A method, system, terminal and storage medium for judging vehicle collision

Abstract

The present invention discloses a method, system, terminal and storage medium for judging vehicle collision. The method includes: when it is detected that the driving state of the vehicle changes, acquiring 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, acquiring the number of trajectory points of the speed information, obtaining a speed change amount result set according to the number of trajectory points, and performing a collision judgment on the vehicle according to the speed change amount result set to obtain a vehicle collision result. The present invention performs collision detection by using the trajectory and speed data of the vehicle, and judges whether the vehicle collides by analyzing the speed change and trajectory intersection conditions, without complex machine learning algorithms, improves the real-time performance and accuracy of collision detection, reduces the dependence on high-precision sensors, and reduces the hardware cost.

Description

Technical Field

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

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

[0003] Currently, existing collision detection methods mainly rely on physical sensors (e.g., accelerometers, pressure sensors, etc.). These physical sensors are installed inside or outside the vehicle and determine whether a collision event has occurred by detecting physical impacts. However, this method highly depends on specific hardware sensors, which not only increases costs but may also fail due to sensor failures in some cases; since physical sensors can only sense local information, false alarms are likely to occur for minor scratches or atypical collision situations; when multiple sensors work simultaneously, complex algorithms are required for data analysis, which poses high requirements for computing resources; and it is usually applicable to fixed vehicle models, making it difficult to adapt to different road environments and driving conditions.

[0004] Therefore, there is still room for improvement and development in the prior art. Summary of the Invention

[0005] The main objective of the present invention is to provide a method, a system, a terminal and a storage medium for judging vehicle collision, aiming to solve the problems in the prior art that rely on additional physical sensors, have high hardware costs and false alarm rates, not only require high computing requirements but also cannot adapt to different driving scenarios.

[0006] To achieve the above objective, the present invention provides a method for judging vehicle collision, and the method for judging vehicle collision includes the following steps:

[0007] When it is detected that the driving state of the vehicle changes, obtain the current sensor data of the vehicle, and determine the corresponding trajectory information according to the sensor data;

[0008] If it is detected that there is trajectory information within a first preset time, determine the speed information of the vehicle according to the trajectory information;

[0009] If it is determined that the speed information is greater than a preset value, obtain the number of trajectory points of the speed information, obtain a speed change amount result set according to the number of trajectory points, and perform a collision judgment on the vehicle according to the speed change amount result set to obtain a vehicle collision result.

[0010] Optionally, in the vehicle collision determination method, when it is detected that the vehicle driving state changes, the current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data, which specifically includes:

[0011] When it is detected that the vehicle driving state changes, a corresponding collision to-be-confirmed event is generated, and the current sensor data of the vehicle is collected according to the collision to-be-confirmed event to obtain a collection result, where the sensor data includes vehicle speed and vehicle angle direction;

[0012] According to the collection result, it is judged whether there is trajectory information within a first preset time of the collision to-be-confirmed event;

[0013] If the collection 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;

[0014] If the collection 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.

[0015] Optionally, in the vehicle collision determination method, when it is detected that the vehicle driving state changes, the current sensor data of the vehicle is acquired, and corresponding trajectory information is determined according to the sensor data, and then it further includes:

[0016] If it is detected that there is no trajectory information within the first preset time, it is judged whether there is trajectory information within a second preset time of the collision to-be-confirmed event according to the collection result;

[0017] If there is no trajectory information within the second preset time of the collision to-be-confirmed event, it is determined that the collision to-be-confirmed event is a non-collision event;

[0018] If there is trajectory information within the second preset time of the collision to-be-confirmed event, the first speed information of the vehicle is determined according to the trajectory information;

[0019] If it is determined that the first speed information is greater than a preset value, the number of first trajectory points of the first speed information is acquired, and a first speed change amount result set is obtained according to the number of first trajectory points;

[0020] The first maximum speed change amount in the first speed change amount result set is compared with a change amount threshold to obtain a comparison result, and the collision to-be-confirmed event is determined according to the comparison result.

[0021] Optionally, in the vehicle collision determination method, 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 amount result set is obtained according to the number of trajectory points, and the vehicle is judged for collision according to the speed change amount result set to obtain a vehicle collision result, which specifically includes:

[0022] 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;

[0023] If the number of trajectory points is equal to the preset number, the last trajectory point of the number of trajectory points is obtained, the time interval between the acquisition time of the last trajectory point and the collision warning time is calculated to obtain a first time interval, and the first time interval is compared with an interval threshold;

[0024] If the first time interval is greater than or equal to the interval threshold, the speed values of all the 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 amount result set;

[0025] Obtain the maximum speed change amount of the speed change amount result set, and compare the maximum speed change amount with a preset multiple of the change amount threshold;

[0026] If the maximum speed change amount is greater than or equal to the change amount threshold of the first preset multiple, it is determined that the vehicle collision result is a vehicle collision;

[0027] If the maximum speed change amount is greater than the change amount threshold of the second preset multiple and less than the change amount threshold of the third preset multiple, it is determined that the vehicle collision result is a vehicle sudden deceleration;

[0028] If the maximum speed change amount is less than or equal to the change amount threshold of the second preset multiple, it is determined that the vehicle collision result is normal vehicle driving.

[0029] Optionally, in the vehicle collision determination method, 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 it further includes:

[0030] If the number of trajectory points is greater than the preset number, the speed values of all the 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 amount result set;

[0031] Obtain the target maximum speed change amount of the target speed change amount result set, and obtain the target last trajectory point of the number of trajectory points. Calculate the time interval between the acquisition time of the target last trajectory point and the collision warning time to obtain a second time interval, and compare the size of the second time interval with the target interval threshold;

[0032] If the second time interval is less than the target interval threshold, obtain the target trajectory speed of the target last trajectory point, and determine whether the target trajectory speed is less than the target speed threshold;

[0033] If the target trajectory speed is less than the target speed threshold, compare the size of the target maximum speed change amount with a preset multiple of the change amount threshold;

[0034] If the target maximum speed change amount is greater than or equal to the change amount threshold of the first preset multiple, determine that the vehicle collision result is a vehicle collision;

[0035] If the target maximum speed change amount is greater than the change amount threshold of the second preset multiple and less than the change amount threshold of the third preset multiple, determine that the vehicle collision result is a vehicle sudden deceleration;

[0036] If the target maximum speed change amount is less than or equal to the change amount threshold of the second preset multiple, determine that the vehicle collision result is normal vehicle driving.

[0037] Optionally, in the vehicle collision determination method, where, after comparing the size of the second time interval with the target interval threshold, it further includes:

[0038] If the second time interval is greater than or equal to the target interval threshold, compare the size of the target maximum speed change amount with the target change amount threshold;

[0039] If the target maximum speed change amount is greater than or equal to the target change amount threshold, obtain the number of direction changes of the target last trajectory point, and compare the number of direction changes with the change number threshold;

[0040] If the number of direction changes is greater than or equal to the change number threshold, determine that the vehicle collision result is a vehicle collision;

[0041] If the number of direction changes is less than the change number threshold, determine that the vehicle collision result is a vehicle sudden deceleration.

[0042] Optionally, in the vehicle collision determination method, where, after comparing the size of the first time interval with the interval threshold, it further includes:

[0043] If the first time interval is less than the interval threshold, obtain the trajectory speed of the last trajectory point, and compare the magnitude of the trajectory speed with a first preset speed;

[0044] If the trajectory speed is greater than or equal to the first preset speed, determine that the vehicle collision result is a vehicle collision;

[0045] If the trajectory speed is less than the first preset speed, determine that the vehicle collision result is a vehicle sudden deceleration.

[0046] Optionally, for the vehicle collision determination method described above, wherein the vehicle collision determination system includes:

[0047] A trajectory determination module, configured to obtain the current sensor data of the vehicle when it detects a change in the vehicle driving state, and determine the corresponding trajectory information according to the sensor data;

[0048] A speed determination module, configured to, if trajectory information is detected within a first preset time, determine the speed information of the vehicle according to the trajectory information;

[0049] A collision determination module, configured to, if it is determined that the speed information is greater than a preset value, obtain the number of trajectory points of the speed information, obtain a speed change amount result set according to the number of trajectory points, and perform a collision determination on the vehicle according to the speed change amount result set to obtain a vehicle collision result.

[0050] In addition, to achieve the above object, the present invention further provides a terminal, wherein the terminal includes: a memory, a processor, and a vehicle collision determination program stored on the memory and executable on the processor, and when the vehicle collision determination program is executed by the processor, the steps of the vehicle collision determination method described above are implemented.

[0051] In addition, to achieve the above object, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a vehicle collision determination program, and when the vehicle collision determination program is executed by a processor, the steps of the vehicle collision determination method described above are implemented.

[0052] In the present invention, when it is detected that the driving state of the vehicle changes, the current sensor data of the vehicle is obtained, and the corresponding trajectory information is determined according to the sensor data; if it is detected that there is trajectory information within a first preset time, the speed information of the vehicle is determined 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 amount result set is obtained according to the number of trajectory points, and the vehicle is subjected to a collision determination according to the speed change amount 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 a collision by analyzing the speed change and trajectory intersection conditions, without the need for complex machine learning algorithms, improving the real-time performance and accuracy of collision detection, reducing the dependence on high-precision sensors, reducing costs, and making the system more economical and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a flowchart of a preferred embodiment of the method for determining vehicle collision of the present invention;

[0054] Figure 2 is a structural diagram of a preferred embodiment of the system for determining vehicle collision of the present invention;

[0055] Figure 3 is a schematic diagram of the operating environment of a preferred embodiment of the terminal of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] In order to make the objectives, technical solutions and advantages of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of 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.

[0057] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0058] In addition, if the descriptions such as "first" and "second" are involved in the embodiments of the present invention, these descriptions of "first", "second", etc. are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0059] The method for judging vehicle collision according to a preferred embodiment of the present invention is as Figure 1 shown, and the method for judging vehicle collision includes the following steps:

[0060] Step S10: When it is detected that the driving state of the vehicle changes, obtain the current sensor data of the vehicle, and determine the corresponding trajectory information according to the sensor data.

[0061] The step S10 includes:

[0062] Step S11: When it is detected that the driving state of the vehicle changes, generate a corresponding collision to be confirmed event, and collect the current sensor data of the vehicle according to the collision to be confirmed event to obtain a collection result, wherein the sensor data includes vehicle speed and vehicle angle direction;

[0063] Step S12: Judge whether there is trajectory information within a first preset time of the collision to be confirmed event according to the collection result;

[0064] Step S13: If the collection 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;

[0065] Step S14: If the collection 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.

[0066] Specifically, in the embodiments of the present invention, when it is detected that the driving state of the vehicle changes, it is necessary to determine whether the vehicle has collided. Specifically, a corresponding collision to be confirmed event is generated, and the current sensor data of the vehicle is collected according to the collision to be confirmed event to obtain a collection result, where the sensor data includes the vehicle speed and the vehicle angle direction (the corresponding range is 0° - 360°); then, it is determined whether there is trajectory information within the first preset time (for example, the next two minutes) of the collision to be confirmed event according to the collection result, and the specific determination process is to determine according to whether there is data returned in the trajectory interface. Specifically, if the collection result is that the sensor data is not returned by the trajectory interface, it is determined that there is no trajectory information within the first preset time of the collision to be confirmed event; if the collection result is that the sensor data is returned by the trajectory interface, it is determined that there is trajectory information within the first preset time of the collision to be confirmed event.

[0067] Further, if no trajectory information is detected within the first preset time, it is necessary to further determine whether there is a trajectory within the second preset time (e.g., the previous 5 minutes) of the collision to be confirmed event. Specifically, it is determined whether there is trajectory information within the second preset time of the collision to be confirmed event according to the acquisition result. If no trajectory information exists within the second preset time of the collision to be confirmed event, it is determined that the collision to be confirmed event is a non-collision event. If there is trajectory information within the second preset time of the collision to be confirmed event, the first speed information of the vehicle is determined according to the trajectory information. If it is determined that the first speed information is equal to a preset value (e.g., 0), it indicates that the state of the vehicle is unknown. If it is determined that the first speed information is greater than the preset value, the number of the first trajectory points of the first speed information is obtained. If the number of the first trajectory points is one, it is determined that the state of the vehicle is unknown. If the number of the first trajectory points is multiple, a first speed change amount result set is obtained according to the number of the first trajectory points. Specifically, the first speed change amount result set is calculated according to the speed values of each trajectory point in the number of the first trajectory points. The first maximum speed change amount (e.g., maxSpeedChange) of the first speed change amount result set is compared with a change amount threshold (e.g., accelerationThreshold) to obtain a comparison result. If the comparison result is that the first maximum speed change amount is greater than or equal to 1.5 times the change amount threshold, it is determined that the collision to be confirmed event is a vehicle collision. If the first maximum speed change amount is greater than 0.5 times the change amount threshold and less than 1 times the change amount threshold, it is determined that the collision to be confirmed event is a vehicle sudden deceleration. If the first maximum speed change amount is less than or equal to 0.5 times the change amount threshold, it is determined that the collision to be confirmed event is a normal vehicle driving.

[0068] Step S20: If trajectory information is detected within the first preset time, the speed information of the vehicle is determined according to the trajectory information.

[0069] Specifically, if trajectory information is detected within the first preset time, it is necessary to further determine whether the speed of the vehicle in the trajectory points is 0, and then determine the speed information of the vehicle according to the trajectory information. After that, 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 the second preset time of the collision to be confirmed event. If there is no trajectory information within the second preset time of the collision to be confirmed event, it is determined that the collision to be confirmed event is a non-collision event; if there is trajectory information within the second preset time of the collision to be confirmed event, determine the second speed information of the vehicle 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, obtain the number of second trajectory points of the second speed information. If the number of second trajectory points is one, it is determined that the state of the vehicle is unknown; if the number of second trajectory points is multiple, obtain a second speed change amount result set according to the number of second trajectory points, and compare the second maximum speed change amount in the second speed change amount result set with the change amount threshold. If the second maximum speed change amount is greater than or equal to the change amount threshold of the first preset multiple (for example, 1.5 times), it is determined that the collision to be confirmed event is a vehicle collision; if the second maximum speed change amount is greater than the change amount threshold of the second preset multiple (for example, 0.5 times) and less than the change amount threshold of the third preset multiple (for example, 1 time), it is determined that the collision to be confirmed event is a vehicle sudden deceleration; if the second maximum speed change amount is less than or equal to the change amount threshold of the second preset multiple, it is determined that the collision to be confirmed event is a vehicle normal driving.

[0070] Step S30: If it is determined that the speed information is greater than the preset value, obtain the number of trajectory points of the speed information, obtain a speed change amount result set according to the number of trajectory points, and perform a collision judgment on the vehicle according to the speed change amount result set to obtain a vehicle collision result.

[0071] Specifically, in the embodiments 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, obtain the number of trajectory points of the speed information and determine whether the number of trajectory points is equal to a preset number (for example, two); if the number of trajectory points is equal to the preset number, it is necessary to make the next determination according to the time interval between the time of the last trajectory point and the collision warning time. Specifically, 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 to obtain a first time interval, and compare the size of 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 the next determination according to the speed of the last trajectory point. Specifically, if the speed of the last trajectory point is greater than or equal to a 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.

[0072] If the first time interval is greater than or equal to the interval threshold, obtain the speed values of all the trajectory points in the number of trajectory points, calculate the adjacent speed variables between all the speed values to obtain a speed change result set; obtain the maximum speed change in the speed change result set, and compare the size of the maximum speed change with a change threshold of a preset multiple; if the maximum speed change is greater than or equal to the change threshold of the first preset multiple, it is determined that the vehicle collision result is a vehicle collision; if the maximum speed change is greater than the change threshold of the second preset multiple and less than the change threshold of the third preset multiple, 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 the change threshold of the second preset multiple, it is determined that the vehicle collision result is normal driving of the vehicle.

[0073] Further, if the first time interval is less than the interval threshold, obtain the trajectory speed of the last trajectory point, and compare the size of the trajectory speed with a first preset speed; if the trajectory speed is greater than or equal to the first preset speed, it is determined 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.

[0074] Further, if the number of the trajectory points is less than the preset number, for example, the number of the 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, it is determined whether there is trajectory information within the second preset time of the collision to be confirmed event according to the acquisition result; if there is no trajectory information within the second preset time of the collision to be confirmed event, it is determined that the collision to be confirmed event is a non-collision event; if there is trajectory information within the second preset time of the collision to be confirmed event, the third speed information of the vehicle is determined according to the trajectory information; if it is determined that the third speed information is equal to the preset value (for example, 0), it indicates that the state of the vehicle is unknown; if it is determined that the third speed information is greater than the preset value, the number of the third trajectory points of the third speed information is obtained. If the number of the third trajectory points is 1, it is determined that the state of the vehicle is unknown; if the number of the third trajectory points is multiple, a third speed change amount result set is obtained according to the number of the third trajectory points. Specifically, the third speed change amount result set is calculated according to the speed values of each trajectory point in the number of the third trajectory points, and the third maximum speed change amount of the third speed change amount result set is compared with the change amount threshold; if the third maximum speed change amount is greater than or equal to the change amount threshold of the first preset multiple (for example, 1.5 times), it is determined that the collision to be confirmed event is a vehicle collision; if the third maximum speed change amount is greater than the change amount threshold of the second preset multiple (for example, 0.5 times) and less than the change amount threshold of the third preset multiple (for example, 1 time), it is determined that the collision to be confirmed event is a vehicle sudden deceleration; if the third maximum speed change amount is less than or equal to the change amount threshold of the second preset multiple, it is determined that the collision to be confirmed event is a normal vehicle driving.

[0075] Further, if the number of the trajectory points is greater than the preset number, for example, the number of the trajectory points is 3 or more, the speed values of all the trajectory points in the number of the trajectory points are obtained, and the adjacent speed variables between all the speed values are calculated to obtain a target speed change amount result set; the target maximum speed change amount of the target speed change amount result set is obtained, and the target last trajectory point of the number of the 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).

[0076] If the second time interval is less than the target interval threshold, obtain the target trajectory speed of the target last trajectory point, and determine 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, compare the target maximum speed change with a preset multiple of the change threshold; if the target maximum speed change is greater than or equal to the change threshold of the first preset multiple, determine that the vehicle collision result is a vehicle collision; if the target maximum speed change is greater than the change threshold of the second preset multiple and less than the change threshold of the third preset multiple, determine that the vehicle collision result is a vehicle sudden deceleration; if the target maximum speed change is less than or equal to the change threshold of the second preset multiple, determine that the vehicle collision result is normal vehicle driving. 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, determine that the vehicle collision result is a vehicle sudden deceleration; if the target maximum speed change is less than the target change threshold, determine that the vehicle collision result is normal vehicle driving.

[0077] Further, if the second time interval is greater than or equal to the target interval threshold, 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, obtain the number of direction changes of the target last trajectory point, and compare the number of direction changes 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, determine that the vehicle collision result is a vehicle collision; if the number of direction changes is less than the change number threshold, determine that the vehicle collision result is a vehicle sudden deceleration.

[0078] The present invention can identify potential collision events by analyzing the speed change pattern of the vehicle using the vehicle trajectory data obtained by GPS or other positioning systems without relying on additional physical sensors, which can reduce the hardware cost, reduce the false alarm rate, and improve the adaptability to different scenarios; it also simplifies the data processing flow and reduces the demand for computing resources.

[0079] Further, as Figure 2 shown, based on the above vehicle collision judgment method, the present invention also correspondingly provides a vehicle collision judgment system, wherein the vehicle collision judgment system includes:

[0080] A trajectory determination module 51, configured to obtain the current sensor data of the vehicle when detecting a change in the vehicle driving state, and determine the corresponding trajectory information according to the sensor data;

[0081] A speed determination module 52, configured to determine the speed information of the vehicle according to the trajectory information if trajectory information is detected within a first preset time;

[0082] A collision determination module 53, configured to, if it is determined that the speed information is greater than a preset value, obtain the number of trajectory points of the speed information, obtain a speed change amount result set according to the number of trajectory points, and perform a collision determination on the vehicle according to the speed change amount result set to obtain a vehicle collision result.

[0083] Further, as Figure 3 shown, based on the above vehicle collision determination method, the present invention also correspondingly provides a terminal, which 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 the shown components, and more or fewer components can be alternatively implemented.

[0084] The memory 20 may be an internal storage unit of the terminal in some embodiments, such as a hard disk or a memory of the terminal. The memory 20 may also be an external storage device of the terminal in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the terminal. Further, the memory 20 may also include both the internal storage unit and the external storage device of the terminal. The memory 20 is used to store application software installed on the terminal and various types of data, such as program codes for installing the terminal. The memory 20 may also be used to temporarily store data that has been output or will be output. In one embodiment, a vehicle collision determination program 40 is stored on the memory 20, and the vehicle collision determination program 40 can be executed by the processor 10 to implement the vehicle collision determination method in the present application.

[0085] The processor 10 may be a central processing unit (CPU), a microprocessor, or other data processing chips in some embodiments, and is used to run the program codes stored in the memory 20 or process data, such as executing the vehicle collision determination method.

[0086] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display the information of the terminal and to display a visual user interface. The components of the terminal communicate with each other through a system bus.

[0087] In one embodiment, when the processor 10 executes the vehicle collision judgment program 40 in the memory 20, the following steps are implemented:

[0088] When it is detected that the vehicle driving state changes, obtain the current sensor data of the vehicle, and determine the corresponding trajectory information according to the sensor data;

[0089] If it is detected that there is trajectory information within a first preset time, determine the speed information of the vehicle according to the trajectory information;

[0090] If it is determined that the speed information is greater than a preset value, obtain the number of trajectory points of the speed information, obtain a speed change amount result set according to the number of trajectory points, and perform a collision judgment on the vehicle according to the speed change amount result set to obtain a vehicle collision result.

[0091] Among them, when it is detected that the vehicle driving state changes, obtain the current sensor data of the vehicle, and determine the corresponding trajectory information according to the sensor data, specifically including:

[0092] When it is detected that the vehicle driving state changes, generate a corresponding collision to-be-confirmed event, and collect the current sensor data of the vehicle according to the collision to-be-confirmed event to obtain a collection result, where the sensor data includes vehicle speed and vehicle angle direction;

[0093] Judge whether there is trajectory information within a first preset time of the collision to-be-confirmed event according to the collection result;

[0094] If the collection result is that the trajectory interface does not return the sensor data, it is determined that there is no trajectory information within a first preset time of the collision to-be-confirmed event;

[0095] If the collection result is that the trajectory interface returns the sensor data, it is determined that there is trajectory information within a first preset time of the collision to-be-confirmed event.

[0096] Among them, when it is detected that the vehicle driving state changes, obtain the current sensor data of the vehicle, and determine the corresponding trajectory information according to the sensor data, and then further include:

[0097] If no trajectory information is detected within the first preset time, determine whether there is trajectory information within the second preset time of the collision to be confirmed event according to the acquisition result;

[0098] If there is no trajectory information within the second preset time of the collision to be confirmed event, determine that the collision to be confirmed event is a non-collision event;

[0099] 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 according to the trajectory information;

[0100] If it is determined that the first speed information is greater than the preset value, obtain the number of the first trajectory points of the first speed information, and obtain the first speed change amount result set according to the number of the first trajectory points;

[0101] Compare the first maximum speed change amount of the first speed change amount result set with the change amount threshold to obtain a comparison result, and determine the collision to be confirmed event according to the comparison result.

[0102] Among them, if it is determined that the speed information is greater than the preset value, obtain the number of trajectory points of the speed information, obtain the speed change amount result set according to the number of trajectory points, and perform a collision judgment on the vehicle according to the speed change amount result set to obtain the vehicle collision result, specifically including:

[0103] If it is determined that the speed information is greater than the preset value, obtain the number of trajectory points of the speed information, and determine whether the number of trajectory points is equal to the preset number;

[0104] If the number of trajectory points is equal to the preset number, 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 to obtain the first time interval, and compare the first time interval with the interval threshold;

[0105] If the first time interval is greater than or equal to the interval threshold, obtain the speed values of all the trajectory points in the number of trajectory points, and calculate the adjacent speed variables between all the speed values to obtain the speed change amount result set;

[0106] Obtain the maximum speed change amount of the speed change amount result set, and compare the maximum speed change amount with the change amount threshold of the preset multiple;

[0107] If the maximum speed change amount is greater than or equal to the change amount threshold of the first preset multiple, determine that the vehicle collision result is a vehicle collision;

[0108] If the maximum speed change is greater than the change threshold of the second preset multiple and less than the change threshold of the third preset multiple, it is determined that the vehicle collision result is a sharp deceleration of the vehicle;

[0109] If the maximum speed change is less than or equal to the change threshold of the second preset multiple, it is determined that the vehicle collision result is normal driving of the vehicle.

[0110] Among them, if it is determined that the speed information is greater than the 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. After that, it further includes:

[0111] 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 the adjacent speed variables between all the speed values are calculated to obtain a target speed change result set;

[0112] Obtain the target maximum speed change of the target speed change result set, obtain the target last trajectory point of the number of trajectory points, calculate the time interval between the acquisition time of the target last trajectory point and the collision warning time to obtain a second time interval, and compare the size of the second time interval with the target interval threshold;

[0113] If the second time interval is less than the target interval threshold, obtain the target trajectory speed of the target last trajectory point, and determine whether the target trajectory speed is less than the target speed threshold;

[0114] If the target trajectory speed is less than the target speed threshold, compare the target maximum speed change with the change threshold of the preset multiple;

[0115] If the target maximum speed change is greater than or equal to the change threshold of the first preset multiple, it is determined that the vehicle collision result is a vehicle collision;

[0116] If the target maximum speed change is greater than the change threshold of the second preset multiple and less than the change threshold of the third preset multiple, it is determined that the vehicle collision result is a sharp deceleration of the vehicle;

[0117] If the target maximum speed change is less than or equal to the change threshold of the second preset multiple, it is determined that the vehicle collision result is normal driving of the vehicle.

[0118] Among them, after comparing the size of the second time interval with the target interval threshold, it further includes:

[0119] If the second time interval is greater than or equal to the target interval threshold, compare the target maximum speed change with the target change threshold;

[0120] If the target maximum speed change amount is greater than or equal to the target change amount threshold, obtain the number of direction changes of the target last trajectory point, and compare the number of direction changes with the change number threshold;

[0121] If the number of direction changes is greater than or equal to the change number threshold, determine that the vehicle collision result is a vehicle collision;

[0122] If the number of direction changes is less than the change number threshold, determine that the vehicle collision result is a vehicle sudden deceleration.

[0123] Wherein, after comparing the first time interval with the interval threshold, it further includes:

[0124] If the first time interval is less than the interval threshold, obtain the trajectory speed of the last trajectory point, and compare the trajectory speed with the first preset speed;

[0125] If the trajectory speed is greater than or equal to the first preset speed, determine that the vehicle collision result is a vehicle collision;

[0126] If the trajectory speed is less than the first preset speed, determine that the vehicle collision result is a vehicle sudden deceleration.

[0127] 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 described above are implemented.

[0128] In summary, the present invention provides a vehicle collision judgment method, system, terminal and storage medium. The method includes: when detecting a change in the vehicle driving state, obtaining the current sensor data of the vehicle, and determining the corresponding trajectory information according to the sensor data; if trajectory information is detected 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 amount result set according to the number of trajectory points, and performing a collision judgment on the vehicle according to the speed change amount 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 determines whether the vehicle has collided by analyzing the speed change and trajectory intersection conditions, improving the real-time performance and accuracy of collision detection, reducing the dependence on high-precision sensors, reducing costs, and making the system more economical and practical.

[0129] It should be noted that, in this document, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or terminal including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or terminal including such element.

[0130] Of course, those of ordinary skill in the art can understand that all or part of the processes of implementing the above-described embodiment methods can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program. The program can be stored in a computer-readable storage medium readable by a computer. When the program is executed, it can include the processes of the above-described method embodiments. The computer-readable storage medium can be a memory, a magnetic disk, an optical disc, etc.

[0131] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description. All such improvements and transformations should fall within the protection scope of the appended claims of 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 performed on the vehicle according to the speed change result set to obtain a vehicle collision result; 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.

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 the vehicle driving state is detected When the state changes, 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.

4. The method for determining a vehicle collision according to claim 1, 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.

5. The method for determining vehicle collision according to claim 4, 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.

6. The method for determining vehicle collision according to claim 1, 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.

7. A vehicle collision judgment system, characterized in that: The vehicle collision judgment system is applied to the vehicle collision judgment method according to any one of claims 1 to 6, and 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.

8. 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 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle collision determination program, and when the vehicle collision determination program is executed by a processor, the steps of the vehicle collision determination method according to any one of claims 1 to 6 are implemented.

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