The invention relates to an automatic driving vehicle accident autonomous detection method and device, and belongs to the field of automatic driving vehicle detection. The method comprises the following steps: 1) collecting test characteristic quantity, wherein the characteristic quantity is the total energy of a motion quantity signal in the frequency domain; 2) acquiring a motion quantity signal of the vehicle in real time, in a preset time window, calculating a characteristic quantity, and recording the characteristic quantity as a real-time characteristic quantity; 3) comparing the real-time characteristic quantity with the test characteristic quantity, and if the difference between the real-time characteristic quantity and the test characteristic quantity exceeds a threshold value, judging that the vehicle has an accident, wherein the comparison mode is that if the vehicle is braked and does not run on a specific road section, the real-time characteristic quantity is compared with C, and if the vehicle is braked and runs on the specific road section, the real-time characteristic quantity is compared with CP. According to the method, the influence of vehicle self-braking and specific road sections on vehicle motion quantity signal changes is considered, and the accuracy of vehicle accident detection is improved.
本发明涉及一种自动驾驶车辆事故自主检测方法及装置,属于自动驾驶车辆检测领域。其中方法包括以下步骤:1)采集测试特征量;特征量为运动量信号在频域上的总能量;2)实时获取车辆的运动量信号;在预定时间窗内,计算特征量,记为实时特征量;3)将实时特征量和测试特征量比较,若实时特征量与测试特征量差别超过阈值,则判定为车辆发生了事故;比较的方式为:若车辆有制动且没有行驶在特定路段上,则将实时特征量与C进行比较;若车辆有制动且行驶在特定路段上,则将实时特征量与CP进行比较。本发明考虑了车辆自身制动和特定路段对车辆运动量信号变化的影响,提高了车辆事故检测的准确性。
Automatic driving vehicle accident autonomous detection method and device
一种自动驾驶车辆事故自主检测方法与装置
2021-04-20
Patent
Electronic Resource
Chinese
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