Method and system for detecting frequent lane changes of moving vehicles

• US 10,019,895 B2
• Filed: 07/18/2014
• Issued: 07/10/2018
• Est. Priority Date: 03/14/2014
• Status: Active Grant

• Current Assignee: Streamax Technology Co., Ltd.
• Original Assignee: Streamax Technology Co., Ltd.
• Inventors: Xiang, Huaikun, Sun, Jiye
• Primary Examiner(s): Rink, Ryan
• Application Number:
  US15/030,835
• Publication Number:
  US 20160253900A1
• Time in Patent Office: 1,453 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/905 the sensor being an xyz axis sensor
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0125 Traffic data processing
• CPC Class Codes: G08G 1/056 with provision for distinguishing direction of travel
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A method and system for detecting frequent lane changes of moving vehicles are disclosed. A method for detecting frequent lane changes of moving vehicles including extracting the Z axis angular velocity values, and storing those Z axis angular velocities, from the Z axis angular velocity of which numerical product is negative, analyzing the Z axis angular velocities stored in the specific time period, and judging the number of the Z axis angular velocities with the numeral number 0. It is determined whether the vehicle has made frequent lane changes or not in its moving process, so that an active monitoring for vehicle travelling statuses is implemented, thereby normalizing driving behaviors, and reducing traffic accidents.

Claims

1. A method for detecting frequent lane changes of moving vehicles, comprising following steps:

extracting Z axis angular velocities from triaxial angular velocities obtained by a sensor of a vehicle in a moving process of the vehicle;

multiplying every two adjacent Z axis angular velocities;

storing the Z axis angular velocities in a time period, the time period starting at a time corresponding to when a result of multiplying two adjacent Z axis angular velocities is negative and lasting for a first time value;

determining whether a time interval between two time points corresponding to adjacent Z axis angular velocities with a numeral value of zero reaches a second time value when the number of the Z axis angular velocities with a value of zero reaches a first threshold value in the time period, and when the time interval reaches the second time value, determining whether an absolute value of a Z axis angular velocity of the vehicle at a third time value, which occurs after the time when a Z axis angular velocity of the vehicle is zero, reaches a second threshold value;

determining that the vehicle has made frequent lane changes in the moving process in the time period, when it is determined that the absolute value of the Z axis angular velocity of the vehicle at the third time reaches the second threshold value,

wherein the first threshold value is a natural number that is more than 2.

2. The method according to claim 1, wherein before the step of storing the Z axis angular velocities in the time period the method further comprises:

adding N units of angular velocity values to the numerical value of each of the extracted Z axis angular velocities, wherein, N is a numerical value that is more than 0.

5. The method according to claim 1, wherein extracting Z axis angular velocities from tri-axial angular velocities obtained by a sensor of a vehicle in a moving process of the vehicle specifically comprises:

using a vehicular six-axes MENS combination sensor to collect mass vehicle travelling status data in real time, triaxial accelerated speeds, and triaxial angular velocities in the moving process of the vehicle, and extracting the Z axis angular velocities from the collected mass vehicle travelling status data.

6. The method according to claim 1, wherein storing the Z axis angular velocities obtained in the time period specifically comprises:

arranging a first memorizer and a second memorizer for storing the Z axis angular velocities; and

storing data in real time in the first memorizer, and transferring the numerical values in the first memorizer into the second memorizer when the Z axis angular velocities in the time period are all stored in the first memorizer, or a storage size of data stored in the first memorizer reaches a limit of data that can be stored in the time period.

7. The method according to claim 5, further comprising:

emptying the numerical values in the first memorizer which has already been fully stored, and waiting for a next storage incident that is triggered by another occurrence of a result of multiplying two adjacent Z axis angular velocities being negative.

3. A system for detecting frequent lane changes in moving vehicles, comprising:

a data extracting module configured for extracting Z axis angular velocities from tri-axial angular velocities obtained by a sensor of a vehicle in a moving process of the vehicle;

a data storing module configured for storing Z axis angular velocities in a time period when a result of multiply operation of two adjacent Z axis angular velocities is negative in the Z axis angular velocities;

the specific time period starts from a time point when the result of multiply operation of two adjacent Z axis angular velocities is negative and lasts for a first time value; and

a frequent lane changes judging module configured for;

when the number of the Z axis angular velocities with a value of zero reaches a first threshold value in the time period, judging whether a time interval between two time points corresponding to adjacent Z axis angular velocities with a numeral value of zero reaches a second time value;

when the time interval between two time points corresponding to adjacent Z axis angular velocities with a numeral value of zero reaches the second time value, further judging whether an absolute value of a Z axis angular velocity of the vehicle at a third time value after the time when a Z axis angular velocity of the vehicle is 0 reaches a second threshold value;

when the absolute value of the Z axis angular velocity of the vehicle at a third time value after the time when the Z axis angular velocity of the vehicle is 0 reaches the second threshold value, determining that the vehicle has made frequent lane changes in the moving process in the time period;

wherein the first threshold value is a natural number that is more than 2.

4. The system according to claim 3, wherein the system further comprises:

an amplitude adding module configured for adding N unit of angular velocity to the numerical value of each of the extracted Z axis angular velocities, wherein, N is a numerical value that is more than 0.