Vehicle running state determination method, device, and storage medium

Abstract

The application discloses a vehicle driving state determination method and device and a storage medium, and relates to the technical field of vehicle driving state determination.The vehicle driving state determination method comprises the following steps: acquiring GPS data of a current moment of a vehicle; when the data of the GPS data of the current moment and the GPS data of a historical moment are both valid, determining whether an emergency acceleration event or an emergency deceleration event occurs according to the GPS data of the current moment and the GPS data of the historical moment; and determining whether an emergency left turn event or an emergency right turn event occurs according to the GPS data of the current moment and the GPS data of the historical moment.The vehicle driving state determination method provided by the application enables a vehicle equipped with only a basic communication module and a GPS system to determine the driving state, that is, the determination of the driving state can be realized at a lower hardware cost.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of transportation, and in particular to a vehicle driving state determination method and device and storage medium. BACKGROUND

[0002] With the development of science and technology and economy, the number of vehicles in China is increasing, and people's life is becoming more and more convenient, while the traffic accident rate is also rising. In the face of the increasing number of vehicles, it is very important to use technical means to supervise and manage traffic behavior.

[0003] Aggressive driving is one of the important reasons for traffic accidents, and sudden acceleration, sudden deceleration, sudden right turn and sudden left turn are all aggressive driving behaviors. It is increasingly important to correctly identify aggressive driving behaviors, actively remind and upload to the cloud platform.

[0004] Currently, the vehicle recognition of aggressive driving behaviors on the market all rely on accelerometers, gyroscopes and magnetometers, and due to cost reasons, many vehicles are only equipped with basic communication modules and GPS, without gyroscopes and magnetometer sensors, and even some do not have accelerometers, so that the vehicle cannot identify and report the driver's aggressive driving behavior. SUMMARY

[0005] The present application provides a vehicle driving state determination method, device and storage medium to enable vehicles equipped with only basic communication modules and GPS to determine the vehicle driving state.

[0006] In a first aspect, the embodiments of the present application provide a vehicle driving state determination method, comprising:

[0007] obtaining GPS data of a current time of the vehicle;

[0008] when the data validity states of the current time GPS data and the historical time GPS data are both data valid, determining whether a sudden acceleration event or a sudden deceleration event occurs according to the current time GPS data and the historical time GPS data;

[0009] determining whether a sudden left turn event or a sudden right turn event occurs according to the current time GPS data and the historical time GPS data.

[0010] Optionally, after determining whether a sudden left turn event or a sudden right turn event occurs according to the current time GPS data and the historical time GPS data, comprising:

[0011] save the current time GPS data as historical time GPS data, and set the historical time GPS data valid state as data valid.

[0012] Optionally, after the current time GPS data of the vehicle is acquired, the method further comprises:

[0013] when the data valid state of the current time GPS data is data invalid, set the data valid state of the historical time GPS data as data invalid;

[0014] when the data valid state of the current time GPS data is data valid, and the data valid state of the historical time GPS data is data invalid, set Current shift state the current gear state as normal gear state, set the gear holding time as 0 second, and set Current steering state the current steering state as normal steering state, and set the steering holding time as 0 second.

[0015] Optionally, the determining whether the sudden acceleration event or the sudden deceleration event occurs according to the current time GPS data and the historical time GPS data comprises:

[0016] analyzing the current speed according to the current time GPS data;

[0017] determining the current gear state according to the difference between the current speed and the historical speed;

[0018] when the current gear state is different from the historical gear state, and the current gear state is not the speed transition state, determining whether the sudden acceleration event or the sudden deceleration event occurs according to the gear holding time, setting the current gear state as the historical gear state, and setting the gear holding time as the size of the sampling time length.

[0019] Optionally, the current gear state comprises a sudden acceleration state, a sudden deceleration state, the speed transition state and a normal gear state; after the current gear state is determined according to the difference between the current speed and the historical speed, the method further comprises:

[0020] when the current gear state is the same as the historical gear state, increasing the gear holding time by the size of the sampling time length;

[0021] when the current gear state is different from the historical gear state, and the current gear state is the speed transition state, the historical gear state remains unchanged.

[0022] Optionally, the determining whether the sudden acceleration event or the sudden deceleration event occurs according to the gear holding time comprises:

[0023] when the shift holding time is greater than or equal to a first set time threshold, the historical shift state is the rapid acceleration state, the rapid acceleration event is generated, the historical shift state is the rapid deceleration state, the rapid deceleration event is generated, and the historical shift state is the normal shift state, no event is generated;

[0024] when the shift holding time is less than the first set time threshold, no event is generated.

[0025] Optionally, the determining whether the rapid left turn event or the rapid right turn event occurs according to the GPS data at the current moment and the GPS data at the historical moment comprises:

[0026] a current heading angle is parsed according to the GPS data at the current moment, a current angular velocity of the vehicle is calculated according to the current heading angle and a historical heading angle, and an average speed is calculated according to the current speed and a historical speed;

[0027] a current turning state is determined according to the current angular velocity and the average speed;

[0028] when the current turning state is different from a historical turning state and the current turning state is not a turning transition state, whether the rapid left turn event or the rapid right turn event is determined according to a turning holding time, the current turning state is stored as the historical turning state, and the turning holding time is set as a size of the sampling duration.

[0029] Optionally, the current turning state comprises a rapid right turn state, a rapid left turn state, the turning transition state and a normal turning state, and after the current turning state is determined according to the current angular velocity and the average speed, the method further comprises:

[0030] when the current turning state is the same as the historical turning state, the turning holding time is increased by the size of the sampling duration;

[0031] when the current turning state is different from the historical turning state and the current turning state is the turning transition state, the historical turning state remains unchanged.

[0032] Optionally, the determining whether the rapid left turn event or the rapid right turn event is generated according to the turning holding time comprises:

[0033] when the turning holding time is greater than or equal to a second set time threshold, the historical turning state is the rapid right turn state, the rapid right turn event is generated, the historical turning state is the rapid left turn state, the rapid left turn event is generated, and the historical turning state is the normal turning state, no event is generated;

[0034] When the steering holding time is less than a second set time threshold, no event is generated.

[0035] In a second aspect, the embodiments of the present application further provide a vehicle driving state determination device, which comprises:

[0036] a data acquisition module configured to acquire GPS data of a current time of the vehicle;

[0037] a sudden acceleration event generation module configured to determine whether a sudden acceleration event or a sudden deceleration event occurs according to the GPS data of the current time and the GPS data of the historical time when the data of the GPS data of the current time and the GPS data of the historical time are both valid data;

[0038] a sudden turn event generation module configured to determine whether a sudden left turn event or a sudden right turn event occurs according to the GPS data of the current time and the GPS data of the historical time.

[0039] In a third aspect, the embodiments of the present application further provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle driving state determination method of any one of the first aspect.

[0040] The vehicle driving state determination method provided by the embodiments of the present application comprises: acquiring GPS data of a current time of the vehicle, determining whether a sudden acceleration event or a sudden deceleration event occurs according to the GPS data of the current time and the GPS data of a historical time when the data of the GPS data of the current time and the GPS data of the historical time are both valid data, and determining whether a sudden left turn event or a sudden right turn event occurs according to the GPS data of the current time and the GPS data of the historical time. The embodiments of the present application determine whether a sudden acceleration event, a sudden deceleration event, a sudden left turn event or a sudden right turn event occurs by using valid GPS data of the current time and valid GPS data of the historical time, so that even a vehicle equipped with only a basic communication module and a GPS system can determine the driving state, that is, the driving state can be determined at a lower hardware cost. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a flowchart of a vehicle driving state determination method provided by the embodiments of the present application;

[0042] Figure 2 is a flowchart of another vehicle driving state determination method provided by the embodiments of the present application;

[0043] Figure 3 is a flowchart of another vehicle driving state determination method provided by the embodiments of the present application;

[0044] Figure 4 is a flowchart of another vehicle driving state determination method provided by an embodiment of the present application;

[0045] Figure 5 is a flowchart of another vehicle driving state determination method provided by an embodiment of the present application;

[0046] Figure 6 is a flowchart of another vehicle driving state determination method provided by an embodiment of the present application;

[0047] Figure 7 is a flowchart of another vehicle driving state determination method provided by an embodiment of the present application;

[0048] Figure 8 is a structural schematic diagram of a vehicle driving state determination device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0049] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0050] Figure 1 is a flowchart of a vehicle driving state determination method provided by an embodiment of the present application. The present embodiment can be applied to the case where the driving behavior of a vehicle needs to be analyzed. The method can be executed by a vehicle driving state determination device, and specifically includes the following steps:

[0051] S100: acquiring GPS data of the current time of the vehicle;

[0052] Specifically, the GPS data of the vehicle includes the speed value, the heading angle, the mileage, the positioning time value, the latitude and longitude of the vehicle. The above parameter values can be parsed according to the acquired GPS data of the current time. When acquiring the GPS data, the sampling duration can be set according to the requirements. When the sampling duration is 1S, the GPS data is acquired every second. When the sampling duration is 2S, the GPS data is acquired every 2 seconds. The present embodiment does not specifically limit the sampling duration.

[0053] S200: when the data effective state of the GPS data of the current time and the GPS data of the historical time are both data effective, determining whether an emergency acceleration event or an emergency deceleration event occurs according to the GPS data of the current time and the GPS data of the historical time;

[0054] Optionally, the historical moment GPS data can be the GPS data of the moment before the current sampling duration. After obtaining the GPS data, the GPS data is parsed into a string form, and the string has a data flag bit to represent whether the GPS data is valid. Therefore, after parsing the GPS data, it is determined whether the GPS data is valid according to the data flag bit of the parsed string. For example, when the vehicle enters a cave, a tunnel or is blocked by surrounding obstructions, the corresponding data flag bit of the parsed GPS data is E. When the vehicle is driving on an open road, the corresponding data flag bit of the parsed GPS data is UE, where the data flag bit E represents valid data, and the data flag bit UE represents invalid data. Therefore, according to the data flag bit, it can be determined that the data validity status of the GPS data obtained when the vehicle enters a cave, a tunnel or is blocked by surrounding obstructions is invalid data, and the data validity status of the GPS data collected when the vehicle is driving on an open road is valid data.

[0055] After obtaining the current moment GPS data and obtaining the stored historical moment GPS data, the determination of the sudden acceleration event or the sudden deceleration event can be performed only when both are valid data.

[0056] According to the current moment GPS data, the current speed and the current time can be obtained, and according to the historical moment GPS data, the historical speed and the historical time can be obtained. The acceleration is calculated according to the current speed and the historical speed, and the current speed change state is determined according to the acceleration. When the historical speed change state is a sudden acceleration state and the speed change maintaining time is greater than a first set time threshold, a sudden acceleration event is generated. When the historical speed change state is a sudden deceleration event and the speed change maintaining time is greater than the first set time threshold, a sudden deceleration event is generated. The first set time threshold can be set according to requirements.

[0057] S300: determining whether a sudden left turn event or a sudden right turn event occurs according to the current moment GPS data and the historical moment GPS data.

[0058] Specifically, according to the current moment GPS data, the current heading angle can also be obtained, and according to the historical moment GPS data, the historical heading angle can also be obtained. The radial acceleration of the vehicle is calculated according to the current heading angle, the historical heading angle, the current speed, the historical speed, the current time and the historical time. When the historical turning state is a sudden right turn state and the turning maintaining time is greater than a second set time threshold, a sudden right turn event is generated. When the historical turning state is a sudden left turn state and the turning maintaining time is greater than the second set time threshold, a sudden left turn event is generated. The second set time threshold can be set according to requirements.

[0059] In the embodiment, when the data valid state of the GPS data at the current time and the GPS data at the historical time is data valid, whether the vehicle has the sudden acceleration event or the sudden deceleration event is determined according to the GPS data at the current time and the GPS data at the historical time, and then whether the vehicle has the sudden left turn event or the sudden right turn event is determined. In other embodiments, when the data valid state of the GPS data at the current time and the GPS data at the historical time is data valid, whether the vehicle has the sudden left turn event or the sudden right turn event is determined according to the GPS data at the current time and the GPS data at the historical time, and then whether the vehicle has the sudden acceleration event or the sudden deceleration event is determined.

[0060] The embodiment determines whether the vehicle has the sudden acceleration event, the sudden deceleration event, the sudden left turn event or the sudden right turn event according to the effective GPS data at the current time and the effective GPS data at the historical time, so that the vehicle equipped with only the basic communication module and the GPS system can also determine the driving state, that is, the driving state can be determined at a lower hardware cost.

[0061] Figure 2 Another flowchart of the vehicle driving state determination method provided by the embodiment is provided, which is based on the above-mentioned embodiment, and refers to Figure 2 Optionally, the vehicle driving state determination method specifically includes:

[0062] S100: acquiring GPS data at a current time of a vehicle;

[0063] S200: when the data valid state of the GPS data at the current time and the GPS data at the historical time is data valid, determining whether the vehicle has the sudden acceleration event or the sudden deceleration event according to the GPS data at the current time and the GPS data at the historical time;

[0064] S300: determining whether the vehicle has the sudden left turn event or the sudden right turn event according to the GPS data at the current time and the GPS data at the historical time.

[0065] S400: storing the GPS data at the current time as the GPS data at the historical time, and setting the data valid state of the GPS data at the historical time as data valid.

[0066] Specifically, after whether the vehicle has the sudden acceleration event, the sudden deceleration event, the sudden left turn event or the sudden right turn event is determined according to the GPS data at the current time, the GPS data at the current time is stored as the GPS data at the historical time, so as to determine the event next time. After the step S400 is completed, the event determination of the next time can be started again from the step S100.

[0067] Figure 3Another flowchart of the method for determining the driving state of the vehicle is provided in the embodiments of the present application, which is based on the above-mentioned embodiments and refers to Figure 3 Optionally, the method for determining the driving state of the vehicle comprises:

[0068] S100: acquiring GPS data of the current time of the vehicle;

[0069] S210: when the data validity state of the GPS data of the current time is invalid data, setting the data validity state of the GPS data of the historical time as invalid data;

[0070] Specifically, when the GPS data of the current time is determined to be invalid data after being acquired and parsed, the GPS data of the current time cannot be used to determine the sudden acceleration event, the sudden deceleration event, the left turn event and the sudden right turn event. When the GPS data of the current time is invalid data, the event determination is not performed this time, and the GPS data of the historical time is also set as invalid data, so that when the next event determination is performed, the above-mentioned event determination is performed again after two valid GPS data are continuously acquired.

[0071] S220: when the data validity state of the GPS data of the current time is valid data and the data validity state of the GPS data of the historical time is invalid data, setting the current gear state as the normal gear state, setting the gear holding time as 0 seconds, setting the current steering state as the normal steering state, and setting the steering holding time as 0 seconds.

[0072] Specifically, the event determination can be performed only when the two continuously sampled GPS data are valid. When the GPS data of the historical time is invalid data and the GPS data of the current time is valid data, the current time can be used as the initial state. Since the initial state does not have the GPS data of the historical time, the initial state cannot be determined. Therefore, the gear state of the initial state is directly set as the normal gear state, the gear holding time is set as 0 seconds, the steering state is set as the normal steering state, and the steering holding time is set as 0 seconds. The GPS data of the current time is saved as the GPS data of the historical time, and the next time GPS data is continuously sampled to perform the event determination.

[0073] S230: when the data validity state of the GPS data of the current time and the data validity state of the GPS data of the historical time are both valid data, determining whether the sudden acceleration event or the sudden deceleration event occurs according to the GPS data of the current time and the GPS data of the historical time;

[0074] Specifically, S230 is the same as the implementation process of S200, and will not be described here.

[0075] S300: determining whether an acute left turn event or an acute right turn event occurs according to the GPS data at the current time and the GPS data at the historical time;

[0076] S400: saving the GPS data at the current time as the GPS data at the historical time, and setting the data valid state of the data at the historical time as data valid.

[0077] Figure 4 Another flowchart of the vehicle driving state determination method provided by the embodiment of the application is shown in FIG. 4. Figure 4 Optionally, the vehicle driving state determination method comprises:

[0078] S100: acquiring GPS data at a current time of the vehicle;

[0079] S210: when the data valid state of the GPS data at the current time is data invalid, setting the data valid state of the GPS data at the historical time as data invalid;

[0080] S220: when the data valid state of the GPS data at the current time is data valid, and the data valid state of the GPS data at the historical time is data invalid, setting the current gear state as a normal gear state, the gear keeping time as 0 second, the current steering state as a normal steering state, and the steering keeping time as 0 second.

[0081] S231: analyzing the current speed according to the GPS data at the current time;

[0082] Specifically, the GPS data comprises speed, and thus the current speed can be analyzed according to the GPS data at the current time.

[0083] S232: determining the current gear state according to the difference between the current speed and the historical speed;

[0084] Specifically, when the current GPS data is valid and the event determination is completed, the current GPS data is stored as the historical GPS data, and the GPS data is analyzed data, and thus the historical speed can be obtained from the stored historical GPS data. The current gear state is determined according to the acceleration a1 at the current time, a1=(V1-V2) / T0, wherein V1 is the current speed, V2 is the historical speed, and T0 is the sampling time length. Exemplarily, the sampling time length is 1S.

[0085] When the acceleration is greater than or equal to the first acceleration threshold, the current shift state is an acceleration state. When the acceleration is less than the first acceleration threshold and greater than or equal to the second acceleration threshold, the current shift state is a speed transition state. When the acceleration is less than or equal to the third acceleration threshold, the current shift state is a deceleration state. When the acceleration is greater than the third acceleration threshold and less than or equal to the fourth acceleration threshold, the current shift state is a speed transition state. In other cases, the current shift state is a normal shift state. The first acceleration threshold and the second acceleration threshold are both greater than zero, and the third acceleration threshold and the fourth acceleration threshold are both less than zero. For example, the first acceleration threshold is 6, the second acceleration threshold is 4.5, the third acceleration threshold is -8, and the fourth acceleration threshold is -5.6.

[0086] S2333: When the current shift state is different from the historical shift state, and the current shift state is not a speed transition state, determining whether to generate an acceleration event or a deceleration event according to the shift holding time, storing the current shift state as the historical shift state, and setting the shift holding time to the size of the sampling time length.

[0087] The historical shift state includes an acceleration state, a deceleration state, and a normal shift state.

[0088] Optionally, determining whether to generate an acceleration event or a deceleration event according to the shift holding time includes: when the shift holding time is greater than or equal to a first set time threshold, the historical shift state is an acceleration state, an acceleration event is generated, the historical shift state is a deceleration state, a deceleration event is generated, and the historical shift state is a normal shift state, no event is generated.

[0089] When the shift holding time is less than the first set time threshold, no event is generated.

[0090] Specifically, the first set time threshold can be set according to requirements. For example, the first set time threshold can be set to 2S.

[0091] S300: determining whether an acceleration event or a deceleration event occurs according to the GPS data at the current time and the GPS data at the historical time;

[0092] S400: saving the GPS data at the current time as the GPS data at the historical time, and setting the data validity state of the data at the historical time as data valid.

[0093] Figure 5 Another flowchart of a vehicle driving state determination method provided by an embodiment of the present application is shown in FIG. 4. Figure 5 Optionally, the vehicle driving state determination method includes:

[0094] S100: acquiring GPS data of a current time of the vehicle;

[0095] S210: when the data validity state of the GPS data of the current time is data invalid, setting the data validity state of the GPS data of the historical time as data invalid;

[0096] S220: when the data validity state of the GPS data of the current time is data valid, and the data validity state of the GPS data of the historical time is data invalid, setting the current gear state as a normal gear state, the gear keeping time as 0 second, the current steering state as a normal steering state, and the steering keeping time as 0 second.

[0097] S231: analyzing the current speed according to the GPS data of the current time;

[0098] S232: determining the current gear state according to the difference between the current speed and the historical speed;

[0099] Optionally, the current gear state comprises an urgent acceleration state, an urgent deceleration state, the speed transition state and the normal gear state.

[0100] S2331: when the current gear state is the same as the historical gear state, increasing the gear keeping time by the size of the sampling duration;

[0101] Exemplarily, the vehicle starting time is regarded as an initial time, the gear state of the second second is obtained according to the GPS data of the first second and the second second, the gear state of the third second is obtained according to the GPS data of the second second and the third second, and the gear state of the fourth second is obtained according to the GPS data of the third second and the fourth second, when the gear state of the second second and the gear state of the third second are both the urgent acceleration state, the cumulative gear keeping time is not determined until the gear state of the fourth second is changed, and exemplarily, when the gear state of the fourth second is changed to the normal gear state, the event is determined again according to the gear keeping time.

[0102] S2332: when the current gear state is different from the historical gear state, and the current gear state is the speed transition state, the historical gear state is maintained unchanged;

[0103] Specifically, when the current gear state is determined to be the speed transition state according to the acceleration, the current gear state is not stored as the historical gear state.

[0104] S2333: when the current gear state is different from the historical gear state, and the current gear state is not the speed transition state, whether to generate the urgent acceleration event or the urgent deceleration event is determined according to the gear keeping time, the current gear state is stored as the historical gear state, and the gear keeping time is set as the size of the sampling duration;

[0105] S300: determining whether an acute left turn event or an acute right turn event occurs according to the GPS data at the current time and the GPS data at the historical time;

[0106] S400: saving the GPS data at the current time as the GPS data at the historical time, and setting the data validity state of the data at the historical time as data valid.

[0107] Figure 6 Another flowchart of the method for determining the driving state of the vehicle is provided in the embodiment of the present application, referring to Figure 6 Optionally, the method for determining the driving state of the vehicle comprises:

[0108] S100: acquiring the GPS data at the current time of the vehicle;

[0109] S210: setting the data validity state of the GPS data at the historical time as data invalid when the data validity state of the GPS data at the current time is data invalid;

[0110] S220: setting the current gear state as the normal gear state, the gear keeping time as 0 second, the current steering state as the normal steering state, and the steering keeping time as 0 second when the data validity state of the GPS data at the current time is data valid and the data validity state of the GPS data at the historical time is data invalid.

[0111] S230: determining whether an acute acceleration event or an acute deceleration event occurs according to the GPS data at the current time and the GPS data at the historical time when the data validity states of the GPS data at the current time and the GPS data at the historical time are both data valid;

[0112] S310: analyzing the current heading angle according to the GPS data at the current time, calculating the current angular velocity of the vehicle according to the current heading angle and the historical heading angle, and calculating the average speed according to the current speed and the historical speed;

[0113] Specifically, the heading angle is analyzed simultaneously when the current speed is analyzed according to the GPS data at the current time in the above embodiment. The GPS data is the analyzed data when the current GPS data is stored as the historical GPS data after the current GPS data is valid and the event determination is completed, so the historical heading angle and the historical speed can be obtained from the stored historical GPS data. The current angular velocity a2 of the vehicle is calculated according to the current heading angle and the historical heading angle, a2=(B1-B2) / T0, wherein B1 is the current heading angle, B2 is the historical heading angle, and T0 is the sampling time length. The average speed V0 is calculated according to the current speed and the historical speed, V0=(V1+V2) / 2, wherein V1 is the current speed and V2 is the historical speed.

[0114] S320: determining a current steering state according to the current angular velocity and the average speed;

[0115] For example, when the angular velocity is greater than or equal to an angular velocity setting threshold and the average speed is greater than or equal to an average speed setting threshold, a radial acceleration a3 of the vehicle is calculated, a3=a2*V0. For example, the angular velocity setting threshold is 9.1 / s, and the average speed setting threshold is 20 km / h.

[0116] When the radial acceleration is greater than or equal to a first radial acceleration threshold, the current steering state is a sharp right turn state. When the radial acceleration is less than the first radial acceleration threshold and greater than or equal to a second radial acceleration threshold, the current steering state is a steering transition state. When the radial acceleration is less than or equal to a third acceleration threshold, the current steering state is a sharp left turn state. When the radial acceleration is greater than the third radial acceleration threshold and less than or equal to a fourth radial acceleration threshold, the current steering state is a steering transition state. Otherwise, the current steering state is a normal steering state. The first radial acceleration threshold and the second radial acceleration threshold are both greater than zero, and the third radial acceleration threshold and the fourth radial acceleration threshold are both less than zero. For example, the first radial acceleration threshold is 2.8 m / s 2 , the second radial acceleration threshold is 2 m / s 2 , the third radial acceleration threshold is -2.8 m / s 2 , and the fourth radial acceleration threshold is -2 m / s 2 .

[0117] When the angular velocity is greater than or equal to the angular velocity setting threshold and the average speed is less than the average speed setting threshold, or when the angular velocity is less than the angular velocity setting threshold and the average speed is greater than or equal to the average speed setting threshold, or when the angular velocity is less than the angular velocity setting threshold and the average speed is less than the average speed setting threshold, the current steering state is set to the normal steering state.

[0118] S333: when the current steering state is different from the historical steering state and the current steering state is not the steering transition state, determining whether to generate a sharp left turn event or a sharp right turn event according to a steering holding time, and storing the current steering state as the historical steering state, and setting the steering holding time to the size of the sampling time length;

[0119] Specifically, the historical speed change state includes a sharp acceleration state, a sharp deceleration state, and a normal speed change state.

[0120] Optionally, determining whether to generate the sharp left turn event or the sharp right turn event according to the steering holding time includes:

[0121] When the steering holding time is greater than or equal to the second set time threshold, the historical steering state is the sharp right turning state, a sharp right turning event is generated, the historical steering state is the sharp left turning state, a sharp left turning event is generated, and the historical steering state is the normal steering state, no event is generated.

[0122] When the steering holding time is less than the second set time threshold, no event is generated.

[0123] Specifically, the second set time threshold can be set according to requirements, and for example, the second set time threshold can be set to 2S.

[0124] S400: save the GPS data at the current time as the GPS data at the historical time, and set the data valid state of the data at the historical time as data valid.

[0125] Figure 7 Another flowchart of a vehicle driving state determination method provided by the embodiment of the application is shown in FIG. 6. Figure 7 Optionally, the vehicle driving state determination method comprises:

[0126] S100: acquire the GPS data at the current time of the vehicle;

[0127] S210: when the data valid state of the GPS data at the current time is data invalid, set the data valid state of the GPS data at the historical time as data invalid;

[0128] S220: when the data valid state of the GPS data at the current time is data valid, and the data valid state of the GPS data at the historical time is data invalid, set the current gear state as the normal gear state, the gear holding time as 0 seconds, the current steering state as the normal steering state, and the steering holding time as 0 seconds;

[0129] S230: when the data valid states of the GPS data at the current time and the GPS data at the historical time are both data valid, determine whether a sharp acceleration event or a sharp deceleration event occurs according to the GPS data at the current time and the GPS data at the historical time;

[0130] S310: parse the current heading angle according to the GPS data at the current time, calculate the current angular velocity of the vehicle according to the current heading angle and the historical heading angle, and calculate the average speed according to the current speed and the historical speed;

[0131] S320: determine the current steering state according to the current angular velocity and the average speed;

[0132] S331: when the current steering state is the same as the historical steering state, increase the steering state holding time by the size of the sampling time length;

[0133] For example, the starting moment of the vehicle is regarded as the initial moment, the steering state of the second second is obtained according to the GPS data of the first second and the second second, the steering state of the third second is obtained according to the GPS data of the second second and the third second, the steering state of the fourth second is obtained according to the GPS data of the third second and the fourth second, when the steering states of the second second and the third second are both the sharp right turning state, the steering keeping time is accumulated, the event is not determined until the steering state of the fourth second is changed, for example, the steering state of the fourth second is changed to the normal steering state, then the event is determined according to the steering keeping time.

[0134] S332: when the current steering state is different from the historical steering state and the current steering state is the steering transition state, the historical steering state is maintained unchanged;

[0135] Specifically, when the current steering state is determined to be the steering transition state according to the radial acceleration, the current steering state is not stored as the historical steering state. The historical steering state is still the steering state stored at the last moment.

[0136] S333: when the current steering state is different from the historical steering state and the current steering state is not the steering transition state, whether the sharp left turning event or the sharp right turning event is generated is determined according to the steering keeping time, the current steering state is stored as the historical steering state, and the steering keeping time is set to the size of the sampling time length;

[0137] S400: the GPS data of the current moment is saved as the GPS data of the historical moment, and the data effective state of the historical moment is set to the data effective.

[0138] The embodiment of the application also provides a vehicle driving state determination device, Figure 8 A structural schematic diagram of a vehicle driving state determination device provided by the embodiment of the application is shown in Figure 8 The vehicle driving state determination device comprises:

[0139] A data acquisition module 10 is configured to acquire the GPS data of the current moment of the vehicle.

[0140] A sharp speed change event generation module 20 is configured to determine whether the sharp acceleration event or the sharp deceleration event occurs according to the GPS data of the current moment and the GPS data of the historical moment when the data effective states of the GPS data of the current moment and the GPS data of the historical moment are both the data effective.

[0141] A sharp turning event generation module 30 is configured to determine whether the sharp left turning event or the sharp right turning event occurs according to the GPS data of the current moment and the GPS data of the historical moment.

[0142] The sudden acceleration event generation module and the sudden turn event generation module of the embodiment determine whether the vehicle has a sudden acceleration event, a sudden deceleration event, a sudden left turn event or a sudden right turn event through the valid current time GPS data and the valid historical time GPS data, so that the vehicle equipped with only a basic communication module and a GPS system can also realize the driving state determination, that is, the driving state determination can be realized at a lower hardware cost.

[0143] Optionally, the vehicle driving state determination device further comprises:

[0144] The saving module is configured to save the current time GPS data as the historical time GPS data and set the data validity state of the historical time GPS data as data valid.

[0145] Optionally, the vehicle driving state determination device further comprises:

[0146] The invalid setting module is configured to set the data validity state of the historical time GPS data as data invalid when the data validity state of the current time GPS data is data invalid.

[0147] The initialization module is configured to set the current gear state as a normal gear state, the gear holding time as 0 seconds, the current turn state as a normal turn state and the turn holding time as 0 seconds when the data validity state of the current time GPS data is data valid and the data validity state of the historical time GPS data is data invalid.

[0148] Optionally, the sudden acceleration event generation module comprises:

[0149] The analysis module is configured to analyze the current speed according to the current time GPS data.

[0150] The gear state determination module is configured to determine the current gear state according to the difference between the current speed and the historical speed.

[0151] The first gear sub-module is configured to determine whether to generate a sudden acceleration event or a sudden deceleration event according to the gear holding time when the current gear state is different from the historical gear state and the current gear state is not a speed transition state, and store the current gear state as the historical gear state and set the gear holding time as the size of the sampling time length.

[0152] Optionally, the determination whether to generate the sudden acceleration event or the sudden deceleration event according to the gear holding time comprises:

[0153] When the gear holding time is greater than or equal to a first set time threshold, the historical gear state is a sudden acceleration state, a sudden acceleration event is generated, the historical gear state is a sudden deceleration state, a sudden deceleration event is generated, and the historical gear state is a normal gear state, no event is generated.

[0154] When the shift holding time is less than the first set time threshold, no event is generated.

[0155] Optionally, the current shift state includes an abrupt acceleration state, an abrupt deceleration state, the speed transition state, and a normal shift state.

[0156] Optionally, the abrupt shift event generation module further includes:

[0157] The second shift submodule is configured to, when the current shift state is the same as the historical shift state, increase the shift holding time by a size of the sampling duration.

[0158] The third shift submodule is configured to, when the current shift state is different from the historical shift state and the current shift state is the speed transition state, maintain the historical shift state unchanged.

[0159] Optionally, the abrupt turn event generation module includes:

[0160] The speed calculation module is configured to parse a current heading angle according to GPS data at a current time, calculate a current angular velocity of the vehicle according to the current heading angle and a historical heading angle, and calculate an average speed according to a current speed and a historical speed.

[0161] The steering state determination module is configured to determine a current steering state according to the current angular velocity and the average speed.

[0162] The first steering submodule is configured to, when the current steering state is different from a historical steering state and the current steering state is not the steering transition state, determine whether to generate an abrupt left turn event or an abrupt right turn event according to a steering holding time, store the current steering state as the historical steering state, and set the steering holding time to a size of the sampling duration.

[0163] Optionally, determining whether to generate the abrupt left turn event or the abrupt right turn event according to the steering holding time includes:

[0164] When the steering holding time is greater than or equal to a second set time threshold, the historical steering state is the abrupt right turn state, the abrupt right turn event is generated, the historical steering state is the abrupt left turn state, the abrupt left turn event is generated, and the historical steering state is the normal steering state, no event is generated.

[0165] When the steering holding time is less than the second set time threshold, no event is generated.

[0166] Optionally, the abrupt turn event generation module further includes:

[0167] The second steering submodule is configured to, when the current steering state is the same as the historical steering state, increase the steering holding time by a size of the sampling duration.

[0168] The third steering sub-module, when the current steering state is different from the historical steering state and the current steering state is a steering transition state, the historical steering state is maintained unchanged.

[0169] The embodiment of the present application further provides a storage medium, which has a computer program stored thereon, and the program is executed by a processor to determine a vehicle driving state, and the method comprises

[0170] Obtaining GPS data of the vehicle at a current moment;

[0171] When the data of the GPS data at the current moment and the GPS data at the historical moment are all valid data, determining whether an emergency acceleration event or an emergency deceleration event occurs according to the GPS data at the current moment and the GPS data at the historical moment;

[0172] Determining whether an emergency left turn event or an emergency right turn event occurs according to the GPS data at the current moment and the GPS data at the historical moment.

[0173] Of course, the storage medium provided by the embodiment of the present application and containing computer executable instructions is not limited to the method operations as described above, and can also execute the related operations in the vehicle driving state determination method provided by any embodiment of the present application.

[0174] Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus, or device.

[0175] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method of determining a running state of a vehicle, characterized by, The method comprises: acquiring GPS data of a current time of a vehicle; when data validity states of the GPS data of the current time and historical time are both data valid, determining whether an abrupt acceleration event or an abrupt deceleration event occurs according to the GPS data of the current time and the GPS data of the historical time; wherein the determining whether the abrupt acceleration event or the abrupt deceleration event occurs according to the GPS data of the current time and the GPS data of the historical time comprises: resolving a current speed according to the GPS data of the current time; determining a current speed change state according to a difference between the current speed and a historical speed; when the current speed change state is different from a historical speed change state, and when the current speed change state is not a speed transition state, determining whether the abrupt acceleration event or the abrupt deceleration event is generated according to a speed change keeping time, storing the current speed change state as the historical speed change state, and setting the speed change keeping time as a size of a sampling time length; wherein the historical speed change state comprises an abrupt acceleration state, an abrupt deceleration state, and a normal speed change state; wherein the current speed change state comprises the abrupt acceleration state, the abrupt deceleration state, the speed transition state, and the normal speed change state; after the determining the current speed change state according to the difference between the current speed and the historical speed, the method further comprises: when the current speed change state is the same as the historical speed change state, increasing the speed change keeping time by the size of the sampling time length; when the current speed change state is different from the historical speed change state, and when the current speed change state is the speed transition state, the historical speed change state remains unchanged; determining whether an abrupt left turn event or an abrupt right turn event occurs according to the GPS data of the current time and the GPS data of the historical time.

2. The vehicle running state determination method according to claim 1, characterized by after the determining whether the abrupt left turn event or the abrupt right turn event occurs according to the GPS data of the current time and the GPS data of the historical time, the method comprises: saving the GPS data of the current time as the GPS data of the historical time, and setting a data validity state of the GPS data of the historical time as data valid.

3. The vehicle running state determination method according to claim 2, characterized by after the acquiring the GPS data of the current time of the vehicle, the method further comprises: when the data validity state of the GPS data of the current time is data invalid, setting the data validity state of the GPS data of the historical time as data invalid; when the data validity state of the GPS data of the current time is data valid, and when the data validity state of the GPS data of the historical time is data invalid, setting a current speed change state as a normal speed change state, setting a speed change keeping time as 0 seconds, setting a current steering state as a normal steering state, and setting a steering keeping time as 0 seconds.

4. The vehicle running state determination method according to claim 1, characterized by the determining whether the abrupt acceleration event or the abrupt deceleration event is generated according to the speed change keeping time comprises: when the speed change keeping time is greater than or equal to a first set time threshold, when the historical speed change state is the abrupt acceleration state, the abrupt acceleration event is generated, when the historical speed change state is the abrupt deceleration state, the abrupt deceleration event is generated, and when the historical speed change state is the normal speed change state, no event is generated. When the variable speed keeping time is less than a first set time threshold, no event is generated.

5. The vehicle running state determination method according to claim 4, characterized by The determining whether the sharp left turn event or the sharp right turn event occurs according to the GPS data at the current moment and the GPS data at the historical moment comprises: a current heading angle is parsed according to the GPS data at the current moment, a current angular velocity of the vehicle is calculated according to the current heading angle and a historical heading angle, and an average speed is calculated according to the current speed and a historical speed; a current turning state is determined according to the current angular velocity and the average speed; when the current turning state is different from a historical turning state, and the current turning state is not a turning transition state, whether the sharp left turn event or the sharp right turn event is determined according to a turning keeping time, the current turning state is stored as the historical turning state, and the turning keeping time is set as a size of the sampling duration.

6. The vehicle running state determination method according to claim 5, characterized by The current turning state comprises a sharp right turn state, a sharp left turn state, the turning transition state and a normal turning state. After the current turning state is determined according to the current angular velocity and the average speed, the method further comprises: when the current turning state is the same as the historical turning state, the turning keeping time is increased by the size of the sampling duration; when the current turning state is different from the historical turning state, and the current turning state is the turning transition state, the historical turning state remains unchanged.

7. The vehicle running state determination method according to claim 6, characterized by The determining whether the sharp left turn event or the sharp right turn event is generated according to the turning keeping time comprises: when the turning keeping time is greater than or equal to a second set time threshold, the historical turning state is the sharp right turn state, the sharp right turn event is generated, the historical turning state is the sharp left turn state, the sharp left turn event is generated, and the historical turning state is the normal turning state, no event is generated; when the turning keeping time is less than the second set time threshold, no event is generated.

8. A vehicle running state determination device characterized by comprising: The method comprises: a data acquisition module configured to acquire GPS data at a current moment of a vehicle; a sharp variable speed event generation module configured to, when data effective states of the GPS data at the current moment and the GPS data at a historical moment are both data effective, determine whether a sharp acceleration event or a sharp deceleration event occurs according to the GPS data at the current moment and the GPS data at the historical moment. The determining whether the sharp acceleration event or the sharp deceleration event occurs according to the GPS data at the current moment and the GPS data at the historical moment comprises: a current speed is parsed according to the GPS data at the current moment; a current variable speed state is determined according to a difference between the current speed and a historical speed; when the current variable speed state is different from a historical variable speed state, and the current variable speed state is not a speed transition state, whether the sharp acceleration event or the sharp deceleration event is determined according to a variable speed keeping time, the current variable speed state is stored as the historical variable speed state, and the variable speed keeping time is set as a size of a sampling duration; wherein the historical variable speed state comprises a sharp acceleration state, a sharp deceleration state and a normal variable speed state. The current speed transition state includes an abrupt acceleration state, an abrupt deceleration state, the speed transition state and a normal speed transition state; after the current speed transition state is determined according to the difference between the current speed and the historical speed, the method further includes: When the current speed transition state is the same as the historical speed transition state, the speed transition maintaining time is increased by the size of the sampling time length; When the current speed transition state is different from the historical speed transition state and the current speed transition state is the speed transition state, the historical speed transition state remains unchanged; The sharp turn event generation module is configured to determine whether a sharp left turn event or a sharp right turn event occurs according to the GPS data at the current time and the GPS data at the historical time.

9. A storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to implement the vehicle driving state determination method of any one of claims 1-7.

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