CN101791982A - System for identifying vehicle-following purpose of drivers - Google Patents
System for identifying vehicle-following purpose of drivers Download PDFInfo
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- CN101791982A CN101791982A CN 201010117253 CN201010117253A CN101791982A CN 101791982 A CN101791982 A CN 101791982A CN 201010117253 CN201010117253 CN 201010117253 CN 201010117253 A CN201010117253 A CN 201010117253A CN 101791982 A CN101791982 A CN 101791982A
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Abstract
The invention relates to a system for identifying the vehicle-following purpose of drivers, comprising a system for identifying the lane-switching purpose of drivers, a vehicle information collecting device and) a processor for receiving and processing signals output by the vehicle information collecting device, wherein the vehicle information collecting device comprises an accelerator aperture sensor. The system can accurately judge whether the driver has the vehicle-following purpose or not according to the vehicle information so as to provide conditions for improving the performance of a vehicle-mounted safety system.
Description
Technical field
The present invention relates to a kind of vehicle-mounted recognition system, especially for vehicle-mounted recognition system to chaufeur operating and controlling vehicle operation intention.
Background technology
At present, the Key Technology of Traffic Safety product development focus on on-vehicle safety system intelligent direction, therefore multiple vehicle safety early warning, safe driver assistance even personal vehicle system appear.200610034879), " vehicle security drive intelligent assistance system " (application number/patent No.: 200720199941) etc. as " a kind of vehicle drive security warning system " (application number/patent No.:.This type systematic replenishes the strategic road traffic information that may omit can not only for the chaufeur in the driving procedure, even can carry out pro-active intervention to guarantee the chaufeur personal safety to vehicle operating when road traffic accident takes place.
But these on-vehicle safety systems also exist deficiency, this is because the true intention and the variation tendency thereof of steerman can not be understood or can't be caught in real time in the on-vehicle safety system fully, when steerman is made when being accustomed to the different action of driver behavior at ordinary times because of the vehicle-surroundings environmental change, this type systematic tends to send alarm or the compulsory execution action different with the steerman intention, make driver attention dispersion, psychological stress on the contrary even lose, the inducement that the on-vehicle safety system is become cause road traffic accident to take place normally the controlling of power actuated vehicle.
Summary of the invention
The technical problem to be solved in the present invention is: a kind of system for identifying vehicle-following purpose of drivers is provided, this system is gathered, is handled by the action of chaufeur being controlled automotive operation, whether thereby judging that chaufeur is current has with car intention, for the performance that promotes the on-vehicle safety system creates conditions.
The present invention solves the problems of the technologies described above the technical scheme of being taked to be:
System for identifying vehicle-following purpose of drivers, it comprises:
(1) system for recognizing lane-changing intention of driver;
(2) vehicle information collecting device;
(3) receive the signal of vehicle information collecting device output and the treater of handling;
Vehicle information collecting device comprises: accelerator open degree sensor;
Described treater comprises:
(3.1) be used for the accelerator open degree signal memory cell of the aperture signal of interior accelerator open degree sensor output of gathering of recording prescribed time period successively;
(3.2) be used for the aperture comparator of comparison accelerator open degree signal memory cell accelerator open degree signal;
(3.3) with car intention identification module, the described car intention identification module of following is made following action:
---the judged result of system for recognizing lane-changing intention of driver is: have lane-changing intention, do not work with car intention identification module; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the aperture signal of aperture comparator comparison is big or small alternate, with the result of car intention identification module output is: have with car and be intended to.
In the such scheme, vehicle information collecting device also comprises: the BK Brake Switch quantity sensor;
Described treater also comprises:
(3.4) be used for the BK Brake Switch signal memory cell of the BK Brake Switch amount signal of interior BK Brake Switch quantity sensor output of gathering of recording prescribed time period successively;
The described car intention identification module of following is made following action:
---the judged result of system for recognizing lane-changing intention of driver is: have lane-changing intention, do not work with car intention identification module; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the aperture signal of aperture comparator comparison is big or small alternate, with the result of car intention identification module output is: have with car and be intended to; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the BK Brake Switch signal of storing in the BK Brake Switch signal memory cell is the switch alternate, with the result of car intention identification module output is: have with car and be intended to.
In the such scheme, vehicle information collecting device also comprises: the gear positions sensor;
Described treater also comprises:
(3.5) be used for the gear positions signal memory cell of the position signal of interior gear positions sensor output of gathering of recording prescribed time period successively;
(3.6) be used for the gear positions signal comparator of comparison gear positions signal memory cell gear position signal;
The described car intention identification module of following is made following action:
---the judged result of system for recognizing lane-changing intention of driver is: have lane-changing intention, do not work with car intention identification module; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the aperture signal of aperture comparator comparison is big or small alternate, with the result of car intention identification module output is: have with car and be intended to; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the BK Brake Switch signal of storing in the BK Brake Switch signal memory cell is the switch alternate, with the result of car intention identification module output is: have with car and be intended to.
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the gear positions signal of gear positions signal comparator comparison is the height alternate, with the result of car intention identification module output is: have with car and be intended to.
System of the present invention can judge accurately whether chaufeur is current has with the car intention, thereby be that the performance that promotes the on-vehicle safety system creates conditions by information of vehicles.
Description of drawings
Fig. 1 is the structural representation of system embodiment of the present invention
Fig. 2 is the structured flowchart of system embodiment of the present invention
Fig. 3 is the software flow pattern of system embodiment of the present invention
Fig. 4 is the software flow pattern of head deflection judge module
Fig. 5 is the software flow pattern of system for recognizing lane-changing intention of driver
The specific embodiment
System for identifying vehicle-following purpose of drivers embodiment of the present invention as shown in Figure 1, it comprises:
(1) system for recognizing lane-changing intention of driver;
(2) vehicle information collecting device;
(3) receive the signal of vehicle information collecting device output and the treater of handling 4;
Vehicle information collecting device comprises: accelerator open degree sensor 6, BK Brake Switch quantity sensor 7, gear positions sensor 5.As shown in Figure 2, the signal input processor 4 of the output of accelerator open degree sensor 6, BK Brake Switch quantity sensor 7, gear positions sensor 5.
Described treater comprises:
(3.1) be used for the accelerator open degree signal memory cell of the aperture signal of recording prescribed time period (setting-up time is 1.5 seconds, and setting frequency acquisition is 25 times/second) interior accelerator open degree sensor output of gathering successively;
(3.2) be used for the aperture comparator of comparison accelerator open degree signal memory cell accelerator open degree signal;
(3.3) with car intention identification module;
(3.4) be used for the BK Brake Switch signal memory cell of the BK Brake Switch amount signal of recording prescribed time period (setting-up time is 1.5 seconds, and setting frequency acquisition is 25 times/second) interior BK Brake Switch quantity sensor output of gathering successively;
(3.5) be used for the gear positions signal memory cell of the position signal of recording prescribed time period (setting-up time is 1.5 seconds, and setting frequency acquisition is 25 times/second) interior gear positions sensor output of gathering successively;
(3.6) be used for the gear positions signal comparator of comparison gear positions signal memory cell gear position signal;
The described car intention identification module of following is made following action:
---the judged result of system for recognizing lane-changing intention of driver is: have lane-changing intention, do not work with car intention identification module; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the aperture signal of aperture comparator comparison is big or small alternate, with the result of car intention identification module output is: have with car and be intended to; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the BK Brake Switch signal of storing in the BK Brake Switch signal memory cell is the switch alternate, with the result of car intention identification module output is: have with car and be intended to.
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the gear positions signal of gear positions signal comparator comparison is the height alternate, with the result of car intention identification module output is: have with car and be intended to.
The software flow pattern of system for identifying vehicle-following purpose of drivers embodiment of the present invention as shown in Figure 3.
As shown in Figure 1, system for recognizing lane-changing intention of driver embodiment, it comprises:
(1) points to the camera 1 and the image acquisition device thereof of chaufeur head from chaufeur the place ahead;
(2) vehicle information collecting device;
(3) receive the signal of image acquisition device and vehicle information collecting device output and the treater of handling 4;
Vehicle information collecting device comprises: steering handwheel angle sensor 3, steering indicating light sensor 2; Steering indicating light sensor 2 is a Boolean value output sensor, and it is arranged on the steering indicating light control key; Steering handwheel angle sensor 3 is a digital coding type angular transducer, and it is arranged on the output shaft of steering handwheel.
As shown in Figure 2, camera and image acquisition device thereof, steering handwheel angle sensor, steering indicating light sensor output signal to treater respectively.
Described treater comprises:
(3.7) be used to judge the head deflection judge module of chaufeur head deflection, the result of head deflection judge module output is: deflection left of chaufeur head or the deflection to the right of chaufeur head or the not deflection of chaufeur head;
Described head deflection judge module comprises:
(3.7.1) be used for positioning image collector input picture left eye and measure left eye and head left hand edge distance L
A left sideThe unit;
(3.7.2) be used for positioning image collector input picture right eye and measure right eye and head right hand edge distance L
RightThe unit;
(3.7.3) be used for comparison L
A left sideAnd L
RightApart from comparing unit;
(3.7.4) head deflection judging unit, the head deflection judging unit is selected following action:
---L
A left side-L
Right＞a, the result of head deflection judging unit output is: the deflection left of chaufeur head;
---L
A left side-L
Right＜-a, the result of head deflection judging unit output is: the deflection to the right of chaufeur head;
----a≤L
A left side-L
Right≤ a, the result of head deflection judging unit output is: the not deflection of chaufeur head;
In the formula: a for set on the occasion of.
The software flow pattern of head deflection judge module as shown in Figure 4.
(3.8) be used to write down the very first time memory cell that very first time steering indicating light sensor, steering handwheel angle sensor and head deflection judge module are exported the result;
(3.9) be used to write down second time memory cell that the second time steering indicating light sensor, steering handwheel angle sensor and head deflection judge module are exported the result; Differ setting-up time (3.0 seconds) between the very first time and second time;
(3.10) be used for the comparator that the comparison very first time memory cell and the second time memory cell steering handwheel angular transducer are exported the result, the result of comparator output is: steering handwheel left-handed turning or steering handwheel right-hand turning or steering handwheel do not change;
Described comparator is selected following action:
---| W
2-W
1|≤θ, the result of comparator output is: steering handwheel does not change;
---W
2-W
1＞θ, the result of comparator output is: the steering handwheel left-handed turning;
---W
2-W
1＜-θ, the result of comparator output is: the steering handwheel right-hand turning;
In the formula: W
1Be steering handwheel angular transducer output result in the very first time memory cell, W
2Be steering handwheel angular transducer output result in second time memory cell, θ for set on the occasion of.
(3.11) lane-changing intention identification module, the lane-changing intention identification module is selected following action:
---the steering indicating light sensor output result of second time is that the left steering lamp is bright, and the result of lane-changing intention identification module output is: have lane-changing intention left; Or
---the steering indicating light sensor output result of second time is that the right steering lamp is bright, and the result of lane-changing intention identification module output is: have lane-changing intention to the right; Or
---the steering indicating light sensor of first and second time output result be that steering indicating light is all not bright, and the result of comparator output is the steering handwheel left-handed turning, and the result that the lane-changing intention identification module is exported is: have lane-changing intention left; Or
---the steering indicating light sensor of first and second time output result be that steering indicating light is all not bright, and the result of comparator output is the steering handwheel right-hand turning, and the result that the lane-changing intention identification module is exported is: have lane-changing intention to the right; Or
---the steering indicating light sensor output result of first and second time is that steering indicating light is all not bright, and the result of comparator output does not change for steering handwheel, and the result of head deflection judge module output is: the deflection left of chaufeur head, and the result of lane-changing intention identification module output is: have lane-changing intention left; Or
---the steering indicating light sensor output result of first and second time is that steering indicating light is all not bright, and the result of comparator output does not change for steering handwheel, and the result of head deflection judge module output is: the deflection to the right of chaufeur head, the result of lane-changing intention identification module output is: have lane-changing intention to the right.
The software flow pattern of system for recognizing lane-changing intention of driver embodiment as shown in Figure 5.
Claims (3)
1. system for identifying vehicle-following purpose of drivers, it is characterized in that: it comprises:
(1) system for recognizing lane-changing intention of driver;
(2) vehicle information collecting device;
(3) receive the signal of vehicle information collecting device output and the treater of handling;
Vehicle information collecting device comprises: accelerator open degree sensor;
Described treater comprises:
(3.1) be used for the accelerator open degree signal memory cell of the aperture signal of interior accelerator open degree sensor output of gathering of recording prescribed time period successively;
(3.2) be used for the aperture comparator of comparison accelerator open degree signal memory cell accelerator open degree signal;
(3.3) with car intention identification module, the described car intention identification module of following is made following action:
---the judged result of system for recognizing lane-changing intention of driver is: have lane-changing intention, do not work with car intention identification module; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the aperture signal of aperture comparator comparison is big or small alternate, with the result of car intention identification module output is: have with car and be intended to.
2. system for identifying vehicle-following purpose of drivers as claimed in claim 1 is characterized in that:
Vehicle information collecting device also comprises: the BK Brake Switch quantity sensor;
Described treater also comprises:
(3.4) be used for the BK Brake Switch signal memory cell of the BK Brake Switch amount signal of interior BK Brake Switch quantity sensor output of gathering of recording prescribed time period successively;
The described car intention identification module of following is made following action:
---the judged result of system for recognizing lane-changing intention of driver is: have lane-changing intention, do not work with car intention identification module; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the aperture signal of aperture comparator comparison is big or small alternate, with the result of car intention identification module output is: have with car and be intended to; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the BK Brake Switch signal of storing in the BK Brake Switch signal memory cell is the switch alternate, with the result of car intention identification module output is: have with car and be intended to.
3. system for identifying vehicle-following purpose of drivers as claimed in claim 2 is characterized in that:
Vehicle information collecting device also comprises: the gear positions sensor;
Described treater also comprises:
(3.5) be used for the gear positions signal memory cell of the position signal of interior gear positions sensor output of gathering of recording prescribed time period successively;
(3.6) be used for the gear positions signal comparator of comparison gear positions signal memory cell gear position signal;
The described car intention identification module of following is made following action:
---the judged result of system for recognizing lane-changing intention of driver is: have lane-changing intention, do not work with car intention identification module; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the aperture signal of aperture comparator comparison is big or small alternate, with the result of car intention identification module output is: have with car and be intended to; Or
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the BK Brake Switch signal of storing in the BK Brake Switch signal memory cell is the switch alternate, with the result of car intention identification module output is: have with car and be intended to.
---the judged result of system for recognizing lane-changing intention of driver is: do not have lane-changing intention, and the gear positions signal of gear positions signal comparator comparison is the height alternate, with the result of car intention identification module output is: have with car and be intended to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101172539A CN101791982B (en) | 2010-03-02 | 2010-03-02 | System for identifying vehicle-following purpose of drivers |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101172539A CN101791982B (en) | 2010-03-02 | 2010-03-02 | System for identifying vehicle-following purpose of drivers |
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| CN101791982A true CN101791982A (en) | 2010-08-04 |
| CN101791982B CN101791982B (en) | 2012-07-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323459A (en) * | 2017-06-23 | 2017-11-07 | 东风商用车有限公司 | A kind of driving behavior recognition sensor and its recognition methods |
| CN110427850A (en) * | 2019-07-24 | 2019-11-08 | 中国科学院自动化研究所 | Driver's super expressway lane-changing intention prediction technique, system, device |
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| JP2002205630A (en) * | 2001-01-09 | 2002-07-23 | Nissan Motor Co Ltd | Braking control device |
| US6950788B2 (en) * | 2000-09-27 | 2005-09-27 | Ardeshir Faghri | Computer-implemented system and method for simulating motor vehicle and bicycle traffic |
| DE102006021177A1 (en) * | 2006-05-06 | 2007-11-08 | Bayerische Motoren Werke Ag | Method for the follow-up control of a motor vehicle |
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2010
- 2010-03-02 CN CN2010101172539A patent/CN101791982B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1195669A2 (en) * | 2000-09-27 | 2002-04-10 | Bayerische Motoren Werke Aktiengesellschaft | Method for a longitudinal control of a vehicle in which data from a navigation system is acquired |
| US6950788B2 (en) * | 2000-09-27 | 2005-09-27 | Ardeshir Faghri | Computer-implemented system and method for simulating motor vehicle and bicycle traffic |
| JP2002205630A (en) * | 2001-01-09 | 2002-07-23 | Nissan Motor Co Ltd | Braking control device |
| DE102006021177A1 (en) * | 2006-05-06 | 2007-11-08 | Bayerische Motoren Werke Ag | Method for the follow-up control of a motor vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323459A (en) * | 2017-06-23 | 2017-11-07 | 东风商用车有限公司 | A kind of driving behavior recognition sensor and its recognition methods |
| CN107323459B (en) * | 2017-06-23 | 2023-09-12 | 东风商用车有限公司 | Method for identifying driver intention identifying sensor device |
| CN110427850A (en) * | 2019-07-24 | 2019-11-08 | 中国科学院自动化研究所 | Driver's super expressway lane-changing intention prediction technique, system, device |
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| Publication number | Publication date |
|---|---|
| CN101791982B (en) | 2012-07-18 |
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