Method and device for vehicle fall detection based on in-vehicle mobile phone posture

Abstract

This invention relates to a method and apparatus for vehicle fall detection based on the posture of a mobile phone inside a vehicle, belonging to the field of road safety monitoring technology. The method includes acquiring the posture data of a mobile phone inside a vehicle while the vehicle is traveling on a highway; transforming the mobile phone posture data based on a coordinate transformation matrix between the mobile phone and the vehicle to obtain vehicle posture data; analyzing whether the vehicle posture during the vehicle's journey meets the vehicle fall posture judgment conditions based on the vehicle posture data and the vehicle fall posture judgment conditions; if the vehicle posture during the vehicle's journey meets the vehicle fall posture judgment conditions, it is determined that the vehicle has entered a fall state during its journey, which is beneficial for timely detection of whether a vehicle has fallen on the highway, thereby improving the detection efficiency of road safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of road safety monitoring, and in particular to a method and device for identifying vehicle falling based on the posture of a mobile phone in a vehicle. BACKGROUND

[0002] Highway collapse seriously affects road traffic safety and endangers the safety of life and property of drivers and passengers. In recent years, due to the influence of precipitation, geology and other factors, highway collapse incidents have occurred repeatedly. However, due to the randomness and suddenness of road collapse, general road maintenance and geological detection often have a lagging nature, which cannot timely and effectively discover and issue a warning to surrounding vehicles, so that vehicles may rush out of the lane due to road collapse. Therefore, it is crucial to timely discover whether a vehicle has fallen in the road. SUMMARY

[0003] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present application provides a method and device for identifying vehicle falling based on the posture of a mobile phone in a vehicle, which solves the technical problem of whether a vehicle has fallen in the highway.

[0004] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the present application include:

[0005] The first aspect of the embodiment of the present application provides a method for identifying vehicle falling based on the posture of a mobile phone in a vehicle.

[0006] The method for identifying vehicle falling based on the posture of a mobile phone in a vehicle proposed by the embodiment of the present application includes:

[0007] Obtaining mobile phone posture data of a mobile phone in a vehicle when the vehicle is driving on a highway;

[0008] Transforming the mobile phone posture data based on a coordinate transformation matrix between the mobile phone and the vehicle to obtain vehicle posture data, wherein the coordinate transformation matrix is determined based on a pre-established mobile phone coordinate system and a vehicle coordinate system;

[0009] Judging whether the vehicle posture in the vehicle driving process meets a vehicle falling posture judgment condition based on the vehicle posture data;

[0010] If the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, it is determined that a falling state occurs in the vehicle driving process.

[0011] In some examples, the coordinate transformation matrix is obtained by transformation according to the following steps:

[0012] Establishing the mobile phone coordinate system and the vehicle coordinate system based on an orthogonal right-handed coordinate system;

[0013] Obtaining the relative position of the mobile phone and the vehicle;

[0014] determining the coordinate conversion matrix based on the mobile phone coordinate system and the vehicle coordinate system and the relative position between the mobile phone and the vehicle.

[0015] In some examples, the coordinate conversion matrix is:

[0016] ;

[0017] wherein, is the coordinate conversion matrix; is a projection of the vehicle X axis in the mobile phone coordinate system; is a projection of the vehicle Y axis in the mobile phone coordinate system; is a projection of the vehicle Z axis in the mobile phone coordinate system; is a cosine value of an angle between the vehicle X axis and the mobile phone X axis; is a cosine value of an angle between the vehicle X axis and the mobile phone Y axis; is a cosine value of an angle between the vehicle X axis and the mobile phone Z axis; is a cosine value of an angle between the vehicle Y axis and the mobile phone X axis; is a cosine value of an angle between the vehicle Y axis and the mobile phone Y axis; is a cosine value of an angle between the vehicle Y axis and the mobile phone Z axis; is a cosine value of an angle between the vehicle Z axis and the mobile phone X axis; is a cosine value of an angle between the vehicle Z axis and the mobile phone Y axis; is a cosine value of an angle between the vehicle Z axis and the mobile phone Z axis.

[0018] In some examples, the determining whether the vehicle attitude in the vehicle driving process satisfies the vehicle falling attitude determination condition based on the vehicle attitude data comprises:

[0019] If at least one axis acceleration in the vehicle attitude data decreases by more than a predetermined proportion in a predetermined time period, the total three-axis acceleration is less than or equal to a predetermined acceleration value, and at least one axis angular velocity in the three-axis angular velocity is greater than a predetermined angular velocity value, it is determined that the vehicle attitude in the vehicle driving process satisfies the vehicle falling attitude determination condition.

[0020] In some examples, the method further comprises:

[0021] In the case where it is determined that the falling state occurs in the vehicle driving process, the vehicle landing attitude is determined based on the total three-axis acceleration and the vehicle Y axis angular velocity.

[0022] In some examples, the determining the vehicle landing attitude based on the total three-axis acceleration and the vehicle Y axis angular velocity comprises:

[0023] if the total acceleration of the three axes decreases with the increase of the vehicle Y-axis angular velocity during the vehicle falling process, and when the vehicle Y-axis angular velocity reaches the maximum value, the total acceleration of the three axes is less than or equal to the first threshold value, it is determined that the vehicle landing posture is a front landing posture;

[0024] if the total acceleration of the three axes increases with the increase of the vehicle Y-axis angular velocity during the vehicle falling process, and when the vehicle Y-axis angular velocity reaches the maximum value, the total acceleration of the three axes is greater than the second threshold value and less than the third threshold value, it is determined that the vehicle landing posture is a rear landing posture; wherein the third threshold value is greater than the second threshold value, and the second threshold value is greater than the first threshold value.

[0025] In some examples, if the vehicle posture during vehicle driving meets the vehicle falling posture judgment condition, it is determined that a falling state occurs in the vehicle driving process, comprising:

[0026] analyzing the vehicle posture in a plurality of predetermined time windows;

[0027] if the proportion of the vehicle posture meeting the vehicle falling posture judgment condition in a plurality of predetermined time windows exceeds a predetermined ratio, it is determined that a falling state occurs in the vehicle driving process.

[0028] The second aspect of the embodiment of the application provides a device for identifying vehicle falling based on the posture of a mobile phone in a vehicle, comprising:

[0029] a data acquisition module configured to acquire mobile phone posture data of a mobile phone in a vehicle when the vehicle is driving on a highway;

[0030] a data conversion module configured to transform the mobile phone posture data based on a coordinate conversion matrix between the mobile phone and the vehicle to obtain vehicle posture data, wherein the coordinate conversion matrix is determined based on a pre-established mobile phone coordinate system and a vehicle coordinate system;

[0031] a data analysis module configured to determine whether a vehicle posture during vehicle driving meets a vehicle falling posture judgment condition based on the vehicle posture data;

[0032] a falling state determination module configured to determine that a falling state occurs in the vehicle driving process if the vehicle posture during vehicle driving meets the vehicle falling posture judgment condition.

[0033] The third aspect of the embodiment of the application provides a computer readable storage medium having a program for identifying vehicle falling based on the posture of a mobile phone in a vehicle stored thereon, and the program for identifying vehicle falling based on the posture of a mobile phone in a vehicle is executed by a processor to implement the method for identifying vehicle falling based on the posture of a mobile phone in a vehicle of the first aspect.

[0034] The fourth aspect of the embodiment of the present application provides an electronic device, comprising a memory, a processor, and a program for identifying vehicle falling based on the posture of a mobile phone in the vehicle, which is stored in the memory and can run on the processor, when the processor executes the program for identifying vehicle falling based on the posture of a mobile phone in the vehicle, the method for identifying vehicle falling based on the posture of a mobile phone in the vehicle in the first aspect is realized.

[0035] The method for identifying vehicle falling based on the posture of a mobile phone in the vehicle comprises the following steps: obtaining mobile phone posture data of a mobile phone in a vehicle when the vehicle is driving on a highway; transforming the mobile phone posture data based on a coordinate transformation matrix between the mobile phone and the vehicle to obtain vehicle posture data; analyzing whether the vehicle posture in the vehicle driving process meets a vehicle falling posture judgment condition based on the vehicle posture data and the vehicle falling posture judgment condition; and determining that a falling state occurs in the vehicle driving process if the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition. In the present application, the vehicle posture data is obtained through the mobile phone posture data and the transformation matrix of the mobile phone coordinates to the vehicle coordinates; whether the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition is analyzed based on the vehicle posture data and the vehicle falling posture judgment condition; and the falling state in the vehicle driving process is determined if the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, which is beneficial to find whether a vehicle falls in the highway in time, and further beneficial to improve the detection efficiency of road safety. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A flowchart of the method for identifying vehicle falling based on the posture of a mobile phone in the vehicle is provided for the embodiment of the present application.

[0037] Figure 2 A flowchart of the method for identifying vehicle falling based on the posture of a mobile phone in the vehicle is provided for the embodiment of the present application.

[0038] Figure 3 A device structure schematic diagram of the method for identifying vehicle falling based on the posture of a mobile phone in the vehicle is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to better explain the present application and facilitate understanding, the present application is described in detail through specific embodiments combined with the drawings.

[0040] The method for identifying vehicle falling based on the mobile phone posture in the vehicle is used for solving the problem of whether a vehicle falls in an expressway, and vehicle posture data is obtained through the mobile phone posture data and a conversion matrix of mobile phone coordinates to vehicle coordinates; whether the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition is analyzed based on the vehicle posture data and the vehicle falling posture judgment condition; if the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, it is determined that the falling state occurs in the vehicle driving process, which is beneficial to find whether the falling state occurs in the vehicle in the expressway in time, and further beneficial to improve the detection efficiency of road safety.

[0041] In order to better understand the above technical solutions, the exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present application can be more clearly, thoroughly understood, and the scope of the present application can be completely conveyed to those skilled in the art.

[0042] Figure 1 A flow chart of a method for identifying vehicle falling based on the mobile phone posture in the vehicle is provided. As shown in the figure, the method for identifying vehicle falling based on the mobile phone posture in the vehicle includes: Figure 1

[0043] Step 100, obtaining mobile phone posture data of a mobile phone in a vehicle driving on an expressway;

[0044] Step 110, transforming the mobile phone posture data based on a coordinate conversion matrix between the mobile phone and the vehicle to obtain vehicle posture data, wherein the coordinate conversion matrix is determined based on a pre-established mobile phone coordinate system and a vehicle coordinate system;

[0045] Step 120, judging whether the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition based on the vehicle posture data;

[0046] Step 130, if the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, it is determined that the falling state occurs in the vehicle driving process.

[0047] ​In the example embodiment, it is determined whether the vehicle enters the highway before data collection, and it is determined that the vehicle is driving on the highway by reading GPS (Global Positioning System) data, if the vehicle speed is greater than 60 km / h and the GPS coordinates are along the highway track.

[0048] In the example embodiment, real-time GPS data of the vehicle driving can be obtained by the vehicle-mounted GPS (Global Positioning System) and the IMU module, and the position of the vehicle and the road is determined comprehensively based on the GPS output, the driving speed and the electronic map.

[0049] In the example embodiment, the vehicle falling posture judgment condition includes a judgment condition that can represent the falling state of the vehicle.

[0050] In the application, the vehicle posture data is obtained through the mobile phone posture data and the conversion matrix of the mobile phone coordinates to the vehicle coordinates; based on the vehicle posture data and the vehicle falling posture judgment condition, it is analyzed whether the vehicle posture during the vehicle driving process meets the vehicle falling posture judgment condition; if the vehicle posture during the vehicle driving process meets the vehicle falling posture judgment condition, it is determined that the falling state occurs during the vehicle driving process, which is beneficial to find whether the falling state occurs in the highway, and further beneficial to improve the detection efficiency of road safety.

[0051] In some examples, the coordinate conversion matrix is converted according to the following steps:

[0052] The mobile phone coordinate system and the vehicle coordinate system are established based on the orthogonal right-hand coordinate system;

[0053] The relative position of the mobile phone and the vehicle is obtained;

[0054] Based on the mobile phone coordinate system and the vehicle coordinate system and the relative position of the mobile phone and the vehicle, the coordinate conversion matrix is determined.

[0055] In the example embodiment, the mobile phone posture is determined by the collected data, first, it is confirmed that the coordinate systems of the mobile phone and the vehicle are orthogonal right-hand systems, that is, the vehicle X axis points to the front of the vehicle, the Y axis points to the left of the vehicle, and the Z axis points to the top of the vehicle. The mobile phone X axis is along the horizontal direction of the screen to the right, the Y axis is along the horizontal direction of the screen to the top, and the Z axis is perpendicular to the screen to the top. Then, based on the mobile phone coordinate system and the vehicle coordinate system and the relative position of the mobile phone and the vehicle, the conversion matrix of the mobile phone coordinates to the vehicle coordinates is determined.

[0056] In some examples, the coordinate conversion matrix is:

[0057] ;

[0058] wherein, is the coordinate conversion matrix; is the projection of the vehicle X axis in the handset coordinate system; is the projection of the vehicle Y axis in the handset coordinate system; is the projection of the vehicle Z axis in the handset coordinate system; is the cosine value of the angle between the vehicle X axis and the handset X axis; is the cosine value of the angle between the vehicle X axis and the handset Y axis; is the cosine value of the angle between the vehicle X axis and the handset Z axis; is the cosine value of the angle between the vehicle Y axis and the handset X axis; is the cosine value of the angle between the vehicle Y axis and the handset Y axis; is the cosine value of the angle between the vehicle Y axis and the handset Z axis; is the cosine value of the angle between the vehicle Z axis and the handset X axis; is the cosine value of the angle between the vehicle Z axis and the handset Y axis; is the cosine value of the angle between the vehicle Z axis and the handset Z axis.

[0059] In the present exemplary embodiment, Z axis direction calibration is performed. When the vehicle travels at a constant speed in a straight line, the vehicle and the handset in the vehicle are only subject to the action of gravity, at which time the direction of the gravity in the vehicle coordinate system is , and the unit vector of the gravity in the handset coordinate system is:

[0060] ;

[0061] At this time, the projection of the vehicle Z axis in the handset coordinate system is:

[0062] ;

[0063] Then, X axis calibration is performed. When the vehicle accelerates or decelerates in a straight line, the X axis direction of the vehicle will generate acceleration, at which time the acceleration received by the handset is:

[0064] ;

[0065] wherein is the representation of the vehicle X axis acceleration in the handset coordinate system, is the representation of the gravity acceleration in the handset coordinate system.

[0066] The vehicle acceleration component is separated by calculation:

[0067] ;

[0068] The projection of the vehicle X-axis in the mobile phone coordinate system at this time is

[0069] ;

[0070] The projection of the vehicle Y-axis in the mobile phone coordinate system can be given by cross multiplication, given the projection of the vehicle Z-axis and the X-axis in the mobile phone coordinate system

[0071] ;

[0072] The projections of the three vehicle axes in the mobile phone coordinate system are known at this time, and a coordinate conversion matrix from the vehicle coordinate system to the mobile phone coordinate system can be constructed. The expression of the coordinate conversion matrix is:

[0073] ;

[0074] wherein is the projection of the vehicle X-axis in the mobile phone coordinate system X-axis, which is also the cosine value of the angle between the mobile phone X-axis and the vehicle X-axis. The same applies to the other elements.

[0075] Since the coordinate conversion matrix is an orthogonal matrix, the inverse of the coordinate conversion matrix is equal to the transpose of the coordinate conversion matrix, so there is the following relationship:

[0076] ;

[0077] ;

[0078] wherein, is the mobile phone three-axis, is the vehicle three-axis;

[0079] The coordinate conversion matrix fully describes the relative relationship between the mobile phone coordinate system and the vehicle coordinate system, i.e., the relative relationship between the mobile phone attitude and the vehicle, The elements in the matrix represent the cosine values of the angles between the mobile phone coordinate axes and the vehicle coordinate axes, such as represents the cosine value of the angle between the mobile phone X-axis and the vehicle X-axis, and the angle between them is The calculation method is as follows:

[0080] ;

[0081] The calculation methods of other angles are the same as the above formula.

[0082] In some examples, the determining, based on the vehicle attitude data, whether the vehicle attitude in the vehicle driving process satisfies the vehicle falling attitude determination condition comprises:​​

[0083] If at least one of the three-axis accelerations in the vehicle attitude data decreases by more than a predetermined percentage within a predetermined time period, the total three-axis acceleration is less than or equal to a predetermined acceleration value, and at least one of the three-axis angular velocities is greater than a predetermined angular velocity value, it is determined that the vehicle attitude during vehicle travel satisfies the vehicle falling attitude determination condition.

[0084] In the present exemplary embodiment, during vehicle falling, the initial falling stage is approximately a free-falling motion with a horizontal initial velocity, and the acceleration decreases (here, decrease means approaching zero, and since the direction is involved, the collected acceleration is positive or negative, and in this process, the acceleration will approach zero regardless of its sign). However, due to other factors such as the movement of the engine, transmission shaft, etc. inside the vehicle, as well as measurement errors, etc., the acceleration will not decrease to zero, and the angular velocity of the vehicle will gradually increase during this process.

[0085] After this process ends, when the vehicle contacts the ground, the acceleration and angular velocity change dramatically, and the instantaneous acceleration at this time will exceed 100 m / s 2 , and the axial acceleration will fluctuate dramatically, and the angular velocity will also fluctuate dramatically during this process until the vehicle completely stops moving.

[0086] By continuously collecting the acceleration and angular velocity data of the vehicle through the mobile phone, the acceleration and angular velocity data are analyzed to determine whether the vehicle has a suspected falling phenomenon. If the collected 1-axis or 2-axis acceleration data of the vehicle 3-axis acceleration decreases by more than a predetermined percentage of 30%, and the total acceleration is less than or equal to a predetermined acceleration value of 0.4g, when the total acceleration changes as described above, the 3-axis angular velocity data is analyzed to determine whether at least one axis angular velocity increases and is greater than a predetermined angular velocity value of 10° / s.

[0087] When the collected data changes as described above, it can be determined that a suspected falling phenomenon has occurred. At this time, the data changes are continuously recorded until the acceleration changes dramatically, and the time when the total acceleration is greater than 20g is taken as the end of the analysis.

[0088] In some examples, the method further comprises:

[0089] In the case where it is determined that a falling state occurs during vehicle travel, the vehicle landing attitude is determined based on the total three-axis acceleration and the vehicle Y-axis angular velocity.

[0090] In the present exemplary embodiment, the determination of the vehicle landing attitude based on the total three-axis acceleration and the vehicle Y-axis angular velocity comprises:

[0091] If the total acceleration of the three axes decreases with the increase of the angular velocity of the Y axis of the vehicle during the falling process of the vehicle, and when the angular velocity of the Y axis of the vehicle reaches the maximum value, the total acceleration of the three axes is less than or equal to the first threshold value, it is determined that the landing posture of the vehicle is the front first landing posture;

[0092] If the total acceleration of the three axes increases with the increase of the angular velocity of the Y axis of the vehicle during the falling process of the vehicle, and when the angular velocity of the Y axis of the vehicle reaches the maximum value, the total acceleration of the three axes is greater than the second threshold value and less than the third threshold value, it is determined that the landing posture of the vehicle is the tail first landing posture; wherein the third threshold value is greater than the second threshold value, and the second threshold value is greater than the first threshold value.

[0093] In the present exemplary embodiment, after excluding the case of falling in the vehicle, the data collected by the mobile phone is combined with the mobile phone posture to analyze the falling mode of the vehicle. In the initial falling period, the vehicle does a free falling motion similar to the horizontal direction initial speed, at this time, the relative position relationship between the vehicle and the mobile phone does not change greatly, and the rotation matrix obtained in step two is combined with the collected data to obtain the falling mode of the vehicle.

[0094] The three-axis angular velocity of the vehicle can be obtained by combining the three-axis angular velocity data collected by the mobile phone with the rotation matrix, and the calculation method is as follows:

[0095] ;

[0096] wherein, is the three-axis angular velocity of the vehicle, is the three-axis angular velocity of the mobile phone, is the rotation matrix obtained in step two.

[0097] After obtaining the three-axis angular velocity of the vehicle, the posture of the vehicle falling can be obtained by analyzing the angular velocity. For example, the direction of rotation can be judged by analyzing the angular velocity around the Y axis, so as to infer whether the vehicle is the front first downward or the tail first downward, positive is the front first downward, and negative is the tail first downward.

[0098] At the same time, for the vehicle with the front first downward, the acceleration will decrease with the increase of the angular velocity in the initial falling period, when the angular velocity reaches the maximum value, the total acceleration will be less than or equal to 0.2g, and then slightly rises until the ground is contacted and begins to fluctuate sharply;

[0099] For the vehicle with the tail first downward, the total acceleration will increase with the increase of the acceleration, when the angular velocity reaches the maximum value, the total acceleration will be greater than 0.4g and less than 0.6g, and then slightly falls until the ground is contacted and begins to fluctuate sharply.

[0100] In some examples, if the vehicle posture during the vehicle driving process satisfies the vehicle falling posture judgment condition, it is determined that the falling state occurs during the vehicle driving process, comprising:

[0101] analyzing the vehicle posture in a plurality of predetermined time windows;

[0102] If the proportion of vehicle postures satisfying the vehicle falling posture judgment condition in the plurality of predetermined time windows exceeds a predetermined ratio, it is determined that the vehicle is in a falling state during driving.

[0103] In the present exemplary embodiment, if the analysis is performed with a time window length of 0.3s in the above process, when the time window satisfying the falling form exceeds 70%, it can be considered that the vehicle has fallen.

[0104] The present application collects data through a mobile phone, quickly and effectively judges whether a vehicle has fallen, and gives valuable time for highway management personnel to intervene in time, thereby maximizing the avoidance of personnel casualties caused by large-scale highway collapse; and the method can be realized only with a smart phone, without the need to modify the vehicle or introduce additional hardware costs.

[0105] Figure 2 A flowchart for vehicle falling identification based on the posture of a mobile phone in a vehicle is provided for the embodiment of the present application. As shown in the figure, Figure 2 The vehicle falling identification flow based on the posture of the mobile phone in the vehicle includes:

[0106] Step 20, judging whether the vehicle enters highway driving according to GPS data;

[0107] Step 21, if the vehicle does not enter highway driving, no operation is performed;

[0108] Step 22, if the vehicle enters highway driving, data is collected and the relative position relationship between the mobile phone and the vehicle is calculated according to the data;

[0109] Step 23, analyzing whether a suspected falling event occurs according to the change of acceleration and angular velocity data;

[0110] Step 24, if a suspected falling event occurs, judging whether it is a false alarm according to GPS data;

[0111] Step 25, if there is no false alarm, judging the falling form of the vehicle through the angular velocity data combined with the posture of the mobile phone, analyzing the time window with a length of 0.3s according to the falling form combined with the collected data, and when the time window satisfying the falling form exceeds 70%, it can be considered that the vehicle has fallen.

[0112] The embodiment of the present application provides a device for vehicle falling identification based on the posture of a mobile phone in a vehicle. Figure 3 The device structure diagram for vehicle falling identification based on the posture of a mobile phone in a vehicle is provided for the embodiment of the present application. As shown in the figure, Figure 3As shown, the device for identifying vehicle falling based on the mobile phone posture in the vehicle comprises:

[0113] The data acquisition module 30 is configured to acquire mobile phone posture data of the mobile phone in the vehicle when the vehicle is driving on the highway.

[0114] The data conversion module 31 is configured to transform the mobile phone posture data based on a coordinate conversion matrix between the mobile phone and the vehicle to obtain vehicle posture data, wherein the coordinate conversion matrix is determined based on a pre-established mobile phone coordinate system and a vehicle coordinate system.

[0115] The data analysis module 32 is configured to determine whether the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition based on the vehicle posture data.

[0116] The falling state determination module 33 is configured to determine that the falling state occurs in the vehicle driving process if the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition.

[0117] In the example embodiment, it is necessary to confirm whether the vehicle enters the highway before data collection. The vehicle is determined to be driving on the highway if the vehicle speed is greater than 60 km / h and the GPS coordinates are along the highway track, and the collection of mobile phone IMU (Inertial Measurement Unit) data and GPS data can be started.

[0118] In the example embodiment, the real-time GPS data of the vehicle driving can be acquired by the vehicle GPS (Global Positioning System) and the IMU module, and the position of the vehicle and the road can be determined comprehensively by combining the GPS output, the driving speed and the electronic map.

[0119] In the example embodiment, the vehicle falling posture judgment condition includes a judgment condition that can represent the falling state of the vehicle.

[0120] In the present application, the vehicle posture data is obtained by the mobile phone posture data and the conversion matrix from the mobile phone coordinate to the vehicle coordinate. The vehicle posture in the vehicle driving process is analyzed based on the vehicle posture data and the vehicle falling posture judgment condition to determine whether the vehicle posture meets the vehicle falling posture judgment condition. If the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, it is determined that the falling state occurs in the vehicle driving process, which is beneficial to find whether the falling state occurs in the vehicle driving process on the highway in time, and further beneficial to improve the detection efficiency of road safety.

[0121] The system / device used for implementing the method of the above-mentioned embodiments of the present application can be understood by those skilled in the art based on the method described in the above-mentioned embodiments of the present application, and thus will not be described here again. The system / device used for implementing the method of the above-mentioned embodiments of the present application belongs to the scope of the present application.

[0122] The embodiment of the present application provides a computer readable storage medium, which stores a program for identifying vehicle falling based on a mobile phone posture in a vehicle. The program for identifying vehicle falling based on a mobile phone posture in a vehicle is executed by a processor, and the method for identifying vehicle falling based on a mobile phone posture in a vehicle described in each of the above-mentioned embodiments is implemented.

[0123] The embodiment of the present application provides an electronic device, which comprises a memory, a processor, and a program for identifying vehicle falling based on a mobile phone posture in a vehicle stored in the memory and executable on the processor. When the processor executes the program for identifying vehicle falling based on a mobile phone posture in a vehicle, the method for identifying vehicle falling based on a mobile phone posture in a vehicle described in each of the above-mentioned embodiments is implemented.

[0124] In the description of the present application, it should be understood that the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0125] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0126] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature is "over", "above" and "on top of" a second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. A first feature is "under", "below" and "underneath" a second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0127] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0128] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A method for vehicle fall identification based on a mobile phone posture in a vehicle, characterized by, The method comprises: acquiring mobile phone posture data of a mobile phone in a vehicle when the vehicle is driving on a highway; transforming the mobile phone posture data based on a coordinate transformation matrix between the mobile phone and the vehicle to obtain vehicle posture data, wherein the coordinate transformation matrix is determined based on a pre-established mobile phone coordinate system and a vehicle coordinate system; judging whether the vehicle posture during vehicle driving meets a vehicle falling posture judgment condition based on the vehicle posture data; if the vehicle posture during vehicle driving meets the vehicle falling posture judgment condition, determining that a falling state occurs during vehicle driving; the coordinate transformation matrix is obtained through the following steps: establishing the mobile phone coordinate system and the vehicle coordinate system based on an orthogonal right-hand coordinate system; acquiring the relative position of the mobile phone and the vehicle; determining the coordinate transformation matrix based on the mobile phone coordinate system and the vehicle coordinate system and the relative position of the mobile phone and the vehicle; if the vehicle posture during vehicle driving meets the vehicle falling posture judgment condition, determining that a falling state occurs during vehicle driving, comprising: analyzing the vehicle posture in a plurality of predetermined time windows; if the proportion of vehicle postures meeting the vehicle falling posture judgment condition in the plurality of predetermined time windows exceeds a predetermined ratio, determining that a falling state occurs during vehicle driving; judging whether the vehicle posture during vehicle driving meets a vehicle falling posture judgment condition based on the vehicle posture data, comprising: if at least one axis acceleration in the three-axis acceleration in the vehicle posture data decreases by more than a predetermined proportion within a predetermined time period, the total three-axis acceleration is less than or equal to a predetermined acceleration value, and at least one axis angular velocity in the three-axis angular velocity is greater than a predetermined angular velocity value, it is determined that the vehicle posture during vehicle driving meets the vehicle falling posture judgment condition, specifically comprising: the 1-axis or 2-axis acceleration data in the collected 3-axis acceleration of the vehicle decreases by more than a predetermined proportion of 30%, and the total acceleration is less than or equal to a predetermined acceleration value of 0.4g; when the total acceleration changes as above, analyze the 3-axis angular velocity data, whether there is at least one axis angular velocity increasing and greater than a predetermined angular velocity value of 10° / s; when the collected data changes as above, it is determined that the vehicle posture meets the vehicle falling posture judgment condition; the method further comprises: in the case of determining that a falling state occurs during vehicle driving, judging the vehicle landing posture according to the total three-axis acceleration and the vehicle Y-axis angular velocity; judging the vehicle landing posture according to the total three-axis acceleration and the vehicle Y-axis angular velocity, comprising: if the total three-axis acceleration decreases with the increase of the vehicle Y-axis angular velocity during the vehicle falling process, and when the vehicle Y-axis angular velocity reaches the maximum value, the total three-axis acceleration is less than or equal to a first threshold value, it is determined that the vehicle landing posture is a front landing posture; if the total three-axis acceleration increases with the increase of the vehicle Y-axis angular velocity during the vehicle falling process, and when the vehicle Y-axis angular velocity reaches the maximum value, the total three-axis acceleration is greater than a second threshold value and less than a third threshold value, it is determined that the vehicle landing posture is a rear landing posture; wherein the third threshold value is greater than the second threshold value, and the second threshold value is greater than the first threshold value.

2. The method for vehicle fall identification based on a position of a mobile phone in a vehicle according to claim 1, wherein, The coordinate conversion matrix is: ； wherein, is the coordinate conversion matrix; is the projection of the vehicle X axis in the handset coordinate system; is the projection of the vehicle Y axis in the handset coordinate system; is the projection of the vehicle Z axis in the handset coordinate system; is the cosine value of the angle between the vehicle X axis and the handset X axis; is the cosine value of the angle between the vehicle X axis and the handset Y axis; is the cosine value of the angle between the vehicle X axis and the handset Z axis; is the cosine value of the angle between the vehicle Y axis and the handset X axis; is the cosine value of the angle between the vehicle Y axis and the handset Y axis; is the cosine value of the angle between the vehicle Y axis and the handset Z axis; is the cosine value of the angle between the vehicle Z axis and the handset X axis; is the cosine value of the angle between the vehicle Z axis and the handset Y axis; is the cosine value of the angle between the vehicle Z axis and the handset Z axis.

3. A device for vehicle fall detection based on the posture of a mobile phone inside the vehicle, characterized in that, Comprise: The data acquisition module is used for acquiring the mobile phone posture data of the mobile phone in the vehicle when the vehicle drives on the highway; The data conversion module is used for transforming the mobile phone posture data based on the coordinate conversion matrix between the mobile phone and the vehicle, to obtain vehicle posture data, wherein the coordinate conversion matrix is determined based on a mobile phone coordinate system and a vehicle coordinate system established in advance; The data analysis module is used for judging whether the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition based on the vehicle posture data; The falling state determination module is used for determining that the falling state occurs in the vehicle driving process if the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition; The coordinate conversion matrix is converted according to the following steps: The mobile phone coordinate system and the vehicle coordinate system are respectively established based on the orthogonal right-hand coordinate system; The relative position of the mobile phone and the vehicle is acquired; The coordinate conversion matrix is determined based on the mobile phone coordinate system and the vehicle coordinate system and the relative position of the mobile phone and the vehicle; If the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, the falling state in the vehicle driving process is determined, comprising: The vehicle posture in a plurality of predetermined time windows is analyzed; If the proportion of the vehicle posture meeting the vehicle falling posture judgment condition in the plurality of predetermined time windows exceeds a predetermined ratio, it is determined that the falling state occurs in the vehicle driving process; The vehicle posture data is used to judge whether the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, comprising: If at least one axis acceleration in the three-axis acceleration in the vehicle posture data decreases by more than a predetermined proportion in a predetermined time period, the total three-axis acceleration is less than or equal to a predetermined acceleration value, and at least one axis angular velocity in the three-axis angular velocity is greater than a predetermined angular velocity value, it is determined that the vehicle posture in the vehicle driving process meets the vehicle falling posture judgment condition, specifically comprising: the 1-axis or 2-axis acceleration data in the collected vehicle 3-axis acceleration decreases, the decrease proportion exceeds the predetermined proportion 30%, and the total acceleration is less than or equal to the predetermined acceleration value 0.4g; when the total acceleration changes as above, the 3-axis angular velocity data is analyzed to determine whether at least one axis angular velocity increases and is greater than the predetermined angular velocity value 10° / s; when the collected data changes as above, it is determined that the vehicle posture meets the vehicle falling posture judgment condition; In the case of determining that the falling state occurs in the vehicle driving process, the vehicle landing posture is judged according to the total three-axis acceleration and the vehicle Y-axis angular velocity; The vehicle landing posture is judged according to the total three-axis acceleration and the vehicle Y-axis angular velocity, comprising: If the total three-axis acceleration decreases with the increase of the vehicle Y-axis angular velocity during the vehicle falling process, and when the vehicle Y-axis angular velocity reaches the maximum value, the total three-axis acceleration is less than or equal to the first threshold value, it is determined that the vehicle landing posture is the vehicle head first landing posture; If the total acceleration of the three axes increases with the increase of the vehicle Y-axis angular velocity during the vehicle falling process, and when the vehicle Y-axis angular velocity reaches the maximum value, the total acceleration of the three axes is greater than the second threshold value and less than the third threshold value, it is determined that the vehicle landing posture is the tail first landing posture; wherein the third threshold value is greater than the second threshold value, and the second threshold value is greater than the first threshold value.

4. A computer-readable storage medium, characterized in that, A program for identifying vehicle falling based on the posture of a mobile phone in a vehicle is stored thereon, and when the program is executed by a processor, the method for identifying vehicle falling based on the posture of a mobile phone in a vehicle according to any one of claims 1-2 is implemented.

5. An electronic device, comprising: A device for identifying vehicle falling based on the posture of a mobile phone in a vehicle comprises a memory, a processor, and a program for identifying vehicle falling based on the posture of a mobile phone in a vehicle stored on the memory and executable on the processor, and when the processor executes the program, the method for identifying vehicle falling based on the posture of a mobile phone in a vehicle according to any one of claims 1-2 is implemented.

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