WO2018098947A1

WO2018098947A1 - Method and device for monitoring state of driver

Info

Publication number: WO2018098947A1
Application number: PCT/CN2017/078423
Authority: WO
Inventors: 刘均; 宋朝忠; 欧阳张鹏
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-11-29
Filing date: 2017-03-28
Publication date: 2018-06-07
Also published as: CN106740862A

Abstract

Provided are a method and device for monitoring a state of a driver. The method for monitoring a state of a driver comprises: when a driver is detected to be in a driving state, acquiring facial feature data of the driver; detecting, according to the facial feature data, whether the driver is in a distracted driving state; and if so, controlling a motion state of a vehicle to ensure safety of the driver. The present invention collects a facial feature of a driver to detect a driving state of the driver, and provides auxiliary control with respect to a motion state of a vehicle, thereby maximizing driving safety for the driver.

Description

Driver status monitoring method and driver status monitoring device

Technical field

The present invention relates to the field of driver state monitoring technologies, and in particular, to a driver state monitoring method and a driver state monitoring device.

Background technique

In real life, when a driver drives a vehicle, his driving state is an important factor affecting driving safety issues. In order to ensure driving safety during driving, it is necessary to monitor the driving state of the driver and coordinately control the driving state of the vehicle according to the monitoring result.

In the prior art, the means for implementing the driver status monitoring function is generally a wristband. The driver wears the wristband and monitors the driver's heart rate and other data by using the sensor monitoring function of the wristband. When the heart rate is greater than a certain threshold, the driver is judged to be in a state of mental disentrance, and a reminder signal is issued to prompt the driver to pay attention to driving safety.

However, there is a drawback in the above method. In the process of driving the vehicle, the driver has a large influence factor on the body characteristic data, such as the driver's emotional changes, temperature changes, etc., which may cause fluctuations in the driver's heart rate and the like. The data measured by the bracelet is not rigorous, so the reliability of the judgment based on these data is not high enough to truly reflect the driver's true driving state, which makes it impossible to accurately monitor the driver's driving state. The earth affects driving safety during driving.

Summary of the invention

The main object of the present invention is to provide a driver state monitoring method and a driver state monitoring device, which are intended to solve the problem that the driver cannot accurately monitor the driving state of the driver during driving, and the driving process is safe. There are no technical issues to guarantee.

To achieve the above objective, an embodiment of the present invention provides a driver status monitoring method, where the driver status monitoring method includes:

Collecting facial feature data of the driver when detecting that the driver is in a driving state;

Determining, according to the facial feature data, whether the driving state of the driver is in a state of mental disentrance;

When it is detected that the driving state of the driver is in a state of mental disentrance, the driving state of the vehicle is controlled to ensure driving safety.

Optionally, the facial feature data includes a blink frequency, a closed eye duration, a low frequency,

The step of detecting whether the driving state of the driver is in a mentally unfocused state according to the facial feature data further includes:

When it is detected that the blink frequency is greater than the preset blink frequency, the closed eye duration is greater than the preset closed eye duration, the lower frequency is greater than the preset low frequency, or a plurality of conditions are satisfied, the driver's driving state is judged to be in spirit Concentrated state.

Optionally, the step of detecting whether the driving state of the driver is in a mentally unfocused state according to the facial feature data further includes:

Detecting whether the driving time of the driver is greater than a preset threshold;

When it is detected that the driving time of the driver is greater than a preset threshold, it is determined that the driving state of the driver is in a state of mental disentrance.

Optionally, the step of controlling the driving state of the vehicle to ensure driving safety when the driving state of the driver is detected to be in a state of mental disenteration further includes:

When it is detected that the driving state of the driver is in a state of mental disentrance, the driving speed of the vehicle driving state is lowered and/or the automatic driving function of the vehicle is started to control the driving state of the vehicle to ensure driving safety.

When it is detected that the driver's driving state is in a state of mental disentrance, a warning signal is sent to the driver to alert the driver to driving safety, and an early warning signal is sent to other vehicles around the driver's vehicle.

In addition, in order to achieve the above object, the present invention also provides a driver state monitoring device, and the driver state monitoring device includes:

An acquisition module, configured to collect facial feature data of the driver when detecting that the driver is in a driving state;

a detecting module, configured to detect, according to the facial feature data, whether a driving state of the driver is in a state of mental disentrance;

The control module is configured to control the driving state of the vehicle to ensure driving safety when detecting that the driving state of the driver is in a state of mental disentrance.

Optionally, the facial feature data includes a blink frequency, a closed eye duration, and a low frequency, and the detecting module is further configured to:

Optionally, the detecting module further includes:

a detecting unit, configured to detect whether a driving time of the driver is greater than a preset threshold;

The determining unit is configured to determine that the driving state of the driver is in a state of mental disentrance when detecting that the driving time of the driver is greater than a preset threshold.

Optionally, the control module is further configured to:

In the technical solution of the present invention, first, when detecting that the driver is in a driving state, collecting facial feature data of the driver; and then detecting, according to the facial feature data, whether the driving state of the driver is in a state of mental disentrance; When the driving state of the driver is in a state of mental disentrance, the driving state of the vehicle is controlled to ensure driving safety. In the above manner, the driving state of the driver can be accurately monitored during the driving of the vehicle, the driver's driving state is truly reflected, and the vehicle is controlled according to the driving state of the driver to ensure the driver is driving. Driving safety in the process.

DRAWINGS

FIG. 1 is a schematic diagram of an alternative scenario of each embodiment of a driver state monitoring method according to the present invention; FIG.

2 is a schematic flow chart of a first embodiment of a driver state monitoring method according to the present invention;

3 is a schematic flowchart of a step of detecting, according to the facial feature data, whether a driving state of a driver is in a state of mental disentrance according to the third embodiment of the driver state monitoring method of the present invention;

4 is a schematic block diagram of a first embodiment of a driver state monitoring device according to the present invention;

FIG. 5 is a schematic diagram of a refinement module of a detection module in a third embodiment of the driver state monitoring device of the present invention.

The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.

detailed description

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

A driver state monitoring device that implements various embodiments of the present invention will now be described with reference to the accompanying drawings. In the following description, the use of suffixes such as "module", "component" or "unit" for indicating an element is merely an explanation for facilitating the present invention, and does not have a specific meaning per se. Therefore, "module" and "component" can be used in combination.

Referring to FIG. 2, the present invention provides a driver state monitoring method, which is mainly applied to a driver state monitoring device. In a first embodiment of a driver state monitoring method, the driver state monitoring method includes :

Step S10, collecting facial feature data of the driver when detecting that the driver is in a driving state;

Referring to FIG. 1, FIG. 1 is a schematic diagram of a scene according to various embodiments of the present invention, where A is a driver state monitoring device, B is a driver, and C is a vehicle. The driver state monitoring device A may be an in-vehicle camera device, a closed-circuit monitoring device, etc., and the driver state monitoring device A is generally equipped with a camera and an analysis processing component, wherein the camera is mainly used for detecting and collecting the driver B during driving. The facial feature data is mainly used to analyze the facial feature data detected and collected by the camera to obtain the analysis result of the mental state of the driver B by the driver state monitoring device A. In the present embodiment, the driving state refers to a state in which the driver B controls the vehicle C to start exercising, and the main object is the driver B. The facial feature data is an important reference data in the technical solution of the present invention, including but not limited to the following examples: closed eye duration, blink frequency, yawning frequency, and the like. Examples of these facial features have general facial features and representations. The collection of facial features data of the driver B enables the driver state monitoring device A to more accurately analyze the driving state of the driver B, which is performed on the next function. Prerequisites.

Step S20, detecting, according to the facial feature data, whether the driving state of the driver is in a state of mental disentrance;

According to the collected facial feature data of the driver, the driver state monitoring device can detect the facial feature data to obtain the driving state of the driver, and by analyzing the driving state of the driver, whether the driving state of the driver is in the spirit Not concentrated. The driver's facial features can truly reflect the driver's mental state. In real life, if the driver frequently yawns, it means that the driver's state of driving the vehicle is already in a state of fatigue; if the driver's eyes are always closed, the driver is proved to be driving. The driver did not pay attention to the front of the vehicle in the driving direction, and the driver was in a dangerous driving state. The above example is only an explanation of some scenes in real life, and the above scene is quantized into a detection function in the driver state monitoring device, which is equivalent to detecting the frequency of the driver's yawning or the driver's closed eye time, through the pre-existing driver. The reference data in the state monitoring device is compared to obtain whether the driving state of the driver is in a state of mental disentrance.

In step S30, when it is detected that the driving state of the driver is in a state of mental disentrance, the driving state of the vehicle is controlled to ensure driving safety.

If the driver state monitoring device detects that the driver's driving state is in a state of mental disentrance, it is assumed that the driver's driving safety is threatened at this time. At this time, since the driver's driving state cannot be quickly adjusted, and the driver may be unconscious about his own driving state, that is, the driver has not realized that the driving safety of the vehicle may be threatened, so the driver state monitoring The device needs to make certain adjustments to the driving state of the vehicle to assist in controlling the driving state of the vehicle and to ensure driving safety of the driver and the vehicle.

In the technical solution of the present invention, first, when detecting that the driver is in a driving state, collecting facial feature data of the driver; and then detecting, according to the facial feature data, whether the driving state of the driver is in a state of mental disentrance; When the driver's driving state is in a state of insufficiency, the driving state of the vehicle is controlled to ensure driving safety. In the above manner, the driving state of the driver can be accurately monitored during the driving of the vehicle, the driver's driving state is truly reflected, and the vehicle is controlled according to the driving state of the driver to ensure the driver is driving. Driving safety in the state.

Further, based on the first embodiment of the driver state monitoring method of the present invention, a second embodiment of the driver state monitoring method is proposed. The difference between the second embodiment and the first embodiment is that the face Characteristic data includes blink frequency, closed eye duration, and low frequency.

The facial feature data collected by the driver state monitoring device includes characteristic data such as blink frequency, closed eye duration, and head frequency. Of course, the facial feature data is not limited to the above examples, and other facial feature data that can be detected by the driver state monitoring device belongs to the patent protection scope of the present invention. The blink frequency refers to the number of times the driver blinks in a unit time. The length of the closed eye refers to the length of time that the driver passes each time the eye is closed during the driving of the vehicle, including the length of time during which the eye is closed to open the eye during the blinking operation, and the driver is The length of time that is passed during the process of closing the eye to opening the eye when the eye is not blinking. The head frequency refers to the number of times the driver bows in unit time. During the blinking, closing, and bowing of the driver, the vehicle is still advancing and is in a driving state, and these actions invisibly affect or reflect the driving state of the driver's driving vehicle. When the driver's blinking frequency collected by the driver's condition monitoring device is too frequent, the length of the closed eye is too long, or the frequency of the head is frequent, it is proved that the driver's eyes may be in a state of fatigue. If the eye length is too long, the driver may be mentally ill. Confused or even dozing off, the lowering frequency is greater than the preset low frequency means that the driver does not focus on the condition of the road ahead in the driving state, and the above situation will seriously threaten the driving safety of the driver and the vehicle itself. Therefore, the preset blink frequency, the preset closed eye duration, and the preset low frequency need to be set in the driver state monitoring device, and when the blink frequency is greater than the preset blink frequency, the closed eye duration is greater than the preset closed eye. When one or more of the duration and the lower frequency are greater than the preset low frequency, it means that the driving safety of the vehicle will be threatened under the current situation, and the driver cannot concentrate and pay attention to drive the vehicle, that is, it cannot be normal. Safely performing the work of driving the vehicle is in a state of mental distraction.

Further, based on the first embodiment of the driver state monitoring method of the present invention, a third embodiment of the driver state monitoring method is proposed. Referring to FIG. 3, the difference between the third embodiment and the first embodiment lies in The step of detecting whether the driving state of the driver is in a state of mental disenteration according to the facial feature data further includes:

Step S21, detecting whether the driving time of the driver is greater than a preset threshold;

In step S22, when it is detected that the driving time of the driver is greater than a preset threshold, it is determined that the driving state of the driver is in a state of mental disentrance.

In addition to detecting and analyzing the facial feature data of the driver, another detection method is also provided in the embodiment of the present invention, that is, detecting the length of the driver's driving time by the driver state monitoring. The driving time refers to the length of time that the driver passes in the driving state from the time when the vehicle is started to drive to the time point when the vehicle is currently driving. For example, the driver starts driving at 7:00 in the morning and is in the driving state at 9 o'clock in the morning, then the whole process lasts for one hour, assuming that the preset preset threshold of the current driver state monitoring device is one. In the hour, when the driver state monitoring device detects that the driving time of the driver is greater than a preset threshold, it is determined that the driver's current driving state is in a state of mental disentrance.

Further, based on the first embodiment of the driver state monitoring method of the present invention, a fourth embodiment of the driver state monitoring method is proposed. The difference between the fourth embodiment and the first embodiment is that the The step of controlling the driving state of the vehicle to ensure driving safety when detecting that the driving state of the driver is in a state of mental discomfort further includes:

Once it is detected that the driver's driving state is in a state of mental disentrance, it proves that the driver's driving safety is not guaranteed at this time, and the traffic accident may occur due to the driver's unresponsiveness at any time. Therefore, in addition to relying on the driver to control the vehicle, the driver state monitoring device is required to make preventive measures to assist in controlling the driving state of the vehicle to ensure driving safety. The method of ensuring driving safety can be divided into two types, which can reduce the driving speed of the vehicle in the driving state, or start the automatic driving function of the vehicle, and control the driving state of the vehicle through the intelligent program system, thereby eliminating the driving state of the driver. Determine the non-controllable factors, complete the automatic driving operation, and maximize the driving safety in the driving state. Among them, the driver state monitoring device can control the vehicle based on the CAN bus protocol, as an international standardized serial communication protocol, the CAN bus protocol has security, comfort, convenience, low pollution and low cost. Advantages can provide powerful technical support for embodiments of the present invention.

The above method for controlling the driving state of the vehicle can enable the driver to perceive the driver state monitoring device to judge the current driving safety in a short time, thereby improving the driver's vigilance, focusing on the current driving state and driving safety of the vehicle. .

Further, based on the fourth embodiment of the driver state monitoring method of the present invention, a fifth embodiment of the driver state monitoring method is proposed. The difference between the fifth embodiment and the fourth embodiment is that the The step of controlling the driving state of the vehicle to ensure driving safety when detecting that the driving state of the driver is in a state of mental discomfort further includes:

Since the driver state monitoring device performs the detection function and the analysis function of the driver's driving state in real time, the function of controlling the driving state of the vehicle is also performed in real time, in which the driver's mental state is not concentrated, and the reaction The ability is also reduced. Therefore, the driver state monitoring device needs to prompt the driver to issue a warning signal that the driver can perceive, prompting the driver to pay attention to driving safety. In order to ensure that the driver can receive the prompt signal conveniently and quickly, the prompt signal can be a voice prompt, a light prompt, etc., so that the driver can quickly adjust his driving state, improve alertness, and pay attention to driving safety. At the same time, the driver status monitoring device can also send an early warning signal to other vehicles around the vehicle where the driver is located, for example, by flashing lights, voice reminders or external display of the vehicle for text warning to remind other vehicles to stay with the driver's vehicle. A certain distance between the vehicles will further ensure the driving safety of the vehicle.

The present invention also provides a driver state monitoring device. In the first embodiment of the driver state monitoring device, referring to FIG. 4, the driver state monitoring device includes:

The collecting module 10 is configured to collect facial feature data of the driver when detecting that the driver is in a driving state;

The detecting module 20 is configured to detect, according to the facial feature data, whether the driving state of the driver is in a state of mental disentrance;

According to the collected facial feature data of the driver, the driver state monitoring device can detect the facial feature data to obtain the driving state of the driver, and by analyzing the driving state of the driver, whether the driving state of the driver is in the spirit Not concentrated. The driver's facial features can truly reflect the driver's mental state. In real life, if the driver frequently yawns, it means that the driver's state of driving the vehicle is already in a state of fatigue; if the driver's eyes are always closed, the driver is proved to be driving. The driver did not pay attention to the front of the vehicle in the driving direction, and the driver was in a dangerous driving state. The above examples are only explanations of some scenes in real life, and quantifying the above scenes into the detection function in the driver state monitoring device is equivalent to detecting the frequency of the driver's yawning and the driver's closed eye time, through the pre-existing driver. The reference thresholds in the state monitoring device are compared to obtain whether the driver's driving state is in a state of mental disentrance.

The control module 30 is configured to control the driving state of the vehicle to ensure driving safety when detecting that the driving state of the driver is in a state of mental disentrance.

Further, based on the first embodiment of the driver state monitoring device of the present invention, a second embodiment of the driver state monitoring device is proposed. The difference between the second embodiment and the first embodiment is that the face The feature data includes a blink frequency, a closed eye duration, and a low frequency. The detection module 20 is further configured to:

Further, based on the first embodiment of the driver state monitoring device of the present invention, a third embodiment of the driver state monitoring device is proposed. Referring to FIG. 5, the difference between the third embodiment and the first embodiment lies in The detecting module 20 includes:

The detecting unit 21 is configured to detect whether the driving time of the driver is greater than a preset threshold;

The determining unit 22 is configured to determine that the driving state of the driver is in a state of mental disentanglement when it is detected that the driving time of the driver is greater than a preset threshold.

Further, based on the first embodiment of the driver state monitoring device of the present invention, a fourth embodiment of the driver state monitoring device is proposed, and the difference between the fourth embodiment and the first embodiment is that the control Module 30 is also used to:

Further, based on the fourth embodiment of the driver state monitoring device of the present invention, a fifth embodiment of the driver state monitoring device is proposed. The difference between the fifth embodiment and the fourth embodiment is that the control Module 30 is also used to:

It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes those elements. It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better. Implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk, The optical disc includes a number of instructions for causing a terminal device (which may be a cell phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods described in various embodiments of the present invention.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

A driver state monitoring method, characterized in that the driver state monitoring method comprises:

Collecting facial feature data of the driver when detecting that the driver is in a driving state;

Determining, according to the facial feature data, whether the driving state of the driver is in a state of mental disentrance;

When it is detected that the driving state of the driver is in a state of mental disentrance, the driving state of the vehicle is controlled to ensure driving safety.
The driver state monitoring method according to claim 1, wherein the facial feature data comprises a blink frequency, a closed eye duration, a head frequency,

The step of detecting whether the driving state of the driver is in a mentally unfocused state according to the facial feature data further includes:

When it is detected that the blink frequency is greater than the preset blink frequency, the closed eye duration is greater than the preset closed eye duration, the lower frequency is greater than the preset low frequency, or a plurality of conditions are satisfied, the driver's driving state is judged to be in spirit Concentrated state.
The driver state monitoring method according to claim 2, wherein the step of detecting whether the driving state of the driver is in a mentally unfocused state according to the facial feature data further comprises:

Detecting whether the driving time of the driver is greater than a preset threshold;

When it is detected that the driving time of the driver is greater than a preset threshold, it is determined that the driving state of the driver is in a state of mental disentrance.
The driver state monitoring method according to claim 2, wherein the step of detecting whether the driving state of the driver is in a mentally unfocused state according to the facial feature data further comprises:

When it is detected that the driving state of the driver is in a state of mental disentrance, the driving speed of the vehicle driving state is lowered and/or the automatic driving function of the vehicle is started to control the driving state of the vehicle to ensure driving safety.
The driver state monitoring method according to claim 2, wherein the step of detecting whether the driving state of the driver is in a mentally unfocused state according to the facial feature data further comprises:

When it is detected that the driver's driving state is in a state of mental disentrance, a warning signal is sent to the driver to alert the driver to driving safety, and an early warning signal is sent to other vehicles around the driver's vehicle.
The driver state monitoring method according to claim 1, wherein the step of detecting whether the driving state of the driver is in a mentally unfocused state according to the facial feature data further comprises:

Detecting whether the driving time of the driver is greater than a preset threshold;

When it is detected that the driving time of the driver is greater than a preset threshold, it is determined that the driving state of the driver is in a state of mental disentrance.
The driver state monitoring method according to claim 1, wherein the step of controlling the driving state of the vehicle to ensure driving safety when the driving state of the driver is detected to be in a state of mental disenteration further comprises:

When it is detected that the driving state of the driver is in a state of mental disentrance, the driving speed of the vehicle driving state is lowered and/or the automatic driving function of the vehicle is started to control the driving state of the vehicle to ensure driving safety.
The driver state monitoring method according to claim 1, wherein the step of controlling the driving state of the vehicle to ensure driving safety when the driving state of the driver is detected to be in a state of mental disenteration further comprises:

When it is detected that the driver's driving state is in a state of mental disentrance, a warning signal is sent to the driver to alert the driver to driving safety, and an early warning signal is sent to other vehicles around the driver's vehicle.
The driver state monitoring method according to claim 7, wherein the driver state monitoring method further comprises:

When it is detected that the driver's driving state is in a state of mental disentrance, a warning signal is sent to the driver to alert the driver to driving safety, and an early warning signal is sent to other vehicles around the driver's vehicle.
A driver state monitoring device, wherein the driver state monitoring device comprises:

An acquisition module, configured to collect facial feature data of the driver when detecting that the driver is in a driving state;

a detecting module, configured to detect, according to the facial feature data, whether a driving state of the driver is in a state of mental disentrance;

The control module is configured to control the driving state of the vehicle to ensure driving safety when detecting that the driving state of the driver is in a state of mental disentrance.
The driver state monitoring device according to claim 10, wherein the facial feature data comprises a blink frequency, a closed eye duration, and a low frequency, and the detecting module is further configured to:

When it is detected that the blink frequency is greater than the preset blink frequency, the closed eye duration is greater than the preset closed eye duration, the lower frequency is greater than the preset low frequency, or a plurality of conditions are satisfied, the driver's driving state is judged to be in spirit Concentrated state.
The driver state monitoring device according to claim 11, wherein the detecting module further comprises:

a detecting unit, configured to detect whether a driving time of the driver is greater than a preset threshold;

The determining unit is configured to determine that the driving state of the driver is in a state of mental disentrance when detecting that the driving time of the driver is greater than a preset threshold.
The driver state monitoring device according to claim 11, wherein the control module is further configured to:

When it is detected that the driving state of the driver is in a state of mental disentrance, the driving speed of the vehicle driving state is lowered and/or the automatic driving function of the vehicle is started to control the driving state of the vehicle to ensure driving safety.
The driver state monitoring device according to claim 11, wherein the control module is further configured to:

When it is detected that the driver's driving state is in a state of mental disentrance, a warning signal is sent to the driver to alert the driver to driving safety, and an early warning signal is sent to other vehicles around the driver's vehicle.
The driver state monitoring device according to claim 10, wherein the detecting module further comprises:

a detecting unit, configured to detect whether a driving time of the driver is greater than a preset threshold;

The determining unit is configured to determine that the driving state of the driver is in a state of mental disentrance when detecting that the driving time of the driver is greater than a preset threshold.
The driver state monitoring device according to claim 10, wherein the control module is further configured to:

When it is detected that the driving state of the driver is in a state of mental disentrance, the driving speed of the vehicle driving state is lowered and/or the automatic driving function of the vehicle is started to control the driving state of the vehicle to ensure driving safety.
The driver state monitoring device according to claim 10, wherein the control module is further configured to:

When it is detected that the driver's driving state is in a state of mental disentrance, a warning signal is sent to the driver to alert the driver to driving safety, and an early warning signal is sent to other vehicles around the driver's vehicle.
The driver state monitoring device according to claim 16, wherein the control module is further configured to:

When it is detected that the driver's driving state is in a state of mental disentrance, a warning signal is sent to the driver to alert the driver to driving safety, and an early warning signal is sent to other vehicles around the driver's vehicle.