Vehicle collision judgment method and system, terminal and storage medium

Abstract

The invention discloses a vehicle collision judgment method and system, a terminal and a storage medium, and the method comprises the steps: obtaining the current sensor data of a vehicle when the change of a vehicle driving state is detected, and determining the corresponding track information according to the sensor data; if it is detected that the track information exists within the first preset time, determining speed information of the vehicle according to the track information; if it is judged that the speed information is larger than the preset value, the number of track points of the speed information is obtained, a speed variation result set is obtained according to the number of the track points, collision judgment is conducted on the vehicle according to the speed variation result set, and a vehicle collision result is obtained. According to the invention, collision detection is carried out by using the trajectory and speed data of the vehicle, and whether the vehicle is collided or not is judged by analyzing the speed change and trajectory crossing condition, so that a complicated machine learning algorithm is not needed, the real-time performance and accuracy of collision detection are improved, the dependence on a high-precision sensor is reduced, and the hardware cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle collision judgment, and in particular to a vehicle collision judgment method, system, terminal and computer-readable storage medium. Background Art

[0002] With the development of intelligent transportation systems, vehicle safety has become an increasingly important issue. In order to prevent traffic accidents and respond to accidents in a timely manner, it is crucial to accurately determine whether a vehicle has collided.

[0003] At present, existing collision detection methods mainly rely on physical sensors (for example, accelerometers, pressure sensors, etc.), which are installed inside or outside the vehicle and determine whether a collision event has occurred by detecting physical impact. However, this method is highly dependent on specific hardware sensors, which not only increases costs, but may also fail due to sensor failure in some cases. Since physical sensors can only perceive local information, they are prone to false alarms for minor scratches or atypical collision situations. When multiple sensors work at the same time, complex algorithms are required for data analysis, which requires higher computing resources and places higher demands. They are usually suitable for fixed vehicle models, making it difficult to adapt to different road environments and driving conditions.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The main purpose of the present invention is to provide a vehicle collision judgment method, system, terminal and storage medium, aiming to solve the problem that the existing technology relies on additional physical sensors, has high hardware costs and false alarm rates, not only requires high computing requirements, but also cannot adapt to different driving scenarios.

[0006] To achieve the above object, the present invention provides a method for determining a vehicle collision, the method comprising the following steps: When a change in the driving state of the vehicle is detected, current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data; If it is detected that there is trajectory information within the first preset time, determining the speed information of the vehicle according to the trajectory information; If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, a speed change result set is obtained according to the number of trajectory points, and a collision judgment is made on the vehicle according to the speed change result set to obtain a vehicle collision result.

[0007] Optionally, the method for determining a vehicle collision, wherein when a change in the driving state of the vehicle is detected, obtaining current sensor data of the vehicle, and determining corresponding trajectory information according to the sensor data, specifically includes: When a change in the driving state of the vehicle is detected, a corresponding collision confirmation event is generated, and the current sensor data of the vehicle is collected according to the collision confirmation event to obtain a collection result, wherein the sensor data includes the vehicle speed and the vehicle angle direction; Determining whether there is trajectory information within a first preset time of the collision to be confirmed event according to the collection result; If the acquisition result is that the trajectory interface does not return the sensor data, it is determined that there is no trajectory information within the first preset time of the collision to be confirmed event; If the acquisition result is that the trajectory interface returns the sensor data, it is determined that there is trajectory information within the first preset time of the collision to be confirmed event.

[0008] Optionally, the method for determining a vehicle collision, wherein when a change in the driving state of the vehicle is detected, current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data, and then further comprises: If it is detected that there is no trajectory information within the first preset time, judging whether there is trajectory information within the second preset time of the collision to be confirmed event according to the collection result; If there is no trajectory information within the second preset time of the collision to be confirmed event, determining the collision to be confirmed event as a non-collision event; If there is trajectory information within the second preset time of the collision to be confirmed event, determining the first speed information of the vehicle according to the trajectory information; If it is determined that the first speed information is greater than a preset value, obtaining the number of first trajectory points of the first speed information, and obtaining a first speed change result set according to the number of the first trajectory points; The first maximum speed change of the first speed change result set is compared with a change threshold to obtain a comparison result, and the collision event to be confirmed is determined according to the comparison result.

[0009] Optionally, the method for determining a vehicle collision, wherein if it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, a speed change result set is obtained according to the number of trajectory points, and a collision determination is performed on the vehicle according to the speed change result set to obtain a vehicle collision result, specifically comprising: If it is determined that the speed information is greater than a preset value, obtaining the number of trajectory points of the speed information, and determining whether the number of trajectory points is equal to a preset number; If the number of trajectory points is equal to the preset number, obtaining the last trajectory point of the number of trajectory points, calculating the time interval between the acquisition time of the last trajectory point and the collision warning time to obtain a first time interval, and comparing the first time interval with the interval threshold; If the first time interval is greater than or equal to the interval threshold, obtaining the speed values ​​of all trajectory points in the number of trajectory points, and calculating the adjacent speed variables between all the speed values ​​to obtain a speed change result set; Obtaining a maximum speed variation of the speed variation result set, and comparing the maximum speed variation with a preset multiple variation threshold; If the maximum speed change is greater than or equal to a first preset multiple change threshold, determining that the vehicle collision result is a vehicle collision; If the maximum speed change is greater than the second preset multiple change threshold and less than the third preset multiple change threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle; If the maximum speed change is less than or equal to a second preset multiple of the change threshold, it is determined that the vehicle collision result is normal vehicle driving.

[0010] Optionally, the method for determining a vehicle collision, wherein if it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, and it is determined whether the number of trajectory points is equal to a preset number, and then the method further includes: If the number of trajectory points is greater than the preset number, the speed values ​​of all trajectory points in the number of trajectory points are obtained, and adjacent speed variables between all the speed values ​​are calculated to obtain a target speed change result set; Obtaining a target maximum speed change of the target speed change result set, and obtaining a target last track point of the number of track points, calculating a time interval between a collection time of the target last track point and a collision warning time to obtain a second time interval, and comparing the second time interval with a target interval threshold; If the second time interval is less than the target interval threshold, obtaining the target trajectory speed of the last trajectory point of the target, and determining whether the target trajectory speed is less than the target speed threshold; If the target trajectory speed is less than the target speed threshold, the target maximum speed change is compared with a preset multiple change threshold; If the target maximum speed change is greater than or equal to a first preset multiple change threshold, determining that the vehicle collision result is a vehicle collision; If the target maximum speed change is greater than the second preset multiple change threshold and less than the third preset multiple change threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle; If the target maximum speed change is less than or equal to a second preset multiple of the change threshold, it is determined that the vehicle collision result is normal vehicle driving.

[0011] Optionally, the method for determining a vehicle collision, wherein if the second time interval is compared with a target time interval threshold, further comprises: If the second time interval is greater than or equal to the target interval threshold, comparing the target maximum speed change with the target change threshold; If the target maximum speed change is greater than or equal to the target change threshold, the number of direction changes of the last trajectory point of the target is obtained, and the number of direction changes is compared with the change threshold; If the number of direction changes is greater than or equal to the change number threshold, determining that the vehicle collision result is a vehicle collision; If the number of direction changes is less than the change number threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle.

[0012] Optionally, the method for determining a vehicle collision, wherein if the first time interval is compared with an interval threshold, the method further comprises: If the first time interval is less than the interval threshold, obtaining the trajectory speed of the last trajectory point, and comparing the trajectory speed with a first preset speed; If the trajectory speed is greater than or equal to the first preset speed, determining that the vehicle collision result is a vehicle collision; If the trajectory speed is less than the first preset speed, it is determined that the vehicle collision result is a sudden deceleration of the vehicle.

[0013] Optionally, in the vehicle collision determination method, the vehicle collision determination system comprises: A trajectory determination module is used to obtain current sensor data of the vehicle when a change in the driving state of the vehicle is detected, and determine corresponding trajectory information according to the sensor data; A speed determination module, configured to determine the speed information of the vehicle according to the trajectory information if the trajectory information is detected within a first preset time; The collision determination module is used to obtain the number of trajectory points of the speed information if it is determined that the speed information is greater than a preset value, obtain a speed change result set according to the number of trajectory points, and perform a collision judgment on the vehicle according to the speed change result set to obtain a vehicle collision result.

[0014] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a vehicle collision judgment program stored in the memory and executable on the processor, and when the vehicle collision judgment program is executed by the processor, the steps of the vehicle collision judgment method as described above are implemented.

[0015] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a vehicle collision judgment program, and when the vehicle collision judgment program is executed by a processor, the steps of the vehicle collision judgment method as described above are implemented.

[0016] In the present invention, when a change in the driving state of a vehicle is detected, the current sensor data of the vehicle is obtained, and the corresponding trajectory information is determined based on the sensor data; if it is detected that there is trajectory information within the first preset time, the speed information of the vehicle is determined based on the trajectory information; if it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, and a speed change result set is obtained based on the number of trajectory points, and a collision judgment is performed on the vehicle based on the speed change result set to obtain a vehicle collision result. The present invention directly uses the trajectory and speed data of the vehicle for collision detection, and determines whether the vehicle has collided by analyzing the speed change and the intersection of the trajectory. It does not require complex machine learning algorithms, improves the real-time and accuracy of collision detection, and reduces the dependence on high-precision sensors, reduces costs, and makes the system more economical and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a preferred embodiment of the method for determining vehicle collision of the present invention; Figure 2 It is a structural diagram of a preferred embodiment of the vehicle collision judgment system of the present invention; Figure 3 It is a schematic diagram of the operating environment of a preferred embodiment of the terminal of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0021] The method for determining a vehicle collision according to a preferred embodiment of the present invention is as follows: Figure 1 As shown, the vehicle collision determination method comprises the following steps: Step S10: When a change in the driving state of the vehicle is detected, current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data.

[0022] The step S10 comprises: Step S11: when a change in the driving state of the vehicle is detected, a corresponding collision confirmation event is generated, and the current sensor data of the vehicle is collected according to the collision confirmation event to obtain a collection result, wherein the sensor data includes the vehicle speed and the vehicle angle direction; Step S12: judging whether there is trajectory information within a first preset time of the collision to be confirmed event according to the collection result; Step S13: if the acquisition result is that the trajectory interface does not return the sensor data, it is determined that there is no trajectory information within the first preset time of the collision to be confirmed event; Step S14: If the acquisition result is that the trajectory interface returns the sensor data, it is determined that there is trajectory information within the first preset time of the collision to be confirmed event.

[0023] Specifically, in an embodiment of the present invention, when a change in the driving state of a vehicle is detected, it is necessary to determine whether the vehicle has collided. Specifically, a corresponding collision event to be confirmed is generated, and the current sensor data of the vehicle is collected according to the collision event to be confirmed to obtain a collection result, wherein the sensor data includes the vehicle speed and the vehicle angle direction (the corresponding range is 0°-360°); thereafter, it is determined whether there is trajectory information within the first preset time (for example, the last two minutes) of the collision event to be confirmed based on the collection result, and the specific judgment process is to make a judgment based on whether there is data returned in the trajectory interface. Specifically, if the collection result is that the trajectory interface does not return the sensor data, then it is determined that there is no trajectory information within the first preset time of the collision event to be confirmed; if the collection result is that the trajectory interface returns the sensor data, then it is determined that there is trajectory information within the first preset time of the collision event to be confirmed.

[0024] Furthermore, if it is detected that there is no trajectory information within the first preset time, it is necessary to further determine whether there is a trajectory within the second preset time (for example, the first 5 minutes) of the collision to be confirmed event. Specifically, determine whether there is trajectory information within the second preset time of the collision to be confirmed event based on the collection result; if there is no trajectory information within the second preset time of the collision to be confirmed event, determine the collision to be confirmed event as a non-collision event; if there is trajectory information within the second preset time of the collision to be confirmed event, determine the first speed information of the vehicle based on the trajectory information; if it is determined that the first speed information is equal to a preset value (for example, 0), it means that the state of the vehicle is unknown; if it is determined that the first speed information is greater than the preset value, obtain the first trajectory point number of the first speed information, if the first trajectory point number is one, it is determined that the state of the vehicle is unknown; if the first trajectory point number is multiple, determine the state of the vehicle based on the first trajectory point number A first speed change result set is obtained, specifically, the first speed change result set is obtained by calculating the speed value of each trajectory point in the first number of trajectory points, and a first maximum speed change (e.g., maxSpeedChange) of the first speed change result set is compared with a change threshold (e.g., accelerationThreshold) to obtain a comparison result; if the comparison result is that the first maximum speed change is greater than or equal to a first preset multiple (e.g., 1.5 times) of the change threshold, then the collision event to be confirmed is determined to be a vehicle collision; if the first maximum speed change is greater than a second preset multiple (e.g., 0.5 times) of the change threshold and less than a third preset multiple (e.g., 1 times) of the change threshold, then the collision event to be confirmed is determined to be a sudden deceleration of the vehicle; if the first maximum speed change is less than or equal to the second preset multiple of the change threshold, then the collision event to be confirmed is determined to be normal vehicle driving.

[0025] Step S20: If it is detected that there is trajectory information within the first preset time, determine the speed information of the vehicle according to the trajectory information.

[0026] Specifically, if it is detected that there is trajectory information within the first preset time, it is necessary to further determine whether the speed of the vehicle in the trajectory point is 0, and then determine the speed information of the vehicle according to the trajectory information; thereafter, if the speed information of the vehicle is equal to a preset value (for example, 0), it is necessary to determine whether there is trajectory information within a second preset time of the collision pending confirmation event. If there is no trajectory information within the second preset time of the collision pending confirmation event, the collision pending confirmation event is determined to be a non-collision event; if there is trajectory information within the second preset time of the collision pending confirmation event, the second speed information of the vehicle is determined according to the trajectory information; if it is determined that the second speed information is equal to the preset value (for example, 0), it means that the state of the vehicle is stationary; if it is determined that the second speed information is greater than the preset value, the number of second trajectory points of the second speed information is obtained, such as If the number of the second trajectory points is one, it is determined that the state of the vehicle is unknown; if the number of the second trajectory points is multiple, a second speed change result set is obtained according to the number of the second trajectory points, and the second maximum speed change of the second speed change result set is compared with the change threshold; if the second maximum speed change is greater than or equal to the change threshold of a first preset multiple (for example, 1.5 times), the collision event to be confirmed is determined to be a vehicle collision; if the second maximum speed change is greater than the change threshold of a second preset multiple (for example, 0.5 times) and less than the change threshold of a third preset multiple (for example, 1 times), the collision event to be confirmed is determined to be a sudden deceleration of the vehicle; if the second maximum speed change is less than or equal to the change threshold of the second preset multiple, the collision event to be confirmed is determined to be normal driving of the vehicle.

[0027] Step S30: If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, a speed change result set is obtained according to the number of trajectory points, and a collision judgment is made on the vehicle according to the speed change result set to obtain a vehicle collision result.

[0028] Specifically, in the embodiment of the present invention, if it is determined that the speed information is greater than a preset value, it is necessary to further determine the number of trajectory points, specifically, to obtain the number of trajectory points of the speed information, and determine whether the number of trajectory points is equal to the preset number (for example, two); if the number of trajectory points is equal to the preset number, it is necessary to make a further judgment based on the time interval between the time of the last trajectory point and the collision warning time, specifically, to obtain the last trajectory point of the number of trajectory points, calculate the time interval between the acquisition time of the last trajectory point and the collision warning time, obtain a first time interval, and compare the first time interval with an interval threshold (for example, 10 seconds). If the first time interval is less than the interval threshold, it is necessary to make a further judgment based on the speed of the last trajectory point, specifically, if the speed of the last trajectory point is greater than or equal to the preset speed value, it is determined that the state of the vehicle is a collision; if the speed of the last trajectory point is less than the preset speed value, it is determined that the state of the vehicle is a sudden deceleration.

[0029] If the first time interval is greater than or equal to the interval threshold, the speed values ​​of all trajectory points in the number of trajectory points are obtained, and the adjacent speed variables between all the speed values ​​are calculated to obtain a speed change result set; the maximum speed change of the speed change result set is obtained, and the maximum speed change is compared with the change threshold of a preset multiple; if the maximum speed change is greater than or equal to the change threshold of a first preset multiple, the vehicle collision result is determined to be a vehicle collision; if the maximum speed change is greater than the change threshold of a second preset multiple and less than the change threshold of a third preset multiple, the vehicle collision result is determined to be a sudden deceleration of the vehicle; if the maximum speed change is less than or equal to the change threshold of a second preset multiple, the vehicle collision result is determined to be normal driving of the vehicle.

[0030] Further, if the first time interval is less than the interval threshold, the trajectory speed of the last trajectory point is obtained, and the trajectory speed is compared with a first preset speed; if the trajectory speed is greater than or equal to the first preset speed, the vehicle collision result is determined to be a vehicle collision; if the trajectory speed is less than the first preset speed, the vehicle collision result is determined to be a sudden deceleration of the vehicle.

[0031] Furthermore, if the number of trajectory points is less than the preset number, for example, the number of trajectory points is 1, it is necessary to further determine whether there is a trajectory within the second preset time (for example, the first 5 minutes) of the collision to be confirmed event. Specifically, determine whether there is trajectory information within the second preset time of the collision to be confirmed event according to the collection result; if there is no trajectory information within the second preset time of the collision to be confirmed event, determine the collision to be confirmed event as a non-collision event; if there is trajectory information within the second preset time of the collision to be confirmed event, determine the third speed information of the vehicle according to the trajectory information; if it is determined that the third speed information is equal to a preset value (for example, 0), it means that the state of the vehicle is unknown; if it is determined that the third speed information is greater than the preset value, obtain the third trajectory point number of the third speed information, and if the third trajectory point number is one, determine the vehicle the state of the vehicle is unknown; if the number of the third trajectory points is multiple, a third speed change result set is obtained according to the number of the third trajectory points, specifically, the third speed change result set is calculated according to the speed value of each trajectory point in the third number of trajectory points, and the third maximum speed change of the third speed change result set is compared with the change threshold; if the third maximum speed change is greater than or equal to the change threshold of a first preset multiple (for example, 1.5 times), the collision event to be confirmed is determined to be a vehicle collision; if the third maximum speed change is greater than the change threshold of a second preset multiple (for example, 0.5 times) and less than the change threshold of a third preset multiple (for example, 1 times), the collision event to be confirmed is determined to be a sudden deceleration of the vehicle; if the third maximum speed change is less than or equal to the change threshold of the second preset multiple, the collision event to be confirmed is determined to be normal driving of the vehicle.

[0032] Further, if the number of trajectory points is greater than the preset number, for example, the number of trajectory points is 3 or more, the speed values ​​of all trajectory points in the number of trajectory points are obtained, and the adjacent speed variables between all the speed values ​​are calculated to obtain a target speed change result set; the target maximum speed change of the target speed change result set is obtained, and the target last trajectory point of the number of trajectory points is obtained, the time interval between the acquisition time of the target last trajectory point and the collision warning time is calculated to obtain a second time interval, and the second time interval is compared with the target interval threshold (for example, 35 seconds).

[0033] If the second time interval is less than the target interval threshold, the target trajectory speed of the target last trajectory point is obtained, and it is determined whether the target trajectory speed is less than the target speed threshold (for example, 15); if the target trajectory speed is less than the target speed threshold, the target maximum speed change is compared with the preset multiple change threshold; if the target maximum speed change is greater than or equal to the first preset multiple change threshold, the vehicle collision result is determined to be a vehicle collision; if the target maximum speed change is greater than the second preset multiple change threshold and less than the third preset multiple change threshold, the vehicle collision result is determined to be a sudden deceleration of the vehicle; if the target maximum speed change is less than or equal to the second preset multiple change threshold, the vehicle collision result is determined to be normal driving of the vehicle. If the target trajectory speed is greater than or equal to the target speed threshold, it is necessary to compare the target maximum speed change with the target change threshold. If the target maximum speed change is greater than or equal to the target change threshold, the vehicle collision result is determined to be a sudden deceleration of the vehicle; if the target maximum speed change is less than the target change threshold, the vehicle collision result is determined to be normal driving of the vehicle.

[0034] Further, if the second time interval is greater than or equal to the target interval threshold, the target maximum speed change is compared with the target change threshold; if the target maximum speed change is greater than or equal to the target change threshold, the number of direction changes of the target last trajectory point is obtained, and the number of direction changes is compared with the change number threshold (for example, 6 times); if the number of direction changes is greater than or equal to the change number threshold, the vehicle collision result is determined to be a vehicle collision; if the number of direction changes is less than the change number threshold, the vehicle collision result is determined to be a sudden deceleration of the vehicle.

[0035] The present invention does not rely on additional physical sensors, but instead utilizes vehicle trajectory data obtained by GPS or other positioning systems to identify potential collision events by analyzing the vehicle's speed change pattern, which can reduce hardware costs, reduce false alarm rates, and improve adaptability to different scenarios; it also simplifies the data processing process and reduces the demand for computing resources.

[0036] Furthermore, if Figure 2 As shown, based on the above-mentioned vehicle collision judgment method, the present invention also provides a vehicle collision judgment system accordingly, wherein the vehicle collision judgment system includes: The trajectory determination module 51 is used to obtain the current sensor data of the vehicle when a change in the driving state of the vehicle is detected, and determine the corresponding trajectory information according to the sensor data; A speed determination module 52, configured to determine the speed information of the vehicle according to the trajectory information if the trajectory information is detected within the first preset time; The collision determination module 53 is used to obtain the number of trajectory points of the speed information if it is determined that the speed information is greater than a preset value, obtain a speed change result set according to the number of trajectory points, and perform a collision judgment on the vehicle according to the speed change result set to obtain a vehicle collision result.

[0037] Furthermore, if Figure 3 As shown, based on the above-mentioned vehicle collision judgment method, the present invention also provides a terminal accordingly, and the terminal includes a processor 10, a memory 20 and a display 30. Figure 3 Only some components of the terminal are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0038] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various types of data installed on the terminal, such as the program code of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a vehicle collision judgment program 40 is stored on the memory 20, and the vehicle collision judgment program 40 can be executed by the processor 10, thereby realizing the vehicle collision judgment method in the present application.

[0039] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, which is used to run the program code or process data stored in the memory 20, such as executing the vehicle collision determination method.

[0040] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display information on the terminal and to display a visual user interface. The components of the terminal communicate with each other via a system bus.

[0041] In one embodiment, when the processor 10 executes the vehicle collision determination program 40 in the memory 20, the following steps are implemented: When a change in the driving state of the vehicle is detected, current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data; If it is detected that there is trajectory information within the first preset time, determining the speed information of the vehicle according to the trajectory information; If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, a speed change result set is obtained according to the number of trajectory points, and a collision judgment is made on the vehicle according to the speed change result set to obtain a vehicle collision result.

[0042] When a change in the driving state of the vehicle is detected, the current sensor data of the vehicle is obtained, and corresponding trajectory information is determined according to the sensor data, specifically including: When a change in the driving state of the vehicle is detected, a corresponding collision confirmation event is generated, and the current sensor data of the vehicle is collected according to the collision confirmation event to obtain a collection result, wherein the sensor data includes the vehicle speed and the vehicle angle direction; Determining whether there is trajectory information within a first preset time of the collision to be confirmed event according to the collection result; If the acquisition result is that the trajectory interface does not return the sensor data, it is determined that there is no trajectory information within the first preset time of the collision to be confirmed event; If the acquisition result is that the trajectory interface returns the sensor data, it is determined that there is trajectory information within the first preset time of the collision to be confirmed event.

[0043] When a change in the driving state of the vehicle is detected, the current sensor data of the vehicle is obtained, and corresponding trajectory information is determined according to the sensor data, and then the following is further included: If it is detected that there is no trajectory information within the first preset time, judging whether there is trajectory information within the second preset time of the collision to be confirmed event according to the collection result; If there is no trajectory information within the second preset time of the collision to be confirmed event, determining the collision to be confirmed event as a non-collision event; If there is trajectory information within the second preset time of the collision to be confirmed event, determining the first speed information of the vehicle according to the trajectory information; If it is determined that the first speed information is greater than a preset value, obtaining the number of first trajectory points of the first speed information, and obtaining a first speed change result set according to the number of the first trajectory points; The first maximum speed change of the first speed change result set is compared with a change threshold to obtain a comparison result, and the collision event to be confirmed is determined according to the comparison result.

[0044] If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, a speed change result set is obtained according to the number of trajectory points, and a collision judgment is performed on the vehicle according to the speed change result set to obtain a vehicle collision result, specifically including: If it is determined that the speed information is greater than a preset value, obtaining the number of trajectory points of the speed information, and determining whether the number of trajectory points is equal to a preset number; If the number of trajectory points is equal to the preset number, obtaining the last trajectory point of the number of trajectory points, calculating the time interval between the acquisition time of the last trajectory point and the collision warning time to obtain a first time interval, and comparing the first time interval with the interval threshold; If the first time interval is greater than or equal to the interval threshold, obtaining the speed values ​​of all trajectory points in the number of trajectory points, and calculating the adjacent speed variables between all the speed values ​​to obtain a speed change result set; Obtaining a maximum speed variation of the speed variation result set, and comparing the maximum speed variation with a preset multiple variation threshold; If the maximum speed change is greater than or equal to a first preset multiple change threshold, determining that the vehicle collision result is a vehicle collision; If the maximum speed change is greater than the second preset multiple change threshold and less than the third preset multiple change threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle; If the maximum speed change is less than or equal to a second preset multiple of the change threshold, it is determined that the vehicle collision result is normal vehicle driving.

[0045] If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, and it is determined whether the number of trajectory points is equal to the preset number, and then the following is further included: If the number of trajectory points is greater than the preset number, the speed values ​​of all trajectory points in the number of trajectory points are obtained, and adjacent speed variables between all the speed values ​​are calculated to obtain a target speed change result set; Obtaining a target maximum speed change of the target speed change result set, and obtaining a target last track point of the number of track points, calculating a time interval between a collection time of the target last track point and a collision warning time to obtain a second time interval, and comparing the second time interval with a target interval threshold; If the second time interval is less than the target interval threshold, obtaining the target trajectory speed of the last trajectory point of the target, and determining whether the target trajectory speed is less than the target speed threshold; If the target trajectory speed is less than the target speed threshold, the target maximum speed change is compared with a preset multiple change threshold; If the target maximum speed change is greater than or equal to a first preset multiple change threshold, determining that the vehicle collision result is a vehicle collision; If the target maximum speed change is greater than the second preset multiple change threshold and less than the third preset multiple change threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle; If the target maximum speed change is less than or equal to a second preset multiple of the change threshold, it is determined that the vehicle collision result is normal vehicle driving.

[0046] Wherein, if the second time interval is compared with the target interval threshold, the method further includes: If the second time interval is greater than or equal to the target interval threshold, comparing the target maximum speed change with the target change threshold; If the target maximum speed change is greater than or equal to the target change threshold, the number of direction changes of the last trajectory point of the target is obtained, and the number of direction changes is compared with the change threshold; If the number of direction changes is greater than or equal to the change number threshold, determining that the vehicle collision result is a vehicle collision; If the number of direction changes is less than the change number threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle.

[0047] Wherein, if the first time interval is compared with the interval threshold, the method further includes: If the first time interval is less than the interval threshold, obtaining the trajectory speed of the last trajectory point, and comparing the trajectory speed with a first preset speed; If the trajectory speed is greater than or equal to the first preset speed, determining that the vehicle collision result is a vehicle collision; If the trajectory speed is less than the first preset speed, it is determined that the vehicle collision result is a sudden deceleration of the vehicle.

[0048] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a vehicle collision judgment program, and when the vehicle collision judgment program is executed by a processor, the steps of the vehicle collision judgment method as described above are implemented.

[0049] In summary, the present invention provides a method, system, terminal and storage medium for judging vehicle collision, the method comprising: when a change in the driving state of a vehicle is detected, obtaining the current sensor data of the vehicle, and determining the corresponding trajectory information according to the sensor data; if it is detected that there is trajectory information within a first preset time, determining the speed information of the vehicle according to the trajectory information; if it is determined that the speed information is greater than a preset value, obtaining the number of trajectory points of the speed information, obtaining a speed change result set according to the number of trajectory points, and performing collision judgment on the vehicle according to the speed change result set to obtain a vehicle collision result. The present invention directly uses the trajectory and speed data of the vehicle for collision detection, without the need for complex machine learning algorithms, and also judges whether the vehicle has collided by analyzing speed changes and trajectory intersections, thereby improving the real-time and accuracy of collision detection, reducing the reliance on high-precision sensors, and reducing costs, making the system more economical and practical.

[0050] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0051] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium that can be read by a computer, and the program can include the processes of the above-mentioned method embodiments when executed. The computer-readable storage medium can be a memory, a disk, an optical disk, etc.

[0052] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for determining a vehicle collision, characterized in that: The vehicle collision determination method comprises: When a change in the driving state of the vehicle is detected, current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data; If it is detected that there is trajectory information within the first preset time, determining the speed information of the vehicle according to the trajectory information; If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, a speed change result set is obtained according to the number of trajectory points, and a collision judgment is made on the vehicle according to the speed change result set to obtain a vehicle collision result.

2. The vehicle collision determination method according to claim 1, characterized in that: When a change in the driving state of the vehicle is detected, obtaining current sensor data of the vehicle and determining corresponding trajectory information according to the sensor data specifically includes: When a change in the driving state of the vehicle is detected, a corresponding collision confirmation event is generated, and the current sensor data of the vehicle is collected according to the collision confirmation event to obtain a collection result, wherein the sensor data includes the vehicle speed and the vehicle angle direction; Determining whether there is trajectory information within a first preset time of the collision to be confirmed event according to the collection result; If the acquisition result is that the trajectory interface does not return the sensor data, it is determined that there is no trajectory information within the first preset time of the collision to be confirmed event; If the acquisition result is that the trajectory interface returns the sensor data, it is determined that there is trajectory information within the first preset time of the collision to be confirmed event.

3. The method for determining vehicle collision according to claim 2, characterized in that: When a change in the driving state of the vehicle is detected, current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data, and then the following is further included: If it is detected that there is no trajectory information within the first preset time, judging whether there is trajectory information within the second preset time of the collision to be confirmed event according to the collection result; If there is no trajectory information within the second preset time of the collision to be confirmed event, determining the collision to be confirmed event as a non-collision event; If there is trajectory information within the second preset time of the collision to be confirmed event, determining the first speed information of the vehicle according to the trajectory information; If it is determined that the first speed information is greater than a preset value, obtaining the number of first trajectory points of the first speed information, and obtaining a first speed change result set according to the number of the first trajectory points; The first maximum speed change of the first speed change result set is compared with a change threshold to obtain a comparison result, and the collision event to be confirmed is determined according to the comparison result.

4. The vehicle collision determination method according to claim 2, characterized in that: If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, a speed change result set is obtained according to the number of trajectory points, and a collision judgment is performed on the vehicle according to the speed change result set to obtain a vehicle collision result, specifically including: If it is determined that the speed information is greater than a preset value, obtaining the number of trajectory points of the speed information, and determining whether the number of trajectory points is equal to a preset number; If the number of trajectory points is equal to the preset number, obtaining the last trajectory point of the number of trajectory points, calculating the time interval between the acquisition time of the last trajectory point and the collision warning time to obtain a first time interval, and comparing the first time interval with the interval threshold; If the first time interval is greater than or equal to the interval threshold, obtaining the speed values ​​of all trajectory points in the number of trajectory points, and calculating the adjacent speed variables between all the speed values ​​to obtain a speed change result set; Obtaining a maximum speed variation of the speed variation result set, and comparing the maximum speed variation with a preset multiple variation threshold; If the maximum speed change is greater than or equal to a first preset multiple change threshold, determining that the vehicle collision result is a vehicle collision; If the maximum speed change is greater than the second preset multiple change threshold and less than the third preset multiple change threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle; If the maximum speed change is less than or equal to a second preset multiple of the change threshold, it is determined that the vehicle collision result is normal vehicle driving.

5. The method for determining vehicle collision according to claim 4, characterized in that: If it is determined that the speed information is greater than a preset value, the number of trajectory points of the speed information is obtained, and it is determined whether the number of trajectory points is equal to a preset number, and then the following further includes: If the number of trajectory points is greater than the preset number, the speed values ​​of all trajectory points in the number of trajectory points are obtained, and adjacent speed variables between all the speed values ​​are calculated to obtain a target speed change result set; Obtaining a target maximum speed change of the target speed change result set, and obtaining a target last track point of the number of track points, calculating a time interval between a collection time of the target last track point and a collision warning time to obtain a second time interval, and comparing the second time interval with a target interval threshold; If the second time interval is less than the target interval threshold, obtaining the target trajectory speed of the last trajectory point of the target, and determining whether the target trajectory speed is less than the target speed threshold; If the target trajectory speed is less than the target speed threshold, the target maximum speed change is compared with a preset multiple change threshold; If the target maximum speed change is greater than or equal to a first preset multiple change threshold, determining that the vehicle collision result is a vehicle collision; If the target maximum speed change is greater than the second preset multiple change threshold and less than the third preset multiple change threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle; If the target maximum speed change is less than or equal to a second preset multiple of the change threshold, it is determined that the vehicle collision result is normal vehicle driving.

6. The method for determining vehicle collision according to claim 5, characterized in that: If the second time interval is compared with the target interval threshold, the method further includes: If the second time interval is greater than or equal to the target interval threshold, comparing the target maximum speed change with the target change threshold; If the target maximum speed change is greater than or equal to the target change threshold, the number of direction changes of the last trajectory point of the target is obtained, and the number of direction changes is compared with the change threshold; If the number of direction changes is greater than or equal to the change number threshold, determining that the vehicle collision result is a vehicle collision; If the number of direction changes is less than the change number threshold, it is determined that the vehicle collision result is a sudden deceleration of the vehicle.

7. The method for determining vehicle collision according to claim 4, characterized in that: If the first time interval is compared with the interval threshold, the method further includes: If the first time interval is less than the interval threshold, obtaining the trajectory speed of the last trajectory point, and comparing the trajectory speed with a first preset speed; If the trajectory speed is greater than or equal to the first preset speed, determining that the vehicle collision result is a vehicle collision; If the trajectory speed is less than the first preset speed, it is determined that the vehicle collision result is a sudden deceleration of the vehicle.

8. A vehicle collision judgment system, characterized in that: The vehicle collision judgment system comprises: A trajectory determination module is used to obtain current sensor data of the vehicle when a change in the driving state of the vehicle is detected, and determine corresponding trajectory information according to the sensor data; A speed determination module, configured to determine the speed information of the vehicle according to the trajectory information if the trajectory information is detected within a first preset time; The collision determination module is used to obtain the number of trajectory points of the speed information if it is determined that the speed information is greater than a preset value, obtain a speed change result set according to the number of trajectory points, and perform a collision judgment on the vehicle according to the speed change result set to obtain a vehicle collision result.

9. A terminal, characterized in that: The terminal includes: a memory, a processor, and a vehicle collision judgment program stored in the memory and executable on the processor. When the vehicle collision judgment program is executed by the processor, the steps of the vehicle collision judgment method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle collision judgment program, and when the vehicle collision judgment program is executed by a processor, the steps of the vehicle collision judgment method according to any one of claims 1 to 7 are implemented.

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