Vehicle state detection method and device

Abstract

The embodiment of the application provides a vehicle state detection method and device, the i ground acceleration of the vehicle is collected, the i ground acceleration is acceleration data of the vehicle in the direction perpendicular to the ground; when it is determined that the i ground acceleration is greater than and greater than the second threshold value, M ground accelerations are fitted to obtain a first fitting line segment; when the slope of the first fitting line segment indicates that the M ground accelerations are in a downward trend or an upward trend, N ground accelerations are continuously obtained; when it is determined based on the N ground acceleration data that there is a downward trend switching to an upward trend or an upward trend switching to a downward trend, a first time is recorded; and a second time is calculated; when an impact event is detected at the second time, it is determined that a vehicle in an overspeed reduction belt state is detected. The detection method of the application has a smaller calculation amount, and can improve the safety during vehicle driving.

Description

Technical Field

[0001] This application relates to the field of vehicle condition detection, and more particularly to a vehicle condition detection method and apparatus. Background Technology

[0002] For driving safety, speed bumps can be installed on roads to limit vehicle speeds. For example, speed bumps are installed near schools to keep vehicles traveling at lower speeds. When a vehicle passes over a speed bump, it transmits a vertical impact force to the vehicle, which is then transferred to passengers and cargo through the vehicle's suspension.

[0003] When a vehicle travels over a speed bump at a high speed, it may generate a large vertical impact force on the vehicle. This impact force will act on the entire frame, which may affect the service life of the vehicle and create a poor experience for the passengers. Summary of the Invention

[0004] This application provides a vehicle state detection method and apparatus, which can determine whether a vehicle is in the process of passing a speed bump, so as to control the vehicle speed when the vehicle passes a speed bump and improve the situation where the vehicle life is affected by the large vertical impact force.

[0005] In a first aspect, embodiments of this application provide a vehicle state detection method, the vehicle state detection method comprising:

[0006] The i-th ground-direction acceleration of the vehicle is collected, where the i-th ground-direction acceleration is the acceleration data of the vehicle in the direction perpendicular to the ground.

[0007] When it is determined that the i-th ground acceleration is greater than the first threshold, it is further determined whether the i-th ground acceleration is greater than the second threshold; the second threshold is greater than the first threshold.

[0008] When the ground acceleration is greater than the second threshold, the i-th ground acceleration is stored until M ground accelerations greater than the second threshold are obtained.

[0009] By fitting the M ground-directed accelerations, the first fitted line segment is obtained.

[0010] When the slope of the first fitted line segment indicates that the M ground accelerations are either decreasing or increasing, N ground accelerations are obtained.

[0011] When it is determined, based on the N ground acceleration data, that there is a switch from a downward trend to an upward trend, or a switch from an upward trend to a downward trend, the switching position, duration, oscillation frequency, and peak-to-peak value are obtained; the oscillation time includes the duration of each two upward and downward processes, the oscillation frequency includes the reciprocal of the average value of the oscillation time, and the peak-to-peak value includes the peak-to-peak value between each two ground accelerations with a slope less than a preset value in the line segment obtained by fitting the N ground accelerations and the M ground accelerations.

[0012] When the duration, the oscillation frequency, and the peak-to-peak value all conform to their respective preset parameter ranges, the first time is recorded.

[0013] Obtain the speed of the vehicle.

[0014] The second time is calculated based on the first time, the speed, and the wheelbase of the vehicle.

[0015] When an impact event is detected at the second time, it is determined that the vehicle has passed over a speed bump.

[0016] One possible implementation further includes: storing the i-th ground acceleration data when the i-th ground acceleration is greater than the first threshold and less than the second threshold; and determining that the vehicle is in a stable operating state and recording the duration of stable operation when the number of ground acceleration data greater than the first threshold and less than the second threshold reaches Q.

[0017] In one possible implementation, the step of obtaining N ground accelerations when the slope of the first fitted line segment indicates that the M ground accelerations are in a downward or upward trend includes: when the slope of the first fitted line segment indicates that the M ground accelerations are in a downward trend, calculating the magnitude of the decrease corresponding to the M ground accelerations; when the number of times the magnitude of the decrease is greater than the magnitude threshold reaches a number threshold, storing the duration of the continuous decrease; or, when the slope of the first fitted line segment indicates that the M ground accelerations are in an upward trend, calculating the magnitude of the increase corresponding to the M ground accelerations; when the number of times the magnitude of the increase is greater than the magnitude threshold reaches the number threshold, storing the duration of the continuous increase; and when the duration of the stable operation is greater than a duration threshold, obtaining the N ground accelerations.

[0018] One possible implementation further includes: storing the i-th ground acceleration data when the i-th ground acceleration is less than the first threshold; fitting the L ground acceleration data to obtain a second fitted line segment when the number of ground acceleration data less than the first threshold reaches L; calculating the distance from each ground acceleration data to the line when the slope range of the second fitted line segment is within a preset range, obtaining a preset number of distance values; and updating the second threshold using the average of the preset number of distance values.

[0019] In one possible implementation, calculating the second time based on the first time, the speed, and the wheelbase of the vehicle includes: calculating the sum of the first time and the time difference to obtain the second time, wherein the time difference includes the quotient of the wheelbase and the speed.

[0020] One possible implementation further includes: when it is determined based on the N ground acceleration data that there is no transition from a downward trend to an upward trend, and no transition from an upward trend to a downward trend, the duration of continuous ascent or continuous descent is obtained; when the duration of continuous ascent or continuous descent reaches a preset duration threshold, it is determined that the vehicle is in a long uphill or long downhill state.

[0021] In one possible implementation, the method further includes issuing a safety alarm when the vehicle's speed exceeds a speed threshold.

[0022] Secondly, embodiments of this application provide a vehicle condition detection device, the vehicle condition detection device comprising:

[0023] The acquisition unit is used to acquire the i-th ground-direction acceleration of the vehicle, wherein the i-th ground-direction acceleration is the acceleration data of the vehicle in the direction perpendicular to the ground.

[0024] The processing unit is configured to, when the i-th ground acceleration is determined to be greater than a first threshold, continue to determine whether the i-th ground acceleration is greater than a second threshold; the second threshold is greater than the first threshold.

[0025] The processing unit is further configured to store the i-th ground acceleration when the ground acceleration is greater than the second threshold, until M ground accelerations greater than the second threshold are obtained.

[0026] The processing unit is also used to fit the M ground accelerations to obtain a first fitted line segment.

[0027] The acquisition unit is also used to obtain N ground accelerations when the slope of the first fitted line segment indicates that the M ground accelerations are in a downward or upward trend.

[0028] The processing unit is further configured to, when determining, based on the N ground acceleration data that there is a switch from a downward trend to an upward trend, or a switch from an upward trend to a downward trend, obtain the switching position, duration, oscillation frequency, and peak-to-peak value; the oscillation time includes the duration of each two upward and downward processes, the oscillation frequency includes the reciprocal of the average value of the oscillation time, and the peak-to-peak value includes the peak-to-peak value between each two ground accelerations with a slope less than a preset value in the line segment fitted by the N ground accelerations and the M ground accelerations.

[0029] The processing unit is also configured to record the first time when the duration, the oscillation frequency, and the peak-to-peak value all conform to their respective preset parameter ranges.

[0030] The acquisition unit is also used to acquire the speed of the vehicle.

[0031] The processing unit is also configured to calculate a second time based on the first time, the speed, and the wheelbase of the vehicle.

[0032] The processing unit is further configured to determine that the vehicle has passed over a speed bump when an impact event is detected at the second time.

[0033] In one possible implementation, the processing unit is further configured to store the i-th ground acceleration data when the i-th ground acceleration is greater than the first threshold and less than the second threshold; and to determine that the vehicle is in a stable operating state when the number of ground acceleration data that is greater than the first threshold and less than the second threshold reaches Q, and to record the duration of stable operation.

[0034] In one possible implementation, the acquisition unit is specifically configured to: when the slope of the first fitted line segment indicates that the M ground accelerations are in a downward trend, calculate the magnitude of the decrease corresponding to the M ground accelerations; when the number of times the magnitude of the decrease exceeds the magnitude threshold reaches the number threshold, store the duration of the continuous decrease; or, when the slope of the first fitted line segment indicates that the M ground accelerations are in an upward trend, calculate the magnitude of the increase corresponding to the M ground accelerations; when the number of times the magnitude of the increase exceeds the magnitude threshold reaches the number threshold, store the duration of the continuous increase; and when the duration of the stable operation is greater than the duration threshold, continue to obtain the N ground accelerations.

[0035] In one possible implementation, the processing unit is further configured to: store the i-th ground acceleration data when the i-th ground acceleration is less than the first threshold; when the number of ground acceleration data less than the first threshold reaches L, fit the L ground acceleration data to obtain a second fitted line segment; when the slope range of the second fitted line segment is within a preset range, calculate the distance from each ground acceleration data in the L ground acceleration data to the line to obtain a preset number of distance values; and update the second threshold using the average of the preset number of distance values.

[0036] In one possible implementation, the processing unit is specifically used to calculate the sum of the first time and the time difference to obtain the second time, wherein the time difference includes the quotient of the wheelbase and the speed.

[0037] In one possible implementation, the processing unit is further configured to obtain the duration of continuous ascent or continuous descent when it is determined, based on the N ground acceleration data, that there is no transition from a downward trend to an upward trend, or no transition from an upward trend to a downward trend; and when the duration of continuous ascent or continuous descent reaches a preset duration threshold, it is determined that the vehicle is in a long uphill or long downhill state.

[0038] One possible implementation also includes an alarm unit, which is used to issue a safety alarm when the vehicle's speed exceeds a speed threshold.

[0039] Thirdly, embodiments of this application also provide an electronic device, which includes: a processor and a memory communicatively connected to the processor;

[0040] The memory stores computer-executed instructions;

[0041] The processor executes computer execution instructions stored in the memory to implement the method described in any possible implementation of the first aspect above.

[0042] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in any possible implementation of the first aspect.

[0043] Fifthly, embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any possible implementation of the first aspect.

[0044] Therefore, the embodiments of this application provide a vehicle state detection method and apparatus, which collect the i-th ground acceleration of the vehicle, where the i-th ground acceleration is the acceleration data of the vehicle in the direction perpendicular to the ground; when it is determined that the i-th ground acceleration is greater than a first threshold, it is further determined whether the i-th ground acceleration is greater than a second threshold; if the second threshold is greater than the first threshold; when the ground acceleration is greater than the second threshold, the i-th ground acceleration is stored until M ground accelerations greater than the second threshold are obtained; the M ground accelerations are fitted to obtain a first fitted line segment; when the slope of the first fitted line segment indicates that the M ground accelerations have a downward or upward trend, N ground accelerations are obtained; when a downward trend is determined based on the N ground acceleration data... When switching from an upward trend to a downward trend, or when there is a switch from an upward trend to a downward trend, the switching position, duration, oscillation frequency, and peak-to-peak value are obtained. The oscillation time includes the duration of each two upward and downward processes, the oscillation frequency includes the reciprocal of the average oscillation time, and the peak-to-peak value includes the peak-to-peak value between two ground accelerations with slopes less than a preset value in the line segment obtained by fitting N ground accelerations and M ground accelerations. When the duration, oscillation frequency, and peak-to-peak value all conform to their respective preset parameter ranges, the first time is recorded. The vehicle speed is obtained. Based on the first time, speed, and vehicle wheelbase, the second time is calculated. When an impact event is detected in the second time, it is determined that the vehicle has passed a speed bump. This embodiment of the application can collect multiple ground accelerations of the vehicle, fit the collected multiple ground accelerations, and determine whether the vehicle has passed a speed bump based on the line segment obtained after fitting. This determination method has a small computational load and a fast determination speed, which can help remind the driver and improve the safety of the vehicle during driving. Attached Figure Description

[0045] Figure 1 A flowchart illustrating a vehicle state detection method provided in an embodiment of this application;

[0046] Figure 2 A flowchart illustrating a method for determining a dynamic threshold provided in an embodiment of this application;

[0047] Figure 3 A schematic diagram of a speed bump detection algorithm provided in this application embodiment. Figure 1 ;

[0048] Figure 4 A schematic diagram of a speed bump detection algorithm provided in this application embodiment. Figure 2 ;

[0049] Figure 5 A schematic diagram of a speed bump detection algorithm provided in this application embodiment. Figure 3 ;

[0050] Figure 6This application provides a schematic diagram of the waveform of ground acceleration variation when the suspension stiffness is relatively high.

[0051] Figure 7 This application provides a schematic diagram of the waveform of ground acceleration variation when the suspension stiffness is relatively low.

[0052] Figure 8 This is a schematic diagram of the structure of a vehicle condition detection device provided in an embodiment of this application;

[0053] Figure 9 This is a schematic diagram of an electronic device structure provided in this application.

[0054] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0056] In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0057] When a vehicle travels on a road, it may encounter speed bumps. When a vehicle travels over a speed bump, it experiences a significant vertical impact force. The higher the vehicle's speed, the greater the impact force. Therefore, when a vehicle travels over a speed bump at a high speed, the significant impact force can cause severe wear and tear on vehicle components, affecting the vehicle's lifespan. Furthermore, the significant impact force can create a poor experience for passengers, and if the vehicle is carrying sensitive goods such as porcelain or precision instruments, it may cause damage to the goods.

[0058] In view of this, this application provides a vehicle state detection method. Considering that when a vehicle passes over a speed bump, it is in a state of weightlessness, and the vertical impact force transmitted from the speed bump to the wheels is transmitted to the suspension springs. The suspension springs will compress and deform under stress, and when they reach equilibrium, they will release and generate a reverse force, thus creating a damped oscillation process. Therefore, multiple ground accelerations of the vehicle can be collected and fitted together. Based on the fitted line segment, it can be determined whether the vehicle is passing over a speed bump. This method of determining the vehicle state by fitting multiple ground accelerations requires less computation, allowing the device to quickly determine the vehicle's state.

[0059] The vehicle state detection method provided in this application will now be described in detail through specific embodiments. It is understood that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0060] Figure 1 This is a flowchart illustrating a vehicle state detection method provided in an embodiment of this application. The vehicle state detection method can be executed by software and / or hardware devices. For example, the hardware device can be a vehicle state detection device, which can be a device on the vehicle, an external device connected to the vehicle, or a processing chip within a device. For example, please refer to [link to example]. Figure 1 As shown, the vehicle state detection method may include:

[0061] S101, Collect the i-th ground-direction acceleration of the vehicle.

[0062] Wherein, the i-th ground acceleration is the acceleration data of the vehicle in the direction perpendicular to the ground.

[0063] For example, during vehicle operation, the ground acceleration of the vehicle can be continuously collected. The frequency of collecting the ground acceleration can be 100 times per second or 50 times per second. This application embodiment does not limit this.

[0064] S102. When it is determined that the i-th ground acceleration is greater than the first threshold, continue to determine whether the i-th ground acceleration is greater than the second threshold; the second threshold is greater than the first threshold.

[0065] In this embodiment, the first threshold can be the ground acceleration corresponding to the vehicle being in a stable driving state, and the second threshold can be the ground acceleration corresponding to the vehicle being in a non-stable driving state. A non-stable state can include the vehicle passing over a speed bump, going uphill or downhill, or one tire of the vehicle rapidly driving over a protruding object such as a rock. The first and second thresholds differ for different types of vehicles, and can be set according to the actual situation of the vehicle. This embodiment does not specifically limit the first and second thresholds.

[0066] For example, the ground acceleration of a vehicle in a steady state is less than the ground acceleration of a vehicle in a non-steady state. When the i-th ground acceleration is determined to be greater than a first threshold, it indicates that the vehicle is not in a steady state, meaning the vehicle may be in a non-steady state such as encountering a speed bump, going uphill or downhill. Further determining whether the i-th ground acceleration is greater than a second threshold can accurately determine whether the vehicle is in a non-steady state.

[0067] S103. When the local acceleration is greater than the second threshold, store the i-th local acceleration until M local accelerations greater than the second threshold are obtained.

[0068] In this embodiment, M can be 5 or 10. The specific value of M is related to the frequency of collecting ground acceleration. When the collection frequency is high, M can be set to a larger value. When the collection frequency is low, M can be set to a smaller value. This embodiment does not specifically limit the value of M.

[0069] For example, when the ground acceleration is greater than the second threshold, it can be determined that the vehicle may be going over a speed bump. After storing the i-th ground acceleration, the ground acceleration of i+1, i+2, etc. can be determined until M ground accelerations greater than the second threshold are obtained.

[0070] S104. Fit M ground accelerations to obtain the first fitted line segment.

[0071] For example, when fitting M ground accelerations, the least squares method can be used to fit the M ground accelerations to obtain the first fitted line segment. The first fitted line segment is a straight line passing through the M ground accelerations or passing around the M ground accelerations.

[0072] S105. When the slope of the first fitted line segment indicates that the M ground accelerations are either decreasing or increasing, continue to obtain N ground accelerations.

[0073] In this embodiment, an upward trend means that multiple or all of the M ground accelerations are gradually increasing, and a downward trend means that multiple or all of the M ground accelerations are gradually decreasing. N can be the same value as M or a different value than M; this embodiment does not specifically limit the value of N.

[0074] For example, the method for obtaining N ground accelerations can be found in the method for obtaining M ground accelerations described above, and will not be repeated here.

[0075] For example, when N ground accelerations are obtained, the N ground accelerations can be fitted to obtain a fitted line segment.

[0076] S106. When it is determined that there is a switch from a downward trend to an upward trend, or a switch from an upward trend to a downward trend, based on N ground acceleration data, the switching position, duration, oscillation frequency, and peak value are obtained.

[0077] Among them, the oscillation time includes the duration of each two rises and falls, the oscillation frequency includes the reciprocal of the average oscillation time, and the peak-to-peak value includes the peak-to-peak value between each two ground accelerations with a slope less than a preset value in the line segment obtained by fitting N ground accelerations and M ground accelerations.

[0078] In this embodiment of the application, the preset value can be 0 or a small value. This embodiment of the application does not impose specific limitations on the preset value.

[0079] For example, when it is determined, based on N ground acceleration data, that there is a shift from a downward trend to an upward trend, or a shift from an upward trend to a downward trend, the location of the shift from a downward trend to an upward trend and / or the location of the shift from an upward trend to a downward trend can be identified as the switching location. Multiple switching locations can be identified based on N ground acceleration data.

[0080] For example, the duration of the downward trend and the duration of the upward trend in N ground accelerations can also be determined, and the duration of each two upward and downward processes can be defined as the duration, thus obtaining multiple durations. The oscillation frequency corresponding to each duration can then be determined based on the reciprocals of these multiple durations.

[0081] For example, a preset value can be set for ground acceleration with a slope of 0. Among N ground accelerations, the ground acceleration with a slope of 0 represents the point where the downward trend switches to an upward trend, and the point where the upward trend switches to a downward trend is the inflection point of the fitted line segment. The device can calculate the absolute value of the difference between the lowest and highest points of each upward trend and the absolute value of the difference between the lowest and highest points of each downward trend in the line segment fitted by the N ground accelerations and M ground accelerations, to determine the amplitude of each upward trend and the amplitude of each downward trend. Each amplitude is the peak-to-peak value between two ground accelerations with a slope less than the preset value.

[0082] S107. When the duration, oscillation frequency, and peak-to-peak value all meet their respective preset parameter ranges, record the first time.

[0083] In this embodiment, the preset parameter ranges for duration, oscillation frequency, and peak-to-peak value can be set according to the actual situation of the vehicle and the actual situation of the acquisition equipment; this embodiment does not limit this. The first time can be the time corresponding to the Nth directional acceleration.

[0084] For example, the device can simultaneously determine whether the duration conforms to its preset parameter range, determine whether the oscillation frequency conforms to its preset parameter range, and determine whether the peak-to-peak value conforms to its preset parameter range, or it can determine them sequentially. This application embodiment does not limit this.

[0085] Understandably, when the duration, oscillation frequency, and peak-to-peak value all conform to their respective preset parameter ranges, it can be determined that the vehicle may be going over a speed bump, or the front wheels of the vehicle may be going over a speed bump.

[0086] S108, Obtain vehicle speed

[0087] For example, the device can obtain the vehicle's speed through a global positioning system or through the vehicle's system-on-chip (SOC). This application embodiment does not specifically limit the method for obtaining the vehicle's speed.

[0088] S109. The second time is calculated based on the first time, speed, and wheelbase of the vehicle.

[0089] In this embodiment of the application, the second time can be the time during which the duration, oscillation frequency, and peak-to-peak value of the N ground accelerations acquired by the device in the next acquisition all conform to their respective preset parameter ranges.

[0090] S110. When an impact event is detected in the second time, it is determined that the vehicle has passed over a speed bump.

[0091] In this embodiment of the application, the impact event is when the vehicle may be going over a speed bump, that is, when the device determines that among the N ground accelerations acquired next time, there is a situation where the duration, oscillation frequency and peak value all conform to their respective preset parameter ranges.

[0092] For example, when an impact event is detected at a second time, it can be determined that the vehicle is still in a state where it may have crossed a speed bump at that second time, thus determining that the vehicle has crossed a speed bump.

[0093] Therefore, the vehicle state detection method provided in this application embodiment can collect multiple ground accelerations of the vehicle, fit these multiple ground accelerations, and determine whether there is an upward or downward trend in the multiple ground accelerations by using the fitted line segments. Based on the characteristics of the upward and downward trends, it can accurately determine whether the vehicle is in a speed bump state. In this way, the computational workload of determining whether the vehicle is in a speed bump state is small, allowing the equipment to quickly determine whether the vehicle is in a speed bump state, so as to remind the driver to adjust the vehicle speed and improve the situation where the vehicle parts are damaged and the passenger experience is poor due to the high speed when crossing the speed bump.

[0094] In this embodiment of the application, when it is determined that the vehicle is going over a speed bump, it can be further determined whether the vehicle speed is greater than a speed threshold. When it is determined that the vehicle speed is greater than the speed threshold, a safety alarm is issued.

[0095] For example, when the vehicle's speed is determined to be greater than a speed threshold, the device can determine that the vehicle is aggressively crossing the speed bump and issue a safety alarm. When the vehicle's speed is less than the speed threshold, the device can determine that the vehicle is smoothly crossing the speed bump, and no safety alarm needs to be issued.

[0096] For example, issuing a safety alarm may include: controlling an indicator light on the vehicle or an external device to flash or change color; controlling an alarm on the vehicle or an external device to sound an alarm; or sending a message to the driver's terminal device, etc. This application does not specifically limit the method of issuing a safety alarm.

[0097] In this embodiment of the application, during vehicle operation, the device can determine that the vehicle is in a stable state based on the collected ground acceleration.

[0098] For example, when the device collects the i-th ground acceleration, it can determine the relationship between the i-th ground acceleration and a first threshold and a second threshold. When the i-th ground acceleration is greater than the first threshold and less than the second threshold, the i-th ground acceleration data can be stored. Furthermore, when the number of ground acceleration data that is greater than the first threshold and less than the second threshold reaches Q, it can be determined that the vehicle is in a stable operating state, and the duration of stable operation can be recorded.

[0099] In this way, by determining that the vehicle is in a stable state and recording the duration of stable operation, it is possible to subsequently determine whether the vehicle has experienced a transition from stable operation to speed bump state, thereby improving the accuracy of determining whether the vehicle has passed through a speed bump.

[0100] In this embodiment of the application, when the slope of the first fitted line segment determines that M ground accelerations are either decreasing or increasing, the device can continue to obtain N ground accelerations in the following manner.

[0101] For example, when the slope of the first fitted line segment indicates that M ground accelerations are in a downward trend, the device can calculate the downward amplitude corresponding to the M ground accelerations. When the number of times the downward amplitude exceeds an amplitude threshold reaches a count threshold, the device can store the duration of the continuous downward movement. Alternatively, when the slope of the first fitted line segment indicates that the M ground accelerations are in an upward trend, the device can calculate the upward amplitude corresponding to the M ground accelerations, and when the number of times the upward amplitude exceeds an amplitude threshold reaches a count threshold, the device can store the duration of the continuous upward movement. Furthermore, when the duration of stable operation exceeds a duration threshold, the device can continue to collect ground accelerations to obtain N ground accelerations.

[0102] The duration threshold can be a numerical value representing the duration of stable vehicle operation, but this application embodiment does not limit this.

[0103] In this embodiment of the application, after determining the duration of the downward or upward trend in the first fitted line segment obtained by fitting M ground accelerations, it is further determined whether the duration of stable vehicle operation is greater than a duration threshold. When the duration of stable vehicle operation is greater than the duration threshold, N ground accelerations are obtained to determine whether the M ground accelerations are ground accelerations during the process of the vehicle entering the speed bump while operating smoothly. When it is determined that the vehicle is experiencing the process of switching between stable operation and speed bump state, N ground accelerations are obtained to further determine whether the vehicle is in the speed bump state.

[0104] For example, in step S109 above, when the device calculates the second time based on the first time, speed and wheelbase of the vehicle, it can further calculate the sum of the first time and the time difference to obtain the second time, wherein the time difference can be the quotient of wheelbase and speed.

[0105] In this way, the equipment can determine the time when the vehicle will experience another jolt based on the actual situation of the vehicle, so as to further determine whether the vehicle is going over a speed bump, which can improve the accuracy of determining whether the vehicle is going over a speed bump.

[0106] In this embodiment of the application, regarding step S106 above, when it is determined based on N ground acceleration data that there is no transition from a downward trend to an upward trend, and no transition from an upward trend to a downward trend, the target ground acceleration with the longest duration after the upward or downward trend can be determined based on the N ground accelerations, and the first duration of the target ground acceleration can be obtained; when the duration of the first duration reaches a preset duration threshold, it is determined that the vehicle is in a long uphill or long downhill state.

[0107] The preset duration threshold can represent the duration for which a vehicle maintains a certain ground acceleration during a long uphill or downhill slope, but this embodiment does not specify a particular duration.

[0108] Understandably, when it is determined, based on N ground acceleration data, that there is no transition from a downward trend to an upward trend, or vice versa, the vehicle may be in a stable driving state, or the N ground accelerations may be continuously increasing or decreasing, indicating that the vehicle is in an uphill or downhill state. When the first duration of the target ground acceleration reaches a preset duration threshold, it can indicate that the vehicle may be in a long uphill or downhill state. In this way, the device can quickly determine whether the vehicle is in a long uphill or downhill state.

[0109] In this embodiment of the application, the device can update the second threshold corresponding to the state when the vehicle is going over a speed bump according to its own situation.

[0110] For example, when the i-th ground acceleration is less than a first threshold, the i-th ground acceleration data can be stored; when the number of ground acceleration data points less than the first threshold reaches L, L ground acceleration data points are fitted to obtain a second fitted line segment. When the slope range of the second fitted line segment is within a preset range, the distance from each ground acceleration data point in the L ground acceleration data points to the line is calculated to obtain a preset number of distance values; the average of the preset number of distance values ​​is used to update the second threshold.

[0111] In this embodiment of the application, the preset interval can be set according to the vehicle's own situation, and this embodiment of the application does not limit it.

[0112] For example, the device can fit L ground acceleration data using the least squares method to obtain a second fitted line segment.

[0113] In this way, by updating the second threshold, the device can more accurately determine whether a vehicle has gone over a speed bump.

[0114] To facilitate understanding of the vehicle state detection method provided in the embodiments of this application, the technical solution provided in the embodiments of this application will be described in detail below. First, the method for the device to determine the second threshold, i.e., the dynamic threshold, will be described. For details, please refer to... Figure 2 As shown, Figure 2 This is a flowchart illustrating a method for determining a dynamic threshold provided in an embodiment of this application.

[0115] like Figure 2 As shown, the method for determining a dynamic threshold may include the following steps:

[0116] S201. Initialize the accelerometer.

[0117] For example, the accelerometer can be installed on the vehicle or in an external device connected to the vehicle; this embodiment of the application does not limit this. Initializing the accelerometer may involve clearing previously collected data from the accelerometer.

[0118] S202, The accelerometer continuously samples the ground acceleration of the vehicle.

[0119] For example, when the accelerometer continuously samples the ground acceleration of the vehicle, the accelerometer can sample the i-th ground acceleration of the vehicle.

[0120] S203. Determine whether the ground acceleration is within the preset steady-state threshold range.

[0121] For example, the steady-state threshold range can be the range of ground acceleration corresponding to the vehicle's smooth driving, and the first threshold can be a value within the steady-state threshold range. This application embodiment does not limit the steady-state threshold range.

[0122] For example, when the local acceleration is within a preset steady-state threshold range, step S204 can be executed; when the local acceleration is not within a preset steady-state threshold range, step 206 can be executed.

[0123] S204. Determine whether the ground acceleration is within the dynamic threshold range.

[0124] For example, the dynamic threshold range can be the range of ground acceleration corresponding to the non-steady driving of the vehicle, and the second threshold can be a value within the dynamic threshold range. This application embodiment does not limit the dynamic threshold range.

[0125] For example, when the local acceleration is within the dynamic threshold range, S205 can be executed, and when the local acceleration is not within the dynamic threshold range, S202 can be executed.

[0126] S205, Speed ​​Bump Detection Algorithm.

[0127] For example, speed bump detection algorithms can be found in... Figure 1 The methods described will not be elaborated here.

[0128] S206, Store data.

[0129] For example, the data can be stored in the memory of an external device or in the memory of the vehicle; this application does not limit the scope of the embodiments.

[0130] S207. Determine whether the set storage limit has been reached.

[0131] In this embodiment, the storage limit can be L as described in the above embodiment, or it can be other values. This embodiment does not limit it.

[0132] For example, to determine whether the set storage limit has been reached, it can be determined whether the number of collected ground accelerations has reached a certain value. When the set storage limit has been reached, S208 can be executed; when the set storage limit has not been reached, S202 can be executed.

[0133] S208. Fit the stored data points using the least squares method.

[0134] For example, the ground acceleration collected by the accelerometer that meets the above conditions can be fitted by the least squares method.

[0135] S209. Determine whether the slope is within the preset threshold range.

[0136] The preset threshold range can be the preset range described in the above embodiments, and this application embodiment does not limit it.

[0137] For example, when the slope is within a preset threshold range, S210 can be executed, and when the slope is not within a preset threshold range, S207 and S212 can be executed.

[0138] S210. Calculate the distance between each point and the fitted line.

[0139] For example, the distance between each point and the corresponding fitted line position can be calculated, or the perpendicular distance between each point and the fitted line can be calculated; this application embodiment does not limit this.

[0140] S211. Calculate the average distance from the point to the line and set it as a dynamic threshold.

[0141] The dynamic threshold is the second threshold described in the above embodiments.

[0142] For example, after determining the dynamic threshold, the previous dynamic threshold can be updated.

[0143] S212, Clear data.

[0144] For example, clearing data can be done by clearing previously acquired data from the accelerometer.

[0145] In this way, the device can calculate dynamic thresholds and update previous dynamic thresholds, thereby improving the accuracy of determining whether a vehicle is going over a speed bump.

[0146] The speed bump detection algorithm described in step S205 above will be described below. For details, please refer to [link / reference]. Figures 3-5 As stated above. Figure 3 A schematic diagram of a speed bump detection algorithm provided in this application embodiment. Figure 1 .

[0147] like Figure 3 As shown, the speed bump detection algorithm may include the following steps:

[0148] S301, Initialize the accelerometer and positioning chip.

[0149] For example, the accelerometer can be referred to in the above embodiments, and will not be repeated here. The positioning chip can be a Global Navigation Satellite System (GNSS) chip.

[0150] S302, the accelerometer continuously samples the ground acceleration of the vehicle.

[0151] For example, when the accelerometer continuously samples the ground acceleration of the vehicle, the accelerometer can sample the i-th ground acceleration of the vehicle.

[0152] S303. Determine whether the ground acceleration is within the preset steady-state threshold range.

[0153] For example, the steady-state threshold range can be the range of ground acceleration corresponding to the vehicle's smooth driving, and the first threshold can be a value within the steady-state threshold range. This application embodiment does not limit the steady-state threshold range.

[0154] For example, when the local acceleration is within a preset steady-state threshold range, step S304 can be executed; when the local acceleration is not within a preset steady-state threshold range, step 308 can be executed.

[0155] S304. Determine whether the ground acceleration is within the dynamic threshold range.

[0156] For example, the dynamic threshold range can be the range of ground acceleration corresponding to the non-steady driving of the vehicle, and the second threshold can be a value within the dynamic threshold range. This application embodiment does not limit the dynamic threshold range.

[0157] For example, when the local acceleration is within the dynamic threshold range, S305 can be executed, and when the local acceleration is not within the dynamic threshold range, S309 can be executed.

[0158] S305, Store data.

[0159] For example, the device can store ground acceleration data within a dynamic threshold range. The data can be stored in the memory of an external device or in the vehicle's memory; this application embodiment does not limit the storage.

[0160] S306. Determine whether there are enough data points stored to determine the rising and falling process.

[0161] In this embodiment of the application, determining whether enough data points are stored for determining the ascent and descent process can be done by determining whether enough M ground acceleration data points are stored.

[0162] For example, when enough data points are stored to determine the rising or falling process, S307 can be executed; when not enough data points are stored to determine the rising or falling process, S302 can be executed.

[0163] S307. Fit the stored data points using the least squares method.

[0164] For example, fitting the stored data points using the least squares method can be done by fitting M ground accelerations using the least squares method to obtain the first fitted line segment.

[0165] S308, Dynamic Threshold Acquisition Algorithm.

[0166] For example, the dynamic threshold acquisition algorithm can be found in the above. Figure 3 The corresponding implementation examples will not be described in detail here.

[0167] S309, Store data.

[0168] For example, the stored data may not include data that falls within a pre-defined steady-state threshold range and is not within a dynamic threshold range. For instance, in the above embodiment, ground acceleration data that is greater than a first threshold and less than a second threshold is stored.

[0169] S310. Determine whether sufficient data points are stored to determine a stationary process.

[0170] For example, determining whether sufficient data points have been stored to determine a steady-state process can be done by determining whether the number of data points not stored that are within a pre-set steady-state threshold range and not within a dynamic threshold range has reached a certain value. For example, in the above embodiment, it could be whether the number of ground acceleration data points stored that are greater than a first threshold and less than a second threshold has reached Q.

[0171] For example, S311 can be executed when enough data points are stored to determine a stationary process, and S302 can be executed when not enough data points are stored to determine a stationary process.

[0172] S311. Determine that the previously stored data is a stationary process.

[0173] S212, Duration of the storage steady-state process.

[0174] For example, the duration of the steady-state process can be referred to in the above embodiments, and will not be repeated here.

[0175] Understandably, after executing step S307, execution can continue. Figure 4 The steps S401 and the steps following S401. Figure 4 A schematic diagram of a speed bump detection algorithm provided in this application embodiment. Figure 2 .

[0176] like Figure 4 As shown, the speed bump detection algorithm may include:

[0177] S401. Determine whether the ground acceleration is trending upward or downward by the slope.

[0178] For example, the sign of the slope can be used to determine whether it is an upward or downward trend. When the slope is positive, the ground acceleration is in an upward trend, and when the slope is positive, the ground acceleration is in a downward trend.

[0179] S402. Fit the stored data points using the least squares method.

[0180] For example, the device can fit the acquired data points during the acquisition of ground acceleration.

[0181] S403. Calculate the absolute value (descent rate) of the decrease between the latest point and the previous point.

[0182] For example, the latest point is the latest ground acceleration data point acquired by the device.

[0183] S404. Determine whether the amplitude threshold and number of times the continuous decrease are met.

[0184] The amplitude threshold and the number threshold can be found in the above embodiments, and will not be repeated here.

[0185] For example, when the amplitude threshold and the number of times the continuous decline are met, step S405 can be executed; when the amplitude threshold and the number of times the continuous decline are not met, step S302 can be executed.

[0186] S405, It is determined that the previously stored data is in a descent process.

[0187] S406, storage descent process duration and slope.

[0188] The duration and slope of the descent process can be found in the above embodiments and will not be repeated here.

[0189] For example, the device may execute S412 after executing S406.

[0190] S407. Fit the stored data points using the least squares method.

[0191] S408. Calculate the absolute value (increase) of the decrease between the latest point and the previous point.

[0192] S409. Determine whether the amplitude threshold and the number of times the value increases are met.

[0193] The amplitude threshold and the number threshold can be found in the above embodiments, and will not be repeated here.

[0194] For example, step S410 can be executed when the continuously rising amplitude threshold and the number of times threshold are met, and step S302 can be executed when the continuously rising amplitude threshold and the number of times threshold are not met.

[0195] S410, It is determined that the previously stored data is in an ascending process.

[0196] S411, store the duration and slope of the rising process.

[0197] The duration and slope of the ascent process can be found in the above embodiments and will not be repeated here.

[0198] For example, the device may execute S412 after executing S411.

[0199] S412. Determine whether it is the delayed sampling stage.

[0200] In one possible implementation, determining whether it is a delayed sampling process can be done by checking whether the accelerometer has collected N ground accelerations. If the accelerometer has collected N ground accelerations, it can be determined that it is not a delayed sampling stage; if the accelerometer has not collected N ground accelerations, it can be determined that it is a delayed sampling stage.

[0201] In another possible implementation, during the process of the accelerometer acquiring ground acceleration, the device can mark the number of ground acceleration data points acquired, so that the device can determine whether the delayed sampling phase has been completed based on the markings.

[0202] For example, S302 can be executed when it is a delayed sampling phase, and S413 can be executed when it is not a delayed sampling phase.

[0203] S413. Determine whether the previous state had a sufficiently long period of stable process.

[0204] For example, the determination of whether the previous state had a sufficiently long period of stable process can be found in the above embodiments, and will not be repeated here.

[0205] For example, S414 can be executed when the previous state has a sufficiently long period of steady progress, and S302 can be executed when the previous state has not a sufficiently long period of steady progress.

[0206] S414. Has the delayed sampling phase been completed?

[0207] For example, the completion of the delayed sampling phase can be determined by the method described in S412 above. If the delayed sampling phase is not completed, S415 can be executed to continue collecting ground acceleration. If the delayed sampling phase is completed, the following can be executed. Figure 5 S501 in the middle.

[0208] S415, Enter the delayed sampling process.

[0209] Furthermore, after the device completes S414, it can continue executing... Figure 5 The steps S501 and the steps following S501. Figure 5 A schematic diagram of a speed bump detection algorithm provided in this application embodiment. Figure 3 .

[0210] like Figure 5 As shown, the speed bump detection algorithm may include:

[0211] S501. Determine whether there is a switch between rising and falling states during the storage process.

[0212] For example, to determine whether there is a switch between rising and falling states during the storage process, please refer to the process of determining whether there is a downward trend switching to an upward trend or an upward trend switching to a downward trend in the above embodiments, which will not be repeated here.

[0213] For example, when there is a transition between rising and falling states in the stored procedure, S502 can be executed; when there is no transition between rising and falling states in the stored procedure, S520 can be executed.

[0214] S502, Locate the position where the rising and falling processes switch in the previous storage process.

[0215] For example, the device can switch positions at N ground accelerations and M ground accelerations corresponding to ascent and descent processes. Refer to the description of determining the switching positions in the above embodiments; it will not be repeated here.

[0216] S503. Record the duration of each two rises and falls to obtain the oscillation time.

[0217] The description of determining the duration of each two rises and falls in the above embodiments can be found and will not be repeated here.

[0218] S504. Calculate the average value of the oscillation time and take its reciprocal to obtain the oscillation frequency.

[0219] The description of determining the oscillation frequency in the above embodiments can be referred to, and will not be repeated here.

[0220] S505. Find points in the previous process storage where the slope is close to 0.

[0221] For example, the point with a slope close to 0 is the point at the switching position described in the above embodiment.

[0222] S506. Calculate the amplitude and peak-to-peak value of each two points where the slope approaches 0.

[0223] The description of determining the amplitude and peak-to-peak value in the above embodiments can be referred to, and will not be repeated here.

[0224] S507. Determine whether the oscillation frequency, peak-to-peak value, and oscillation time simultaneously meet the expected parameters.

[0225] The expected parameters can be the preset parameter range described in the above embodiments, and the specific details can be found in the above embodiments, which will not be repeated here.

[0226] For example, S509 can be executed when the oscillation frequency, peak-to-peak value, and oscillation time all meet the expected parameters. S508 can be executed when at least one of the oscillation frequency, peak-to-peak value, and oscillation time does not meet the expected parameters.

[0227] S508, identified as other shock and tremor events.

[0228] For example, if at least one of the oscillation frequency, peak-to-peak value, or oscillation time does not conform to the expected parameters, it can be determined that the vehicle is not in the state of going over a speed bump, but rather in other impact and oscillation events.

[0229] S509, Record the timestamp of the impact time.

[0230] For example, the timestamp of the impact time can be the first time described in the above embodiments, which can be referred to in the above embodiments and will not be repeated here.

[0231] S510 obtains vehicle speed through the Global Positioning System.

[0232] For example, the device can obtain the vehicle speed through the Global Positioning System, or directly through the vehicle's processor, or through other means; this application embodiment does not limit this.

[0233] S511. Calculate and predict the time of the next oscillation event by dividing the speed by the wheelbase.

[0234] For example, the process of determining the second time as described in the above embodiments can be used to calculate the time of the next oscillation event, and will not be repeated here.

[0235] S512. Determine whether the next impact event will occur.

[0236] See the above embodiments for the detection of whether an impact event has occurred at a second time.

[0237] For example, S514 can be executed when the next impact event occurs, and S513 can be executed when the next impact event does not occur.

[0238] S513, The previous impact was determined to be a single-wheel protrusion event.

[0239] Since the ground acceleration collected by the accelerometer when a vehicle goes over a speed bump may include an upward trend and multiple downward trends, meaning that an impact event will also occur at a second time, the ground acceleration collected by the accelerometer at the second time may also include an upward trend and multiple downward trends. Therefore, if the next impact event does not occur, it indicates that the vehicle has one upward trend and multiple downward trends, and it can be determined that the vehicle is experiencing a single-wheel impact event.

[0240] For example, S517 can be executed when the previous impact is identified as a single-wheel protrusion event.

[0241] S514. Determine whether the speed exceeds the set speed threshold.

[0242] For example, when the speed exceeds the set speed threshold, S516 can be executed, and when the speed does not exceed the set speed threshold, S51 can be executed.

[0243] S515, This time is determined to be a smooth passage over a speed bump event.

[0244] S516, The incident was determined to be caused by reckless driving over speed bumps.

[0245] S517: Obtain vehicle tire pressure data via CAN bus.

[0246] For example, the device can obtain tire pressure data for each tire of a vehicle via the CAN bus.

[0247] S518. Determine if the tire pressure data is abnormal.

[0248] For example, S519 can be executed when the tire pressure data is abnormal, and S520 can be executed when the tire pressure data is normal.

[0249] S519. Issue an alarm to remind the driver.

[0250] S520, no alarm is issued.

[0251] S521. Calculate the duration of the rise or fall.

[0252] For example, the calculation of the duration of the rise or fall can be found in the above embodiments, and will not be repeated here.

[0253] S522. Determine whether the value after rising or falling has a certain duration.

[0254] For example, to determine whether the value after rising or falling has a certain duration, please refer to the description in the above embodiment of determining whether the continuous rising time or the continuous falling time reaches the preset duration threshold, which will not be repeated here.

[0255] For example, S523 can be executed when the value after the rise or fall does not have a certain duration, and S524 can be executed when the value after the rise or fall has a certain duration.

[0256] S523, identified as false alarm data, may be due to unstable equipment.

[0257] S524. Calculate the duration of a value after it has risen or fallen.

[0258] For example, the rise or fall may last for a certain value for a certain period of time, and the device calculates the duration of the value after the rise or fall, that is, the time for the acceleration to continue for a certain value.

[0259] S525. Determine if the duration of an increase or decrease exceeds a threshold.

[0260] For example, determining whether the duration of the rise or fall exceeds a threshold can be done by determining whether the time for the ground acceleration to continue at a certain value exceeds the threshold. If the threshold is not exceeded, S526 can be executed; if the threshold is exceeded, S527 can be executed.

[0261] S526, identified as a short uphill / downhill event.

[0262] For example, if the duration of acceleration to a certain value does not exceed a threshold, the vehicle can be identified as experiencing a short uphill or downhill event.

[0263] S527, identified as a long uphill / downhill incident.

[0264] For example, if the acceleration continues for a certain value for a period of time exceeding a threshold, it can be determined that the vehicle is experiencing a long uphill or downhill event. And when the vehicle is identified as experiencing a long uphill or downhill event, S528 can continue to be executed.

[0265] S528, Obtain vehicle speed via GPS.

[0266] For example, data can be acquired via GPS or other means, and this application does not limit the scope of the embodiments.

[0267] S529. Determine whether the vehicle speed exceeds the threshold.

[0268] For example, S531 can be executed when the vehicle speed exceeds the threshold, and S530 can be executed when the vehicle speed does not exceed the threshold.

[0269] S530, deemed safe driving.

[0270] S531, identified as a rapid uphill or downhill section, issue an alarm.

[0271] For example, when a vehicle goes over a speed bump, it is in a state of weightlessness. The vertical impact force transmitted from the speed bump to the wheels is transmitted to the suspension springs. The suspension springs will compress and deform under the force, and when they reach equilibrium, they will release and generate a counterforce, repeating this damped oscillation process. When vehicles with suspensions of different stiffness pass over the same road section, the changes in ground acceleration will be different. Figure 6 This diagram illustrates the waveform of ground acceleration variation when the suspension stiffness is high. Figure 7 A schematic diagram of the waveform of ground acceleration variation when the suspension stiffness is relatively low is shown.

[0272] Understandable Figure 6 and Figure 7 The images are waveforms obtained by fitting the collected ground acceleration data when the vehicle passes over a pothole.

[0273] In summary, this application embodiment uses a waveform recognition algorithm to identify the damped oscillation process of a vehicle over a speed bump and provides a quantitative indicator of this process: the amplitude and duration of the oscillation. When the waveform recognition algorithm identifies this process, the processing unit in the device records the time of the event, obtains the vehicle's speed information through a global positioning system, and divides the front and rear wheelbases by the speed to estimate the expected time of the next impact. If the waveform recognition algorithm identifies the next impact at the expected time, the process is considered a complete speed bump crossing. By combining the oscillation amplitude and duration given by the waveform recognition algorithm with the vehicle speed, the severity of the speed bump crossing process can be determined. When the severity exceeds a preset threshold, an alarm signal is issued to remind the driver to drive safely. After a high-speed crossing of a speed bump or pothole, the device can read the tire pressure data through the vehicle's CAN bus to check if the tire pressure is normal. If it is abnormal, an alarm is issued to promptly remind the driver, reducing the possibility of danger.

[0274] Figure 8 This is a schematic diagram of the structure of a vehicle condition detection device 80 provided in an embodiment of this application. For example, please refer to [link to example diagram]. Figure 8 As shown, the vehicle condition detection device 80 may include:

[0275] The acquisition unit 801 is used to acquire the i-th ground-direction acceleration of the vehicle, which is the acceleration data of the vehicle in the direction perpendicular to the ground.

[0276] The processing unit 802 is used to determine whether the i-th ground acceleration is greater than a second threshold when it is determined that the i-th ground acceleration is greater than a first threshold; the second threshold is greater than the first threshold.

[0277] The processing unit 802 is also used to store the i-th ground acceleration when the ground acceleration is greater than the second threshold, until M ground accelerations greater than the second threshold are obtained.

[0278] The processing unit 802 is also used to fit M ground accelerations to obtain the first fitted line segment.

[0279] The acquisition unit 801 is also used to obtain N ground accelerations when the slope of the first fitted line segment indicates that the M ground accelerations are in a downward or upward trend.

[0280] The processing unit 802 is further configured to obtain the switching position, duration, oscillation frequency, and peak-to-peak value when it is determined, based on N ground acceleration data, that there is a switch from a downward trend to an upward trend, or a switch from an upward trend to a downward trend; the oscillation time includes the duration of each two upward and downward processes, the oscillation frequency includes the reciprocal of the average oscillation time, and the peak-to-peak value includes the peak-to-peak value between each two ground accelerations with a slope less than a preset value in the line segment obtained by fitting N ground accelerations and M ground accelerations.

[0281] The processing unit 802 is also used to record the first time when the duration, oscillation frequency and peak-to-peak value all meet their respective preset parameter ranges.

[0282] The acquisition unit 801 is also used to acquire the vehicle's speed.

[0283] The processing unit 802 is also used to calculate the second time based on the first time, speed and wheelbase of the vehicle.

[0284] The processing unit 802 is also configured to determine that the vehicle has passed over a speed bump when an impact event is detected in the second time.

[0285] Optionally, the processing unit 802 is further configured to store the i-th ground acceleration data when the i-th ground acceleration is greater than the first threshold and less than the second threshold; and to determine that the vehicle is in a stable operating state when the number of ground acceleration data that is greater than the first threshold and less than the second threshold reaches Q, and to record the duration of stable operation.

[0286] Optionally, the acquisition unit 801 is specifically used to calculate the decreasing amplitude corresponding to the M ground accelerations when the slope of the first fitted line segment indicates a decreasing trend of M ground accelerations, and to store the duration of continuous decreasing when the number of times the decreasing amplitude exceeds the amplitude threshold reaches the number threshold; or, when the slope of the first fitted line segment indicates an increasing trend of M ground accelerations, calculate the increasing amplitude corresponding to the M ground accelerations, and to store the duration of continuous increasing when the number of times the increasing amplitude exceeds the amplitude threshold reaches the number threshold; and to continue obtaining N ground accelerations when the duration of stable operation is greater than the duration threshold.

[0287] Optionally, the processing unit 802 is further configured to: store the i-th ground acceleration data when the i-th ground acceleration is less than the first threshold; when the number of ground acceleration data less than the first threshold reaches L, fit L ground acceleration data to obtain a second fitted line segment; when the slope range of the second fitted line segment is within a preset range, calculate the distance from each ground acceleration data in the L ground acceleration data to the line to obtain a preset number of distance values; and update the second threshold using the average of the preset number of distance values.

[0288] Optionally, the processing unit 802 is specifically used to calculate the sum of the first time and the time difference to obtain the second time, where the time difference includes the quotient of wheelbase and speed.

[0289] Optionally, the processing unit 802 is further configured to obtain the duration of continuous ascent or continuous descent when it is determined, based on N ground acceleration data, that there is no transition from a downward trend to an upward trend, or no transition from an upward trend to a downward trend; and when the duration of continuous ascent or continuous descent reaches a preset duration threshold, it is determined that the vehicle is in a long uphill or long downhill state.

[0290] Optionally, it may also include an alarm unit, which is used to issue a safety alarm when the vehicle’s speed exceeds a speed threshold.

[0291] The vehicle state detection device provided in this application embodiment can execute the technical solution of the vehicle state detection method in any of the above embodiments. Its implementation principle and beneficial effects are similar to those of the vehicle state detection method. Please refer to the implementation principle and beneficial effects of the vehicle state detection method. It will not be repeated here.

[0292] Figure 9This is a schematic diagram of an electronic device structure provided in this application. Figure 9 As shown, the electronic device 900 may include at least one processor 901 and a memory 902.

[0293] The memory 902 is used to store programs. Specifically, the program may include program code, which includes computer operation instructions.

[0294] The memory 902 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0295] The processor 901 executes computer execution instructions stored in the memory 902 to implement the vehicle state detection method described in the foregoing method embodiments. The processor 901 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Specifically, when implementing the vehicle state detection method described in the foregoing method embodiments, the electronic device may be, for example, a terminal, a server, or other electronic device with processing capabilities. When implementing the vehicle state detection method described in the foregoing method embodiments, the electronic device may be, for example, an electronic control unit on the vehicle, or an electronic control unit of an external vehicle device.

[0296] Optionally, the electronic device 900 may also include a communication interface 903. In specific implementations, if the communication interface 903, memory 902, and processor 901 are implemented independently, they can be interconnected via a bus to complete communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not imply that there is only one bus or one type of bus.

[0297] Optionally, in a specific implementation, if the communication interface 903, memory 902, and processor 901 are integrated on a single chip, then the communication interface 903, memory 902, and processor 901 can communicate through an internal interface.

[0298] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used in the methods described in the above embodiments.

[0299] This application also provides a program product including executable instructions stored in a readable storage medium. At least one processor of an electronic device can read the executable instructions from the readable storage medium, and the processor executes the executable instructions to cause the electronic device to implement the vehicle state detection method provided in the various embodiments described above.

[0300] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle condition detection method, characterized in that, The method includes: Collect the i-th ground-direction acceleration of the vehicle, where the i-th ground-direction acceleration is the acceleration data of the vehicle in the direction perpendicular to the ground; When it is determined that the i-th ground acceleration is greater than the first threshold, it is further determined whether the i-th ground acceleration is greater than the second threshold; the second threshold is greater than the first threshold. When the i-th ground acceleration is greater than the second threshold, the i-th ground acceleration is stored until M ground accelerations greater than the second threshold are obtained; The M ground accelerations are fitted using the least squares method to obtain the first fitted line segment; When the slope of the first fitted line segment indicates that the M ground accelerations are either decreasing or increasing, N ground accelerations are obtained. When it is determined, based on the N ground acceleration data, that there is a switch from a downward trend to an upward trend, or a switch from an upward trend to a downward trend, the switching position, duration, oscillation frequency, and peak-to-peak value are obtained; the duration includes the duration of each two upward and downward processes, the oscillation frequency includes the reciprocal of the average of the durations, and the peak-to-peak value includes the peak-to-peak value between each two ground accelerations with a slope less than a preset value in the line segment obtained by fitting the N ground accelerations and the M ground accelerations; When the duration, the oscillation frequency, and the peak-to-peak value all conform to their respective preset parameter ranges, the first time point is recorded. Obtain the speed of the vehicle; The second time is obtained by summing the first time and the time difference, wherein the time difference includes the quotient of wheelbase and speed; When an impact event is detected at the second time, it is determined that the vehicle has passed over a speed bump; the impact event is defined as a situation where the duration, oscillation frequency, and peak-to-peak value all conform to their respective preset parameter ranges. When the i-th ground acceleration is less than the first threshold, the i-th ground acceleration data is stored; When the number of ground acceleration data points less than the first threshold reaches L, L ground acceleration data points are obtained. The L ground acceleration data points are then fitted to obtain a second fitted line segment. When the slope range of the second fitted line segment is within the preset range, calculate the distance from each of the L ground acceleration data to the straight line to obtain a preset number of distance values; The second threshold is updated using the average of the preset number of distance values.

2. The method according to claim 1, characterized in that, Also includes: When the i-th ground acceleration is greater than the first threshold and less than the second threshold, the i-th ground acceleration data is stored; When the number of ground acceleration data that is greater than the first threshold and less than the second threshold reaches Q, the vehicle is determined to be in a stable operating state, and the duration of stable operation is recorded.

3. The method according to claim 2, characterized in that, When the slope of the first fitted line segment indicates that the M ground accelerations are in a decreasing or increasing trend, N ground accelerations are obtained, including: When the slope of the first fitted line segment indicates that the M ground accelerations are in a downward trend, the magnitude of the decrease corresponding to the M ground accelerations is calculated. When the number of times the magnitude of the decrease exceeds the magnitude threshold reaches the number threshold, the duration of the continuous decrease is stored. Alternatively, when the slope of the first fitted line segment indicates that the M ground accelerations are in an upward trend, the magnitude of the increase corresponding to the M ground accelerations is calculated. When the number of times the magnitude of the increase exceeds the magnitude threshold reaches the number threshold, the duration of the continuous increase is stored. When the duration of the stable operation exceeds the duration threshold, the N ground accelerations are obtained.

4. The method according to claim 1, characterized in that, Also includes: When it is determined, based on the N ground acceleration data, that there is no transition from a downward trend to an upward trend, and no transition from an upward trend to a downward trend, the first duration of the target ground acceleration is obtained; The target ground acceleration is the ground acceleration that lasts the longest after an upward or downward trend. When the first duration reaches a preset duration threshold, it is determined that the vehicle is in a long uphill or long downhill state.

5. The method according to any one of claims 1-3, characterized in that, The method further includes: A safety alarm is issued when the vehicle's speed exceeds a speed threshold.

6. An electronic device, characterized in that, Includes memory and processor; among which, The memory is used to store computer programs; The processor is configured to read the computer program stored in the memory and execute the vehicle state detection method according to any one of claims 1-5 based on the computer program in the memory.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the vehicle state detection method according to any one of claims 1-5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a vehicle state detection method according to any one of claims 1-5.

Images