TWI715238B - Zigzag pattern detection method and device thereof - Google Patents

Abstract

A zigzag pattern detection method having following steps is provided. The steps includes: obtaining a path information; obtaining a current location and a current driving information; determining whether a path segment corresponding to the current location is a curve; adding the current driving information to a determination data set in responding to the path segment is not a path; obtaining a zigzag information according to the determination data set; and generating a warning signal in response to the zigzag information is higher than a zigzag threshold.

Description

Snake detection method and device

The present invention relates to a detection technology, and particularly relates to a snake detection method and device.

In the field of autonomous driving, vehicle control is closely related to driving safety and is a very important project. Among them, the smooth control of the vehicle is an important issue. If the vehicle loses control and snaking during the automatic driving process, the driver/control unit must be informed of the loss of control in real time to make an appropriate response. Therefore, how to detect snake behavior is the subject of those skilled in the art.

The invention provides a hunting detection method and device for detecting hunting events in real time.

The hunting detection method of an embodiment of the present invention has the following steps: acquiring path information; acquiring current location and current driving information; judging whether the road section corresponding to the current position is a curve according to the path information; responding that the road section corresponding to the current position is not In a curve, add the current driving information to the judgment data group; obtain the snake information according to the judgment data group; determine whether the snake information is greater than the snake threshold value; and generate a warning signal in response to the snake information being greater than the snake threshold value.

The snake detection device according to an embodiment of the invention has a sensor, a position detector, a storage device and a processor. The sensor is used to obtain current driving information. The position detector is used to obtain the current position; the processor is connected to the sensor and the storage device and is used to execute: obtain path information and store it in the storage device; obtain the current position and current driving information; determine the current position based on the path information Whether the corresponding road section is a curve; in response to the road section corresponding to the current position is not a curve, the current driving information is added to the judgment data group; the snake information is obtained according to the judgment data group; it is judged whether the snake information is greater than the threshold value of the snake; and in response to the snake If the information is greater than the snake threshold, a warning signal is generated.

Based on the above, the snake detection method and device of the present invention can be detected immediately when a snake event occurs, and a corresponding warning signal is generated to the user to achieve the effect of real-time detection and warning.

In order to be able to instantly reflect the situation of snakes, the present invention provides a snake detecting device. The snake detection device can be installed on vehicles (for example, automobiles, motorcycles, trucks, etc.) to detect snakes in real time.

FIG. 1 is a block diagram of a snake detection device according to an embodiment of the present invention. Please refer to FIG. 1, the snake detection device 100 has a sensor 110, a storage device 130 and a processor 140.

The sensor 110 is used to obtain current driving information. In an embodiment of the present invention, the sensor 110 is an inertial measurement unit (IMU), and the current driving information is lateral acceleration. Specifically, the inertial measurement unit can obtain the acceleration value of each axis of the vehicle in the three-dimensional space, and when the vehicle is turning or snaking, the lateral acceleration will increase due to the influence of centrifugal force. Based on this, the lateral acceleration can be used as the basis for judging the snaking event. In other embodiments of the present invention, the sensor 110 can also be implemented by a camera, and the current driving information is a lateral offset. Alternatively, the sensor 110 may also be a gyroscope, and the current driving information is an angle offset. In an embodiment, the sensor 110 may also be an equivalent element of an inertial measurement unit, a camera, or a gyroscope, or may be implemented by various combinations of an inertial measurement unit, a camera, and a gyroscope, and the present invention is not limited thereto.

The position detector 120 is used to detect the current position of the snake detection device 100. In an embodiment of the present invention, the position detector 120 can be implemented by a Global Positioning System (GPS) chip, and uses the GPS address detected by it as the current position. In other embodiments of the present invention, the position detector 120 can be implemented using other types of communication chips, for example, a chip that supports wireless fidelity (WiFi), and then locates via WiFi. In other embodiments, other equivalent elements can also be used, and the present invention is not limited thereto.

The storage device 130 is used to store various types of programs and data required to complete the snake detection method. For example, the storage device 130 can store path information and code of the snake detection method. In an embodiment of the present invention, the storage device 130 is, for example, but not limited to, any type of fixed or removable random access memory (Random Access Memory, RAM), read-only memory (Read-Only Memory, ROM) , Flash memory (flash memory), hard disk (Hard Disk Drive, HDD), solid state drive (Solid State Drive, SSD) or similar components or a combination of the above components.

The processor 140 is connected to the sensor 110, the position detector 120 and the storage device 130 to perform various operations required by the snake detection device 100. In an embodiment of the present invention, the processor 140 may be a central processing unit (Central Processing Unit, CPU), or other programmable general-purpose or special-purpose microprocessors (Microprocessors), digital signal processors ( Digital Signal Processor, DSP), programmable controller, Application Specific Integrated Circuit (ASIC) or other similar components or a combination of the above components, the present disclosure is not limited to this.

FIG. 2 is a schematic flowchart of a snake detection method according to an embodiment of the present invention. The snake detection method of this embodiment is at least applicable to the snake detection device 100 shown in FIG. 1, but the invention is not limited to this. The details of the snake detection device 100 and the snake detection method will be described below with reference to FIGS. 1 and 2 at the same time.

In step S210, the processor 140 obtains path information. In an embodiment of the present invention, the user must input the route in advance to enable the vehicle to drive automatically. Therefore, the processor 140 can obtain the corresponding route information according to the route input by the user, or according to the position detector The location information provided by 120 obtains the map information of the area where the snake detection device 100 is located, and then finds the path information corresponding to the area.

It is worth mentioning that, in an embodiment of the present invention, the storage device 130 has already recorded the map information before leaving the factory, so that the processor 140 obtains the route information from the map information. Alternatively, the processor 140 may also download map information from the Internet, such as Google Maps or Apple Maps. Alternatively, the processor 140 may also provide a map setting interface, so that the user can create the corresponding route information of the frequently-traveled road section through the map setting interface. However, the present invention is not limited to the above-mentioned embodiments.

In step S220, the processor 140 obtains the current position and current driving information. In this embodiment, the processor 140 obtains the current position through the position detector 120 and obtains the current driving information through the sensor 110. In particular, the processor 140 will sample the current position and current driving information at a fixed frequency. For example, but not limited to, the processor 140 will acquire the current position and current driving information at a frequency of 100 times per second. It is worth mentioning that, in order to ensure driving safety, the sampling frequency of current driving information is mostly very short. For example, the current driving information is obtained every 1/100 second as mentioned above. However, in this 1/100 second, the current position does not change much. Therefore, in another embodiment of the present invention, the frequency at which the processor 140 obtains the current position and current driving information may be different, but the present invention is not limited thereto. In the following description, the sensor 110 is used as an inertial sensing unit, and the current driving information is lateral acceleration as an example.

In step S230, the processor 140 determines whether the road section corresponding to the current position is a curve according to the path information. In detail, since the processor 140 has obtained the current position of the snake detection device 100, the processor 140 can compare the current position with the path information to determine which of the path information is the current position of the vehicle Link, and determine whether the link corresponding to the current route in the route information is a curve.

Specifically, the processor 140 obtains the current path curvature corresponding to the current position in the path information, and determines whether the current path zone rate does not exceed the curve threshold. When the current path zone rate does not exceed the curve threshold, the processor 140 determines that the road section corresponding to the current path is not a curve. In an actual test case, the curve threshold is set to 0.02. In other words, if the current path curvature is greater than 0.02, the processor 140 will determine that the road section corresponding to the current position is a curve, otherwise, it will determine that the road section corresponding to the current position is not a curve.

In step S240, in response to the road section corresponding to the current position is not a curve, the processor 140 adds the current driving information to the judgment data set . If the road section corresponding to the current position is a curve, it means that the side acceleration will increase due to the influence of centrifugal force in this road section. If this side acceleration is added to the judgment data set, it will cause judgment errors on the snake information. Therefore, the processor 140 discards the current driving information when the road section corresponding to the current position is a curve, and adds the current driving information to the judgment data group when the road section corresponding to the current position is not a curve. In other words, multiple pieces of sub-data will be stored in the judging data group, and these sub-data are the current driving information that is stored when it is not a curve.

In step S250, the processor 140 obtains hunting information according to the judgment data set. In this embodiment, the processor 140 first sums the square of the lateral acceleration data as a first result. Then, the processor 140 divides the first result by the amount of lateral acceleration data to use as the second result. In addition, the processor 140 will root the second result to obtain snake information.

表示，則處理器140的運算可以被表示為下述公式(1)：

… (1) If there are n pieces of lateral acceleration data, and we use the lateral acceleration data to

, The operation of the processor 140 can be expressed as the following formula (1):

… (1)

In other embodiments of the present invention, the processor 140 may use parameters such as angle error and lateral offset to replace or combine the lateral acceleration, and the present invention is not limited thereto.

In other embodiments of the present invention, the processor 140 may also add the standard deviation of the lateral acceleration data to replace the square of the lateral acceleration data, and the present invention is not limited to this.

It is worth mentioning that, in an embodiment of the present invention, in order to avoid that the number of judgment data sets is increasing and the abnormal lateral acceleration data is averaged and ignored, the judgment data reserved by the processor 140 The group is only a specific time or a specific number of sub-data. For example, the processor 140 is set to retain the sub-data within 3 consecutive minutes. Therefore, the processor 140 will retain the sub-data within the 0th to 3rd minute of the time, and when the 4th minute is entered, the processor 140 will discard the sub-data. Sub-data for the first minute.

Alternatively, the processor 140 may only retain 10,000 consecutive sub-data (for example, lateral acceleration), and when entering the 10001th, the first sub-data will be deleted, but the present invention is not limited to this.

In step S260, the processor 140 determines whether the hunting information is greater than the hunting threshold. In step S270, in response to the hunting information being greater than the hunting threshold, a warning signal is generated. In an embodiment of the present invention, the meandering threshold value is 0.25, but the present invention is not limited to this. In other words, if the hunting information obtained in step S250 is greater than 0.25, it means that a hunting event has occurred. At this time, the processor 140 will correspondingly send out a warning message, for example, by means of sound, image, alarm bell, etc. to remind the user that a snake event has occurred.

In another embodiment of the present invention, the processor 140 also controls the vehicle to stop moving in response to the hunting information being greater than the hunting threshold.

In summary, through the snake detection method and device of the present invention, it can be detected immediately when a snake event occurs, and a corresponding warning signal is generated to the user, so as to achieve the effect of real-time detection and warning, even Control the vehicles to stop to improve the stability and safety of autonomous driving.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.

100: Snake detection method device 110: Sensor 120: position detector 130: storage device 140: processor S210~S270: steps

FIG. 1 is a block diagram of a snake detection device according to an embodiment of the present invention. FIG. 2 is a schematic flowchart of a snake detection method according to an embodiment of the present invention.

S210~S270: steps

Claims (10)

A method for hunting detection includes: acquiring a path information; acquiring a current position and a current driving information; judging whether the road section corresponding to the current position is a curve according to the path information; responding to the road section corresponding to the current position not being In a curve, add the current driving information to a judgment data set; obtain a hunting information based on the judgment data set; judge whether the hunting information is greater than a hunting threshold value; and in response to the hunting information being greater than the hunting threshold value, generate a warning Signal. For example, the hunting detection method described in item 1 of the scope of patent application, wherein the step of judging whether the road section corresponding to the current road section is a curve according to the path information further includes: obtaining the current position corresponding to the path information A current path curvature; determining whether the current path area rate does not exceed a curve threshold; and when the current path area rate does not exceed the curve threshold, determining that the road section corresponding to the current path is not a curve. For example, the hunting detection method described in item 1 of the scope of patent application, wherein the current driving information includes lateral acceleration information, and the judgment data set has multiple lateral acceleration data, and the hunting is obtained based on the judgment data set The information step further includes: summing the squares of the lateral acceleration data as a first result; Dividing the first result by the amount of the lateral acceleration data as a second result; and rooting the second result to obtain the meandering information. For example, the hunting detection method described in item 1 of the scope of patent application further includes: in response to the hunting information being greater than the hunting threshold, controlling a vehicle to stop moving forward. Such as the snake detection method described in item 1 of the scope of patent application, wherein the judgment data group includes sub-data corresponding to a specific time or a specific number. A snake detection device, comprising: a sensor for acquiring a current driving information; a position detector for acquiring a current position; a storage device; and a processor connected to the sensor, The position detector and the storage device, and the processor is used to execute: obtain a path information and store it in the storage device; obtain the current location and the current driving information; determine the current location corresponding to the path information Whether the road section is a curve; in response to the road section corresponding to the current position is not a curve, add the current driving information to a judgment data group; obtain a snake information according to the judgment data group; judge whether the snake information is greater than a snake threshold value ; And in response to the hunting information being greater than the hunting threshold, a warning signal is generated. For example, in the hunting detection device described in item 6 of the scope of patent application, the processor further executes: obtaining a current path curvature corresponding to the current position in the path information; determining whether the current path zone rate does not exceed a curve threshold ; And when the current path zone rate does not exceed the curve threshold, it is determined that the road section corresponding to the current path is not a curve. For example, in the hunting detection device described in item 6 of the scope of patent application, wherein the current driving information includes lateral acceleration information, and the judgment data set has a plurality of lateral acceleration data, the processor further executes: summing the The square of the lateral acceleration data is used as a first result; the first result is divided by the number of the lateral acceleration data to be used as a second result; and the second result is rooted to obtain The snaking information. For example, in the hunting detection device described in item 6 of the scope of patent application, the processor further executes: in response to the hunting information being greater than the hunting threshold value, controlling a vehicle to stop moving forward. For the snake detection device described in item 6 of the scope of patent application, the judgment data group includes sub-data corresponding to a specific time or a specific number of items.

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