System and method for recording vehicle trajectory of vehicle equipped with sensor

Abstract

To provide a system and a method for recording a vehicle trajectory of a vehicle equipped with a sensor.SOLUTION: A system comprises: at least one sensor provided on a vehicle; a control module that is electrically connected to the at least one sensor, and is arranged to receive sensor information from the at least one sensor, analyze the sensor information to determine a travel direction change event of a vehicle, and analyze the travel direction change event to determine a driving event of the vehicle; and a recording module that is electrically connected to the control module, and is arranged to record a position where the vehicle performs the driving event, indicate the position where the vehicle performs the driving event on a map, and adjust a traveling trajectory of the vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to the technology of vehicle trajectories, and particularly to a system and method for recording the vehicle trajectories of sensor-equipped vehicles.

Background Art

[0002] A Global Navigation Satellite System (GNSS) provides geographical location information and time information to signal receivers at any location on or near the Earth by seamlessly connecting four or more GPS (Global Positioning System) satellites.

[0003] GPS is a satellite system owned by the US government, and users can obtain GNSS positions using other systems such as GLONASS, Galileo, and BeiDou. A vehicle can acquire its driving trajectory by recording its GNSS positions during driving, and this can be applied to map tools or servers.

[0004] Conventional path recording methods using GNSS systems include sampling at time intervals, sampling at distance intervals, and continuous sampling. However, in sampling at time intervals and sampling at distance intervals, errors occur due to the sampling intervals, and in the driving trajectories of actual driving cases, some parts of the trajectories may be missing, resulting in recording results that are different from the actual movement paths. Additionally, continuous sampling tends to collect too much information and excessively consumes device capacity and computing resources.

[0005] Hereinafter, an example of the error in sampling at time intervals is shown. As shown in FIG. 1, the path of the vehicle passes through points A, B, C, D and returns to point A again, passing through paths P11, P12, P13 and P14.

[0006] As shown in Figure 3, the vehicle adopts a sampling method at time intervals to record the trajectory. The recorded route returns to point A again via point A, point B, point C1, point C2, and point D, and passes through route P21, route P22, route P23, route P24, and route P25 in this order. Further, as shown in Figure 4, the recorded route of the vehicle returns to point A again via point A, point B, point C3, point C4, point D, point E, and point F, and passes through route P31, route P32, route P33, route P34, route P35, route P36, and route P37 in this order. That is, when the sampling method at time intervals is adopted alone, the recording result may generate a driving event of a direction change in the non-progressing direction by a simple point-to-point connection line, or the actual direction change driving event is not recorded, and a part of the trajectory is missing. As shown in Figures 3 and 4, the driving trajectory becomes incomplete and inaccurate.

Summary of the Invention

Problems to be Solved by the Invention

[0007] The main object of the present invention is to detect a change in the traveling direction of a vehicle by an angle detector such as a gyroscope, an accelerometer, or a torque sensor, and to determine whether the vehicle performs a driving event such as a direction change by an algorithm. When the above driving event (for example, a direction change) is detected, the position of the vehicle is recorded and returned to the system, the position of the vehicle is recorded using a GNSS map, and its traveling trajectory is adjusted, so as to provide a system and a method for recording the vehicle trajectory of a vehicle with sensors that can obtain an accurate, clear, and complete traveling trajectory. That is, the present invention can effectively solve the error problem generated by adopting the above interval sampling method and the problem of too much information generated by continuous recording by combining the detection of the direction change event of the vehicle and the recording of the vehicle position of the GNSS system.

Means for Solving the Problems

[0008] To achieve the above object, the present invention provides a system for recording a vehicle trajectory of a vehicle with sensors, including at least one sensor provided on the vehicle, a control module electrically connected to the at least one sensor, receiving sensor information from the at least one sensor, analyzing the sensor information to determine a driving direction change event of the vehicle, analyzing the driving direction change event to determine a driving event of the vehicle, and a recording module electrically connected to the control module, recording a position where the vehicle performs the driving event, marking the position where the vehicle performs the driving event on a map, and adjusting a driving trajectory of the vehicle.

[0009] The present invention provides a recording method for recording a vehicle trajectory of a vehicle with recording sensors, including receiving sensor information from at least one sensor of the vehicle, analyzing the sensor information to detect a driving direction change event of the vehicle, determining whether the vehicle performs a driving event based on the detected driving direction change event of the vehicle, recording a position where the vehicle performs the driving event when it is detected that the vehicle performs the driving event, marking the position where the vehicle performs the driving event on a map, and adjusting a driving trajectory of the vehicle.

[0010] In some embodiments, the at least one sensor is an angle detector, and the angle detector includes a gyroscope, an accelerometer, or a torque sensor.

[0011] In some embodiments, the at least one sensor includes a plurality of angle detectors.

[0012] In some embodiments, the driving event is a direction change.

[0013] In some embodiments, the step of analyzing the sensor information includes continuously calculating an average value of the angular information acquired within a certain period of time, determining whether the average value of the angular information is greater than a critical value, and if it is greater than the critical value, indicating that the driving event of the direction change has been sensed, and if it is not greater than the critical value, indicating that the driving event has not occurred.

[0014] In some embodiments, when the angle detector is an accelerometer, the step of analyzing the sensor information further includes obtaining the angular information by calculating the sensor information obtained from the accelerometer, and the calculation is obtained by determining an angle between force vectors of instantaneous accelerations at two consecutive time points.

[0015] In some embodiments, the position is determined by a global navigation satellite system (GNSS), and the map is a GNSS map.

[0016] In some embodiments, simultaneously with the execution of the step of detecting the traveling direction of the vehicle, positioning and position recording are performed by a sampling method at time intervals, whether the vehicle generates a driving event of a direction change is monitored, and when the driving event of the direction change occurs, the current position where the driving event of the direction change occurs is recorded, and the recording time of the time interval is recalculated.

[0017] In some embodiments, the system and the method are used in an in-vehicle telematics box and a smartphone.

Advantages of the Invention

[0018] According to the present invention, an accurate, clear, and complete driving trajectory of a vehicle can be obtained.

Brief Description of the Drawings

[0019]

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Embodiments for Carrying Out the Invention

[0020] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings and reference numerals.

[0021] Figure 2 is a flowchart of a recording method for recording a vehicle trajectory according to the present invention. As shown in Figure 2, the present invention provides a recording method for recording a vehicle trajectory that can be used in an in-vehicle telematics box and a smartphone. The recording method for recording a vehicle trajectory according to the present invention includes receiving sensor information from one sensor of the vehicle (step S1), analyzing the sensor information, and detecting a traveling direction change event of the vehicle (step S2), determining whether the vehicle performs a driving event based on the detected traveling direction change event of the vehicle (step S3), recording the position where the vehicle performs the driving event when it is detected that the vehicle performs the driving event (step S4), and marking the position where the vehicle performs the driving event on a map and adjusting the traveling trajectory of the vehicle (step S5).

[0022] In step S2, the position can be recorded by a conventional sampling method at time intervals. And in step S3, it is monitored whether a driving event that is a direction change of the vehicle occurs. When a driving event that is a direction change occurs, in step S4, the current position where the driving event that is a direction change occurs is recorded. Note that the "recording time at time intervals" is reset to zero and recalculated. For example, in the original sampling at time intervals, the vehicle position is recorded once every 5 seconds. Assuming that it is recorded once at the 0th second, in principle, the next recording should be at the 5th second. However, since a driving event that is a direction change occurs once at the 3rd second, at this time, in addition to starting the position recording by the driving event that is a direction change, the timer is reset from 3 seconds to 0 seconds, and the time calculation for this 5-second interval is reset. That is, if no driving event that is a direction change occurs after the 3rd second, the next position recording will occur at the 8th second.

[0023] In some embodiments, simultaneously with detecting that the vehicle performs the driving event in step S4, positioning of the vehicle is executed (step S6). Preferably, the positioning of the vehicle is executed by a global navigation satellite system (GNSS).

[0024] In some embodiments, each position in the recording method for recording the vehicle trajectory according to the present invention is positioned by a Global Navigation Satellite System (GNSS), but is not limited thereto. In this embodiment, the map used in the present invention may be a GNSS map.

[0025] In some embodiments, the change in the traveling direction and driving events (e.g., turning) in the recording method for recording the vehicle trajectory according to the present invention may be detected by an angle detector. Preferably, the angle detector may include, but is not limited to, a gyroscope, an accelerometer, or a torque sensor. For example, when the driving event is a turning, the turning angle, angular velocity, or torque of the vehicle sensed by the angle detector can be defined and adjusted based on the accuracy of the angle detector or the accuracy desired by the designer. In step S1, the turning angle of the vehicle is continuously collected from the angle detector (the angle detector includes a gyroscope, an accelerometer, or a torque sensor). In step S2, the average value of the angle information collected within a certain period of time is continuously calculated, and in step S3, when it is detected that the average value exceeds a critical value, it is regarded that a driving event of turning has occurred. In some embodiments, the critical value of the angle is 8 to 15 degrees, but is not limited thereto.

[0026] FIG. 5 is a schematic diagram showing an example in which the critical value of the angle information in the vehicle recording method according to the present invention is 8 degrees per second. FIG. 6 is a schematic diagram showing an example in which the critical value of the angle information in the recording method for recording the vehicle trajectory according to the present invention is 15 degrees per second. Referring to FIGS. 5 and 6 simultaneously and looking at the drawings of the path recording when 8 degrees and 15 degrees are respectively used as the critical values of the angle information, it can be seen that the path recordings in FIGS. 5 and 6 are more accurate compared to generating the recording results in FIGS. 3 and 4 with errors by the method of controlling sampling at the time intervals.

[0027] Figure 7 is a flowchart showing how an angle detector collects and calculates angle information in a recording method for recording a vehicle trajectory according to the present invention. As shown in FIGS. 2 and 7, in step S2 of FIG. 2, the process includes detecting the vehicle traveling direction by analyzing the sensor information received in step S1. Also, obtaining angle information (step S61), continuously calculating the average value of the angle information collected within a certain period of time (step S62), determining whether the average value of the angle information is greater than a critical value (step S63), when it is greater than the critical value, indicating that the driving event of a direction change has been sensed (step S64), and when it is not greater than the critical value, indicating that the driving event has not occurred (step S65). In some embodiments, when the angle detector is an accelerometer, the process of analyzing the sensor information further includes obtaining the angle information by calculating the sensor information obtained from the accelerometer in step S61, and the calculation can be obtained by finding the angle between the force vectors of the instantaneous accelerations at two consecutive time points (details will be described in the following paragraph).

[0028] The present invention can integrate an angle detector such as a gyroscope, an accelerometer, or a torque sensor to detect changes in the traveling direction of a vehicle. Therefore, in the processing of the obtained angle information, the corresponding processing method varies depending on the information source. If the source of the collected information is from a gyroscope and a torque sensor, angle data can be obtained without going through extra information calculations. However, when the source of the information is an accelerometer, additional calculations are required to obtain the angle information, and this calculation can be performed by finding the angle between two vectors. For example, finding the angle between vector A (the force vector of the acceleration at time point T0) and vector B (the force vector of the acceleration at time point T1).

[0029] FIG. 8 is a block diagram showing the structure of a system for recording the vehicle trajectory of a vehicle with sensors according to the present invention. FIG. 9 is a block diagram showing the structure of a system for recording the vehicle trajectories of a plurality of vehicles with sensors according to the present invention. As shown in FIGS. 8 and 9, a system 100 for recording the vehicle trajectory of a vehicle with sensors according to the present invention includes at least one sensor 1, a control module 2, and a recording module 3. Among them, the number of sensors 1 may be one (as shown in FIG. 8), or may be one or more, that is, a plurality (as shown in FIG. 9). In the following embodiments, an example in which the number of sensors 1 is a plurality will be described.

[0030] The plurality of sensors 1 may be provided on the vehicle 4.

[0031] The control module 2 is electrically connected to the plurality of sensors 1, receives sensor information from the plurality of sensors 1, analyzes the sensor information to determine a traveling direction change event of the vehicle 4, and analyzes the traveling direction change event to determine a driving event of the vehicle 4. That is, the control module 2 is arranged to execute steps S1 and S3.

[0032] The recording module 3 is electrically connected to the control module 2, and is arranged to record the position where the vehicle 4 performs the driving event, mark the position where the vehicle 4 performs the driving event on a map, and adjust the traveling trajectory of the vehicle 4. That is, the recording module 3 is arranged to execute steps S4 to S5.

[0033] By the above method, for example, a change in the traveling direction of the vehicle is detected by an angle detector such as a gyroscope, an accelerometer, or a torque sensor, and it is determined by an algorithm whether the vehicle performs a driving event such as a direction change. When the above driving event (for example, a direction change) is detected, the position of the vehicle is recorded and returned to the system, the position of the vehicle is recorded using a GNSS map, and its traveling trajectory is adjusted, so that an accurate, clear, and complete traveling trajectory can be obtained.

[0034] The above content only explains the preferred embodiments of the present invention and is not intended to limit the present invention. Therefore, various modifications or changes within the scope not departing from the gist of the present invention are all included in the protection scope of the present invention.

Explanation of Reference Signs

[0035] 100 System for recording the vehicle trajectory of a vehicle with sensors 1 Sensor 2 Control module 3 Recording module 4 Vehicle A Position B Position C Position C1 Position C2 Position C3 Position C4 Position D Position E Position F Position P11 Route P12 Route P13 Route P14 Route P21 Route P22 Route P23 Route P24 Route P25 Route P31 Route P32 Route P33 Route P34 Route P35 Route P36 Route P37 Route S1 to S6 Processes S61 Process S62 Process S63 Process S64 Process S65 Process

Claims

1. At least one sensor provided in the vehicle; a control module in electrical communication with the at least one sensor and configured to receive sensor information from the at least one sensor, analyze the sensor information to determine a heading change event of the vehicle, and analyze the heading change event to determine a driving event of the vehicle; and a recording module electrically connected to the control module and configured to record a location where the vehicle performs the driving event, mark the location where the vehicle performs the driving event on a map, and adjust a driving trajectory of the vehicle.

2. the sensor is an angle detector; The system for recording a vehicle trajectory according to claim 1 , characterized in that the angle detector includes a gyroscope, an accelerator, or a torque sensor.

3. The system for recording a vehicle trajectory according to claim 2 , characterized in that the at least one sensor includes a plurality of angle detectors.

4. The system for recording a vehicle trajectory according to claim 2 , wherein the driving event is a turn.

5. 5. The system for recording a vehicle trajectory according to claim 4, wherein the step of analyzing the sensor information includes continuously calculating an average value of angle information acquired within a certain period of time, determining whether the average value of the angle information is greater than a critical value, and indicating that the driving event, which is the turn, has been sensed if the average value of the angle information is greater than the critical value, and indicating that the driving event has not occurred if the average value of the angle information is not greater than the critical value.

6. When the angle detector is an accelerator, analyzing the sensor information further includes obtaining the angle information by calculating the sensor information obtained from the accelerator; 6. The system for recording a vehicle trajectory according to claim 5, characterized in that said calculation is obtained by determining an angle between force vectors of instantaneous acceleration at two points in time, before and after.

7. The location is determined by a Global Navigation Satellite System (GNSS); The system for recording a vehicle trajectory according to claim 1 , characterized in that the map is a GNSS map.

8. 5. The system for recording a vehicle trajectory according to claim 4, characterized in that, simultaneously with the step of detecting the traveling direction of the vehicle, positioning and position recording are performed using a time interval sampling method, and monitoring is performed as to whether the vehicle generates a driving event that is a turn, and when the driving event that is a turn occurs, a current position where the driving event that is a turn occurs is recorded, and a recording time of the time interval is recalculated.

9. The system for recording a vehicle trajectory according to claim 1, characterized in that it is used in an in-vehicle telematics box and a smartphone.

10. receiving sensor information from at least one sensor of the vehicle; analyzing the sensor information to detect a heading change event for the vehicle; determining whether the vehicle is engaged in a driving event based on the detected heading change event of the vehicle; When it is detected that the vehicle is performing the driving event, recording a location where the vehicle performs the driving event; and marking on a map the location where the vehicle performs the driving event and adjusting the vehicle's travel trajectory.

11. the at least one sensor is an angle detector; The recording method for recording a vehicle trajectory according to claim 10, characterized in that the angle detector includes a gyroscope, an accelerator, or a torque sensor.

12. The method for recording a vehicle trajectory according to claim 11, characterized in that the at least one sensor includes a plurality of angle detectors.

13. The method for recording a vehicle trajectory according to claim 11, wherein the driving event is a turn.

14. 14. The method for recording a vehicle trajectory according to claim 13, wherein the step of analyzing the sensor information includes continuously calculating an average value of angle information acquired within a certain time period, determining whether the average value of the angle information is greater than a critical value, and indicating that the driving event, which is the turn, has been sensed if the average value of the angle information is greater than the critical value, and indicating that the driving event has not occurred if the average value of the angle information is not greater than the critical value.

15. If the angle detector is an accelerator, the step of analyzing the sensor information further includes obtaining the angle information by calculating the sensor information obtained from the accelerator; The recording method for recording a vehicle trajectory according to claim 14, characterized in that the calculation is obtained by determining an angle between force vectors of instantaneous acceleration at two points in time, before and after.

16. The location is determined by a Global Navigation Satellite System (GNSS); The method for recording a vehicle trajectory according to claim 10, wherein the map is a GNSS map.

17. 14. The method for recording a vehicle trajectory according to claim 13, characterized in that, simultaneously with the step of detecting the traveling direction of the vehicle, positioning and position recording are performed using a time interval sampling method, and monitoring is performed as to whether the vehicle generates a driving event that is a turn, and when the driving event that is a turn occurs, a current position where the driving event that is a turn occurs is recorded, and a recording time of the time interval is recalculated.

18. The method for recording a vehicle trajectory according to claim 10, characterized in that it is used in an in-vehicle telematics box and a smartphone.

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