Collision judgment system, method, apparatus, and device

A first moving device being in communication with a collision judgment device, the first moving device comprising:

• a first acceleration sensor;
• a memory;
• and a processor coupled to the memory and configured to perform:
• obtaining a first acceleration value in a first direction and a second acceleration value in a second direction different than the first direction;
• upon determining the first acceleration value is greater than a first preset acceleration threshold or the second acceleration value is greater than a second preset acceleration threshold, obtaining n first acceleration values and n second acceleration values respectively collected at n timepoints;
• obtaining n resultant acceleration values from the n first acceleration values and the n second acceleration values, each of the n resultant accerlation values being a square root of a sum of a square of corresponding each of then first accelearation values and a square of corresponding each of the n second acceleration values;
• determining whether the first moving device collides according to the n resultant acceleration values;
• upon determining the first moving device collides, determining a first collision time at which the first moving device collides;
• and
• sending first collision information to the collision judgment device, the collision information including a first moving device identifier and the first collision time, wherein, upon determining by the collision judgement device the first collision information from the first moving device and second collision information from the second moving device is received within a preset time interval, and upon determining by the collision judgement device a difference between the first collision time of the first moving device and a second collision time of the second moving device is less than a preset collision time threshold, the first moving device is determined to have collided with the second moving device.

A non-transitory computer-readable storage medium storing computer program instructions executable by at least one processor to perform a method of determining whether a first moving device collides with a second moving device, the first moving device including a first acceleration sensor and being in communication with a collision judgement device via a first control device, the method comprising:

• obtaining, by the first moving device via the first acceleration sensor, a first acceleration value in a first direction and a second acceleration value in a second direction different than the first direction;
• upon determining the first acceleration value is greater than a first preset acceleration threshold or the second acceleration value is greater than a second preset acceleration threshold, obtaining, by the first moving device via the first acceleration sensor, n first acceleration values and n second acceleration values respectively collected at n timepoints;
• obtaining n resultant acceleration values from the n first acceleration values and the n second acceleration values, each of the n resultant accerlation values being a square root of a sum of a square of corresponding each of then first accelearation values and a square of corresponding each of the n second acceleration values;
• determining by the first moving device whether the first moving device collides according to the n resultant acceleration values;
• upon determining the first moving device collides, determining by the first moving device, a first collision time at which the first moving device collides;
• and
• sending, by the first moving device via the first control device, first collision information to the collision judgment device, the collision information including the first collision time, wherein, upon determining by the collision judgement device the first collision information from the first moving device and second collision information from the second moving device is received within a preset time interval, and upon determining by the collision judgement device a difference between the first collision time of the first moving device and a second collision time of the second moving device is less than a preset collision time threshold, the first moving device is determined to have collided with the second moving device.