CN102074096A - Method and control device for fatigue recognition - Google Patents
Method and control device for fatigue recognition Download PDFInfo
- Publication number
- CN102074096A CN102074096A CN2010105564924A CN201010556492A CN102074096A CN 102074096 A CN102074096 A CN 102074096A CN 2010105564924 A CN2010105564924 A CN 2010105564924A CN 201010556492 A CN201010556492 A CN 201010556492A CN 102074096 A CN102074096 A CN 102074096A
- Authority
- CN
- China
- Prior art keywords
- tired
- information
- action
- vehicle
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000007613 environmental effect Effects 0.000 claims description 45
- 230000009471 action Effects 0.000 claims description 43
- 230000008569 process Effects 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 206010041349 Somnolence Diseases 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008676 import Effects 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 206010057315 Daydreaming Diseases 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 206010016256 fatigue Diseases 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The invention relates to a method and a control device for fatigue recognition, and in particular, provides a method for the fatigue recognition of vehicle drivers. The methodcomprises the step of receiving information with respect to the vehicle steering motion (141, 142) and environment information (144, 145, 146), wherein the environment information (144, 145, 146) enables the prediction of the transverse movement of the vehicle, and the transverse movement is caused by the interference exteriorly acted on the vehicle. With the consideration of the environment information, the information with respect to the steering motion is evaluated so as to determine whether the information with respect to the steering motion indicates the fatigue of the driver.
Description
Technical field
The present invention relates to a kind of method, control corresponding device and computer program of tired identification.
Background technology
Scientific research for example described in http://www.angurten.de/news/321-muedigkeit-am-steuer, is thought, 10 to percent 20 severe traffic accidents is owing to excessively tired and absent-minded.Therefore, the current high-end vehicle that appeared at of system that is used for driver status identification.
The current system that is used to obtain driver status usually is based on following method, and this method detects lane markings by preposition camera or monitors driver's the behavior that turns to by steering angle sensor.For example, in " Proceedings of the 2007 IEEE IntelligentVehicles Symposium Istanbul; Turkey; June 13-15; 2007, Evaluation of aSmart Algorithm for Commercial Vehicle Driver Drowsiness Detectionvon Azim Eskandarian und Ali Mortazavi ", this method is described.In these two methods, the scrambling of paired pulses formula (" dead band incident (Dead-Band-Event) ") is analyzed.
Summary of the invention
Under this background, by introduction of the present invention according to the described method that is used for tired identification of independent claims, use the control device and the corresponding computer programs product of the method.Each dependent claims and following instructions provide favourable design proposal.
The present invention is based on following understanding, promptly can discern and assist tired identification by navigational system and environment.Can weaken driver status identification thus with respect to by the sensitivity of external influence in the interference of vehicle.These external disturbance especially can be meant wind and eddy current.Can be set as the navigational system of sensor and the environmental sensor of vehicle according to the present invention by analyzing in the vehicle, reduce the interference sensitivity of the method that is used for tired identification.Can make full use of this point at this, promptly current navigational system is also calculated the most probable path of vehicle under the situation of not enabling route guidance.
According to the system that is used for tired identification of the present invention, can pass through to use navigational system and other environmental sensor, more insensitive such as radar, video recording or light detection and ranging with respect to environmental interference, and work more reliably thus.For this reason, can point out for example to have the import and export in place that strong blast changes such as bridge, tunnel by this navigational system, and in the algorithm of tired identification, consider these places.If guider has communication interface, then can also consider wind direction and wind-force.Equally, advantageously, can in this algorithm, use the analysis of the revolution signal in the navigational system.
By environmental sensor can detect and consider equally vehicle especially truck sail and roll away from lee or eddy current into.
The present invention has created the method for the vehicle driver being carried out tired identification, and it may further comprise the steps: the information that receives relevant Vehicular turn action by first interface; By the second interface reception environment information, wherein environmental information makes the advance notice vehicle transverse movement occur becomes possibility, and wherein transverse movement is caused by the interference volume from external action in vehicle; And under the situation that environmental information is taken into account, assess the information of relevant go to action, so that determine whether the information of relevant go to action shows that the driver's is tired.
For example, the method can be arranged in information system for driver or the drive assist system.By means of the method, can analyze the motion of driver's go to action, consequent vehicle or the driving trace position of consequent vehicle in the process of moving, and therefrom draw driver's wholwe-hearted degree and tired or murky.The information of relevant Vehicular turn action can comprise the time curve of movement velocity of time curve, bearing circle of time curve, the bearing circle deflection of steering angle and/or the time curve of driving trace position.The information of relevant Vehicular turn action has provided following prompting, promptly for vehicle is maintained on the track, the driver is with speed how soon, great strength and which kind of carries out go to action in proper order with.The interference volume that works can be the power of side action in vehicle, and it for example can be changed and be caused by fitful wind or emergent blast.Interference volume can constitute in this wise, and promptly it needs driver's compensation go to action so that vehicle is maintained on the track.Interference volume can be predictable incident.For example, interference volume can appear at predetermined position in the trend of road regularly.Can be this situation for example in bridge, tunnel or definite terrain configuration place.Such position can with the interference volume that usually occurs there, the crosswind that for example has definite direction and size is provided as environmental information together.In the case, corresponding environmental information can be stored in the database of map data and so on of navigational system for example and can therefrom read.Interference volume also can be caused by the incident that does not occur in the fixed location.What the pressure that for example is in overtaking process and links to each other therewith changed can be this situation.Such incident can be discerned by the environmentally sensitive device that is arranged on the vehicle.By means of suitable analytical approach, the interference volume that can estimated expected causes by the incident of having discerned.At this, for example can consider vehicle and by means of speed, size, the quality of the object that environmental sensor obtained, and with distance and relative velocity through the object of vehicle.This interference volume can pre-determine by means of suitable algorithm or by means of look-up table before its real appearance.Environmental information can additionally comprise the information of relevant time point or time window, predicts or detect the appearance of transverse movement or interference volume on this time point or in the time window.According to the mode that obtains transverse movement, the time parameter that is distributed can be in the future or the past.Environmental information can be configured to adjust one or more threshold value, and this threshold value is configured to the go to action that assess driver is carried out.By the method, can avoid the driver that the reaction of interference volume is assessed mistakenly, for example, careless or by scrambling tired and pulsed in the go to action that causes.Can use known method for truly driver's state being assessed, just as for example described in " Proceedings of the2007 IEEE Intelligent Vehicles Symposium Istanbul; Turkey; June13-15; 2007, Evaluation of a Smart Algorithm for Commercial VehicleDriver Drowsiness Detection von Azim Eskandarian und Ali Mortazavi ".According to the present invention, set threshold value can depend on situation and adjusts in the known method, so that weaken the disturbing effect of interference volume or utilize the influence of interference volume, becomes possibility so that driver status effectively assessed.Equally, if in the period that go to action distributed, discern or predict or may discern or predict the appearance of transverse movement or interference volume, then can weaken, not consider or this go to action of ground consideration that only weakens.
Therefore, transverse movement occurs, then can not assess or only assess to reduction the information of relevant go to action if environmental information shows.Thus, can avoid the error understanding of go to action that the driver is implemented.
According to embodiment, the time curve and the tired model of go to action can be compared continuously, to determine continuous tired index.At this, each in the tired index can both be with doing the tired index of driver in period time curve, that distribute to each tired index of go to action.Under the situation of considering environmental information, can determine based on tired index whether the information of relevant go to action shows driver's tired degree.Tired model can comprise feature go to action curve, occurs this curve when the driver is tired or absent minded usually.For example, tired model can define has the different thresholding that has distributed time window, and these threshold values make the assessment to the time curve of go to action become possibility.Continuous comparison can be carried out in time successively or overlappingly.Also can just start new comparison up to the tired tired index that obtains indicating the driver according to tired model.
According to the present invention, when if specific tired index is assigned to a period, and for this period, environmental information shows and transverse movement occurs, then do not assess or tired tired index that only whether assessment this information that disturbed, that be used for determining relevant go to action in reduction ground shows the driver.Therefore, this tired index of being disturbed can be based on tired model and the tired index of indicating the driver.In fact, the driver is not tired and just the appearance of transverse movement is reacted.
For example, tired index can be combined into tired index.Driver tired can depend on tired index and threshold value relatively come to determine.For example, can on the duration of determining, carry out addition or integration, and when tired index arrives or surpass predetermined value, the driver can be included into fatigue tired index.
When go to action showed driver tired, the method according to this invention can comprise provided the step of caution signal with alerting driver.This caution signal for example can show as or trigger visual signal, audible signal or haptic signal.
According to the present invention, the information of relevant go to action can be based on the driving trace position of steering angle, turning velocity and/or vehicle.The driving trace position can be for example obtains by obtaining to the distance at edge, track.
The variation that environmental information can make advance notice act on the blast of vehicle becomes possibility.Especially can predict the fitful wind of side action in vehicle.In addition, environmental information for example can comprise to by vehicle the prompting in (windkritisch) highway section of changing of the wind of process.In the case, environmental information can be provided by the information that provided by navigational system.By the data of navigational system, can determine in advance when vehicle can be through the highway section of wind transformation.
Alternatively or additionally, environmental information can comprise the prompting to the process of object.This object can be another vehicle or road edge.In the case, environmental information can be provided by the information that provided by environmental sensor.Can be to analyzing by the data that environmental sensor provided, so that realize object identification and realize the distance and the relative velocity of the relative object of discerning.
Environmental information can also be represented by the information that gyrostat provided that is arranged in the vehicle.By means of by the signal that gyrostat provided, for example can recognition reaction in the acceleration of the pulsed of vehicle and can when go to action is assessed, consider this acceleration.
In addition, the present invention has also created the device that is configured to implement or realize the step of the method according to this invention.Can also come fast and solve effectively the task on formation basis of the present invention by the enforcement modification with device form of the present invention.
Device can be understood that electric device here, and its processes sensor signal is also exported control signal in view of the above.This device can have interface, and it can be with hardware mode and/or software mode structure.In the structure with hardware mode, interface can be the part of for example so-called ASIC system, and this system comprises the various function of device.Yet also possible is that interface is distinctive integrated circuit or is made of discrete assembly at least in part.In the structure with software mode, interface can be a software module, and it for example can other software modules be on the microprocessor together.
The favourable computer program that has program code in addition, described program code is stored on the machine-readable medium, in semiconductor memory, hard disk poke device or optical memory, and be used for when program is moved on control device, implement method according to one of aforementioned embodiments.
Description of drawings
To exemplarily explain the present invention in detail according to appended accompanying drawing below.
In the accompanying drawing:
Fig. 1 shows the circuit block diagram of embodiments of the invention;
Fig. 2 shows the process flow diagram of embodiments of the invention; And
Fig. 3 shows according to the supervision that turn to behavior of embodiments of the invention to the driver.
Embodiment
In following description to the preferred embodiment of the present invention, for the element that plays similar effect described in the different figure, adopt identical or similar Reference numeral, wherein saved repeatability description to these elements.
Fig. 1 shows the principle structure of system, and according to embodiments of the invention, this system improves based on driving trace or based on the tired identification of steering angle by navigation data and/or the data that come from environmental sensor.
This system comprises and is used for sleepy module identified 102, and it has core algorithm 104 and the driver's interface 106 that is used for tired identification, and this interface 106 can be configured and be people-machine-interface (HMI).Module 102 is connected with indicator 112, and this indicator can be configured to screen (display), loudspeaker or haptic device.
In addition, this system also has the expansion 120 of known tired detection, this expansion 120 has one or more environmental sensor 121, navigational system 22 and map datum 123, for example gps system.For example can service range sensor 131 and/or be used for the sensing device 133 of object identification as environmental sensor 121, wherein range sensor 131 can obtain the distance of the vehicle that for example travels to the place ahead.Navigational system 122 can have and is used to locate device 135 and the communication module of adjusting with map 137.Data can be provided to navigational system 122 from map datum 123.
Be used for sleepy module identified 102 and can be configured to receive steering angle 141 and curb position 142.Curb position 142 can for example obtain and be provided to module 102 to be used for sleepy degree identification by means of environmental sensor 121.
Therefore, the system architecture shown in Fig. 1 can be made of part 102 and the supplementary device 120 according to the present invention corresponding to prior art.Use the part 102 of algorithm to be made of controller with the nucleus module 104 that is used for tired identification and module 106, wherein nucleus module 104 is analyzed the driving trace path position of steering angle and/or vehicle, and module 106 is handled the output of giving the user.Typically, this output can be on display, by loudspeaker or 112 realizations of sense of touch output device.
To algorithm 104 following adjustment that are used for tired identification, promptly adjust decision threshold under the situation by the caused external disturbance of wind of advance notice, wherein the blast that for example is based on the highway section position relevant with wind by the caused external disturbance of wind changes or is changed by the caused blast of environment object.Fig. 3 shows exemplary dead band incident and corresponding decision threshold.
According to embodiments of the invention, generate object tabulation 144 by means of radar or video recording system, this radar or video recording system are obtained vehicle and its relative position, relative velocity and the size of slowly travelling.Depend on the relative velocity, distance of object and size and dope the time range and the size of possible interference.For the calculating of tired index, the dead band incident that is detected in the scope between only reduction ground is considered or do not consider at this moment.In addition, the value of such dead band incident that detects is can be for example deleted or reduce before further handling.
From ground Figure 123 of numeral, extract relevant tunnel, bridge or to the information of the regional form of wind sensitivity, and predict the time range of possible interference equally.As under the situation of the interference that produces by vehicle, the dead band incident that is occurred in the scope between only reduction ground is considered or do not consider at this moment.Utilization is to the understanding of current wind direction and wind speed, and prediction can further be improved.
Gyrostat can be replaced ground or use as a supplement, so that detection interference volume, the i.e. acceleration of pulsed for example, it acts on the vehicle, and with the reaction relevant, that postpone in time on the bearing circle correspondingly in the calculating of the tired index of introducing with weakening.
Fig. 2 shows according to an embodiment of the invention, is used for the vehicle driver is carried out the process flow diagram of the method for tired identification.The method can for example be implemented by the device shown in Fig. 1.In step 231, receive the information of relevant Vehicular turn action.At this, these information can be steering angle or the position of vehicle in the track.In step 233, can reception environment information.Can analysis environments information, so that make advance notice become possibility by the transverse movement of the caused vehicle of interference volume.For example, transverse movement can cause owing to fitful wind.Environmental information for example can be provided by navigational system, and includes the information of closing the special highway section that vehicle will pass through subsequently.Environmental information also can be provided and be comprised the data of relevant object by the environmentally sensitive device, and these objects can cause the interference volume that acts on the vehicle.These environmental informations are with analyzed and be used to the go to action of assess driver in step 235.Can determine based on assessment, whether the driver is classified as tired go to action.If this is the case, then can export caution signal, for example to be used to trigger loudspeaker.Environmental information so can be introduced in the appraisal procedure 235, promptly when driver's state is assessed, do not considered or only restrictedly consider such period, promptly in this period, turn to action to be subjected to outside disturbing effect.For the state of assess driver, can introduce tired model, as described in Figure 3.
Fig. 3 shows according to an embodiment of the invention, the driver is turned to the supervision of behavior.Shown in chart in, what mark and draw on the horizontal ordinate is the time, what mark and draw on the ordinate is bearing circle speed.Bearing circle speed can illustrate, the driver is with speed steering wheel rotation how soon.In this chart, marking and drawing has the first threshold 301 and second threshold value 302.First threshold 301 defines the width of range of tolerable variance 305.Second threshold value 302 defines minimum range of reaction.In this chart, drawn the time curve of bearing circle speed 310.In addition, first state 311, second state 312 and the third state 313 been have also have been marked and drawed.
On the very first time of mark first state 311 point, bearing circle speed 310 is reduced to first threshold below 301.First state 311 limits bearing circle speed 310 in tolerance 305.This is corresponding to the beginning in possible dead band.The minimum length in time 321 in dead band can be determined in advance.If bearing circle speed 310 still is in the range of tolerable variance 305, then trigger second state 312 after the duration 321 finishes.Second state 312 limits and has arrived the shortest duration, and has therefore discerned the dead band.At later time point, bearing circle speed 310 is left range of tolerable variance 305 in the mode of crossing first threshold 301.Trigger the third state 313 thus.The tolerance that the third state 313 label orientation dish speed 310 are crossed by 301 marks of first threshold.After crossing first threshold 301, will wait for range of reaction.Range of reaction is limited by second threshold value 302.Maximum wait time will be limited by the maximum length in time 323 of the stage of reaction.At time point 325, range of reaction is exceeded.Draw thus, the dead band incident has taken place.
Therefore, in order to discern the dead band incident, can check in first step, whether bearing circle speed 310 has entered in the range of tolerable variance 305, promptly whether reduces to threshold value below 301 according to present embodiment.If this is the case, then can check in second step, whether bearing circle speed 310 came out from range of tolerable variance 305 again before the duration 321 finishes, and promptly whether surmounted first threshold 301 according to present embodiment.If this is the case, then begin with first step again.If bearing circle speed 310 was not left range of tolerable variance 305 before the duration 321 finishes, then in third step, to check, when bearing circle speed 310 leaves range of tolerable variance 305.If bearing circle speed 310 is left range of tolerable variance 305, then in the 4th step, check, bearing circle speed 310 whether before maximum length in time 323 finishes through second threshold value 302, promptly whether surmount this threshold value according to present embodiment.Duration 321,323 can obtain by means of corresponding time measurement device, and time measurement device is by being started through corresponding threshold value 301,302 by bearing circle speed 310.
Between first state 311 and second state 312, the driver can be in the drowsy stage.In this stage, he does not implement the go to action revised.From the third state, the driver is in such stage, although promptly recognize the necessity of the go to action of correction, yet no longer can implement without a doubt, to such an extent as to may cause the huge deviation that turns to.Can indicate in the dead band incident of time point 325 places identification that the driver's is tired or murky.The appearance of described dead band incident can accumulate and be integrated into tired index in time.When if tired index exceeds threshold value, then tired incident is identified, and can provide caution signal so that make the driver notice his state.
Embodiment described and shown in the figure only selects as example.Different embodiment can be fully or is mutually combined according to separately feature.An embodiment also can replenish by the feature of another embodiment.In addition, steps of a method in accordance with the invention can be implemented repeatedly and with the order different with described order.If embodiment be included between first feature and second feature " with/or " be connected, then this can be interpreted as, according to an embodiment, this embodiment had both had first feature, has second feature again, and according to another embodiment, this embodiment only has first feature, is exactly only to have second feature.
Claims (13)
1. be used for the driver of vehicle is carried out the method for tired identification, it may further comprise the steps:
Receive the information (141,142) of the go to action of (231) relevant described vehicle by first interface;
Receive (233) environmental information (144,145,146) by second interface, wherein said environmental information makes the described vehicle of advance notice transverse movement occur becomes possibility, and wherein, described transverse movement is caused by the interference volume from external action in described vehicle; And
Under the situation of considering described environmental information, the described information of the relevant described go to action of assessment (235) is so that whether the described information of the relevant described go to action of decision shows that described driver's is tired.
2. method according to claim 1 wherein, transverse movement occurs if described environmental information (144,145,146) shows, does not then assess the described information (141,142) of relevant described go to action or only reduction ground assessment.
3. according to each described method in the aforementioned claim, the time curve and the tired model of described go to action are compared continuously, to determine continuous tired index, wherein, in the described tired index each is with opposing the tired index of described driver in the period described time curve, that distribute to each tired index of described go to action, and wherein, under the situation of considering described environmental information, determine based on described tired index whether the described information of relevant described go to action shows that described driver's is tired.
4. method according to claim 3, wherein, if specific tired index is assigned to a period, and for this period, described environmental information (144,145,146) show and transverse movement occurs, then do not assess or tired tired index that only whether assessment described information that disturbed, that be used for determining relevant described go to action in reduction ground shows described driver.
5. according to claim 3 or 4 described methods, wherein, described tired index is combined into tired index, and depend on described tired index and threshold value come relatively to determine that described driver's is tired.
6. according to each described method in the aforementioned claim, if described go to action shows the tired of described driver, then described method has provides caution signal to warn described driver's step.
7. according to each described method in the aforementioned claim, wherein, the described information (141,142) of relevant described go to action is based on the driving trace position of steering angle, turning velocity and/or described vehicle.
8. according to each described method in the aforementioned claim, wherein, the change that described environmental information (144,145,146) makes advance notice act on the blast of described vehicle becomes possibility.
9. according to each described method in the aforementioned claim, wherein, described environmental information (146) comprise to by described vehicle the prompting in the highway section that changes of the wind of process.
10. according to each the described method in the aforementioned claim, wherein, described environmental information (144) comprises the prompting to the process of mobile object.
11. according to each described method in the aforementioned claim, wherein, described environmental information (144,145,146) expression is by navigational system, environmental sensor and/or be arranged on the information that gyrostat provided in the vehicle.
12. device, it is constructed to implement the described step according to each described method in the claim 1 to 11.
13. have the computer program of program code, described program code is stored on the machine-readable medium, to be used for when described program is moved on control device, implements according to each described method in the claim 1 to 11.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009046913A DE102009046913A1 (en) | 2009-11-20 | 2009-11-20 | Method for detecting fatigue of driver of e.g. lorry during driving, involves evaluating information about steering movement and surrounding information for determining whether information about steering movement indicates fatigue of driver |
| DE102009046913.3 | 2009-11-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102074096A true CN102074096A (en) | 2011-05-25 |
| CN102074096B CN102074096B (en) | 2014-04-02 |
Family
ID=43901811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010556492.4A Active CN102074096B (en) | 2009-11-20 | 2010-11-18 | Method and control device for fatigue recognition |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN102074096B (en) |
| DE (1) | DE102009046913A1 (en) |
| FR (1) | FR2952887B1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192711A (en) * | 2012-01-09 | 2013-07-10 | 罗伯特·博世有限公司 | Method for operating a vehicle |
| CN103600745A (en) * | 2013-11-19 | 2014-02-26 | 四川长虹电器股份有限公司 | Safety navigation system for preventing fatigue driving |
| CN104724123A (en) * | 2013-12-19 | 2015-06-24 | 罗伯特·博世有限公司 | Method for ascertaining the stress level of the driver |
| CN105073474A (en) * | 2013-03-15 | 2015-11-18 | 本田技研工业株式会社 | Coordinated vehicle response system and method for driver behavior |
| CN107680338A (en) * | 2017-11-06 | 2018-02-09 | 北京经纬恒润科技有限公司 | A kind of method for detecting fatigue driving and device |
| CN110211335A (en) * | 2015-01-19 | 2019-09-06 | 罗伯特·博世有限公司 | The method and apparatus that the microsleep of driver used for vehicles is identified |
| CN111301429A (en) * | 2018-12-12 | 2020-06-19 | 罗伯特·博世有限公司 | Method for determining fatigue of a driver and corresponding device |
| CN111661040A (en) * | 2020-06-18 | 2020-09-15 | 吉林大学 | Slow-moving safety system and method at medium and low speed |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10086697B2 (en) | 2011-12-22 | 2018-10-02 | Volkswagen Ag | Method and device for fatigue detection |
| CN103253187B (en) * | 2013-05-30 | 2015-07-22 | 苏州福丰科技有限公司 | Method of warning fatigue driving |
| RS20140182A1 (en) | 2014-04-14 | 2015-10-30 | Novelic D.O.O. | Radar sensor for detection of driver’s drowsiness that operates in the millimeter wave frequency range and operational method thereof |
| DE102014018620A1 (en) * | 2014-12-13 | 2016-06-16 | Wabco Gmbh | Method, control device and emergency braking system for outputting an emergency braking signal in a self-propelled vehicle |
| KR101825787B1 (en) | 2015-10-05 | 2018-02-07 | 주식회사 만도 | System for Warning Sleepiness of Driver and Method Thereof |
| US10710594B2 (en) | 2016-12-28 | 2020-07-14 | Faurecia Automotive Seating, Llc | Occupant-status prediction system |
| CN114261396B (en) * | 2021-12-31 | 2024-06-04 | 重庆长安汽车股份有限公司 | Processing method for relieving driver fatigue driving and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0048492A2 (en) * | 1980-09-22 | 1982-03-31 | Nissan Motor Co., Ltd. | Drowsiness alarm system for a vehicle |
| US4611199A (en) * | 1983-02-18 | 1986-09-09 | Nissan Motor Company | Alarm system and method for sensing a stand-by state in a driver drowsiness detection system |
| US5900819A (en) * | 1998-04-21 | 1999-05-04 | Meritor Heavy Vehicle Systems, Llc | Drowsy driver detection system |
| CN1978267A (en) * | 2005-12-09 | 2007-06-13 | 现代自动车株式会社 | Method for controlling vehicle |
| US20090021356A1 (en) * | 2005-06-09 | 2009-01-22 | Daimler Ag | Method and Device for Recognizing Tiredness |
| WO2009010605A1 (en) * | 2007-07-18 | 2009-01-22 | Habermeyer Kratzer Axel Ricard | Drowsiness alert system |
| CN101692980A (en) * | 2009-10-30 | 2010-04-14 | 吴泽俊 | Method for detecting fatigue driving |
| JP2010146209A (en) * | 2008-12-17 | 2010-07-01 | Toyota Motor Corp | Drowsiness detection device and drive control device using the same |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3482166B2 (en) * | 1999-12-08 | 2003-12-22 | 本田技研工業株式会社 | Vehicle operating status monitoring device |
| JP4711826B2 (en) * | 2003-11-30 | 2011-06-29 | ボルボ テクノロジー コーポレイション | Method and system for recognizing driver failure |
| JP4259357B2 (en) * | 2004-03-12 | 2009-04-30 | 三菱ふそうトラック・バス株式会社 | Vehicle running state determination device |
| US7468673B2 (en) * | 2006-06-23 | 2008-12-23 | Delphi Technologies, Inc. | System and method for determining whether a vehicle operator has an impaired cognitive state |
-
2009
- 2009-11-20 DE DE102009046913A patent/DE102009046913A1/en active Pending
-
2010
- 2010-11-18 FR FR1059462A patent/FR2952887B1/en active Active
- 2010-11-18 CN CN201010556492.4A patent/CN102074096B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0048492A2 (en) * | 1980-09-22 | 1982-03-31 | Nissan Motor Co., Ltd. | Drowsiness alarm system for a vehicle |
| US4611199A (en) * | 1983-02-18 | 1986-09-09 | Nissan Motor Company | Alarm system and method for sensing a stand-by state in a driver drowsiness detection system |
| US5900819A (en) * | 1998-04-21 | 1999-05-04 | Meritor Heavy Vehicle Systems, Llc | Drowsy driver detection system |
| US20090021356A1 (en) * | 2005-06-09 | 2009-01-22 | Daimler Ag | Method and Device for Recognizing Tiredness |
| CN1978267A (en) * | 2005-12-09 | 2007-06-13 | 现代自动车株式会社 | Method for controlling vehicle |
| WO2009010605A1 (en) * | 2007-07-18 | 2009-01-22 | Habermeyer Kratzer Axel Ricard | Drowsiness alert system |
| JP2010146209A (en) * | 2008-12-17 | 2010-07-01 | Toyota Motor Corp | Drowsiness detection device and drive control device using the same |
| CN101692980A (en) * | 2009-10-30 | 2010-04-14 | 吴泽俊 | Method for detecting fatigue driving |
Non-Patent Citations (1)
| Title |
|---|
| AZIM ESKANDARIAN, ALI MORTAZAVI: "Evaluation of a Smart Algorithm for Commercial Vehicle Driver Drowsiness Detection", 《PROCEEDINGS OF THE 2007 IEEE INTELLIGENT VEHICLES SYMPOSIUM》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192711A (en) * | 2012-01-09 | 2013-07-10 | 罗伯特·博世有限公司 | Method for operating a vehicle |
| CN105073474A (en) * | 2013-03-15 | 2015-11-18 | 本田技研工业株式会社 | Coordinated vehicle response system and method for driver behavior |
| CN105073474B (en) * | 2013-03-15 | 2017-12-19 | 本田技研工业株式会社 | For the vehicle response system and method for the coordination of driving behavior |
| CN103600745A (en) * | 2013-11-19 | 2014-02-26 | 四川长虹电器股份有限公司 | Safety navigation system for preventing fatigue driving |
| CN103600745B (en) * | 2013-11-19 | 2016-06-22 | 四川长虹电器股份有限公司 | A kind of navigation safety system for preventing fatigue driving |
| CN104724123A (en) * | 2013-12-19 | 2015-06-24 | 罗伯特·博世有限公司 | Method for ascertaining the stress level of the driver |
| CN110211335A (en) * | 2015-01-19 | 2019-09-06 | 罗伯特·博世有限公司 | The method and apparatus that the microsleep of driver used for vehicles is identified |
| CN110211335B (en) * | 2015-01-19 | 2021-12-17 | 罗伯特·博世有限公司 | Method and device for detecting a microsleep of a driver of a vehicle |
| CN107680338A (en) * | 2017-11-06 | 2018-02-09 | 北京经纬恒润科技有限公司 | A kind of method for detecting fatigue driving and device |
| CN107680338B (en) * | 2017-11-06 | 2019-08-06 | 北京经纬恒润科技有限公司 | A kind of method for detecting fatigue driving and device |
| CN111301429A (en) * | 2018-12-12 | 2020-06-19 | 罗伯特·博世有限公司 | Method for determining fatigue of a driver and corresponding device |
| CN111301429B (en) * | 2018-12-12 | 2024-06-04 | 罗伯特·博世有限公司 | Method for determining fatigue of a driver and corresponding device |
| CN111661040A (en) * | 2020-06-18 | 2020-09-15 | 吉林大学 | Slow-moving safety system and method at medium and low speed |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2952887A1 (en) | 2011-05-27 |
| CN102074096B (en) | 2014-04-02 |
| FR2952887B1 (en) | 2015-07-17 |
| DE102009046913A1 (en) | 2011-05-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102074096B (en) | Method and control device for fatigue recognition | |
| US11878683B1 (en) | Automated system and method for modeling the behavior of vehicles and other agents | |
| CN103303306B (en) | The unsafe condition just occurring is made warning method to vehicle driver | |
| CN111137284B (en) | Early warning method and early warning device based on driving distraction state | |
| JP5939357B2 (en) | Moving track prediction apparatus and moving track prediction method | |
| US9393958B2 (en) | Method and system for validating information | |
| US8751157B2 (en) | Method and device for determining the position of a vehicle on a carriageway and motor vehicle having such a device | |
| US9436879B2 (en) | Method for recognizing traffic signs | |
| US8306269B2 (en) | Lane recognition device | |
| US20140297172A1 (en) | Safety device for motor vehicles | |
| US20160217688A1 (en) | Method and control and detection unit for checking the plausibility of a wrong-way driving incident of a motor vehicle | |
| EP2691741B1 (en) | Driving support system, driving support method and computer program | |
| CN105518761A (en) | Method and control and detection device for confirming the plausibility that a driver of a motor vehicle is driving the wrong way along a carriageway | |
| CN101243330A (en) | Method for the detection of a traffic zone | |
| CN112654892B (en) | Method for creating a map of the environment of a vehicle | |
| CN104176055A (en) | Apparatus and method for detecting a critical driving situation of a vehicle | |
| JP2011175368A (en) | Vehicle control apparatus | |
| CN104203704A (en) | Method and system for assessment of driver behaviour during driving of vehicles | |
| JP2019197399A (en) | Route determination device of vehicle | |
| JP2012256241A (en) | Course evaluation device and course evaluation method | |
| JP2011175367A (en) | Vehicle control apparatus | |
| US10423166B2 (en) | Method and apparatus for furnishing a signal for operating at least two vehicles along a first trajectory | |
| KR20170067495A (en) | Apparatus for preventing car collision and method thereof | |
| CN113920734B (en) | Lane change early warning method based on logistic model | |
| WO2011155043A1 (en) | Surrounding condition prediction device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |