle during the preset second time interval when the vehicle is in the running state exceeds a preset acceleration threshold;

[0090] In this embodiment, the displacement direction changes when it is inconsistent with the acceleration direction. The angle threshold is an angle value (for example: 60 degrees), which is preset in the system. When the angle obtained by the sensor exceeds 60 degrees within the time interval, the subsequent program can be triggered to record that the angle deflects too much within the specified time. For example: the acceleration is fixed at 10 m / s^2 in the east direction, and the speed is 30 m / s in the north direction. After 4 s, the speed will become 53 degrees north by east. When the acceleration changes to 10 m / s^2 in the west direction, the speed will change back to 30 m / s in the north direction. If we look at it at this time, we will find that the angle of the speed has not changed. However, in fact, during this process, the maximum deflection angle of the speed is 53 degrees. Therefore, when judging the change of the displacement angle, it is judged that the maximum deflection angle of the entire speed within the first time interval is 53 degrees.

[0091] 104. If the angle threshold and / or the acceleration threshold are exceeded, record the running state in which the vehicle exceeds the angle threshold and / or the acceleration threshold in a preset log and send a corresponding alarm message.

[0092] In this embodiment, "2019.10.30 19:10, the maximum value of the displacement angle change is 96 degrees, determination: sharp turn, change time: 1.5 seconds" will be recorded in the memory, and at the same time, a warning will be issued that the turning angle is too large. Among them, the alarm message can directly be the voice message "Hello, your turning angle is too large. Please pay attention to steering safety.", or it can be sent to the liquid crystal display screen of the driving car to remind the driver to pay attention to safe driving. In this embodiment, the event record can be "2019.10.30 19:10, acceleration 30 m / s^2, determination: excessive acceleration". The alarm message can directly be the voice message "Hello, your car is accelerating too fast. Please pay attention to driving safety." or it can be sent to the liquid crystal display screen of the driving car to remind the driver to pay attention to safe driving.

[0093] The beneficial effect of the present invention is that it monitors the operation of the vehicle without using a GPS positioning system, uses an alarm message to remind the driving behavior and records it in the terminal, and obtains the monitoring of the operation behavior of the vehicle with less power consumption and less private information recorded.

[0094] Please refer to Figure 2 , the second embodiment of the driving behavior recognition method in the embodiment of the present invention includes:

[0095] 201. Obtain the vibration signal wave of the vehicle, and decompose the vibration signal wave into a preset number of wave functions according to the preset wavelet basis function;

[0096] In this embodiment, the wavelet basis functions that can be used are: some wavelet basis functions such as Haar, Daubechies, Biorthogonal, Coiflets, Symlets, etc., and the obtained vibration signal wave is decomposed into several different wave functions. Generally, wavelet denoising can decompose the wave function into 3, 4, 5, 7, 9 functions. The support intervals of the wavelet functions Ψ(t), Ψ(ω), the scaling function and are the lengths when Ψ(t), Ψ(ω), and converge from a finite value to 0 as time or frequency approaches infinity. In another embodiment, select the signal: f = 5*sin(2*pi*t / 800)*sin(2*pi*t / 240), add a white noise to f so that y = f + 0.5 + random(1, 2048). Select the wavelet basis function for decomposition and determine the decomposition level, calculate the wavelet coefficients of the signal at each layer, and perform zeroing processing on the wavelet coefficients according to the set threshold. Retain the high-amplitude low-frequency functions in the decomposed wavelet functions, then zero the high-frequency low-amplitude data, and finally denoise the y function to y = f + 0.5.

[0097] 202. Process all the wave functions using a preset denoising algorithm to generate corresponding denoised wave functions;

[0098] In this embodiment, when denoising, the indicators of root mean square error, signal-to-noise ratio, correlation coefficient, and smoothness can be fused to determine the optimal decomposition level. The root mean square error, signal-to-noise ratio, and smoothness of different denoising levels can be listed for comparison. For example, in terms of smoothness, the data of levels 3, 4, 5, 6, 7, 8, and 9 are 0.0213, 0.02501, 0.03524, 0.03561, 0.05113, 0.0489, and 0.04235 respectively. It can be judged that the smoothness level of 7 is the best, so the decomposition of level 7 is selected for denoising. In another embodiment, weights are assigned to the rankings of root mean square error, signal-to-noise ratio, correlation coefficient, and smoothness for ranking. For example, the ranking matrices of root error, signal-to-noise ratio, correlation coefficient, and smoothness of levels 3, 4, 5, 6, 7, 8, and 9 are (1, 2, 3, 2), (2, 1, 2, 1), (3, 3, 1, 3), (4, 4, 4, 4), (5, 5, 5, 5), (6, 6, 6, 6), (7, 7, 7, 7), and the weights of root error, signal-to-noise ratio, correlation coefficient, and smoothness are 0.7, 0.1, 0.1, and 0.1 respectively. Thus, the comprehensive rankings are 1.3, 1.8, 2.8, 4, 5, 6, and 7 respectively. Therefore, it is concluded that the ranking of level 3 is higher, and the denoising method of level 3 is selected.

[0099] 203. Generate a denoised signal wave according to all the denoised wave functions;

[0100] In this embodiment, several functions of the denoised wave function are merged into a denoised signal wave in sequence according to time. For example, g(x) is in (0, 1), and f(x) is in (1, 3). The synthesized denoised signal wave can be that when x is in (0, 1), H(x) = g(x), and when x is in (1, 3), H(x) = f(x).

[0101] 204. Judge whether the vehicle is in a running state according to the frequency and amplitude of the denoised signal wave;

[0102] In this embodiment, the forest algorithm is used to classify whether the frequency and amplitude of the signal wave exceed the state. For example, "500mm, 30HZ" is the frequency and amplitude of the vehicle in the stationary state, and the frequency and amplitude after denoising are "400mm, 26HZ", then it is judged that the frequency and amplitude after denoising are the frequency and amplitude of the vehicle in the stationary state.

[0103] 205. If the vehicle is in a running state, obtain the running data of the vehicle in the running state according to the preset gyroscope and preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the running data;

[0104] 206. Determine whether the angle of change in the displacement direction of the vehicle during the preset first time interval when the vehicle is in the running state exceeds a preset angle threshold according to the acceleration vector, and determine whether the acceleration value of the vehicle during the preset second time interval when the vehicle is in the running state exceeds a preset acceleration threshold;

[0105] 207. If it exceeds the angle threshold and / or the acceleration threshold, record the running state of the vehicle exceeding the angle threshold and / or the acceleration threshold in a preset log and send a corresponding alarm message.

[0106] The beneficial effect of the present invention is that without using a GPS positioning system to monitor the operation of a vehicle, using an alarm message to remind the driving behavior and record it in the terminal, obtaining the monitoring of the running behavior of the vehicle with less power consumption and obtaining less private information records.

[0107] Please refer to Figure 3 , the third embodiment of the driving behavior recognition method in the embodiment of the present invention includes:

[0108] 301. Obtain the vibration signal wave of the vehicle, and determine whether the vehicle is in the running state according to the vibration signal wave;

[0109] 302. If the vehicle is in the running state, obtain the rotation angle of the preset gyroscope in the running state;

[0110] In this embodiment, the gyroscope and the accelerometer use the same axis, for example, both use a three-axis rotation axis, and measure the selection angle data of the x, y, and z axes. The z axis is in the same direction as the gravitational acceleration. If the rotation angles obtained for the x axis, y axis, and z axis are 0 degrees, 0 degrees, and 56 degrees respectively, it means that only the acceleration rotates around the z axis, and the direction change of the acceleration can be obtained.

[0111] 303. Obtain the displacement plane of the vehicle according to the rotation angle;

[0112] In this embodiment, if the rotation angles obtained for the x axis, y axis, and z axis are 0 degrees, 0 degrees, and 56 degrees respectively, it can be known that the displacement plane of the vehicle is the plane perpendicular to the z axis. And the entire vehicle rotates by an angle of 56 degrees along this axis.

[0113] 304. Obtain the sensing acceleration vector of the preset acceleration sensor in the running state;

[0114] In this embodiment, an "accelerometer" is used to obtain forces in various directions, convert these forces into electrical signals, collect the magnitudes and directions of these forces, and then know the mass of the sphere in the accelerometer. According to Newton's second theorem, the magnitudes and directions of the accelerations are combined, and finally an acceleration of all resultant forces is obtained. After some accelerations cancel each other out, the projection of the acceleration on the horizontal plane is obtained. On the x-axis, y-axis, and z-axis, acceleration data along the positive or negative directions of the x-axis, y-axis, and z-axis can be measured, where positive data indicates along the positive direction and negative data indicates along the negative direction.

[0115] 305. Obtain the axis acceleration values corresponding to three mutually perpendicular axes among the three-dimensional measurement axes in the preset acceleration sensor, and obtain the axis acceleration directions corresponding to the three axes;

[0116] In this embodiment, the collected data includes X-axis data, Y-axis data, and Z-axis data. Then, the rotation angles of each direction axis are obtained and combined with the measured corresponding acceleration values for analysis. Finally, the vectors of the accelerations in the three-axis directions are obtained.

[0117] 306. According to the axis acceleration values corresponding to the three axes and the axis acceleration directions corresponding to the three axes, respectively generate the axis acceleration vectors corresponding to the three axes;

[0118] In this embodiment, since the accelerations of the X, Y, and Z axes have magnitudes and rotation angles, the accelerations of the three axes are not on the X, Y, and Z axes. After rotation, the cosine theorem can be used to obtain the magnitude and direction of the combined acceleration. In one embodiment, the first measurement data and the second measurement data are obtained within an extreme time, and the change ratio between the acceleration magnitudes in the first measurement data and the second measurement data is compared. If it is determined that the change ratio is within 20%, it is considered that there is no external interference and correct acceleration data is obtained.

[0119] 307. According to the axis acceleration vectors corresponding to the three axes and the preset vector synthesis rule, obtain the sensing acceleration vector of the operating state;

[0120] In this embodiment, the vector merging rule is used to merge the accelerations by a computer. When using a multi-sensor accelerometer, force data is obtained from various directions, and then the accelerations in various directions are calculated. The accelerations in different directions on the same straight line are cancelled out and finally merged to obtain the combined acceleration. In another embodiment, a correction matrix is used to adjust the data, and the correction matrix is directly used to correct the measurement data of the three-axis accelerometer to obtain the acceleration on the horizontal plane.

[0121] 308. According to the displacement plane and the sensing acceleration vector, obtain the acceleration vector of the vehicle on the displacement plane;

[0122] In this embodiment, a triaxial accelerometer measures data, and the collected data includes first X-axis data, first Y-axis data, and first Z-axis data. When the triaxial data is collected, the formula: F(a, b, c) = a 2 +b 2 +c 2 is used, where F(a, b, c) is the force in the measured data, a is the force measured on the X-axis, b is the force measured on the Y-axis, and c is the force measured on the Z-axis. Calculate the magnitude of the force of the first measurement data, and where θ1 is the angle between the force of the first measurement data and the x-axis.

[0123] 309. According to the acceleration vector, determine whether the displacement direction change angle of the vehicle during the preset first time interval when it is in the running state exceeds a preset angle threshold, and determine whether the acceleration value of the vehicle during the preset second time interval when it is in the running state exceeds a preset acceleration threshold;

[0124] 310. If it exceeds the angle threshold and / or the acceleration threshold, record the running state of the vehicle exceeding the angle threshold and / or the acceleration threshold in a preset log and send a corresponding alarm message.

[0125] The beneficial effect of the present invention is that it monitors the running of the vehicle without using a GPS positioning system, reminds the driving behavior with an alarm message and records it in the terminal, and obtains the monitoring of the running behavior of the vehicle with less power consumption and less private information recording.

[0126] Please refer to Figure 4 , the fourth embodiment of the driving behavior recognition method in the embodiment of the present invention includes:

[0127] 401. Obtain the vibration signal wave of the vehicle, and determine whether the vehicle is in a running state according to the vibration signal wave;

[0128] 402. If the vehicle is in a running state, obtain the running data of the vehicle in the running state according to a preset gyroscope and a preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the running data;

[0129] 403. Control the gyroscope to be in a horizontal damping state to correct the error of the gyroscope;

[0130] In this embodiment, after the gyroscope is in the horizontal damping state, the position of the vehicle can be determined using the interaction information between the mobile phone signal and the base station, and after the gyroscope obtains horizontal damping, the horizontal plane is determined using the interaction information between the mobile phone and the base station to correct the error of the gyroscope.

[0131] 404. Control the gyroscope to be in an undamped state to obtain the initial displacement direction of the vehicle at the initial point of the first time interval.

[0132] In this embodiment, after calibrating the gyroscope, the gyroscope is placed in an undamped state. The gyroscope is on the initial horizontal plane. However, due to inertia, the gyroscope drifts and finally calculates the initial displacement direction. The initial displacement direction is obtained by integrating the stationary state. In another embodiment, the mobile phone is connected to the satellite, and the difference in data and distance at intervals of time is used to calculate the magnitude of the speed.

[0133] 405. Obtain the acceleration vector of the vehicle at the initial point of the first time interval.

[0134] In this embodiment, the acceleration vector at the initial point can be directly obtained by the acceleration sensor, and the corresponding data on the x, y, and z axes are obtained to get the acceleration vector.

[0135] 406. According to the acceleration vector, obtain the change angle of the initial displacement direction in the first time interval.

[0136] In this embodiment, the acceleration changes continuously and acts on the initial displacement, and continuous integral calculation is performed to calculate the displacement direction. This is the relational expression between acceleration and velocity, where dv is the differential of velocity, dt is the differential of time, and a(t) is the function of acceleration with respect to time t. Then, integration is performed on the displacement direction and velocity magnitude. Where V(t) is the function of velocity with respect to time, v0 is the initial acceleration, t is the time, and a(t) is the function of acceleration with respect to time t. According to this calculation formula, the direction and magnitude of the displacement are obtained.

[0137] 407. According to the change angle of the initial displacement direction, obtain the maximum angle of the change angle, and determine whether the maximum angle exceeds a preset angle threshold.

[0138] In this embodiment, the magnitude of the angle of each displacement is recorded. For example, the time interval for each record is 0.8 seconds in the first time interval. Among 8 time intervals, taking the clockwise direction as the positive direction, the angles and changes are: +100 degrees, -100 degrees, +360 degrees, -360 degrees, +50 degrees, -50 degrees, +720 degrees, +20 degrees. Then, it can be known that the maximum offset angle is 740 degrees. If the set angle threshold is 1050 degrees, it means that the maximum offset angle does not exceed the angle threshold.

[0139] 408. Determine whether the acceleration value of the vehicle in the preset second time interval when it is in the running state exceeds the preset acceleration threshold;

[0140] 409. If it exceeds the angle threshold and / or the acceleration threshold, record the running state in which the vehicle exceeds the angle threshold and / or the acceleration threshold in the preset log and send out the corresponding alarm information.

[0141] The beneficial effect of the present invention is that the running of the vehicle is monitored without using the GPS positioning system, and the driving behavior is reminded by the alarm information and recorded in the terminal, so as to monitor the running behavior of the vehicle with less power consumption and less private information recorded.

[0142] Please refer to Figure 5 , the fifth embodiment of the driving behavior recognition method in the embodiment of the present invention includes:

[0143] 501. Obtain the vibration signal wave of the vehicle, and determine whether the vehicle is in the running state according to the vibration signal wave;

[0144] 502. If the vehicle is in the running state, obtain the running data of the vehicle in the running state according to the preset gyroscope and the preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the running data;

[0145] 503. According to the acceleration vector, determine whether the change angle of the displacement direction of the vehicle in the preset first time interval when it is in the running state exceeds the preset angle threshold;

[0146] 504. Calculate the change rate function of the acceleration value of the vehicle in the running state in the preset second time interval;

[0147] In this embodiment, the change rate function of the acceleration is actually the second derivative of the velocity. The second time interval is set to 20 seconds. Then, within 20 seconds, there is a function where a’(t) is the change rate function of the acceleration, da is the differential of the acceleration, dt is the differential of the time, and d 2 v is the second differential of the velocity. According to the change of time, the change rate function of the acceleration is obtained.

[0148] 505. Determine whether the value of the change rate function in the second time interval exceeds the preset change rate threshold;

[0149] In this embodiment, the change rate threshold is for the change rate of acceleration. From F = ma, it can be known that it is also the change rate of the external force, that is, whether there is a very large change in the external force in a short time. (For example: within 5s) The driver changes the external force from F = 0 to F = 500N, causing a drastic change in acceleration. The change rate threshold is to monitor the situation where such a rapid acceleration of the throttle causes a drastic change in acceleration. Obtaining the change rate function To determine whether the acceleration changes sharply, the change rate function value is set in the system settings. The change rate threshold within 0.5 seconds is 10m / S^3. When the change rate within 1 second in the change rate function is 15m / S^3, it is considered that the change rate exceeds the threshold within a short time, and correspondingly in the display, the vehicle is accelerating or decelerating rapidly.

[0150] 506. If so, determine whether the acceleration value exceeds a preset acceleration threshold within the second time interval;

[0151] In this embodiment, when the change rate within 1 second in the change rate function is 15m / S^3, the value of the acceleration at this time is judged. If the data of the acceleration threshold is 35m / S^2, and the maximum acceleration within this time is only 20m / S^2, it is considered that although the change rate of the acceleration reaches the standard of rapid acceleration or rapid deceleration, the magnitude of the acceleration does not reach it, and it is considered that the acceleration threshold is not exceeded. Then this acceleration event will not be recorded in the built-in log.

[0152] 507. If the angle threshold and / or the acceleration threshold is exceeded, record the running state in which the vehicle exceeds the angle threshold and / or the acceleration threshold in a preset log and send a corresponding alarm message.

[0153] The beneficial effect of the present invention is that it does not use the GPS positioning system to monitor the operation of the vehicle, uses the alarm information to remind the driving behavior and records it in the terminal, and obtains the monitoring of the running behavior of the vehicle with less power consumption and less private information recorded.

[0154] The driving behavior recognition method in the embodiment of the present invention is described above. Next, the driving behavior recognition device in the embodiment of the present invention will be described. Please refer to Figure 6 , an embodiment of the driving behavior recognition device in the embodiment of the present invention includes:

[0155] An acquisition module 601, configured to acquire a vibration signal wave of a vehicle, and determine whether the vehicle is in an operating state according to the vibration signal wave;

[0156] A vector operation module 602, which is configured to, if the vehicle is in an operating state, obtain the operating data of the vehicle in the operating state according to a preset gyroscope and a preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the operating data;

[0157] A judgment module 603, which is configured to judge, according to the acceleration vector, whether the displacement direction change angle of the vehicle in the operating state exceeds a preset angle threshold within a preset first time interval, and judge whether the acceleration value of the vehicle in the operating state exceeds a preset acceleration threshold within a preset second time interval;

[0158] A recording module 604, which is configured to, if the angle threshold and / or the acceleration threshold is exceeded, record the operating state of the vehicle exceeding the angle threshold and / or the acceleration threshold in a preset log and send out corresponding alarm information.

[0159] The beneficial effect of the present invention is that the operation of the vehicle is monitored without using a GPS positioning system, and the driving behavior is reminded by using alarm information and recorded in the terminal, so as to obtain the monitoring of the operation behavior of the vehicle with less power consumption and less private information recorded.

[0160] Please refer to Figure 7 , another embodiment of the driving behavior recognition device in the embodiment of the present invention includes:

[0161] An acquisition module 701, which is configured to acquire the vibration signal wave of the vehicle and judge whether the vehicle is in an operating state according to the vibration signal wave;

[0162] A vector operation module 702, which is configured to, if the vehicle is in an operating state, obtain the operating data of the vehicle in the operating state according to a preset gyroscope and a preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the operating data;

[0163] A judgment module 703, which is configured to judge, according to the acceleration vector, whether the displacement direction change angle of the vehicle in the operating state exceeds a preset angle threshold within a preset first time interval, and judge whether the acceleration value of the vehicle in the operating state exceeds a preset acceleration threshold within a preset second time interval;

[0164] A recording module 704, which is configured to, if the angle threshold and / or the acceleration threshold is exceeded, record the operating state of the vehicle exceeding the angle threshold and / or the acceleration threshold in a preset log and send out corresponding alarm information.

[0165] Optionally, the obtaining module 701 may further be specifically configured to:

[0166] Decompose the vibration signal wave into a preset number of wave functions according to a preset wavelet basis function;

[0167] Process all the wave functions using a preset denoising algorithm to generate corresponding denoised wave functions;

[0168] Generate a denoised signal wave according to all the denoised wave functions;

[0169] Judge whether the vehicle is in an operating state according to the frequency and amplitude of the denoised signal wave.

[0170] Optionally, the vector operation module 702 may further be specifically configured to:

[0171] Obtain the rotation angle of the operating state in a preset gyroscope;

[0172] Obtain the displacement plane of the vehicle according to the rotation angle;

[0173] Obtain the sensing acceleration vector of the operating state in a preset acceleration sensor;

[0174] Obtain the acceleration vector of the vehicle on the displacement plane according to the displacement plane and the sensing acceleration vector.

[0175] Optionally, the vector operation module 702 may further be specifically configured to:

[0176] Obtain the axis acceleration values corresponding to three mutually perpendicular axes in the three-dimensional measurement axis of a preset acceleration sensor, and obtain the axis acceleration directions corresponding to the three axes;

[0177] Generate axis acceleration vectors corresponding to the three axes respectively according to the axis acceleration values corresponding to the three axes and the axis acceleration directions corresponding to the three axes;

[0178] Obtain the sensing acceleration vector of the operating state according to the axis acceleration vectors corresponding to the three axes and a preset vector synthesis rule.

[0179] The judgment module 703 includes:

[0180] A first judgment unit 7031, configured to:

[0181] Obtain the initial displacement direction of the vehicle at the initial point of a preset first time interval, and obtain the acceleration vector of the vehicle at the initial point of the first time interval;

[0182] Obtain the change angle of the initial displacement direction in the first time interval according to the acceleration vector;

[0183] Obtain the maximum angle of the change angle according to the change angle of the initial displacement direction, and determine whether the maximum angle exceeds a preset angle threshold.

[0184] The second judgment unit 7032 is used for:

[0185] Calculate the change rate function of the acceleration value during the operation of the vehicle in a preset second time interval;

[0186] Judge whether the value of the change rate function exceeds a preset change rate threshold within the second time interval;

[0187] If so, judge whether the acceleration value exceeds a preset acceleration threshold within the second time interval.

[0188] Optionally, the first judgment unit 7031 may further be specifically used for:

[0189] Control the gyroscope to be in a horizontal damping state to correct the error of the gyroscope;

[0190] Control the gyroscope to be in an undamped state to obtain the initial displacement direction of the vehicle at the initial point of the first time interval.

[0191] The beneficial effect of the present invention is to monitor the operation of the vehicle without using a GPS positioning system, use alarm information to remind the driving behavior and record it in the terminal, and obtain the monitoring of the operation behavior of the vehicle with less power consumption and less private information recorded.

[0192] Above Figure 6 And Figure 7 The driving behavior recognition device in the embodiment of the present invention is described in detail from the perspective of modular functional entities. Below, the driving behavior recognition device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0193] Figure 8FIG. 0 is a schematic structural diagram of a driving behavior recognition device provided by an embodiment of the present invention. The driving behavior recognition device 800 may vary greatly due to different configurations or performances, and may include one or more central processing units (CPUs) 810 (for example, one or more processors) and a memory 820, and one or more storage media 830 (for example, one or more mass storage devices) for storing application programs 833 or data 832. Among them, the memory 820 and the storage media 830 may be transient storage or persistent storage. The program stored in the storage media 830 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the driving behavior recognition device 800. Further, the processor 810 may be configured to communicate with the storage media 830 and execute a series of instruction operations in the storage media 830 on the driving behavior recognition device 800.

[0194] Based on the driving behavior recognition device 800 may further include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input / output interfaces 860, and / or, one or more operating systems 831, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, and so on. Those skilled in the art can understand that Figure 8 The shown structure of the driving behavior recognition device does not constitute a limitation on the driving behavior recognition device based on it, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0195] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a computer, the computer is caused to execute the steps of the driving behavior recognition method.

[0196] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.

[0197] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs. Further, the computer-usable storage medium mainly includes a storage program area and a storage data area. Among them, the storage program area can store an operating system, application programs required for at least one function, etc.; the storage data area can store data created according to the use of blockchain nodes, etc. The blockchain referred to in the present invention is a new application mode of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithms. Blockchain, in essence, is a decentralized database, a string of data blocks generated by using cryptographic methods. Each data block contains information about a batch of network transactions, which is used to verify the validity of the information (anti-counterfeiting) and generate the next block. A blockchain can include a blockchain underlying platform, a platform product service layer, and an application service layer, etc.

[0198] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A driving behavior recognition method, characterized in that, The described driving behavior recognition method includes: Obtain the vibration signal wave of the vehicle, and determine whether the vehicle is in a running state according to the vibration signal wave and a preset random forest algorithm; If the vehicle is in a running state, obtain the running data of the vehicle in the running state according to a preset gyroscope and a preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the running data; According to the acceleration vector, determine whether the change angle of the displacement direction of the vehicle in the running state exceeds a preset angle threshold within a preset first time interval, and determine whether the acceleration value of the vehicle in the running state exceeds a preset acceleration threshold within a preset second time interval; If it exceeds the angle threshold and / or the acceleration threshold, record the running state in which the vehicle exceeds the angle threshold and / or the acceleration threshold in a preset log and send a corresponding alarm message; The obtaining the vibration signal wave of the vehicle and determining whether the vehicle is in a running state according to the vibration signal wave and a preset random forest algorithm includes: When obtaining the vibration signal wave, use a clustering algorithm to collect the amplitude and frequency of the vehicle's static state, and obtain the clustering centers of different data; then collect the amplitude and frequency of the vehicle's moving state, and form new clustering centers for different data; Finally, after training the data, obtain a data judgment model. After obtaining the vibration signal wave, use the random forest algorithm to classify and process the data to determine whether the vehicle is in a running state; The determining whether the change angle of the displacement direction of the vehicle in the running state exceeds a preset angle threshold within a preset first time interval includes: Obtain the initial displacement direction of the vehicle at the initial point of the preset first time interval, and obtain the acceleration vector of the vehicle at the initial point of the first time interval; According to the acceleration vector, obtain the change angle of the initial displacement direction in the first time interval; According to the change angle of the initial displacement direction, obtain the maximum angle of the change angle, and determine whether the maximum angle exceeds a preset angle threshold.

2. The driving behavior recognition method according to claim 1, wherein, The determining whether the vehicle is in a running state according to the vibration signal wave includes: Decompose the vibration signal wave into a preset number of wave functions according to a preset wavelet basis function; Process all the wave functions with a preset denoising algorithm to generate corresponding denoised wave functions; Generate a denoised signal wave according to all the denoised wave functions; Determine whether the vehicle is in a running state according to the frequency and amplitude of the denoised signal wave.

3. The driving behavior recognition method according to claim 1, characterized in that The obtaining the running data of the vehicle in the running state according to a preset gyroscope and a preset acceleration sensor, and calculating the acceleration vector of the vehicle according to the running data includes: Obtain the rotation angle of the running state in the preset gyroscope; According to the rotation angle, obtain the displacement plane of the vehicle; Obtain the sensed acceleration vector of the running state in the preset acceleration sensor; Based on the displacement plane and the sensed acceleration vector, obtain the acceleration vector of the vehicle on the displacement plane.

4. The driving behavior recognition method according to claim 3, wherein The obtaining of the sensed acceleration vector of the operating state in the preset acceleration sensor includes: Obtain the axis acceleration values corresponding to three mutually perpendicular axes among the three-dimensional measurement axes in the preset acceleration sensor, and obtain the axis acceleration directions corresponding to the three axes; According to the axis acceleration values corresponding to the three axes and the axis acceleration directions corresponding to the three axes, respectively generate the axis acceleration vectors corresponding to the three axes; According to the axis acceleration vectors corresponding to the three axes and the preset vector synthesis rule, obtain the sensed acceleration vector of the operating state.

5. The driving behavior recognition method according to claim 1, characterized in that The obtaining of the initial displacement direction of the vehicle at the initial point of the preset first time interval includes: Control the gyroscope to be in the horizontal damping state to correct the error of the gyroscope; Control the gyroscope to be in the undamped state to obtain the initial displacement direction of the vehicle at the initial point of the first time interval.

6. The driving behavior recognition method according to any one of claims 1-3, characterized in that, The judging of whether the acceleration value of the vehicle exceeds the preset acceleration threshold when the vehicle is in the operating state within the preset second time interval includes: Calculate the change rate function of the acceleration value of the vehicle in the operating state within the preset second time interval; Judge whether the value of the change rate function exceeds the preset change rate threshold within the second time interval; If so, judge whether the acceleration value exceeds the preset acceleration threshold within the second time interval.

7. A driving behavior recognition device, characterized in that The driving behavior recognition device includes: An acquisition module, configured to acquire the vibration signal wave of the vehicle, and judge whether the vehicle is in the operating state according to the vibration signal wave and the preset random forest algorithm; A vector operation module, configured to, if the vehicle is in the operating state, acquire the operating data of the vehicle in the operating state according to the preset gyroscope and the preset acceleration sensor, and calculate the acceleration vector of the vehicle according to the operating data; A judgment module, configured to judge whether the displacement direction change angle of the vehicle exceeds the preset angle threshold when the vehicle is in the operating state within the preset first time interval according to the acceleration vector, and judge whether the acceleration value of the vehicle exceeds the preset acceleration threshold when the vehicle is in the operating state within the preset second time interval; A recording module, configured to, if the angle threshold and / or the acceleration threshold is exceeded, record the operating state of the vehicle exceeding the angle threshold and / or the acceleration threshold in the preset log and send out the corresponding alarm information; The acquisition module is specifically configured to: when acquiring the vibration signal wave, adopt the clustering algorithm, collect the amplitude and frequency of the vehicle in the stationary state, and obtain the clustering centers of different data; then collect the amplitude and frequency of the vehicle in the moving state, and form new clustering centers for different data; Finally, after training the data, obtain a data judgment model, and after acquiring the vibration signal wave, classify and process the data using the random forest algorithm to judge whether the vehicle is in the operating state; The determination module further includes a first determination unit, and the first determination unit is specifically configured to: obtain the initial displacement direction of the vehicle at the initial point of a preset first time interval, and obtain the acceleration vector of the vehicle at the initial point of the first time interval; obtain, according to the acceleration vector, the change angle of the initial displacement direction in the first time interval; obtain the maximum angle of the change angle according to the change angle of the initial displacement direction, and determine whether the maximum angle exceeds a preset angle threshold.

8. The driving behavior recognition device according to claim 7, characterized in that, The obtaining module is specifically configured to: decompose the vibration signal wave into a preset number of wave functions according to a preset wavelet basis function; process all the wave functions by using a preset denoising algorithm to generate corresponding denoised wave functions; generate a denoised signal wave according to all the denoised wave functions; judge whether the vehicle is in an operating state according to the frequency and amplitude of the denoised signal wave.

9. A driving behavior recognition device, characterized in that, The driving behavior recognition device includes: a memory and at least one processor, instructions are stored in the memory, and the memory and the at least one processor are interconnected through a line; the at least one processor calls the instructions in the memory so that the driving behavior recognition device executes the driving behavior recognition method according to any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the driving behavior recognition method according to any one of claims 1-6 is implemented.

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