The invention discloses an automobile lane changing recognition method based on a gravity vector and an angular speed vector. The automobile lane changing recognition method includes acquiring the gravity vector and the angular speed vector through a six-axial sensor fixed on the automobile, reading the quaternion and an angular speed vector of the six-axial sensor, calculating gravity vector of the six-axial sensor, performing the horizontal plane and upslope face calibration to obtain a conversion parameter rotating from a six-axial sensor coordinate system to an automobile coordinate system, mapping the gravity vector and the angular speed vector of the six-axial sensor through the conversion parameter into the gravity vector and the angular speed vector of the automobile, judging whether or not the drive direction is off course through the angular speed vector and calculating the off-course period features; performing off-course period filtering to search possible lane changing combinations; matching the optimal lane changing operation and outputting the lane changing types. By the use of the automobile lane changing recognition method, automobile space states such as horizon, inclining, upslope and downslope are calculated through the gravity vector, the lane changing is recognized by the aid of the angular speed vector, and driving safety and skill is improved.
Automobile lane changing recognition method based on gravity vector and angular speed vector
2015-04-29
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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