CN105943052A - A fatigue driving detection method and device - Google Patents

A fatigue driving detection method and device Download PDF

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Publication number
CN105943052A
CN105943052A CN201610370952.1A CN201610370952A CN105943052A CN 105943052 A CN105943052 A CN 105943052A CN 201610370952 A CN201610370952 A CN 201610370952A CN 105943052 A CN105943052 A CN 105943052A
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data
fatigue driving
head
inertial
threshold value
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宁运琨
孙浩
赵国如
李慧奇
谢高生
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
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Abstract

The invention belongs to the technical field of fatigue driving detection and in particular provides a fatigue driving detection method and device. The fatigue driving detection method comprises the steps of a, collecting head inertia data of a detected person in real time; b, calculating head posture data according to the head inertia data, judging whether the detected person is in a fatigue driving state according to the head posture data, and if the detected person is in the fatigue driving state, performing the step c; c, triggering an alarm device to give alarm. The method and the device can reduce the misjudgment rate and increase the accuracy of detection, have no influence on the normal driving of drivers, and are free of the influence of factors like external environment and light. The device is simple in structure, low in cost, and great in extendibility, and can be popularized on the market easily.

Description

A kind of method for detecting fatigue driving and device
Technical field
The invention belongs to fatigue-driving detection technology field, particularly relate to a kind of method for detecting fatigue driving and Device.
Background technology
Fatigue driving is listed in the main reason leading to vehicle accident, according to statistics, causes traffic many In the reason that accident occurs, account for 35%～45% due to what fatigue driving caused, examine the most timely The fatigue state measuring driver has become as the study hotspot of Intelligent transportation device instantly.
At present, both at home and abroad the method for fatigue driving detection be may be roughly divided into three major types, the first kind is base In the detection to physiological driver's signal characteristic, specifically include that EEG signals (EEG), electromyographic signal (EMG), electrocardiosignal (EGG), such as patent CN 105212924 A, CN 105105773 A, CN 104952210 A etc., the fatigue driving detection device in these patents can accomplish that discrimination is the highest, but It is mostly to belong to intrusive mood detection, the normal driving of driver can be had a strong impact on, and equipment cost is high, It is difficult to commercially popularize.
Equations of The Second Kind is based on the detection to driver's personal feature, and principal character includes: headwork, Pupil diameter, eye feature etc.；Such as, application publication number is that the invention of CN 105249976 A proposes A kind of tired driver based on head monitoring drives detection method and device, the method using image procossing, By obtaining driver's video information in driving procedure, the eye extracting driver according to video information is special Levy, mouth feature, head rock characteristic information to judge driver's whether fatigue driving.Similar this employing The method of image, judges the design of degree of fatigue by eyelid active situation, requires to compare to ambient light Height, and if driver wear glasses and can increase the difficulty of measurement.
3rd class is based on the detection to vehicle parameter, including: the rotation of steering wheel, vehicle run speed Degree, vehicle side displacement etc..Such as, the tired of a entitled Wakeman reminds headring, and major technique is Utilize whether nine axle sensor sensing driver users bow, if be detected that user bows, just by vibrations Electrode reminds driver to look up road, and begins to decline the process of this state sleepy of bowing from attention very Long, so driver can be constantly in the danger of fatigue driving in this course, and only by low This feature of head judges drowsiness, and discrimination is low, False Rate is high.
Summary of the invention
The invention provides a kind of method for detecting fatigue driving and device, it is intended to solve the most to a certain extent Certainly one of above-mentioned technical problem of the prior art.
The present invention is achieved in that a kind of method for detecting fatigue driving, including:
Step a: the head inertial data of Real-time Collection tested personnel；
Step b: calculate head pose data according to described head inertial data, according to described head pose Data judge whether tested personnel is in fatigue driving state, if tested personnel is in fatigue driving shape State, performs step c；
Step c: trigger caution device and send alarm.
The technical scheme that the embodiment of the present invention is taked also includes: in described step b, described in described basis Head inertial data calculates head pose data and also includes: by inertial sensor by described head inertia number According to output to MCU, it is corrected processing to described head inertial data by MCU；Described head is used to Property data include acceleration, angular velocity and space magnetic field information；Institute's correction process includes: corrected acceleration Meter, correction magnetometer, correction gyroscope.
The technical scheme that the embodiment of the present invention is taked also includes: in described step b, described in described basis Head inertial data calculate head pose data also include: utilize described inertial sensor merge acceleration and Gyro data, and the quaternary number after described MCU output is merged；Described MCU is by the quaternary of output The attitude quaternion that number and magnetometer calculate merges, and draws described head pose data.
The technical scheme that the embodiment of the present invention is taked also includes: in described step b, described in described basis Head pose data judge whether tested personnel is in fatigue driving state and specifically includes:
Step b1: judge whether the yaw rate of described head pose data exceedes pre-set threshold value, if Yaw rate is not above predetermined threshold value, performs step b2；If yaw rate exceedes default threshold Value, performs step c；
Step b2: judge whether the deflection angle of described head pose data exceedes pre-set threshold value, if partially Gyration is not above predetermined threshold value, then re-execute step a；If deflection angle exceedes default threshold Value, performs step c.
The technical scheme that the embodiment of the present invention is taked also includes: also include after described step c: described Described head pose data are wirelessly transmitted to the network terminal by MCU.
Another technical scheme that the embodiment of the present invention is taked is: a kind of fatigue driving detection device, including:
Inertial sensor: for the head inertial data of Real-time Collection tested personnel；
MCU main control module: calculate head appearance according to the head inertial data that described inertial sensor is gathered According to described head pose data, state data, judge whether tested personnel is in fatigue driving state；
Alarm modules: for when described MCU main control module judges that tested personnel is in fatigue driving state Send alarm.
The technical scheme that the embodiment of the present invention is taked also includes: described MCU main control module also includes data school Positive unit；Described inertial sensor is by the output of described head inertial data extremely described MCU main control module, institute State data correction unit to be corrected described head inertial data processing；Described head inertial data includes Acceleration, angular velocity and space magnetic field information；Institute's correction process includes: corrected acceleration meter, correction magnetic Power meter, correction gyroscope.
The technical scheme that the embodiment of the present invention is taked also includes: described MCU main control module also includes that data are melted Close unit；Described inertial sensor is additionally operable to merge acceleration and gyro data, and defeated to described MCU Go out the quaternary number after merging；The appearance that the quaternary number of output is calculated by described data fusion unit with magnetometer State quaternary number merges, and draws described head pose data.
The technical scheme that the embodiment of the present invention is taked also includes: described MCU main control module also includes that speed is sentenced Disconnected unit and angle judging unit；
Velocity estimated unit: for judging whether the yaw rate of described head pose data exceedes default Threshold values, if yaw rate is not above predetermined threshold value, judges deflection angle by angle judging unit Whether exceed pre-set threshold value；If yaw rate exceedes predetermined threshold value, trigger described alarm modules and send Alarm；
Angle judging unit: for judging whether the deflection angle of described head pose data exceedes default valve Value, if deflection angle is not above predetermined threshold value, then by described inertial sensor Resurvey head Inertial data；If deflection angle exceedes predetermined threshold value, trigger described alarm modules and send alarm.
The technical scheme that the embodiment of the present invention is taked also includes: described device also includes radio-frequency module, described MCU main control module also includes data outputting unit, and described data outputting unit is for by described radio frequency mould Described head pose data are transmitted to the network terminal by block.
Relative to prior art, what the present invention produced has the beneficial effects that: the fatigue of the embodiment of the present invention is driven Sail detection device and carry out fatigue detecting by wearing wearing type glasses, be conducive to detection in real time, do not interfere with The normal driving of driver, and will not be affected by the factor such as external environment and light；Pass through inertia sensing Device Real-time Collection head inertial data, and combine DMP and Kalman's blending algorithm carries out data fusion, entangle The deviation of positive deflection angle, had both had good Real-time and Dynamic performance, had had again long-term stable nature static Energy；The present invention takes plural parameter value to be in the basis for estimation of fatigue driving state, reduces by mistake Sentence rate, improve the accuracy of detection；The present invention is provided with USB interface charging, low in energy consumption and charging convenience； Meanwhile, present configuration is simple, low cost, extensibility are strong, the most commercially popularizes.
Accompanying drawing explanation
Fig. 1 is the flow chart of the method for detecting fatigue driving of the embodiment of the present invention；
Fig. 2 is the schematic appearance of the fatigue detection device of the embodiment of the present invention；
Fig. 3 is the circuit diagram of the fatigue detection device of the embodiment of the present invention；
Fig. 4 is I2C bus timing figure；
Fig. 5 and Fig. 6 is the data transmission schematic diagram of the embodiment of the present invention；
Fig. 7 is the structural representation of the fatigue driving detection device of the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and Embodiment, is further elaborated to the present invention.Should be appreciated that described herein being embodied as Example only in order to explain the present invention, is not intended to limit the present invention.
It is demonstrated experimentally that head pose is in close relations, such as, when human body is in fatigue state with tired Time, head typically cannot face front, the axis of head and head center of gravity line can exist certain folder Angle, and when most people enters fatigue state, head can tilt to some direction suddenly.By this The inspiration of thinking, the present invention uses MEMS inertia sensing technology, gives full play to its low cost, detection essence The feature that exactness is high, devises the glasses of a wear-type, and glasses have been internally embedded head pose parameter and have surveyed Amount node is used in real time monitoring driver whether normal driving, head inclination attitude angle and angular velocity of rotation is made For basis for estimation, when head inclination angle or angular velocity of rotation being detected more than threshold value, voice is used to carry Wake up and the mode of vibrations stimulation makes driver keep clear-headed, and remind driver to look for local parking to rest and reorganize.This Invent concrete real-time mode and refer to the detailed description of following example.
Refer to Fig. 1, be the flow chart of the method for detecting fatigue driving of the embodiment of the present invention.The present invention is real The method for detecting fatigue driving executing example comprises the following steps:
Step 100: wear and start fatigue detection device, carries out device Initialize installation；
In step 100, fatigue detection device is wearing type glasses, and tested personnel wears by wearing this Formula glasses carry out fatigue detecting, wear conveniently, and are conducive to detecting in real time.On this wearing type glasses It is provided with shift knob, is controlled startup or the closedown of fatigue detection device by shift knob.Wearing type glasses Being provided with supply module, by lithium battery power supply, power consumption is relatively low；And it is provided with USB charging inlet, pass through USB interface is charged, and charging is convenient.The most as shown in Figures 2 and 3, Fig. 2 is the embodiment of the present invention The schematic appearance of fatigue detection device, Fig. 3 is the circuit of the fatigue detection device of the embodiment of the present invention Figure.Fatigue detection device is provided with power-supplying circuit, supply module include mu balanced circuit, on and off switch, Charging circuit, poly-lithium battery；USB charging inlet, charging circuit, poly-lithium battery, power supply Power supply circuits are sequentially connected with, and charging circuit, on and off switch and mu balanced circuit are sequentially connected with.
Before device is started working, need the Initialize installation of hardware resource, it is ensured that each subprogram merit The realization of energy and the stability of device, concrete Initialize installation includes: device clock Initialize installation is At the beginning of 168MHz, serial ports, I2C interface and I/O interface initialization, inertial sensor initialization, speech chip Beginningization, electromagnetic shaker initialize, intervalometer initializes, and set intervalometer timing, and arrange inertia biography The sample rate of sensor；Configuration RCC_PLLCFGR depositor.
Step 200: judge whether intervalometer interrupts, if timer interruption, performs step 300；If Intervalometer does not interrupt, and continues executing with step 200；
In step 200, the embodiment of the present invention uses the mode of timer interruption to be used to inertial sensor Property data acquisition and output be controlled, i.e. determine timing arrive setting value time intervalometer enter in Disconnected, inertial sensor starts to gather head inertial data.
Step 300: inertial sensor Real-time Collection tested personnel head inertial data in driving procedure；
In step 300, the head inertial data of inertial sensor collection include acceleration, angular velocity and Space magnetic field information, can restore by acceleration, angular velocity and space magnetic field information are carried out process Rigid body kinestate in space.Inertial sensor in the embodiment of the present invention is that MPU9150 inertia passes Sensor, MPU9150 inertial sensor incorporates three-axis gyroscope+3-axis acceleration+three-axle magnetic field, its Service life length, low production cost, certainty of measurement is high, volume is little, lightweight, low in energy consumption, easily collect Become, it is adaptable in fatigue driving detection device.It is appreciated that in other embodiments of the present invention, also may be used To use other kinds of sensor.
Step 400: inertial data is exported to MCU by inertial sensor, is entered inertial data by MCU Row correction process；
In step 400, MCU (micro-control unit, Microcontroller Unit) by I2C bus with Inertial sensor is electrically connected with, and wherein, I2C bus is constituted string by data wire SDA and clock cable SCL Row bus, can send and receive data, and during work, clock cable SCL transmits clock pulses, data Line SDA transmits data.The most complete data transmission includes initiateing, response/non-response, stop signal, And the data bit of transmission；Its data transmission procedure is concrete as shown in Figure 4, for I2C bus timing figure.
Owing to the inertial data that inertial sensor collects can be mingled with some noises and error, the most defeated The acceleration, angular velocity and the gyroscope value deviation that go out are bigger, it is impossible to be directly used in data fusion and solve head Attitude data, therefore, inertial data is exported to MCU after collecting inertial data by inertial sensor, MCU uses I2C bus mode to read the inertial data of inertial sensor output, and to accelerometer, magnetic The inertial data of power meter and gyroscope is corrected processing.Specifically, inertial data is corrected by MCU Process comprises the following steps:
Step 401: corrected acceleration meter；
In step 401, accelerometer measures is the resultant acceleration in a certain moment, accelerates including gravity Degree and acceleration of motion, only have acceleration of gravity when inertial sensor stands, utilize this characteristic permissible The data recorded during by standing different gestures calculate the skew of acceleration transducer.Formula (1) Error output model for three axis accelerometer:
a x ′ = K 0 + K 1 a x a y ′ = K 0 + K 1 a y a z ′ = K 0 + K 1 a z - - - ( 1 )
In formula (1), ax, ay, azFor the accekeration of corresponding rotary shaft, ax', ay', az' it is The acceleration output valve of actual sensor, K0Represent that the zero of accelerometer is worth partially, K1Represent accelerometer Constant multiplier.The mode of accelerometer correction is: the first test standing organizing three axis accelerometer more Then many group standing values are averaging, show that the zero of accelerometer is worth K partially by value0, it is right then to carry out Should former formula carry out subtracting each other constant multiplier (scalefactor, gyroscope output and the input angle seeking accelerometer The ratio of speed) K1。
Step 402: correction magnetometer；
In step 402, the error output model of magnetometer is similar to accelerometer, therefore can utilize Magnetometer is corrected by the bearing calibration similar to accelerometer.
Step 403: correction gyroscope；
In step 403, gyroscope theoretical value static when should be zero, thus sensor is quiet Put a period of time, n reading gi in reading during this period of time, then these values are averaged, the most available The zero of gyroscope is worth a partially, such as formula (2):
a = 1 n Σ i = 1 n g i - - - ( 2 )
In MCU, the three-axis gyroscope data of inertial sensor output are deducted zero inclined value a can be obtained by Magnitude of angular velocity after correction:
Gi=gi-a (3)
Step 500: utilize the built-in DMP (digital moving process) of inertial sensor merge acceleration and Gyro data, and the quaternary number after MCU output is merged；
The quaternary number that DMP is exported by step 600:MCU according to Kalman's blending algorithm calculates with magnetometer The attitude quaternion gone out merges, and draws head pose data, and performs step 700 and step 1000；
In step 600, after completing the inertial data correction of accelerometer, magnetometer and gyroscope, profit The DMP (digital moving process) built-in with inertial sensor can rapid fusion acceleration and gyroscope number According to, export stable attitude angle, but do not merge magnetometer data due to DMP, cause deflection angle to make With deviateing tram after a period of time.Therefore, the embodiment of the present invention is by adding karr in MCU Graceful blending algorithm, the attitude quaternion that the quaternary number exported by DMP and magnetometer calculate merges, Thus correct the deviation of deflection angle, both there is good Real-time and Dynamic performance, have again long-term stablize quiet State property energy.
Step 700: judge whether the yaw rate of head pose data exceedes pre-set threshold value, if partially Tarnsition velocity is not above predetermined threshold value, performs step 800；If yaw rate exceedes default threshold Value, performs step 900；
Step 800: judge whether the deflection angle of head pose data exceedes pre-set threshold value, if deflection Angle is not above predetermined threshold value, then re-execute step 300；If deflection angle exceedes default threshold Value, performs step 900；
In step 700 and step 800, the judgement order of yaw rate and deflection angle can also be carried out Arbitrarily adjust or combination, i.e. also can first judge whether deflection angle exceedes pre-set threshold value, then judge deflection Whether angular velocity exceedes pre-set threshold value.In another embodiment of the present invention, also can by yaw rate and Deflection angle, simultaneously as basis for estimation, can reduce False Rate, improves the accuracy of detection, it is also possible to choosing Select other parameter values as basis for estimation.In embodiments of the present invention, test through simulation fatigue driving Going out, it is preferred that the predetermined threshold value of deflection angle is 45 °, the predetermined threshold value of yaw rate is 126.7 °/s, this threshold values is set also dependent on actually detected.
Step 900: judge that detected person is in fatigue driving state, triggers warning devices and sends alarm；
In step 900, the alert methods of warning devices includes: voice alarm, vibrations alarm or language Tone alerts+vibrations alarm.And can the alert methods of typing multiple voice alarm in advance, such as music, police Bell or voice warning etc., voice reminder mode can be adjusted, and can carry voice by user according to demand The sound size of alarm and the vibration frequency of vibrations alarm are set.
Head pose data are transmitted to the network terminal by step 1000:MCU.
In step 1000, examine based on to driver's normal driving interference, using area and practicality Considering, in order to obtain head pose data truer, natural, the present invention uses communication to enter Row data are transmitted.Communication includes 4G, WIFI or bluetooth etc., due to bluetooth have low-power consumption, The many merits such as quickly connection, low cost, volume are little, the embodiment of the present invention is preferably Bluetooth communication side Formula.Concrete data transfer mode is: between bluetooth module (i.e. wearing type glasses) and the MCU of equipment Utilize serial communication, first initialize the serial ports from equipment, including arranging serial port baud rate, interrupting dividing Level, serial ports enable etc., bluetooth module serial ports is after a series of initialization, when serial ports has from MCU end The input of inertial data bag time, inertial data bag leaving in a buf array can be read from serial ports. The network terminal (individual PC or mobile phone etc.) connects another bluetooth module (main equipment), two bluetooth modules According to bluetooth protocol repertory set up connect, complete RFDC, flow chart as shown in Figure 5 and Figure 6, for The data transmission schematic diagram of the embodiment of the present invention.
After the network terminal receives inertial data bag, the waveform of inertial data, storage number can be shown in real time According to and playback history data.Shown that by waveform the error that can intuitively react the data collected is special (zero point) drift fluctuation pattern characteristic of point and device, and the data of storage can be imported MATLAB The research of follow-up fatigue detecting algorithm is carried out Deng instrument.
The method for detecting fatigue driving of the embodiment of the present invention carries out fatigue detecting by wearing wearing type glasses, Be conducive to detection in real time, do not interfere with the normal driving of driver, and will not be by external environment and light etc. The impact of factor；By inertial sensor Real-time Collection head inertial data, and combine DMP and Kalman Blending algorithm carries out data fusion, corrects the deviation of deflection angle, had both had good Real-time and Dynamic performance, There is again long-term stable static properties；The present invention takes plural parameter value to be in fatigue driving The basis for estimation of state, reduces False Rate, improves the accuracy of detection；The present invention is provided with USB charging Mouthful, low in energy consumption and charging convenience；Meanwhile, present configuration is simple, low cost, extensibility are strong, holds Easily commercially popularize.
Refer to Fig. 7, be the flow chart of the fatigue driving detection device of the embodiment of the present invention.The present invention is real The fatigue driving detection device executing example includes initialization module, inertial sensor, MCU main control module, police Report module, data transmission module and supply module；Specifically:
Initialization module: for when starting fatigue detection device, device being carried out Initialize installation；Its In, before device is started working, need the Initialize installation of hardware resource, it is ensured that each subprogram merit The realization of energy and the stability of device, concrete Initialize installation includes: device clock Initialize installation is At the beginning of 168MHz, serial ports, I2C interface and I/O interface initialization, inertial sensor initialization, speech chip Beginningization, electromagnetic shaker initialize, intervalometer initializes, and set intervalometer timing, and arrange inertia biography The sample rate of sensor；Configuration RCC_PLLCFGR depositor.
Inertial sensor: be used for judging whether intervalometer interrupts, if timer interruption, Real-time Collection quilt Survey personnel are at driving procedure head inertial data, and export inertial data to MCU main control module；Its In, the embodiment of the present invention uses the mode of timer interruption to the inertial data collection of inertial sensor and defeated Go out to be controlled, i.e. determine intervalometer when timing arrives setting value and enter interruption, inertial sensor Start to gather head inertial data.The head inertial data of inertial sensor collection includes acceleration, angle speed Degree and space magnetic field information, can be also by acceleration, angular velocity and space magnetic field information carry out process Former go out rigid body kinestate in space.Inertial sensor in the embodiment of the present invention is that MPU9150 is used to Property sensor, MPU9150 inertial sensor incorporates three-axis gyroscope+3-axis acceleration+three axle magnetic , its in service life length, low production cost, certainty of measurement is high, volume is little, lightweight, power consumption Low, easy of integration, it is adaptable in fatigue driving detection device.It is appreciated that in other embodiments of the invention In, it is also possible to use other kinds of sensor.
MCU main control module: after being corrected processing to the inertial data of inertial sensor output, Go out head attitude data, according to showing that head pose data are judged driving condition and passed by radio-frequency module Defeated head pose packet；MCU main control module is electrically connected with inertial sensor by I2C bus, its In, I2C bus is constituted universal serial bus by data wire SDA and clock cable SCL, can send and receive number According to, during work, clock cable SCL transmits clock pulses, and data wire SDA transmits data.Specifically Ground, MCU main control module includes data correction unit, data fusion unit, velocity estimated unit, angle Judging unit and data outputting unit.
Data correction unit: for read inertial sensor output inertial data, and to accelerometer, The inertial data of magnetometer and gyroscope is corrected processing；Concrete correcting mode includes:
One, corrected acceleration meter；Accelerometer measures is the resultant acceleration in a certain moment, including gravity Acceleration and acceleration of motion, only have acceleration of gravity when inertial sensor stands, and utilizes this characteristic Can by different gestures is stood time the data that record calculate the skew of acceleration transducer.Formula (1) it is the error output model of three axis accelerometer:
a x ′ = K 0 + K 1 a x a y ′ = K 0 + K 1 a y a z ′ = K 0 + K 1 a z - - - ( 1 )
In formula (1), ax, ay, azFor the accekeration of corresponding rotary shaft, ax', ay', az' it is The acceleration output valve of actual sensor, K0Represent that the zero of accelerometer is worth partially, K1Represent accelerometer Constant multiplier.The mode of accelerometer correction is: the first test standing organizing three axis accelerometer more Then many group standing values are averaging, show that the zero of accelerometer is worth K partially by value0, it is right then to carry out Should former formula carry out subtracting each other constant multiplier (scalefactor, gyroscope output and the input angle seeking accelerometer The ratio of speed) K1。
Two, correction magnetometer；The error output model of magnetometer is similar to accelerometer, therefore can be in order to With the bearing calibration similar to accelerometer, magnetometer is corrected.
Three, correction gyroscope；Gyroscope theoretical value static when should be zero, so by sensor Stand a period of time, n reading gi in reading during this period of time, then these values are averaged, A partially it is worth, such as formula (2) to the zero of gyroscope:
a = 1 n Σ i = 1 n g i - - - ( 2 )
In MCU main control module, the three-axis gyroscope data of inertial sensor output are just deducted zero inclined value a Magnitude of angular velocity after can being corrected:
Gi=gi-a (3)
Inertial sensor: be additionally operable to by built-in DMP fusion acceleration and gyro data, and to Quaternary number after the output fusion of MCU main control module；
Data fusion unit: for quaternary number DMP exported according to Kalman's blending algorithm and magnetometer The attitude quaternion calculated merges, and draws head pose data；Wherein, complete accelerometer, After the inertial data correction of magnetometer and gyroscope, the DMP utilizing inertial sensor built-in can quickly melt Resultant acceleration and gyro data, export stable attitude angle, but do not merge magnetic force counting due to DMP According to, cause deflection angle can deviate tram in use for some time.Therefore, the embodiment of the present invention is led to Cross addition Kalman's blending algorithm in MCU main control module, the quaternary number exported by DMP and magnetometer The attitude quaternion calculated merges, thus corrects the deviation of deflection angle, has both had good real-time Dynamic property, has again long-term stable static properties.
Velocity estimated unit: for judging whether the yaw rate of head pose data exceedes default valve By angle judging unit, value, if yaw rate is not above predetermined threshold value, judges that deflection angle is No exceed pre-set threshold value；If yaw rate exceedes predetermined threshold value, it is determined that detected person is in fatigue and drives Sail state, trigger alarm modules and send alarm；
Angle judging unit: for judging whether the deflection angle of head pose data exceedes pre-set threshold value, If deflection angle is not above predetermined threshold value, then by inertial sensor Resurvey head inertia number According to；If deflection angle exceedes predetermined threshold value, then judge that detected person is in fatigue driving state, triggers Alarm modules sends alarm；Wherein, the judgement order of yaw rate and deflection angle can also carry out appointing Meaning adjusts or combination, i.e. also can first judge whether deflection angle exceedes pre-set threshold value, then judge deflection angle Whether speed exceedes pre-set threshold value.In another embodiment of the present invention, also can by yaw rate and partially Gyration, simultaneously as basis for estimation, can reduce False Rate, improves the accuracy of detection, it is also possible to selects Other parameter values are as basis for estimation.In embodiments of the present invention, test through simulation fatigue driving Going out, it is preferred that the predetermined threshold value of deflection angle is 45 °, the predetermined threshold value of yaw rate is 126.7 °/s, this threshold values is set also dependent on actually detected.
Data outputting unit: for head pose data being transmitted to the network terminal by radio-frequency module；Its In, after the network terminal receives inertial data bag, the waveform of inertial data, storage number can be shown in real time According to and playback history data.Shown that by waveform the error that can intuitively react the data collected is special (zero point) drift fluctuation pattern characteristic of point and device, and the data of storage can be imported MATLAB Carry out the research of follow-up fatigue detecting algorithm Deng instrument, the extensibility improving the present invention is strong.
Radio-frequency module: for realizing the data transmission between MCU main control module and the network terminal；Wherein, Radio-frequency module at least includes 4G, WIFI or/and bluetooth module etc., and the embodiment of the present invention is only with bluetooth module As a example by illustrate, in the way of bluetooth carries out data transmission be: (i.e. wear from the bluetooth module of equipment Formula glasses) utilize serial communication with MCU main control module, first initialize the serial ports from equipment, including setting Putting serial port baud rate, interrupt graded, serial ports enable etc., bluetooth module serial ports is through a series of initialization After, when serial ports has the inertial data bag input from MCU main control module, inertia can be read from serial ports Packet also leaves in a buf array.The network terminal connects another bluetooth module (main equipment), and two Individual bluetooth module is set up according to bluetooth protocol repertory and is connected, and completes RFDC.
Alarm modules: for judging to send out when detected person is in fatigue driving state at MCU main control module Go out alarm and reminding；In, the alarm and reminding mode of alarm modules includes: voice reminder, vibration reminding or Voice reminder+vibration reminding etc..And can in advance typing multiple voice remind alerting pattern, such as sound Pleasure, alarm bell or voice warning etc., voice reminder mode can be adjusted by user according to demand, and can be right The sound size of voice reminder and the vibration frequency of vibration reminding are set.
Supply module: power for the modules for fatigue detection device；Wherein, fatigue detection device Being provided with power-supplying circuit, supply module includes mu balanced circuit, on and off switch, charging circuit, polymer Lithium battery；USB charging inlet, charging circuit, poly-lithium battery, power-supplying circuit connect successively Connecing, charging circuit, on and off switch and mu balanced circuit are sequentially connected with.
The fatigue detection device of the embodiment of the present invention is wearing type glasses, and tested personnel wears by wearing this Formula glasses carry out fatigue detecting, wear conveniently, and are conducive to detecting in real time.On this wearing type glasses It is provided with shift knob, is controlled startup or the closedown of fatigue detection device by shift knob.
The fatigue driving detection device of the embodiment of the present invention carries out fatigue detecting by wearing wearing type glasses, Be conducive to detection in real time, do not interfere with the normal driving of driver, and will not be by external environment and light etc. The impact of factor；By inertial sensor Real-time Collection head inertial data, and combine DMP and Kalman Blending algorithm carries out data fusion, corrects the deviation of deflection angle, had both had good Real-time and Dynamic performance, There is again long-term stable static properties；The present invention takes plural parameter value to be in fatigue driving The basis for estimation of state, reduces False Rate, improves the accuracy of detection；The present invention is provided with USB interface and fills Electricity, low in energy consumption and charging convenience；Meanwhile, present configuration is simple, low cost, extensibility are strong, holds Easily commercially popularize.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this Any amendment, equivalent and the improvement etc. made within the spirit of invention and principle, should be included in this Within the protection domain of invention.

Claims (10)

1. a method for detecting fatigue driving, including:
Step a: the head inertial data of Real-time Collection tested personnel；
Step b: calculate head pose data according to described head inertial data, according to described head pose Data judge whether tested personnel is in fatigue driving state, if tested personnel is in fatigue driving shape State, performs step c；
Step c: trigger caution device and send alarm.
Method for detecting fatigue driving the most according to claim 1, it is characterised in that in described step In b, described according to described head inertial data calculate head pose data also include: pass through inertia sensing Described head inertial data is exported to MCU by device, by MCU, described head inertial data is carried out school Just process；Described head inertial data includes acceleration, angular velocity and space magnetic field information；At institute's correction Reason includes: corrected acceleration meter, correction magnetometer, correction gyroscope.
Method for detecting fatigue driving the most according to claim 2, it is characterised in that in described step In b, described according to described head inertial data calculate head pose data also include: utilize described inertia Sensor merges acceleration and gyro data, and the quaternary number after described MCU output is merged；Described The attitude quaternion that the quaternary number of output and magnetometer calculate is merged by MCU, draws described head Attitude data.
Method for detecting fatigue driving the most according to claim 3, it is characterised in that in described step In b, described to judge whether tested personnel is in fatigue driving state according to described head pose data concrete Including:
Step b1: judge whether the yaw rate of described head pose data exceedes pre-set threshold value, if Yaw rate is not above predetermined threshold value, performs step b2；If yaw rate exceedes default threshold Value, performs step c；
Step b2: judge whether the deflection angle of described head pose data exceedes pre-set threshold value, if partially Gyration is not above predetermined threshold value, then re-execute step a；If deflection angle exceedes default threshold Value, performs step c.
5. according to the method for detecting fatigue driving described in any one of Claims 1-4, it is characterised in that Also include after described step c: described head pose data are wirelessly transmitted to network eventually by described MCU End.
6. a fatigue driving detection device, it is characterised in that including:
Inertial sensor: for the head inertial data of Real-time Collection tested personnel；
MCU main control module: calculate head appearance according to the head inertial data that described inertial sensor is gathered According to described head pose data, state data, judge whether tested personnel is in fatigue driving state；
Alarm modules: for when described MCU main control module judges that tested personnel is in fatigue driving state Send alarm.
Fatigue driving detection device the most according to claim 6, it is characterised in that described MCU master Control module also includes data correction unit；Described head inertial data is exported to institute by described inertial sensor Stating MCU main control module, described head inertial data is corrected processing by described data correction unit；Institute State head inertial data and include acceleration, angular velocity and space magnetic field information；Institute's correction process includes: school Positive acceleration meter, correction magnetometer, correction gyroscope.
Fatigue driving detection device the most according to claim 7, it is characterised in that described MCU master Control module also includes data fusion unit；Described inertial sensor is additionally operable to merge acceleration and gyroscope number According to, and the quaternary number after described MCU output is merged；Described data fusion unit is by the quaternary number of output The attitude quaternion calculated with magnetometer merges, and draws described head pose data.
Fatigue driving detection device the most according to claim 8, it is characterised in that described MCU master Control module also includes velocity estimated unit and angle judging unit；
Velocity estimated unit: for judging whether the yaw rate of described head pose data exceedes default Threshold values, if yaw rate is not above predetermined threshold value, judges deflection angle by angle judging unit Whether exceed pre-set threshold value；If yaw rate exceedes predetermined threshold value, trigger described alarm modules and send Alarm；
Angle judging unit: for judging whether the deflection angle of described head pose data exceedes default valve Value, if deflection angle is not above predetermined threshold value, then by described inertial sensor Resurvey head Inertial data；If deflection angle exceedes predetermined threshold value, trigger described alarm modules and send alarm.
10. according to the fatigue driving detection device described in any one of claim 6 to 9, it is characterised in that Described device also includes that radio-frequency module, described MCU main control module also include data outputting unit, described number According to output unit for described head pose data being transmitted to the network terminal by described radio-frequency module.
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Application publication date: 20160921