Turn indication method and device

Abstract

The present invention is applicable to the field of travel technology, and provides a turn indication method and device, the method comprising: obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state according to the time integration of the three-axis angular velocity collected in real time; judging whether the rotation angle is greater than the turning threshold; if so, controlling the indicator light corresponding to the target turning direction to give a turn indication. The turn indication method provided by the present invention calculates the rotation angle by the collected three-axis angular velocity, and when the rotation angle is greater than the turning threshold, the indicator light of the corresponding turning direction gives a turn indication, so that when the rider is preparing to change lanes or turns his head to observe the situation behind before turning, the corresponding turn indication can be given according to the turning direction of the head, so that the rear vehicle can be reminded to slow down and avoid, solving the problem of low safety of existing riding.

Description

Technical Field

[0001] The present invention belongs to the technical field of travel, and in particular relates to a turn indication method and device. Background Art

[0002] Since bicycles do not have a steering indicator control system, the rider needs to judge the surrounding conditions and make sure it is safe before changing lanes or turning. Since it is difficult for surrounding vehicles and pedestrians to make accurate judgments about the turning behavior in advance, they often fail to avoid it in time, resulting in traffic accidents.

[0003] Currently, wireless turn signal control products are also available on the market. The turn signal control button is installed on the handlebar. At this time, the rider actively controls the turning signal to light up or turn off. However, since most riders have no experience in driving cars and have a weak awareness of turning indication actions, they often forget to light up the turn signal, and safety hazards still exist. At the same time, since the rider needs to manually control the turning signal to light up or turn off, the operation is complicated and the user experience is not good. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a turn indication method, aiming to solve the problem of low safety of existing riding.

[0005] The embodiment of the present invention is implemented as follows: a turn indication method, the method comprising:

[0006] According to the time integration of the three-axis angular velocity collected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained;

[0007] Determining whether the rotation angle is greater than a turning threshold;

[0008] If so, the indicator light corresponding to the target rotation direction is controlled to provide a turn indication.

[0009] Furthermore, the step of obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state includes:

[0010] Determine whether the vehicle is in a riding state based on the collected three-axis acceleration;

[0011] If yes, the direction of motion under the current motion state is detected according to the three-axis acceleration and three-axis magnetic field strength collected in real time;

[0012] Determine whether the movement direction detected in real time remains unchanged within a preset time period;

[0013] If yes, then the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained by time integration of the three-axis angular velocity collected in real time;

[0014] If not, the rotation angle obtained by time-integrating the three-axis angular velocity collected in real time according to the movement direction is compensated to obtain a compensated rotation angle for continuous rotation along the target rotation direction.

[0015] Furthermore, the step of obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state includes:

[0016] Real-time acquisition of the three-axis acceleration and three-axis angular velocity of the head-mounted device worn on the rider's head;

[0017] According to the collected three-axis acceleration and three-axis angular velocity, the posture information of the head-mounted device in the current motion state and the rotation angular velocity along the target rotation direction are detected, and the posture information includes the pitch angle, the yaw angle and the roll angle;

[0018] By performing time integration on the rotation angular velocity detected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained.

[0019] Furthermore, the step of obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state includes:

[0020] Determine whether the detected rotational angular velocity is greater than a velocity threshold;

[0021] If so, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained by performing time integration on the rotation angular velocity detected in real time.

[0022] Furthermore, the step of detecting the posture information of the head mounted device in the current motion state and the rotation angular velocity along the target rotation direction includes:

[0023] According to the collected three-axis acceleration and three-axis angular velocity, the current pitch angle, yaw angle and roll angle of the head-mounted device in the current motion state are detected;

[0024] Compensating and correcting the collected three-axis angular velocity according to the current pitch angle to obtain a three-axis corrected angular velocity;

[0025] According to the three-axis corrected angular velocity, the target rotation direction when the head mounted device rotates in the current motion state and the rotation angular velocity along the target rotation direction are calculated.

[0026] Furthermore, the step of determining whether the vehicle is in a riding state according to the collected three-axis acceleration includes:

[0027] Determining whether the movement speed of the head mounted device is less than a threshold value according to the collected three-axis acceleration;

[0028] If yes, it is determined to be in a non-riding state;

[0029] If not, it is determined to be in riding state.

[0030] Furthermore, the step of determining whether the vehicle is in a riding state according to the collected three-axis acceleration includes:

[0031] Determining whether the pitch angle, yaw angle or roll angle of the head mounted device is less than a preset angle according to the collected three-axis acceleration;

[0032] If yes, it is determined to be in riding state;

[0033] If not, it is determined to be in a non-riding state.

[0034] Furthermore, the step of controlling the indicator light corresponding to the target rotation direction to provide a turn indication includes:

[0035] Detecting the final dwell time at the rotation angle;

[0036] Determining whether the stay time is greater than a preset stay time;

[0037] If so, the indicator light corresponding to the target rotation direction is controlled to provide a turn indication.

[0038] Furthermore, the step of controlling the indicator light corresponding to the target rotation direction to provide a turn indication includes:

[0039] Determining a positional relationship between a rotation angle continuously rotating along the target rotation direction and the movement direction;

[0040] When it is determined that the rotation angle of continuous rotation along the target rotation direction is located on one side of the movement direction, the indicator light corresponding to the target rotation direction is controlled to perform a turn indication.

[0041] Another embodiment of the present invention is also intended to provide a turn indicator device, the device comprising:

[0042] The steering angle measurement module is used to obtain the rotation angle of continuous rotation along the target rotation direction in the current motion state according to the time integration of the three-axis acceleration and three-axis angular velocity collected in real time;

[0043] A rotation angle determination module, used to determine whether the rotation angle is greater than a turning threshold;

[0044] The turning indication module is used to control the indicator light corresponding to the target turning direction to provide a turning indication when the turning angle judgment module judges that the turning angle is greater than a turning threshold.

[0045] The turning indication method provided by the embodiment of the present invention calculates the rotation angle by the collected three-axis angular velocity, and when the rotation angle is greater than the turning threshold, the turning indication of the indicator light of the corresponding turning direction is performed, so that when the rider is preparing to change lanes or turn his head to observe the situation behind before turning, the corresponding turning indication can be performed according to the turning direction of the head, so that the rear vehicle can be reminded to slow down and avoid, which effectively improves the riding safety and the user's travel experience, and solves the problem of low safety of existing riding. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a flow chart of a turn indication method provided by an embodiment of the present invention;

[0047] Figure 2 is another flow chart of the turn indication method provided by an embodiment of the present invention;

[0048] Figure 3 is a schematic diagram of a module of a turn indicator device provided by an embodiment of the present invention;

[0049] Figure 4 is a schematic diagram of a module of a turn indication system in an embodiment of the present invention;

[0050] Figure 5 is a schematic structural diagram of a head mounted device in an embodiment of the present invention at a first viewing angle;

[0051] Figure 6 is a schematic structural diagram of a head mounted device in an embodiment of the present invention at a second viewing angle;

[0052] Figure 7 4 is a schematic diagram of the structure of the head mounted device in an embodiment of the present invention under a third viewing angle. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0055] Embodiment 1

[0056] See also Figure 1 , is a flow chart of a turn indication method provided by a first embodiment of the present invention. For ease of description, only the part related to the embodiment of the present invention is shown. The turn indication method includes:

[0057] Step S10, obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state by performing time integration on the three-axis angular velocity collected in real time;

[0058] In one embodiment of the present invention, the turn indication method is applied to a turn indication system, wherein the turn indication system includes a detection module 20, a control module 30, a drive module 40 and an indication module 50. The detection module 20 is used to collect information, and the detection module 20 includes but is not limited to a six-axis sensing component, a nine-axis sensing component, or a combination of a six-axis sensing component and a separate geomagnetic sensor, wherein the six-axis sensing component is composed of a three-axis accelerometer and a three-axis gyroscope, and the nine-axis sensing component is composed of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer (i.e., a geomagnetic sensor or an electronic compass).

[0059] The three-axis accelerometer is used to sense the lateral acceleration in the three axes (i.e. front, back, left, right, up and down) of the three-dimensional space XYZ. The acceleration is a space vector. When the object's motion state is to be accurately understood, its components in the three coordinate axes must be measured. At the same time, when the object's motion direction is unknown in advance, only the three-axis accelerometer is used to detect the acceleration signal. Therefore, by collecting the three-axis acceleration, parameters such as speed, direction, and displacement can be detected. At this time, the three-axis accelerometer can be used to know, for example, "how many meters we have walked forward". The three-axis gyroscope is used to detect the angular velocity in the three axes of XYZ. The principle of Coriolis force: When an object moves in a straight line in a coordinate system, assuming that the coordinate system rotates, the object will feel a vertical force and acceleration in the vertical direction during the rotation, so that it can detect parameters such as rotation speed and posture. At this time, the three-axis gyroscope can be used to know, for example, "we have turned around"; and its three-axis magnetometer is used to detect the strength and direction of the magnetic field, so that the orientation of the device can be located. Its principle is similar to that of a compass. Its three-axis magnetometer can measure the angle between the current device and the four directions of southeast, northwest, and southeast. At this time, the three-axis magnetometer can be used to know, for example, "we are heading west."

[0060] Further, in the embodiment of the present invention, the detection module 20 is mounted and fixed on a wearable device worn on the rider's head, wherein the wearable device includes but is not limited to a helmet and goggles. In this embodiment, the helmet 100 is taken as an example. At this time, the detection module 20 is mounted on the central axis of the helmet 100, such as the inside, top, front end, and rear end of the helmet 100. Preferably, Figure 5-Figure 7 As shown, the detection module 20 is installed and fixed on the central axis directly behind the helmet 100. When in use, the rider wears the helmet 100. At this time, the detection module 20 on the helmet 100 can collect the acceleration of the XYZ three-axis and the angular velocity of the XYZ three-axis on the helmet 100, or can also collect the magnetic field strength of the XYZ three-axis.

[0061] Furthermore, in one embodiment of the present invention, the turn indication method is specifically applied to a control module 30 in a turn indication system, and the control module 30 is connected to the detection module 20, so that the three-axis acceleration and three-axis angular velocity or three-axis magnetic field strength information collected by the detection module 20 can be obtained in real time. Furthermore, the three-axis angular velocity is accumulated and integrated over time to obtain the rotation angle. At this time, based on the time integration of the three-axis angular velocity collected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state can be obtained.

[0062] In one embodiment of the present invention, obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state is achieved by the following steps:

[0063] 1. Real-time collection of the three-axis acceleration and three-axis angular velocity of the head-mounted device worn on the rider's head;

[0064] 2. Detect the posture information of the head-mounted device in the current motion state and the rotation angular velocity along the target rotation direction based on the collected three-axis acceleration and three-axis angular velocity. The posture information includes pitch angle, yaw angle and roll angle;

[0065] 3. Based on the time integration of the rotation angular velocity detected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained.

[0066] Among them, since the detection module 20 is installed on the central axis of the head-mounted device (such as the helmet 100), when the rider wears the helmet 100 to ride, the detection module 20 set on the helmet 100 can collect data of the rider's head in motion in real time. At this time, the three-axis accelerometer collects three-axis acceleration values, the three-axis gyroscope collects three-axis angular velocity values, or the three-axis magnetometer collects three-axis magnetic field intensity values, wherein the three-axis acceleration values, three-axis angular velocity values, and three-axis magnetic field intensity values ​​are all AD values. At this time, when the control module 30 obtains the three-axis acceleration value and the three-axis angular velocity value collected by the detection module 20 in real time, the control module 30 converts the three-axis acceleration value and the three-axis angular velocity value into a quaternion by substituting the three-axis acceleration value and the three-axis angular velocity value into a quaternion conversion algorithm, so that the AD value is converted into a quaternion; the quaternion is further substituted into the Euler angle conversion algorithm to be converted into Euler angles, so that the quaternion is converted into Euler angles, that is, the pitch angle (pitch), the yaw angle (yaw), and the roll angle (roll), so that the posture information under the current motion state can be calculated.

[0067] Among them, refer to Figure 5 As shown, the Z axis represents the rider facing forward; the Y axis represents the rider's up and down; the X axis represents the rider's lateral direction; at this time, the pitch angle is the angle of the rider corresponding to the YZ plane, that is, rotating around the X axis, and its W X is the angular velocity of the rider in the YZ plane. The yaw angle is the angle of the rider in the XZ plane, that is, the rotation around the Y axis. Y is the angular velocity of the rider in the XZ plane. The roll angle is the angle of the rider in the XY plane, that is, the rotation around the Z axis. Z is the angular velocity of the rider in the XY plane.

[0068] Therefore, the control module 30 can detect the speed, direction, displacement and other parameters of the current helmet 100 according to the three-axis acceleration and three-axis angular velocity collected by the three-axis accelerometer and the three-axis gyroscope, so that the complete motion trajectory of the helmet 100 can be detected, and thus the current target rotation direction can be determined. At the same time, in this embodiment, the detection of the rider's head rotation is mainly to detect the yaw angle, that is, whether the rider's head is turning left or right. At this time, when determining the target rotation direction (such as turning the head to the left), the three-axis acceleration and three-axis angular velocity collected are used to determine the target rotation direction. The rotational angular velocity along the target rotational direction is determined. At this time, the control module 30 integrates the rotational angular velocity detected in real time over time to obtain the rotational angle of continuous rotation along the target rotational direction. It should be pointed out that the time integration of the rotational angular velocity is performed at the same rotational angle. For example, the rider turns his head 30 degrees to the left from the front and then immediately turns his head 50 degrees to the right front. At this time, the control module 30 can determine that the rider continuously rotates 30 degrees in the left turn direction and 50 degrees in the right turn direction based on the data collected in real time by the detection module 20.

[0069] Step S20, determining whether the rotation angle is greater than a turning threshold;

[0070] In the embodiment of the present invention, when it is determined that the rotation angle is greater than the turning threshold, step S30 is executed.

[0071] In one embodiment of the present invention, when the control module 30 detects that the rider's head has turned according to the data collected by the detection module 20, and obtains the rotation angle of continuous rotation along the target rotation direction according to the above step S10, the rotation angle is compared with the turning threshold to determine whether the rotation angle is greater than the turning threshold, that is, whether the rider actually has the intention to turn his head to observe the situation behind him. When the rider is preparing to change lanes or turn before turning during the movement, he will generally turn his head to observe the situation behind him. The turning threshold can be set to different rotation angles such as 90 degrees according to actual use requirements, and is not specifically limited here.

[0072] At this time, when the control module 30 determines that the turning angle is greater than the turning threshold, it is determined that the rider has a turning intention to change lanes or turn, so the control module 30 executes the subsequent step S30 accordingly; and when the control module 30 determines that the turning angle is not greater than the turning threshold, it is determined that it is a normal head rotation of the rider when riding or observing the external surrounding environment, and the control module 30 does not perform any processing at this time.

[0073] Step S30, controlling the indicator light corresponding to the target rotation direction to provide a turn indication;

[0074] Among them, in the embodiment of the present invention, when the control module 30 determines that the turning angle is greater than the turning threshold, it is determined that the rider has turned his head in the target turning direction, and the turning angle has reached the turning threshold. At this time, the control module 30 determines that the rider's turning intention is detected, so it controls the indicator light corresponding to the target turning direction to indicate the turn. Specifically, when it is detected that the left turn is detected to a turning angle greater than the turning threshold, the left turn indicator light is controlled to indicate a left turn; when it is detected that the right turn is detected to a turning angle greater than the turning threshold, the right turn indicator light is controlled to indicate a right turn.

[0075] In specific implementation, in one embodiment of the present invention, the control module 30 in the turn indication system is also connected to the drive module 40, and the control module 30 determines the motion state of the rider according to the data collected by the detection module 20. For example, when the rider is preparing to change lanes or turn before the rider turns his head to observe the situation behind him, at this time, each data in the posture information collected by the detection module 20 will change accordingly. When the control module 30 detects the turning intention according to the above-mentioned method and determines that the turning angle is greater than the turning threshold, it controls the working state of the drive module 40 accordingly. In one embodiment of the present invention, the control module 30 can be a controller with the function of controlling and processing signals, such as a single-chip microcomputer, a DSP (Digital Signal Processing), etc., which is set according to the actual use needs of the user and is not limited here.

[0076] Furthermore, the driving module 40 is connected to the control module 30 and the indication module 50 respectively. When the driving module 40 receives the control instruction sent by the control module 30, the driving module 40 can drive the indication system to give corresponding instructions.

[0077] Further, in one embodiment of the present invention, the indication module 50 is connected to the driving module 40 and is used to indicate information according to the driving of the driving module 40. Figure 4The indication module 50 includes: two turn indicator lights 51 at both ends for indicating turn information; and a brake indicator light 52 in the middle for indicating brake information. Specifically, in the present embodiment, the turn indicator lights 51 and the brake indicator lights 52 are both LED indicator lights. The turn indicator lights 51 display yellow when working, and the brake indicator lights 52 display red when working. The left turn indicator light 51 is used for indicating a left turn, and the right turn indicator light 51 is used for indicating a right turn. Correspondingly, at this time, the driving module 40 can be a switch-type device with an on-off control function, such as a switch, a transistor, or a field effect transistor, so that the on-off state between the turn indicator light 51 or the brake indicator light 52 and the power supply can be controlled, thereby controlling the working state of the indication module 50. Specifically in the present embodiment, Figure 4 As shown, the driving module 40 includes three drivers 41, and each driver 41 is respectively connected to a corresponding turn indicator light 51 or a brake indicator light 52. It should be noted that in other embodiments of the present invention, the indication module 50 can also be a display device such as a display screen. In this case, the driving module 40 is a display driver 41 that drives the display device to display graphics. When it is necessary to indicate turning left or right, the corresponding turn arrow or turn icon is displayed.

[0078] Therefore, when the control module 30 determines that the turning angle is greater than the turning threshold and the target turning direction is to turn left, the control module 30 sends a first control signal to the driver 41 connected to the left turn indicator light 51, so that the driver 41 drives the left turn indicator light 51 connected thereto to flash yellow; correspondingly, when the target turning direction is to turn right, the control module 30 sends a second control signal to the driver 41 connected to the right turn indicator light 51, so that the driver 41 drives the right turn indicator light 51 connected thereto to flash yellow, so that the indication module 50 can correspondingly remind the rear vehicle to slow down and avoid.

[0079] Furthermore, in one embodiment of the present invention, the turn indication system is all disposed on the helmet 100. At this time, the detection module 20, the control module 30, the drive module 40, and the indication module 50 are electrically connected in sequence, and there are no other peripheral devices. At this time, the circuit composed of the turn indication system can be disposed inside the helmet 100, and the indication module 50 can be disposed at the rear end of the helmet 100 for indication. At this time, the posture information can be collected and the corresponding turn indication can be performed through the helmet 100 worn by the rider.

[0080] In other embodiments of the present invention, the indication module 50 in the turn indication system can also be set on a riding device, which can be a bicycle, a skiing device, a scooter, a balance car, etc., which can be motion-controlled. In this case, the indication module 50 is set on the lamp body under the tail seat of the bicycle, and the driving module 40 is correspondingly set on the riding device and connected to the indication module 50. It should be noted that the control module 30 can be set on the helmet 100 or the riding device. At this time, the posture information of the rider's head is collected by the detection module 20 on the helmet 100, and the corresponding turn indication is performed by the indication module 50 on the riding device.

[0081] Furthermore, the turn signal system also includes a wireless communication module, which includes any one or more combinations of a Bluetooth module, a ZigBee module, an infrared module, and a wireless transceiver module. The wireless transceiver module can use OOK, ASK, FSK, OFDM, DSSS and other communication methods, wherein FSK frequency modulation and ASK amplitude modulation are radio frequency communication methods, OOK can be an infrared light or radio frequency communication method, and DSSS is a direct sequence spread spectrum communication.

[0082] When the selected control module 30 can perform wireless communication (for example, the control module 30 uses a Bluetooth module for wireless communication), the number of its wireless communication modules is set to one. At this time, when the control module 30 is arranged on the helmet 100, the wireless communication module is arranged on the riding device, and the control module 30 sends the control signal to the wireless communication module through a wireless connection, so that the wireless communication module forwards the received control signal to the driving module 40, so that the driving module 40 drives the indication module 50 to perform corresponding indications. When the control module 30 is arranged on the riding device, the wireless communication module is arranged on the helmet 100, and at this time, the wireless communication module sends the posture information collected by the detection module 20 to the control module 30 through a wireless connection, so that the control module 30 controls the working state of the driving module 40 accordingly according to the posture information received wirelessly.

[0083] When the selected control module 30 cannot perform wireless communication, the number of its wireless communication modules is set to two. At this time, when the control module 30 is set on the helmet 100, one of the wireless communication modules is connected to the control module 30 on the helmet 100, and the other wireless communication module is connected to the driving module 40 in the riding device, so that the control signal output by the control module 30 can be forwarded to the driving module 40 through the wireless connection of the two wireless communication modules; and when the control module 30 is set on the riding device, one of the wireless communication modules is connected to the detection module 20 on the helmet 100, and the other wireless communication module is connected to the control module 30 in the riding device, so that the posture information collected by the detection module 20 can be forwarded to the control module 30 through the wireless connection of the two wireless communication modules.

[0084] In this embodiment, the rotation angle is obtained by calculating the collected three-axis angular velocity, and when the rotation angle is greater than the turning threshold, the turning indication of the indicator light of the corresponding turning direction is performed. When the rider is preparing to change lanes or turns his head to observe the situation behind before turning, the corresponding turning indication can be performed according to the turning direction of the head, so that the rear vehicle can be reminded to slow down and avoid it, which effectively improves the riding safety and user travel experience and solves the problem of low existing riding safety.

[0085] Embodiment 2

[0086] See also Figure 2 , is a flow chart of a turn indication method provided by the second embodiment of the present invention. For the sake of convenience, only the part related to the embodiment of the present invention is shown. The process of the second embodiment is substantially the same as that of the first embodiment. For details not specified, please refer to the description of the aforementioned embodiment. Specifically, the turn indication method in this embodiment includes:

[0087] Step S11, determining whether the vehicle is in a riding state according to the collected three-axis acceleration;

[0088] When it is determined that the vehicle is in the riding state, step S21 is executed; otherwise, no subsequent steering detection operation is performed.

[0089] In one embodiment of the present invention, the above-mentioned determination of whether the riding state is in progress according to the collected three-axis acceleration can be achieved by the following steps:

[0090] 1. judging whether the movement speed of the head mounted device is less than a threshold value according to the collected three-axis acceleration;

[0091] 2. If yes, it is determined to be in a non-riding state;

[0092] 3. If not, it is determined to be in riding state.

[0093] Among them, since the current movement speed of the helmet can be collected and detected by the three-axis accelerometer, when the current movement state is determined to be stationary, slow (walking) or backward according to the collected three-axis acceleration, that is, the movement speed is detected to be less than the threshold, it is determined that the rider has stopped and is in a non-riding state. Even if the rider turns his head to look around, it does not mean that he needs to ride the riding device to perform a turning operation. At this time, no subsequent steering detection operation is performed. When it is determined to be in a riding state, step S21 is executed.

[0094] Among them, in other embodiments of the present invention, the above-mentioned determination of whether the riding state is in accordance with the collected three-axis acceleration can also be achieved through other steps:

[0095] Determining whether the pitch angle, yaw angle or roll angle of the head mounted device is less than a preset angle according to the collected three-axis acceleration;

[0096] If yes, it is determined to be in riding state;

[0097] If not, it is determined to be in a non-riding state.

[0098] Among them, since the collected three-axis acceleration can detect the posture information of the helmet, that is, the pitch angle, yaw angle and roll angle; wherein, after the riding, the rider usually takes the helmet 100 away in his hand instead of wearing it on his head all the time. At this time, according to the structure of the helmet 100, it is often in a nearly horizontal state (in a vertical state when riding). According to this embodiment Figure 5 The three-dimensional coordinate axis system defined, that is, when the pitch angle, yaw angle or roll angle of the head-mounted device is less than the preset angle, it may be worn on the rider's head. If the pitch angle of the head-mounted device is greater than the preset angle (that is, it is in a horizontal state at this time), it is determined to be in a non-riding state, so the control module 30 obtains the posture of the helmet 100 by calculation. When the pitch angle, yaw angle or roll angle is less than the preset angle (for example, 30 degrees), it is determined to be in a riding state, and step S21 is executed at this time; otherwise, it is determined to be a non-riding state. At this time, the posture of the helmet is detected according to the three-axis accelerometer and the helmet is not worn on the rider's head. Therefore, no judgment is made on the steering action, that is, the subsequent steps are no longer executed. Only when it is determined that the helmet 100 is worn on the rider's head, the subsequent steps are executed (that is, the calculation of the rotation angle), so that the action filtering of the movement of the helmet 100 when not riding can be realized.

[0099] Furthermore, in other embodiments of the present invention, it can also be determined based on the posture detection of the three-axis acceleration that when the safety helmet on the rider's head is crooked (not installed correctly), that is, the wearable device on the rider's head is not facing forward, at this time, according to the detected current posture, it is determined in real time that there is always an angle between the current yaw angle and the direction of movement, and it does not make any judgment on the turning action accordingly. At this time, the turning indication system can also include an alarm module, which can be a buzzer, etc., and its control module generates an alarm signal to the alarm module, so that the alarm module issues an alarm, so as to remind the rider to wear the safety helmet normally. At this time, it is also determined that the current state is not riding, so the subsequent steps will not be executed accordingly.

[0100] Step S21, detecting the motion direction in the current motion state according to the three-axis acceleration and three-axis magnetic field strength collected in real time;

[0101] In the embodiment of the present invention, the detection module 20 specifically adopts a combination of a nine-axis sensing component or a six-axis sensing component and a separate geomagnetic sensor, so the detection module 20 can collect three-axis acceleration and three-axis angular velocity, and can also collect three-axis magnetic field intensity. The three-axis gyroscope plus the three-axis acceleration can basically detect all forms of movement, including speed, direction, displacement and other parameters, but with long-term movement, cumulative deviations will also occur, and the movement posture cannot be accurately described. At this time, the three-axis magnetometer measures the strength and direction of the earth's magnetic field to measure the angle between the current device and the four directions of southeast, northwest, and northeast. At this time, correction and compensation through the absolute pointing function can effectively solve the problem of cumulative deviation, thereby correcting the movement direction, movement direction, posture angle, movement strength and speed of the current device. Therefore, the three-axis accelerometer can detect "we have walked forward a few meters", and the three-axis magnetometer can detect "we are heading west". At this time, while detecting the movement trajectory, the absolute position can also be corrected to achieve accurate device movement trajectory tracking, so that the movement direction in the current movement state can be accurately detected, that is, the forward direction of the rider when riding. At this time, according to the determination of the magnetic field direction, when the forward direction changes, the changed angle can also be calculated accordingly.

[0102] Step S31, determining whether the movement direction detected in real time remains unchanged within a preset time period;

[0103] In the embodiment of the present invention, when it is determined that the movement direction detected in real time remains unchanged within the preset time period, step S41 is executed; if not, step S61 is executed.

[0104] Among them, since riders often make small turns when using cycling equipment, if the rotation angle is detected directly through the collected three-axis acceleration and three-axis angular velocity, the detected rotation angle will be affected by the turning of the cycling equipment. Therefore, a time threshold is set. Only when a certain forward direction calculated maintains the time threshold unchanged, the direction is determined as the current forward direction.

[0105] At this time, the control module 30 first determines the direction of motion of the rider according to the above step S21, and measures whether the time for which the direction of motion remains unchanged is greater than the set time threshold. For example, if the control module 30 continuously measures that the direction of motion fluctuates within a small range of 40 degrees in the southeast direction, and the measurement result remains for more than 500 milliseconds, the control module 30 considers that the direction of motion is 40 degrees in the southeast direction. The detected motion direction is always in a dynamic change process of measurement and correction, so the control module 30 updates the latest motion direction each time.

[0106] Step S41, determining whether the detected rotation angular velocity is greater than a velocity threshold;

[0107] When it is determined that the detected rotational angular velocity is greater than the velocity threshold, step S51 is executed;

[0108] In one embodiment of the present invention, the posture information of the head-mounted device in the current motion state and the angular velocity of rotation along the target rotation direction can be detected based on the collected three-axis acceleration and three-axis angular velocity, and the posture information includes pitch angle, yaw angle and roll angle.

[0109] At this time, when turning detection is required, it is first determined whether the rotation angular velocity is greater than the speed threshold, that is, whether the rider is turning quickly. Only when the rider turns quickly so that the rotation angular velocity is greater than the speed threshold, the detection of the rotation angle in step S51 is started, so as to avoid the problem of large amount of calculation data caused by real-time detection of the rotation angle. At this time, detection is only performed under the trigger detection condition, so that the detection is more targeted.

[0110] Step S51, according to time integration of the three-axis angular velocity collected in real time, obtain the rotation angle of continuous rotation along the target rotation direction in the current motion state;

[0111] In one embodiment of the present invention, obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state is achieved by the following steps:

[0112] 1. Real-time collection of the three-axis acceleration and three-axis angular velocity of the head-mounted device worn on the rider's head;

[0113] 2. Detect the posture information of the head-mounted device in the current motion state and the rotation angular velocity along the target rotation direction based on the collected three-axis acceleration and three-axis angular velocity. The posture information includes pitch angle, yaw angle and roll angle;

[0114] 3. Based on the time integration of the rotation angular velocity detected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained.

[0115] Furthermore, the step of detecting the posture information of the head mounted device in the current motion state and the rotation angular velocity along the target rotation direction includes:

[0116] According to the collected three-axis acceleration and three-axis angular velocity, the current pitch angle, yaw angle and roll angle of the head-mounted device in the current motion state are detected;

[0117] The collected three-axis angular velocity is compensated and corrected according to the current pitch angle to obtain the three-axis corrected angular velocity;

[0118] According to the three-axis corrected angular velocity, the target rotation direction and the rotation angular velocity along the target rotation direction when the head mounted device rotates in the current motion state are calculated.

[0119] Among them, the control module 30 first obtains the Euler angle, that is, the current pitch angle, yaw angle and roll angle, according to the collected three-axis acceleration and three-axis angular velocity through the attitude solution using quaternion as described in the above embodiment. At this time, the three-axis accelerometer checks the posture of the rider's head and how much it is offset from the predetermined XYZ axis. The angle value obtained can be used as the conditional judgment of whether to perform angular velocity integration and the basis of the Euler angle conversion algorithm.

[0120] Furthermore, the random change of the pitch angle of the helmet 100 during riding causes data fluctuations in the detection module 20. When the pitch angle of the helmet 100 changes, even if the speed of the head rotation remains unchanged, the angular velocity data collected by the detection module 20 relative to the horizontal rotation is also smaller, so firstly, the three-axis angular velocity collected by the detection module 20 is compensated and corrected according to the currently detected pitch angle, and then the rotation angular velocity is calculated according to the corrected three-axis corrected angular velocity.

[0121] Specifically, the steps of obtaining the three-axis corrected angular velocity include:

[0122] A characteristic curve is obtained by plotting the change of the three-axis angular velocity data collected by the detection module 20 when rotating at different pitch angles relative to the three-axis angular velocity data collected at the horizontal position;

[0123] According to the characteristic curve, the angular velocity compensation amount at different pitch angles is obtained;

[0124] According to the three-axis angular velocity at the current inclination angle and the corresponding angular velocity compensation amount, the compensated three-axis corrected angular velocity is obtained.

[0125] For example, the detection module 20 is placed on a horizontal plane and rotates at a fixed speed, and the angular velocity read out is assumed to be 100. When the speed is kept constant so that the detection module 20 is no longer parallel to the horizontal plane, the angular velocity read out at this time will change and is no longer 100. At this time, the detection module 20 collects the angular velocity outputted at different pitch angles relative to the horizontal position, so that a ratio curve (i.e., a characteristic curve) of the relative horizontal position at different pitch angles can be obtained. At the same time, the angular velocity compensation amount at different pitch angles is determined according to the characteristic curve. At this time, after the control module 30 detects the pitch angle of the helmet 100, it searches for the corresponding characteristic curve according to the pitch angle to obtain the corresponding angular velocity compensation amount, and compensates and corrects the collected three-axis angular velocity through the angular velocity compensation amount, so as to obtain an accurate rotation angular velocity, and avoid the Y-axis angular velocity changing when the helmet 100 is tilted to a certain extent due to the different postures of the rider, thereby affecting the correct judgment of the steering angle. At this time, each time the control module 30 obtains the data collected by the detection module 20, it calculates the pitch angle of the helmet 100 accordingly, and compensates the angular velocity value according to the pitch angle, so as to obtain an accurate rotational angular velocity.

[0126] Step S61, compensating the rotation angle obtained by time-integrating the three-axis angular velocity collected in real time according to the movement direction, and obtaining the compensated rotation angle for continuous rotation along the target rotation direction;

[0127] Among them, when it is determined in step S31 that the movement direction detected in real time changes within a preset time period, at this time, since the three-axis magnetometer combined with the three-axis accelerometer can detect the travel direction, specifically, in step S61, the angle of change of the travel direction of the riding device and the rotation angle of the head-mounted device during specific rotation are mainly detected. Among them, it should be pointed out that the specific calculation process of the rotation angle is still the same as that described in the above steps S41 and S51, that is, first determine whether the detected rotation angular velocity is greater than the velocity threshold. If so, then according to the time integration of the three-axis angular velocity collected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained, wherein Figure 2 There is no specific corresponding point in the specification, and the drawings in this specification do not impose specific limitations on the specific implementation of step S61 of the present invention. The corresponding implementation steps can be set according to actual detection requirements, and no specific limitations are made here.

[0128] Therefore, at this time, the angle of change in the direction of travel is compensated to the integrated calculated rotation angle to obtain the actual rotation angle. For example, the rotation angle detected according to steps S41 and S51 is specifically a 50-degree right turn, and the direction of travel detected by the three-axis magnetometer is specifically a 20-degree right turn. At this time, after compensating the rotation angle according to the direction of movement, the rotation angle obtained is specifically a 50-20-degree right turn, that is, 30 degrees.

[0129] Step S71, determining whether the rotation angle is greater than a turning threshold;

[0130] When it is determined that the turning angle is greater than the turning threshold, step S81 is executed.

[0131] Step S81, detecting the final dwell time at the rotation angle;

[0132] Step S91, determining whether the stay time is greater than a preset stay time;

[0133] When it is determined that the stay time is greater than the preset stay time, step S101 is executed;

[0134] Among them, when the control module 30 determines that the rotation angle is greater than the turning threshold, the control module 30 also monitors the time it stays at the rotation angle according to the posture information collected by the detection module 20, and determines whether the time it stays is greater than the preset stay time (for example, 500ms). At this time, when it is determined that the stay time is greater than the preset stay time, it is determined that the rider's turning intention is detected, so the control module 30 controls the indicator light corresponding to the target turning direction to indicate the turn. Among them, because the rider will turn his head to observe the situation behind him before preparing to change lanes or turn, and there is a certain short time to observe the situation behind him, rather than turning his head immediately, at this time, when the control module 30 detects that the rotation angle is greater than the turning threshold, it continues to determine the length of time stayed at the rotation angle, so that it can more accurately determine whether the rider needs to change lanes or turn.

[0135] Step S101, controlling the indicator light corresponding to the target rotation direction to provide a turn indication;

[0136] In a preferred embodiment of the present invention, the step of controlling the indicator light corresponding to the target rotation direction to provide a turn indication further includes:

[0137] Determine the positional relationship between the rotation angle and the motion direction of continuous rotation along the target rotation direction;

[0138] When it is determined that the rotation angle of the continuous rotation along the target rotation direction is located on one side of the motion direction, the indicator light corresponding to the target rotation direction is controlled to perform a turn indication.

[0139] Among them, since the rider often turns his head slightly to observe the surrounding environment and things during riding, if accurate judgment and filtering are not performed, the turning threshold is often reached and the turn indicator light 51 is mistakenly lit (for example, the rider first turns left 45 degrees to observe the left environment, and then immediately turns right 45 degrees to observe the right environment. The total turning amplitude of this action reaches 90 degrees, and the turning threshold set for the turning judgment is reached). Therefore, each turning angle judgment is compared with the latest calculated movement direction. At this time, the angle position of the rider's head rotation is judged, thereby effectively filtering out the erroneous judgment of the head turning from the left to the right or from the right to the left.

[0140] Among them, since the real-time movement trajectory of the helmet 100 can be accurately known through the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer, when it is detected that the rotation angle is greater than the turning threshold, it detects whether the posture position of the helmet 100 at the start and end of the turning is located on one side of the movement direction. If so, it is determined that the rider is in a state of turning his head to observe the rear during the movement; if not, it is determined that the rider is in a state of turning his head slightly to observe the surrounding environment and things.

[0141] Or when it is detected that the turning angle is greater than the turning threshold, it detects whether the angle between the posture position of the helmet 100 when it turns to the current maximum turning angle and the direction of movement is greater than the turning threshold. If so, it is determined that the rider is in a state of turning his head to observe the rear during the movement; if not, it is determined that the rider is in a state of turning his head slightly to observe the surrounding environment and things. This can avoid the problem that, for example, when the rider turns his head from the right front to the left to observe the situation behind the left side, the turning cannot be detected because the posture position of the helmet 100 at the start and end of the turning is not on one side of the direction of movement.

[0142] Furthermore, the turn indication method may also include:

[0143] When it is determined that deceleration is to be performed in the current motion state according to the detected acceleration change in the motion direction, the indicator light corresponding to the brake is controlled to give a brake indication.

[0144] Among them, the three-axis accelerometer, three-axis gyroscope, and three-axis magnetometer can accurately measure the speed, direction, displacement and other parameters. At this time, after detecting the direction of movement, detecting the change of acceleration in the direction of movement can accurately determine whether the current movement in the direction of movement is accelerated, decelerated or uniform. At this time, when it is detected that the current rider is decelerating and braking, it controls the indicator light corresponding to the brake to indicate the brake. Specifically, the control module 30 sends a third control signal to the driver 41 connected to the brake indicator light 52, so that the driver 41 drives the brake indicator light 52 connected thereto to flash red. This can remind the rear vehicle to decelerate and avoid.

[0145] Furthermore, the turn indication method may also include:

[0146] The brightness of the indicator light is controlled accordingly according to the detected motion speed in the current motion state.

[0147] Among them, the control module 30 can accurately calculate the movement speed of the rider according to the detection module 20. At this time, when the movement speed is faster, the brightness of the corresponding control indicator light is brighter, and when the braking force is greater, the brightness of the corresponding control brake indicator light is brighter. When the rider is moving at a slower speed, the rear vehicles or pedestrians of the corresponding reference objects know their movement speed and the movement speed is also correspondingly slower or the distance is longer. At this time, when the rider changes lanes or turns, the rear vehicles will not run at a faster speed. At this time, the brightness of the indicator light when turning does not need to be set to the brightest; and when the rider is moving at a faster speed, the rear vehicles of the corresponding reference objects know their movement speed and the movement speed may also be correspondingly faster. At this time, when the rider changes lanes or turns, the brightness of the indicator light when turning needs to be set brighter to avoid major accidents caused by the rear vehicles not timely and clearly checking the turn indicator light. Correspondingly, when the rider brakes, the braking force is also small, and the brightness of the brake indicator light does not need to be set brighter. When the braking force is large and emergency braking is performed, the brightness of the brake indicator light needs to be set brighter.

[0148] Embodiment 3

[0149] See also Figure 3 , is a schematic diagram of a module of a turn indicator device provided by a third embodiment of the present invention. For the sake of convenience, only the part related to the embodiment of the present invention is shown. The turn indicator device includes:

[0150] The steering angle measurement module 11 is used to obtain the rotation angle of continuous rotation along the target rotation direction in the current motion state according to the time integration of the three-axis angular velocity collected in real time;

[0151] A rotation angle determination module 21 is used to determine whether the rotation angle is greater than a turning threshold;

[0152] The turning indication module 31 is used to control the indicator light corresponding to the target turning direction to indicate the turning direction when the turning angle judgment module judges that the turning angle is greater than the turning threshold.

[0153] Furthermore, the steering angle measurement module 11 includes:

[0154] A riding state determination unit, used to determine whether the vehicle is in a riding state according to the collected three-axis acceleration;

[0155] The motion direction detection unit detects the motion direction under the current motion state according to the three-axis acceleration and three-axis magnetic field strength collected in real time;

[0156] A motion direction determination unit, used to determine whether the motion direction detected in real time remains unchanged within a preset time period;

[0157] A first steering angle measurement unit is used to obtain a rotation angle of continuous rotation along the target rotation direction in the current motion state according to time integration of the three-axis angular velocity collected in real time when the motion direction determination unit determines that the motion direction detected in real time remains unchanged within a preset time period;

[0158] The second steering angle measurement unit compensates for the rotation angle obtained by time-integrating the three-axis angular velocity collected in real time according to the movement direction when the movement direction judgment unit determines that the movement direction detected in real time has changed within a preset time period, thereby obtaining a compensated rotation angle for continuous rotation along the target rotation direction.

[0159] Furthermore, the first steering angle measurement unit includes:

[0160] A data acquisition subunit, used for real-time acquisition of the three-axis acceleration and three-axis angular velocity of the head-mounted device worn on the rider's head;

[0161] The posture determination subunit is used to detect the posture information of the head-mounted device in the current motion state and the rotation angular velocity along the target rotation direction according to the collected three-axis acceleration and three-axis angular velocity, wherein the posture information includes the pitch angle, the yaw angle and the roll angle;

[0162] The rotation angle measurement subunit obtains the rotation angle of continuous rotation along the target rotation direction in the current motion state by performing time integration on the rotation angular velocity detected in real time.

[0163] Furthermore, the rotation angle measurement subunit is used for:

[0164] Determine whether the detected rotational angular velocity is greater than a velocity threshold;

[0165] If so, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained by performing time integration on the rotation angular velocity detected in real time.

[0166] Furthermore, the posture determination subunit is used for:

[0167] According to the collected three-axis acceleration and three-axis angular velocity, the current pitch angle, yaw angle and roll angle of the head-mounted device in the current motion state are detected;

[0168] Compensating and correcting the collected three-axis angular velocity according to the current pitch angle to obtain a three-axis corrected angular velocity;

[0169] According to the three-axis corrected angular velocity, the target rotation direction when the head mounted device rotates in the current motion state and the rotation angular velocity along the target rotation direction are calculated.

[0170] Furthermore, the riding state determination unit is used for:

[0171] Determining whether the movement speed of the head mounted device is less than a threshold value according to the collected three-axis acceleration;

[0172] If yes, it is determined to be in a non-riding state;

[0173] If not, it is determined to be in riding state.

[0174] Furthermore, the riding state determination unit is used for:

[0175] Determining whether the pitch angle, yaw angle or roll angle of the head mounted device is less than a preset angle according to the collected three-axis acceleration;

[0176] If yes, it is determined to be in riding state;

[0177] If not, it is determined to be in a non-riding state.

[0178] Furthermore, the turn indication module 31 is used for:

[0179] Detecting the final dwell time at the rotation angle;

[0180] Determining whether the stay time is greater than a preset stay time;

[0181] If so, the indicator light corresponding to the target rotation direction is controlled to provide a turn indication.

[0182] Furthermore, the turn indication module 31 is also used for:

[0183] Determining a positional relationship between a rotation angle continuously rotating along the target rotation direction and the movement direction;

[0184] When it is determined that the rotation angle of continuous rotation along the target rotation direction is located on one side of the movement direction, the indicator light corresponding to the target rotation direction is controlled to perform a turn indication.

[0185] The turning indicator device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0186] Embodiment 4

[0187] See also Figure 5-Figure 7 , is a schematic diagram of the structure of a head mounted device provided in a fourth embodiment of the present invention. For the sake of convenience of explanation, only the parts related to the embodiment of the present invention are shown. The head mounted device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor runs the computer program, the head mounted device executes the turn indication method described in the above embodiment.

[0188] The wearable device includes but is not limited to a helmet and goggles. Specifically, a helmet is provided on the helmet as an example. Figure 5-Figure 7 The detection module, as described in the above embodiment, may have a steering indication system that is entirely on the helmet, or the detection module and the control module may be disposed on the helmet, and the indication module may be disposed separately on the riding device.

[0189] The head mounted device provided by the embodiment of the present invention calculates the rotation angle by the collected three-axis acceleration and three-axis angular velocity, and when the rotation angle is greater than the turning threshold, the indicator light of the corresponding turning direction is used to indicate the turning direction, so that when the rider is preparing to change lanes or turns his head to observe the situation behind before turning, the corresponding turning direction can be indicated according to the turning direction of the head, so that the rear vehicle can be reminded to slow down and avoid, which effectively improves the riding safety and the user's travel experience, and solves the problem of low safety of existing riding.

[0190] An embodiment of the present invention further provides a sports device, which includes the head-mounted device described in the above embodiment.

[0191] Among them, in one embodiment of the present invention, the sports equipment includes bicycles, ski equipment, scooters, balance bikes and other riding equipment that can perform motion control, as well as protective equipment such as knee pads, elbow pads and head-mounted devices as described above that are matched with the riding equipment. At this time, as described in the above embodiment, the turn indication system can be all on the helmet, or the detection module is set on the helmet and the indication module is set on the riding equipment. At this time, the head posture information of the rider wearing it is collected through the helmet, and the corresponding steering and braking instructions are given through the indication system on the rear end of the helmet or the riding equipment, so that the rear vehicle can be reminded to slow down and avoid, which effectively improves the riding safety and user travel experience, and solves the problem of low safety of existing riding.

[0192] The embodiment of the present invention further provides a readable storage medium, on which a program is stored, and when the program is executed by a processor, the steps of the turn indication method described in the above embodiment are implemented. The readable storage medium is, for example, ROM / RAM, a magnetic disk, an optical disk, etc.

[0193] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional units or modules as needed, that is, the internal structure of the storage device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0194] Those skilled in the art will understand that Figure 3 The components shown in the figure do not constitute a limitation on the turn indicator device of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently. Figure 1-2 The turn signal method in Figure 3 The present invention may be implemented with more or fewer components than those shown in the drawings, or with a combination of certain components, or with a different arrangement of components.

[0195] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A turn indication method, characterized in that: The method comprises: According to the time integration of the three-axis angular velocity collected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained; Determining whether the rotation angle is greater than a turning threshold; If yes, controlling the indicator light corresponding to the target rotation direction to indicate the turn; The step of obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state comprises: Determine whether the vehicle is in a riding state based on the collected three-axis acceleration; If yes, the direction of motion under the current motion state is detected according to the three-axis acceleration and three-axis magnetic field strength collected in real time; Determine whether the movement direction detected in real time remains unchanged within a preset time period; If yes, then the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained by time integration of the three-axis angular velocity collected in real time; If not, the rotation angle obtained by time-integrating the three-axis angular velocity collected in real time according to the movement direction is compensated to obtain a rotation angle for continuous rotation along the target rotation direction after compensation; The step of controlling the indicator light corresponding to the target rotation direction to provide a turn indication comprises: Detecting the final dwell time at the rotation angle; Determining whether the stay time is greater than a preset stay time; If yes, controlling the indicator light corresponding to the target rotation direction to indicate the turn; The step of obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state comprises: Real-time acquisition of the three-axis acceleration and three-axis angular velocity of the head-mounted device worn on the rider's head; According to the collected three-axis acceleration and three-axis angular velocity, the posture information of the head-mounted device in the current motion state and the rotation angular velocity along the target rotation direction are detected, and the posture information includes the pitch angle, the yaw angle and the roll angle; According to the time integration of the rotation angular velocity detected in real time, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained; The step of detecting the posture information of the head mounted device in the current motion state and the rotation angular velocity along the target rotation direction comprises: According to the collected three-axis acceleration and three-axis angular velocity, the current pitch angle, yaw angle and roll angle of the head-mounted device in the current motion state are detected; Compensating and correcting the collected three-axis angular velocity according to the current pitch angle to obtain a three-axis corrected angular velocity; According to the three-axis corrected angular velocity, the target rotation direction when the head mounted device rotates in the current motion state and the rotation angular velocity along the target rotation direction are calculated.

2. The turn indication method according to claim 1, characterized in that: The step of obtaining the rotation angle of continuous rotation along the target rotation direction in the current motion state comprises: Determine whether the detected rotational angular velocity is greater than a velocity threshold; If so, the rotation angle of continuous rotation along the target rotation direction in the current motion state is obtained by performing time integration on the rotation angular velocity detected in real time.

3. The turn indication method according to claim 1, characterized in that: The step of determining whether the vehicle is in a riding state according to the collected three-axis acceleration comprises: Determining whether the movement speed of the head mounted device is less than a threshold value according to the collected three-axis acceleration; If yes, it is determined to be in a non-riding state; If not, it is determined to be in riding state.

4. The turn indication method according to claim 1, characterized in that: The step of determining whether the vehicle is in a riding state according to the collected three-axis acceleration comprises: Determining whether the pitch angle, yaw angle or roll angle of the head mounted device is less than a preset angle according to the collected three-axis acceleration; If yes, it is determined to be in riding state; If not, it is determined to be in a non-riding state.

5. The turn indication method according to claim 1, characterized in that: The step of controlling the indicator light corresponding to the target rotation direction to provide a turn indication comprises: Determining a positional relationship between a rotation angle continuously rotating along the target rotation direction and the movement direction; When it is determined that the rotation angle of continuous rotation along the target rotation direction is located on one side of the movement direction, the indicator light corresponding to the target rotation direction is controlled to perform a turn indication.

6. A turn indicator device, characterized in that: The device comprises: The steering angle measurement module is used to obtain the rotation angle of continuous rotation along the target rotation direction in the current motion state according to the time integration of the three-axis acceleration and three-axis angular velocity collected in real time; A rotation angle determination module, used to determine whether the rotation angle is greater than a turning threshold; A turning indication module, configured to control the indicator light corresponding to the target turning direction to indicate the turning direction when the turning angle determination module determines that the turning angle is greater than a turning threshold; The steering angle measurement module comprises: A riding state determination unit, used to determine whether the vehicle is in a riding state according to the collected three-axis acceleration; The motion direction detection unit detects the motion direction under the current motion state according to the three-axis acceleration and three-axis magnetic field strength collected in real time; A motion direction determination unit, used to determine whether the motion direction detected in real time remains unchanged within a preset time period; A first steering angle measurement unit is used to obtain a rotation angle of continuous rotation along the target rotation direction in the current motion state according to time integration of the three-axis angular velocity collected in real time when the motion direction determination unit determines that the motion direction detected in real time remains unchanged within a preset time period; a second steering angle measuring unit, which compensates for the rotation angle obtained by time-integrating the three-axis angular velocity collected in real time according to the movement direction when the movement direction judging unit judges that the movement direction detected in real time changes within a preset time period, and obtains a compensated rotation angle for continuous rotation along the target rotation direction; The turn signal module is used for: Detecting the final dwell time at the rotation angle; Determining whether the stay time is greater than a preset stay time; If yes, controlling the indicator light corresponding to the target rotation direction to indicate the turn; The first steering angle measurement unit comprises: A data acquisition subunit, used for real-time acquisition of the three-axis acceleration and three-axis angular velocity of the head-mounted device worn on the rider's head; The posture determination subunit is used to detect the posture information of the head-mounted device in the current motion state and the rotation angular velocity along the target rotation direction according to the collected three-axis acceleration and three-axis angular velocity, wherein the posture information includes the pitch angle, the yaw angle and the roll angle; The rotation angle measurement subunit obtains the rotation angle of continuous rotation along the target rotation direction in the current motion state by performing time integration on the rotation angular velocity detected in real time; The posture determination subunit is used for: According to the collected three-axis acceleration and three-axis angular velocity, the current pitch angle, yaw angle and roll angle of the head-mounted device in the current motion state are detected; Compensating and correcting the collected three-axis angular velocity according to the current pitch angle to obtain a three-axis corrected angular velocity; According to the three-axis corrected angular velocity, the target rotation direction when the head mounted device rotates in the current motion state and the rotation angular velocity along the target rotation direction are calculated.

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