System and method for identifying heading of a moving vehicle using accelerometer data

Patent metadata

Field	Value
Publication number	US-9285223-B1
Application number	US-201514714387-A
Country	US
Kind code	B1
Filing date	May 18, 2015
Priority date	May 15, 2014
Publication date	Mar 15, 2016
Grant date	Mar 15, 2016

Abstract

A method for determining a yaw angle estimate or vehicle heading direction is presented. A potential range of yaw angles is generated based on a plurality of primary telematics data. One or more yaw angle estimates are generated from the potential range of yaw angles. A driving pattern is determined based on at least one of the yaw angle estimates. The primary telematics data is a plurality of telematics data originated from a client computing device. The effects of gravity have been removed from the plurality of telematics data in a first primary movement window.

First claim

What is claimed is:

1. A computer device for determining a range of yaw angle estimates, the device comprising:
one or more processors; and
one or more memories coupled to the one or more processors;
wherein the one or more memories include non-transitory computer executable instructions stored therein that, when executed by the one or more processors, cause the one or more processors to:
determine a potential range of yaw angles from a plurality of primary telematics data, wherein the primary telematics data comprises a plurality of telematics data originated from a client computing device, the effects of gravity having been removed from the plurality of telematics data in a first primary movement window;
generate one or more yaw angle estimates;
plot the one or more yaw angle estimates from the first primary movement window;
apply an arc length of a static region on a unit circle to the one or more yaw angle estimates from the first primary movement window; and
determine a driving pattern based on at least one of the yaw angle estimates.

2. The computer device of claim 1 , wherein the non-transitory computer executable instructions further cause the one or more processors to:
determine:
a first region corresponding to the static region;
a first number of data points in the first region;
a second region corresponding to the static region; and
a second number of data points in the second region;

compare the number of data points in the first region with the number of data points in the second region;
determine a static region with the greatest number of data points;
generate a final yaw angle from the static region with the greatest number of data points; and
determine a driving pattern using at least the final yaw angle.

3. The computer device of claim 2 , wherein the non-transitory computer executable instructions cause the one or more processors to:
rotate the static region from the first region to the second region.

4. A computer device for determining a range of yaw angle estimates, the device comprising:
one or more processors; and
one or more memories coupled to the one or more processors;
wherein the one or more memories include non-transitory computer executable instructions stored therein that, when executed by the one or more processors, cause the one or more processors to:
determine a potential range of yaw angles from a plurality of primary telematics data, wherein the primary telematics data comprises a plurality of telematics data originated from a client computing device, the effects of gravity having been removed from the plurality of telematics data in a first primary movement window;
generate one or more yaw angle estimates;
correlate the plurality of telematics data with a second plurality of telematics data; and
determine a driving pattern based on at least one of the yaw angle estimates.

5. A computer device for determining a range of yaw angle estimates, the device comprising:
one or more processors; and
one or more memories coupled to the one or more processors;
wherein the one or more memories include non-transitory computer executable instructions stored therein that, when executed by the one or more processors, cause the one or more processors to:
determine a potential range of yaw angles from a plurality of primary telematics data, wherein the primary telematics data comprises a plurality of telematics data originated from a client computing device, the effects of gravity having been removed from the plurality of telematics data in a first primary movement window;
generate one or more yaw angle estimates;
create a function that outputs four possible heading directions of the telematics data from the first primary movement window; and

determine a driving pattern based on at least one of the yaw angle estimates.

6. A computer readable storage medium comprising non-transitory computer readable instructions stored thereon for determining a range of yaw angle estimates, the instructions when executed on one or more processors cause the one or more processors to:
determine a potential range of yaw angles from a plurality of primary telematics data, wherein the primary telematics data comprises a plurality of telematics data summarized at a specified sample rate and originated from a client computing device, the effects of gravity having been removed from the plurality of telematics data;
generate one or more yaw angles from the potential range of yaw angles;
apply an arc length of a static region on a unit circle to the one or more yaw angles estimates from the first primary movement window; and
determine a driving pattern based on at least one of the yaw angles.

7. The computer readable storage medium of claim 6 , wherein the instructions when executed on the one or more processors further cause the one or more processors to:
determine:
a first region corresponding to the static region;
a first number of data points in the first region;
a second region corresponding to the static region; and
a second number of data points in the second region;

compare the number of data points in the first region with the number of data points in the second region;
determine a static region with the greatest number of data points;
generate a final yaw angle from the static region with the greatest number of data points; and
determine a driving pattern using at least the final yaw angle.

8. A computer readable storage medium comprising non-transitory computer readable instructions stored thereon for determining a range of yaw angle estimates, the instructions when executed on one or more processors cause the one or more processors to:
determine a potential range of yaw angles from a plurality of primary telematics data, wherein the primary telematics data comprises a plurality of telematics data summarized at a specified sample rate and originated from a client computing device, the effects of gravity having been removed from the plurality of telematics data;
generate one or more yaw angles from the potential range of yaw angles;
correlate the plurality of telematics data with a second plurality of telematics data; and
determine a driving pattern using at least the final yaw angle.

9. A computer readable storage medium comprising non-transitory computer readable instructions stored thereon for determining a range of yaw angle estimates, the instructions when executed on one or more processors cause the one or more processors to:
determine a potential range of yaw angles from a plurality of primary telematics data, wherein the primary telematics data comprises a plurality of telematics data summarized at a specified sample rate and originated from a client computing device, the effects of gravity having been removed from the plurality of telematics data;
generate one or more yaw angles from the potential range of yaw angles;
create a function that outputs four possible heading directions of the telematics data from the first primary movement window; and
determine a driving pattern using at least the final yaw angle.

Assignees

• State Farm Mutual Automobile Insurance Co

Inventors

• Menon Sunish Shreenarayan
• Dosher David James
• Christensen Scott Thomas

Classifications

• G01C25/005

  initial alignment, calibration or starting-up of inertial devices · CPC title

• G01C21/185 Primary

  for gravity · CPC title

• B62D15/024

  Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car · CPC title

• H04L67/12

  specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks · CPC title

• G06Q40/08

  Insurance · CPC title