CN100573620C - Driver based on virtual reality watches object identification system attentively - Google Patents
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- CN100573620C CN100573620C CNB2008100468266A CN200810046826A CN100573620C CN 100573620 C CN100573620 C CN 100573620C CN B2008100468266 A CNB2008100468266 A CN B2008100468266A CN 200810046826 A CN200810046826 A CN 200810046826A CN 100573620 C CN100573620 C CN 100573620C
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Abstract
The present invention relates to watch object identification system attentively based on the driver of virtual reality, it comprises: eye movement instrument (1), driving simulation system; The driving simulation system comprises: automobile driving simulator (5), display screen (2), simulation system computing machine (3); The output terminal of eye movement instrument (1) is connected with simulation system computing machine (3); Simulation system computing machine (3) comprising: drive simulating program module, scene management device, what comes into a driver's are watched object localization ray computing module attentively, intersect what comes into a driver's object computing module, are intersected what comes into a driver's object identification module, blinkpunkt screen coordinate computing module; The scene management device comprises the world coordinates and the classification information of each object in the scene.Combining with technology of virtual reality of the present invention is obtained in tracking on other driver's the basis of blinkpunkt coordinate, the type of can also identification watching object attentively, and test efficiency height, cost are low, and test findings is easily added up, and helps scientific research.
Description
Technical field
The present invention relates to road traffic transportation system safety technique field, be specifically related to driver's visual search behavior recognition system, particularly the driver watches object identification system attentively.
Background technology
Driver, vehicle, road and traffic environment have constituted complicated road traffic system.When driving, the driver finishes the operation to vehicle by the transport information of perception from road, traffic environment, and wherein, the driver has the transport information more than 80% to obtain by vision.
Transport information is transmitted by pavement strip, roadside sign label to the driver in highway layout person or vehicle supervision department, but because the interference of other factors (billboard, roadside landscaping etc.), driver's blinkpunkt may be attracted by these interfering objects, and can not notice the object that note.The deviation of this message transmitting procedure has caused great threat to traffic safety.According to statistics, because the traffic hazard that human factor causes accounts for more than 90% of sum, wherein having most traffic hazards to observe inefficacy again causes, therefore, research driver visual observation behavior when driving is of great immediate significance for the reason of analyzing road traffic accident.
Chang An University's journal (natural science edition) the 27th is rolled up the 80th page article in May 2007 the 3rd phase " motorist perception-decision-making-correction behavior pattern ", discloses the method for a kind of driver of research visual observation behavior when driving.This method adopts real train test, the thing of on the highway section, placing obstacles, and the driver passes through with the normal custom and the speed of a motor vehicle.The instrument that test is adopted has eye movement instrument and photoelectricity fifth wheel instrument.The eye movement instrument is by measuring the oculogyral angle of driver in real time, variation, residence time, accumulative total residence time and the frequency etc. of record driver blinkpunkt position on vertical view plane, and the track that adopts video record driver blinkpunkt to move at vertical view plane.Fifth wheel instrument is used for measuring and writing down the variation and the operating range of the speed of a motor vehicle, judges the variation of instruction carriage running status with this, and then analyzes driver's operation behavior.
The defective of said method is: 1, test adopts real vehicle to carry out, and efficient is low, cost is high, poor accuracy; 2, record adopts artificial and video record, and test findings is difficult to statistics, is unfavorable for scientific research.
Summary of the invention
Technical matters to be solved by this invention is: a kind of driver's blinkpunkt recognition system based on virtual reality is provided.This system can follow the tracks of the blinkpunkt of driver in driving procedure, and identify the type (vehicle, sign, label, billboard etc.) of watching object attentively in the environment of virtual reality.
The present invention solves the problems of the technologies described above the technical scheme that is adopted:
Driver based on virtual reality watches object identification system attentively, and it comprises: eye movement instrument, driving simulation system;
The driving simulation system comprises: automobile driving simulator, display screen, simulation system computing machine;
The output terminal of eye movement instrument is connected with the simulation system computing machine;
The simulation system computing machine comprises: drive simulating program module, scene management device, what comes into a driver's are watched object localization ray computing module attentively, intersect what comes into a driver's object computing module, are intersected what comes into a driver's object identification module, blinkpunkt screen coordinate computing module; The scene management device comprises the world coordinates and the classification information of each object in the scene;
Blinkpunkt screen coordinate computing module is a module of calculating the blinkpunkt screen coordinate according to eye movement instrument output signal;
What comes into a driver's is watched object localization ray computing module attentively for calculating the module that what comes into a driver's is watched the object localization ray attentively according to the blinkpunkt screen coordinate and from the real-time world coordinates of virtual vehicle that the drive simulating program module is called;
Intersecting what comes into a driver's object computing module is to watch the world coordinates calculating of each object in object localization ray and the scene and the module of the what comes into a driver's object that the location ray intersects attentively according to what comes into a driver's;
Intersecting what comes into a driver's object identification module is: the module of the what comes into a driver's object classification output of intersecting recently with virtual vehicle in the what comes into a driver's object result set that will intersect with the location ray.
Driver based on virtual reality watches object identification system attentively, and it comprises: eye movement instrument, driving simulation system, computing machine;
The driving simulation system comprises: automobile driving simulator, display screen, simulation system computing machine;
The output terminal of eye movement instrument is connected with computing machine; Computing machine comprises blinkpunkt screen coordinate computing module;
The simulation system computing machine comprises: drive simulating program module, scene management device, what comes into a driver's watch object localization ray computing module attentively, intersect what comes into a driver's object computing module, intersect what comes into a driver's object identification module, with the communication module of computing machine; The scene management device comprises the world coordinates and the classification information of each object in the scene;
Blinkpunkt screen coordinate computing module is a module of calculating the blinkpunkt screen coordinate according to eye movement instrument output signal;
What comes into a driver's is watched object localization ray computing module attentively for calculating the module that what comes into a driver's is watched the object localization ray attentively according to the blinkpunkt screen coordinate and from the real-time world coordinates of virtual vehicle that the drive simulating program module is called;
Intersecting what comes into a driver's object computing module is to watch the world coordinates calculating of each object in object localization ray and the scene and the module of the what comes into a driver's object that the location ray intersects attentively according to what comes into a driver's;
Intersecting what comes into a driver's object identification module is: the module of the what comes into a driver's object classification output of intersecting recently with virtual vehicle in the what comes into a driver's object result set that will intersect with the location ray.
Ultimate principle of the present invention is: when the driver operated on automobile driving simulator, driving simulator computing machine or computing machine utilized the eye movement instrument to obtain the blinkpunkt coordinate information of driver on the what comes into a driver's display screen in real time; The driving simulator computing machine is watched the object localization ray attentively according to blinkpunkt screen coordinate and the real-time world coordinates information calculations of virtual vehicle what comes into a driver's, according to the world coordinates information calculations and the crossing what comes into a driver's object of location ray of each object in location ray and the scene, will export with the what comes into a driver's object classification that the location ray intersects again again.
Compared with prior art, the present invention has the following advantages:
1, Combining with technology of virtual reality is obtained in tracking on other driver's the basis of blinkpunkt coordinate, the type of can also identification watching object attentively, and test efficiency height, cost are low, and test findings is easily added up, and helps scientific research.
2, watch the identification of object for the driver attentively, have that real-time is good, degree of accuracy is high, the characteristics of robust.
3, often comprise a plurality of crossing objects in the what comes into a driver's object result set that intersects with the location ray, and the object that intersects recently is only the visible object on the what comes into a driver's display screen, the present invention can be automatically with the classification output of visible object.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1
Fig. 2 is the structured flowchart of the embodiment of the invention 1
Fig. 3 is simulation system Computer Organization Principles software flow patterns
Fig. 4 is for watching what comes into a driver's object localization principle schematic attentively
Fig. 5 is the structural representation of the embodiment of the invention 2
Fig. 6 is the structured flowchart of the embodiment of the invention 2
Embodiment
Below in conjunction with accompanying drawing real-time example of the present invention is elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, 2, the driver who the present invention is based on virtual reality watches object identification system embodiment 1 attentively and comprises: eye movement instrument 1, driving simulation system, computing machine 4;
The driving simulation system comprises: automobile driving simulator 5, display screen 2, simulation system computing machine 3;
The output terminal of eye movement instrument 1 is connected with computing machine 4; Computing machine 4 comprises blinkpunkt screen coordinate computing module;
Simulation system computing machine 3 comprises: drive simulating program module, scene management device, what comes into a driver's watch object localization ray computing module attentively, intersect what comes into a driver's object computing module, intersect what comes into a driver's object identification module, with the communication module of computing machine 4; The scene management device comprises the world coordinates and the classification information of each object in the scene;
Blinkpunkt screen coordinate computing module is a module of calculating the blinkpunkt screen coordinate according to eye movement instrument 1 output signal;
What comes into a driver's is watched object localization ray computing module attentively for calculating the module that what comes into a driver's is watched the object localization ray attentively according to the blinkpunkt screen coordinate and from the real-time world coordinates of virtual vehicle that the drive simulating program module is called;
Intersecting what comes into a driver's object computing module is to watch the world coordinates calculating of each object in object localization ray and the scene and the module of the what comes into a driver's object that the location ray intersects attentively according to what comes into a driver's;
Intersecting what comes into a driver's object identification module is: the module of the what comes into a driver's object classification output of intersecting recently with virtual vehicle in the what comes into a driver's object result set that will intersect with the location ray.
Wherein:
The EyeLink II type eye movement instrument that the Canadian SR of eye movement instrument 1 employing company produces.
With the communication module of computing machine 4 be the data in real time transport module, give simulation system computing machine 3 with the screen coordinate information of driver's blinkpunkt with TCP/IP form real-time Transmission with the communication module of computing machine 4.
The module of watching the object localization ray attentively according to blinkpunkt screen coordinate and the real-time world coordinates information calculations of virtual vehicle what comes into a driver's, according to obtaining blinkpunkt screen coordinate information in real time, be converted into the corresponding point coordinate of looking on the nearly shear surface of centrum, and the real-time world coordinates information of combined with virtual vehicle, determine to watch attentively what comes into a driver's object localization ray, its principle as shown in Figure 4.
The principle of work of the embodiment of the invention is:
The beginning simulating driving procedure, driving simulation system starts, and simultaneously, is installed in eye movement instrument 1 working procedure on the computing machine 4, also starts operation with the communication module of computing machine 4.Computing machine 4 obtains the screen coordinate of every frame driver blinkpunkt by eye movement instrument 1, is made as (ScreenP
x, ScreenP
y).Because the two dimensional image of playing up on screen equipment is to look the perspective projection plane conversion result of all three-dimensional visions on nearly shear surface in the centrum.With the camera coordinate system coordinate (nearclipP that puts on the pairing nearly shear surface of this blinkpunkt
x, nearclipP
y) should be:
Since look in the centrum scope each point on the what comes into a driver's and the line of virtual vehicle real time position point (being camera position point or camera coordinate system initial point) and closely the intersection point of shear surface be people's viewed what comes into a driver's object on screen, when a plurality of what comes into a driver's objects are overlapping on nearly shear surface, one can observe that and the nearly immediate object of shear surface, and the object of back is blocked and can not be arrived by people are observed, as illustrates shown in Figure 4.Utilize above-mentioned principle, with the corresponding point P of blinkpunkt on nearly shear surface
NearclipCarry out line with camera coordinate system initial point (being the camera position point), and this ray is extended in looking centrum, this ray is watches what comes into a driver's object localization ray attentively.Watch the crossing for the first time object of object localization ray attentively with what comes into a driver's and be the object that people see.Related in the present invention vision simulation adopts the OpenGL mode to play up.
This ray starting point is the camera position point to watching the definition of what comes into a driver's object localization ray attentively according to above-mentioned, and this ray is crossed the corresponding point of blinkpunkt on nearly shear surface.If nearly shear surface is to camera position point P
CameraDistance be D
NearThis direction in space vector of watching what comes into a driver's object localization ray attentively is:
Video camera in the what comes into a driver's is bundled on the driver-operated virtual vehicle, and the real-time world coordinates of establishing video camera is (CameraP
x, CameraP
y, CameraP
z), what comes into a driver's is watched the object localization ray attentively and can be defined by directions of rays vector sum ray starting point coordinate.
In the module according to the world coordinates information calculations of each object in location ray and the scene what comes into a driver's object crossing with locating ray, the detection function of ray and what comes into a driver's object, the detection function in the CollisionManager class of employing open source.This detection function is watched the direction vector of object localization ray and starting point attentively as parameter with what comes into a driver's, its rreturn value is the what comes into a driver's object result set that all and this ray intersect, intersect in the what comes into a driver's object result set and often comprise a plurality of crossing objects, but the object that intersects recently is only the visible object on the what comes into a driver's display screen.
The module of the what comes into a driver's object classification output of intersecting recently in the what comes into a driver's object result set that will intersect with the location ray is calculated the space length of each joining and camera position point successively, and minimum space is apart from pairing joining and looks the interior visible projected objects of three-dimensional body on what comes into a driver's display screen 2 of centrum; Then, utilize the instance objects of this object from the scene management device, to obtain the type identification information (as vehicle, sign, label, billboard etc.) and the output of this object.
The principle software flow pattern of simulation system computing machine 3 as shown in Figure 3.
Shown in Fig. 5,6, the driver who the present invention is based on virtual reality watches object identification system embodiment 2 attentively and comprises: eye movement instrument 1, driving simulation system;
The driving simulation system comprises: automobile driving simulator 5, display screen 2, simulation system computing machine 3;
The output terminal of eye movement instrument 1 is connected with simulation system computing machine 3;
Simulation system computing machine 3 comprises: drive simulating program module, scene management device, what comes into a driver's are watched object localization ray computing module attentively, intersect what comes into a driver's object computing module, are intersected what comes into a driver's object identification module, blinkpunkt screen coordinate computing module; The scene management device comprises the world coordinates and the classification information of each object in the scene;
Blinkpunkt screen coordinate computing module is a module of calculating the blinkpunkt screen coordinate according to eye movement instrument 1 output signal;
What comes into a driver's is watched object localization ray computing module attentively for calculating the module that what comes into a driver's is watched the object localization ray attentively according to the blinkpunkt screen coordinate and from the real-time world coordinates of virtual vehicle that the drive simulating program module is called;
Intersecting what comes into a driver's object computing module is to watch the world coordinates calculating of each object in object localization ray and the scene and the module of the what comes into a driver's object that the location ray intersects attentively according to what comes into a driver's;
Intersecting what comes into a driver's object identification module is: the module of the what comes into a driver's object classification output of intersecting recently with virtual vehicle in the what comes into a driver's object result set that will intersect with the location ray.
The embodiment of the invention can also be with outputs such as blinkpunkt residence time, accumulative total residence time and the frequencys.
Claims (2)
1, the driver based on virtual reality watches object identification system attentively, and it comprises: eye movement instrument (1); It is characterized in that: the driver watches object identification system attentively and also comprises the driving simulation system;
The driving simulation system comprises: automobile driving simulator (5), display screen (2), simulation system computing machine (3);
The output terminal of eye movement instrument (1) is connected with simulation system computing machine (3);
Simulation system computing machine (3) comprising: drive simulating program module, scene management device, what comes into a driver's are watched object localization ray computing module attentively, intersect what comes into a driver's object computing module, are intersected what comes into a driver's object identification module, blinkpunkt screen coordinate computing module; The scene management device comprises the world coordinates and the classification information of each object in the scene;
Blinkpunkt screen coordinate computing module is a module of calculating the blinkpunkt screen coordinate according to eye movement instrument (1) output signal;
What comes into a driver's is watched object localization ray computing module attentively for calculating the module that what comes into a driver's is watched the object localization ray attentively according to the blinkpunkt screen coordinate and from the real-time world coordinates of virtual vehicle that the drive simulating program module is called;
Intersecting what comes into a driver's object computing module is to watch the world coordinates calculating of each object in object localization ray and the scene and the module of the what comes into a driver's object that the location ray intersects attentively according to what comes into a driver's;
Intersecting what comes into a driver's object identification module is: the module of the what comes into a driver's object classification output of intersecting recently with virtual vehicle in the what comes into a driver's object result set that will intersect with the location ray.
2, the driver based on virtual reality watches object identification system attentively, and it comprises: eye movement instrument (1); It is characterized in that: the driver watches object identification system attentively and also comprises driving simulation system, computing machine (4);
The driving simulation system comprises: automobile driving simulator (5), display screen (2), simulation system computing machine (3);
The output terminal of eye movement instrument (1) is connected with computing machine (4); Computing machine (4) comprises blinkpunkt screen coordinate computing module;
Simulation system computing machine (3) comprising: drive simulating program module, scene management device, what comes into a driver's watch object localization ray computing module attentively, intersect what comes into a driver's object computing module, intersect what comes into a driver's object identification module, with the communication module of computing machine (4); The scene management device comprises the world coordinates and the classification information of each object in the scene;
Blinkpunkt screen coordinate computing module is a module of calculating the blinkpunkt screen coordinate according to eye movement instrument (1) output signal;
What comes into a driver's is watched object localization ray computing module attentively for calculating the module that what comes into a driver's is watched the object localization ray attentively according to the blinkpunkt screen coordinate and from the real-time world coordinates of virtual vehicle that the drive simulating program module is called;
Intersecting what comes into a driver's object computing module is to watch the world coordinates calculating of each object in object localization ray and the scene and the module of the what comes into a driver's object that the location ray intersects attentively according to what comes into a driver's;
Intersecting what comes into a driver's object identification module is: the module of the what comes into a driver's object classification output of intersecting recently with virtual vehicle in the what comes into a driver's object result set that will intersect with the location ray.
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2008
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102620766A (en) * | 2012-04-11 | 2012-08-01 | 天津市市政工程设计研究院 | Dynamic legibility evaluation method for road tunnel traffic signs |
| CN102620766B (en) * | 2012-04-11 | 2014-11-05 | 天津市市政工程设计研究院 | Dynamic legibility evaluation method for road tunnel traffic signs |
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