CN103183029A - Vehicle driving state monitoring system and method - Google Patents
Vehicle driving state monitoring system and method Download PDFInfo
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- CN103183029A CN103183029A CN201110456023XA CN201110456023A CN103183029A CN 103183029 A CN103183029 A CN 103183029A CN 201110456023X A CN201110456023X A CN 201110456023XA CN 201110456023 A CN201110456023 A CN 201110456023A CN 103183029 A CN103183029 A CN 103183029A
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Abstract
A vehicle driving state monitoring system, which is applied to a vehicle composed of a vehicle body and a steering wheel component, comprises an imaging unit including a driving imaging module used for generating an imaging signal of a driver, an acceleration sensing unit used for measuring and generating a side acceleration signal corresponding to the vehicle body, a steering angle sensing unit used for sending and generating a steering angle signal corresponding to the vehicle body, a maintenance torque sensing unit used for measuring and generating a maintenance torque signal allowing the maintenance torque to be correspondingly exerted on the steering wheel component, a warning unit arranged in the vehicle body, and a processing unit allowing the warning unit to give out warning when a calculated ultimate danger degree value is larger than a pre-arranged danger degree value. According to the invention, the driving safety is ensured through the double confirmation of the imaging and driving signals.
Description
Technical field
The present invention relates to a kind of monitored control system, particularly relate to a kind of vehicle driving state monitored control system and method.
Background technology
Existing a kind of vehicle driving state system, be to see through the sign image that an image unit is taken the driver, and utilize a control unit that is electrically connected this image unit to judge according to image whether the driver dozes off, as judge driver's eyes closed state or the unusual mobile status of head etc., yet this system produces erroneous judgement because of driver's body action easily.
Therefore, existing another kind of vehicle driving state system sees through a vehicle body signaling module measuring vehicle motion physical quantity, as the transversal displacement of vehicle or steering angle etc., and the control unit that utilizes this vehicle body signaling module of electrical connection goes out the transfer function of a corresponding driving model according to described motion Physical Quantity Calculation, at last the transfer function of this driving model is compared with default driving comparison function, whether produced by the driver who dozes off and draw present driving condition, yet this system also can produce erroneous judgement because of driver's flip-flop operation behavior.
Summary of the invention
The objective of the invention is is providing a kind of double acknowledge by image and train signal to guarantee vehicle driving state monitored control system and the method for traffic safety.
Vehicle driving state monitored control system of the present invention, be applied to a vehicle, this vehicle comprises a vehicle body and a steering wheel assembly, this monitored control system comprise an image unit, acceleration sensing unit, corner sensing cell, one keep moment sensing cell, a caution unit, and processing unit.
This image unit comprises a driving image module of taking to produce driver's signal of video signal towards the driver, a lateral acceleration signal of the lateral acceleration of corresponding this vehicle body is measured and produced in this acceleration sensing unit, a steering angle signal of the steering angle of corresponding this vehicle body is measured and produced to this corner sensing cell, this is kept the moment sensing cell and is arranged at this steering wheel assembly, and measure and produce corresponding of moment of keeping who puts on this steering wheel assembly and keep torque signals, indication is kept moment and is referred to keep when this vehicle travels and not influenced and the moment of beat by road surface friction force, this caution unit is arranged in this vehicle body, this processing unit is electrically connected this image unit respectively, this acceleration sensing unit, this corner sensing cell, this keeps moment sensing cell and this caution unit, and calculate an image hazard level numerical value and a driving hazard level numerical value respectively, and go out a final hazard level numerical value according to this image hazard level numerical value and this driving hazard level numerical calculation, and order about this caution unit in this final dangerous numerical value during greater than a default hazard level numerical value and produce caution, this image hazard level numerical value is to calculate according to this driver's signal of video signal, and this driving hazard level numerical value is according to this lateral acceleration signal, this steering angle signal and this are kept the moment calculated signals and are drawn.
Vehicle driving state monitored control system of the present invention, this image unit comprises that also one is arranged at this vehicle to take and to produce the track image module of a track signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal and this track signal of video signal.
Vehicle driving state monitored control system of the present invention, this image unit comprises that also one is arranged at this vehicle to take and to produce the headstock image module of a headstock signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal.
Vehicle driving state method for supervising of the present invention, be applied to described vehicle driving state monitored control system, this method for supervising is to calculate this image hazard level numerical value by this processing unit according to driver's signal of video signal that this driving image module produces, and in this image hazard level numerical value during greater than a default value, with present lateral acceleration, steering angle and keep moment and be stored to respectively in the Database Unit that is electrically connected this processing unit, and after the computing respectively with a lateral acceleration threshold parameter, deflection angle speed threshold parameter and one keep moment threshold parameter and represent, after then this processing unit receives this that keep the moment sensing cell from this and keeps torque signals, keep moment threshold parameter with this and carry out computing, keep the moment parameter sets to draw one, and behind this processing unit reception this steering angle signal from this corner sensing cell, carry out computing with this deflection angle speed threshold parameter, to draw a deflection angle speed parameter set, then behind this processing unit reception this lateral acceleration signal from this acceleration sensing unit, carry out computing with this lateral acceleration threshold parameter, to draw a lateral acceleration parameter sets, then this processing unit is kept the moment parameter sets according to this, this set of deflection angle speed parameter and this lateral acceleration parameter sets, calculate this driving hazard level numerical value, after then this processing unit reception is driven this driver's signal of video signal of image module from this, calculate this image hazard level numerical value, this processing unit goes out this final hazard level numerical value according to this driving hazard level numerical value and this image hazard level numerical calculation at last, and orders about this caution unit in this final dangerous numerical value during greater than this default hazard level numerical value and produce caution.
Vehicle driving state method for supervising of the present invention, in step 3, behind this processing unit reception this steering angle signal from this corner sensing cell, indicator state parameter according to this steering angle signal, this deflection angle speed threshold parameter and a corresponding indicator state carries out computing, to draw this deflection angle speed parameter set.
Vehicle driving state method for supervising of the present invention, in step 4, behind this processing unit reception this lateral acceleration signal from this acceleration sensing unit, indicator state parameter according to this lateral acceleration signal, this lateral acceleration threshold parameter and a corresponding indicator state carries out computing, to draw this lateral acceleration parameter sets.
Vehicle driving state method for supervising of the present invention, in step 7, this processing unit is according to this driving hazard level numerical value and the product of first scale parameter and the product of this image hazard level numerical value and second scale parameter, add the General Logistics Department and calculate this final hazard level numerical value, and order about this caution unit in this final dangerous numerical value during greater than this default hazard level numerical value and produce caution.
Vehicle driving state method for supervising of the present invention, this processing unit receives from this driver's signal of video signal of this driving image module, from behind this track signal of video signal of this track image module and the headstock signal of video signal from a headstock image module, calculates this image hazard level numerical value.
Vehicle driving state method for supervising of the present invention, in this step 6, this processing unit calculates corresponding driver's risk parameters, a track risk parameters and a headstock image risk parameters respectively according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal, and calculates this image hazard level numerical value according to this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
Vehicle driving state method for supervising of the present invention, in this step 6, this image hazard level numerical value is equal to of wherein numerical value maximum in this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
Beneficial effect of the present invention is: keep the confirmation of synchronization of torque signals by this driver's signal of video signal, this lateral acceleration signal, this steering angle signal and this, with monitoring and guarantee traffic safety.
Description of drawings
Fig. 1 is the diagram of block of the vehicle driving state monitored control system of a preferred embodiment of the present invention.
Fig. 2 is the scheme drawing that this preferred embodiment is applied to a vehicle.
Fig. 3 is the diagram of circuit that this preferred embodiment is applied to a vehicle driving state method for supervising.
The specific embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated.Need to prove that at first the present invention is not limited to the following specific embodiment, those skilled in the art should understand the present invention from the spirit that following embodiment embodies, and each technical term can be done the most wide in range understanding based on spiritual essence of the present invention.Same or analogous member uses the same reference numerals to represent among the figure.
Consult Fig. 1 and Fig. 2, this preferred embodiment of vehicle driving state monitored control system of the present invention is to be applied to a vehicle 9, and can see through a vehicle driving state method for supervising running, this vehicle 9 comprises a vehicle body 91 and a steering wheel assembly 92, this monitored control system comprise an image unit 2, acceleration sensing unit 31, corner sensing cell 32, one keep moment sensing cell 33, a caution unit 4, a processing unit 5, and data library unit 6.
This image unit 2 comprises that a driving image module 21, of taking to produce driver's signal of video signal towards the driver is arranged at this vehicle 9 taking and to produce the track image module 22 of a track signal of video signal, and one is arranged at this vehicle 9 to take and to produce the headstock image module 23 of a headstock signal of video signal.
This acceleration sensing unit 31 is arranged at this vehicle 9, and measures and produce a lateral acceleration signal of the lateral acceleration of corresponding this vehicle body 91.In present embodiment, this acceleration sensing unit 31 is a kind of acceleration sensors, and measured lateral acceleration scope be between 0～0.4 meter/every square second (m/sec
2) between, and show with the voltage output form.
This corner sensing cell 32 is arranged at this vehicle 9, measures and produce a steering angle signal of the steering angle of corresponding this vehicle body 91.In present embodiment, this corner sensing cell 32 is a kind of optical encoders, angle sensors, and be arranged at this steering wheel assembly 92 to measure the anglec of rotation of this steering wheel assembly 92, the anglec of rotation of this steering wheel assembly 92 just can corresponding this vehicle body 91 steering angle, and measured rotation angle range is between between 0～600 degree (degree), and shows with the voltage output form.
This is kept moment sensing cell 33 and is arranged at this steering wheel assembly 92, and measures and produce corresponding of moment of keeping who puts on this steering wheel assembly 92 and keep torque signals.In present embodiment, indication is kept moment and is referred to keep when this vehicle 9 travels and not influenced and the moment of beat by road surface friction force.In present embodiment, this keeps moment sensing cell 33 is a kind of torsion sensing devices, and measured torsion is with voltage output form performance, and voltage range is between 0～4 volt (V).
This caution unit 4 is arranged in this vehicle body 91.In present embodiment, this caution unit 4 is buzzer phone.
This processing unit 5 is electrically connected this image unit 2 respectively, this acceleration sensing unit 31, this corner sensing cell 32, this keeps moment sensing cell 33 and this caution unit 4, and can be according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal calculate an image hazard level numerical value, and according to this lateral acceleration signal, this steering angle signal and this are kept the moment calculated signals and are drawn a driving hazard level numerical value, and can go out a final hazard level numerical value according to this image hazard level numerical value and this driving hazard level numerical calculation, and order about this caution unit 4 in this final dangerous numerical value during greater than a default hazard level numerical value and produce caution.
This Database Unit 6 is electrically connected this processing unit 5.
Cooperate and consult Fig. 3, this vehicle driving state method for supervising is applied to described vehicle driving state monitored control system, and this method for supervising comprises the following step 71～77.
In step 71, this processing unit 5 calculates this image hazard level numerical value according to driver's signal of video signal, the track signal of video signal of this track image module 22 and the headstock signal of video signal of this headstock image module 23 that this driving image module 21 produces, and in this image hazard level numerical value during greater than a default value, with present lateral acceleration, steering angle and keep moment and be stored to respectively in this Database Unit 6, and keep moment threshold parameter with a lateral acceleration threshold parameter, deflection angle speed threshold parameter and one respectively after the computing and represent.In present embodiment, the deflection angle speed of this deflection angle speed threshold parameter representative is to be cooperated sample time and calculated by this steering angle, this lateral acceleration threshold parameter, this deflection angle speed threshold parameter and this are kept moment threshold parameter and are respectively and cooperate follow-up fuzzy logic to calculate and the ambiguity function that uses, but to keep moment threshold parameter also can be respectively to cooperate non-fuzzy to calculate and single numerical value using for this lateral acceleration threshold parameter, this deflection angle speed threshold parameter and this.
In step 72, this processing unit 5 receives this that keep moment sensing cell 33 from this keep torque signals after, keep moment threshold parameter with this and carry out computing, keep the moment parameter sets to draw one.In present embodiment, this keeps the moment parameter sets is that a kind of to keep moment threshold parameter with this be parameter sets after benchmark passes through fuzzy logic operation, because fuzzy logic operation is existing account form, so no longer account form is described in this specification sheets.
In step 73, behind this steering angle signal that this processing unit 5 receives from this corner sensing cell 32, indicator state parameter according to this steering angle signal, this deflection angle speed threshold parameter and a corresponding indicator state carries out computing, to draw a deflection angle speed parameter set.In present embodiment, the set of this deflection angle speed parameter for a kind of be benchmark with this deflection angle speed threshold parameter, and behind this indicator state parameter of arranging in pairs or groups, and through the parameter sets behind the fuzzy logic operation, because fuzzy logic operation is existing account form, so no longer account form is described in this specification sheets.
In step 74, behind this lateral acceleration signal that this processing unit 5 receives from this acceleration sensing unit 31, carry out computing according to this lateral acceleration signal, this lateral acceleration threshold parameter and this indicator state parameter, to draw a lateral acceleration parameter sets.In present embodiment, this lateral acceleration parameter sets be a kind of be benchmark with this lateral acceleration threshold parameter, and behind this indicator state parameter of arranging in pairs or groups, and through the parameter sets behind the fuzzy logic operation, because fuzzy logic operation is existing account form, so no longer account form is described in this specification sheets.
In step 75, this processing unit 5 is kept moment parameter sets, this set of deflection angle speed parameter and this lateral acceleration parameter sets according to this, calculates this driving hazard level numerical value.In present embodiment, the corresponding hazard level ratio of this driving hazard level numerical value is 0～100%.
In step 76, this processing unit 5 receives this driver's signal of video signal of driving image module 21 from this, behind this track signal of video signal of this track image module 22 and this headstock signal of video signal from this headstock image module 23, according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal calculate corresponding driver's risk parameters respectively, a track risk parameters and a headstock image risk parameters, and according to this driver's risk parameters, this track risk parameters and this headstock image risk parameters calculate this image hazard level numerical value.In present embodiment, this driver's risk parameters, this track risk parameters and this headstock image risk parameters corresponding hazard level ratio respectively are 0～100%, this image hazard level numerical value is equal to this driver's risk parameters, one of wherein numerical value maximum in this track risk parameters and this headstock image risk parameters, be noted that, this driver's risk parameters is the result who is equivalent to existing a kind of driver's condition monitoring system (DSM), this track risk parameters is the result who is equivalent to existing a kind of deviation caution system (LDW), this headstock image risk parameters is the result who is equivalent to existing a kind of the place ahead anti-collision warning system (FCW), because this driver's condition monitoring system, deviation caution system and this place ahead anti-collision warning system are all prior art, therefore no longer described system are described.
In step 77, this processing unit 5 is according to this driving hazard level numerical value and the product of first scale parameter and the product of this image hazard level numerical value and second scale parameter, add the General Logistics Department and calculate this final hazard level numerical value, and order about this caution unit in this final dangerous numerical value during greater than this default hazard level numerical value and produce caution.In present embodiment, this first scale parameter and this second scale parameter be can according to this driving hazard level numerical value and this image hazard level numerical value respectively the distribution of institute's desire ratio and adjust, both total value that adds are 1.
When the driver loosens bearing circle because of doze, keep moment and can and then descend this moment, and be subjected to the road surface friction force influence when this vehicle 9 is travelled and produce beat, and then make the deflection angle speed of this vehicle 9 and lateral acceleration take place unusual, because this moment, indicator can't produce running, this processing unit 5 just can comprehensive aforementioned train signal and the signal of video signal of this image unit and to calculate this final dangerous numerical value be greater than this default hazard level numerical value, and then orders about this caution unit 4 and produce caution to remind the driver.
In sum, this processing unit 5 can be according to instant this driver's signal of video signal that produces, this track signal of video signal and this headstock signal of video signal calculate this corresponding driver's risk parameters respectively, this track risk parameters and this headstock image risk parameters, and then calculate this image hazard level numerical value, and simultaneously can be according to this lateral acceleration signal of instant generation, this lateral acceleration threshold parameter that this steering angle signal and this are kept torque signals and stored in advance, this deflection angle speed threshold parameter and this are kept moment threshold calculation of parameter and are drawn this driving hazard level numerical value, and then go out this final hazard level numerical value with this image hazard level numerical value and this driving hazard level numerical calculation, and can be in this final dangerous numerical value during greater than this default hazard level numerical value, just the driver may doze off and when unclamping bearing circle the situation of track deflection being taken place, see through this processing unit 5 and order about this caution unit generation caution, double acknowledge by image and train signal, driver's driving situation is monitored, and can guarantee traffic safety, so can reach purpose of the present invention really.
Should be understood that those skilled in the art can make various changes or modifications the present invention after having read above-mentioned instruction content of the present invention, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Claims (10)
1. vehicle driving state monitored control system, be applied to a vehicle, this vehicle comprises a vehicle body and a steering wheel assembly, it is characterized in that: this vehicle driving state monitored control system comprises an image unit, an acceleration sensing unit, a corner sensing cell, keep the moment sensing cell for one, a caution unit and a processing unit, this image unit comprises a driving image module of taking to produce driver's signal of video signal towards the driver, a lateral acceleration signal of the lateral acceleration of corresponding this vehicle body is measured and produced in this acceleration sensing unit, a steering angle signal of the steering angle of corresponding this vehicle body is measured and produced to this corner sensing cell, this is kept the moment sensing cell and is arranged at this steering wheel assembly, and measure and produce corresponding of moment of keeping who puts on this steering wheel assembly and keep torque signals, indication is kept moment and is referred to keep when this vehicle travels and not influenced and the moment of beat by road surface friction force, this caution unit is arranged in this vehicle body, this processing unit is electrically connected this image unit respectively, this acceleration sensing unit, this corner sensing cell, this keeps moment sensing cell and this caution unit, and calculate an image hazard level numerical value and a driving hazard level numerical value respectively, and go out a final hazard level numerical value according to this image hazard level numerical value and this driving hazard level numerical calculation, and order about this caution unit in this final dangerous numerical value during greater than a default hazard level numerical value and produce caution, this image hazard level numerical value is to calculate according to this driver's signal of video signal, and this driving hazard level numerical value is according to this lateral acceleration signal, this steering angle signal and this are kept the moment calculated signals and are drawn.
2. vehicle driving state monitored control system as claimed in claim 1, it is characterized in that: this image unit comprises that also one is arranged at this vehicle to take and to produce the track image module of a track signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal and this track signal of video signal.
3. vehicle driving state monitored control system as claimed in claim 2, it is characterized in that: this image unit comprises that also one is arranged at this vehicle to take and to produce the headstock image module of a headstock signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal.
4. a vehicle driving state method for supervising is applied to the described vehicle driving state monitored control system of claim 1, and it is characterized in that: this method for supervising comprises the following step:
Step 1, this processing unit calculate this image hazard level numerical value according to driver's signal of video signal that this driving image module produces, and in this image hazard level numerical value during greater than a default value, with present lateral acceleration, steering angle and keep moment and be stored to respectively in the Database Unit that is electrically connected this processing unit, and keep moment threshold parameter list not with a lateral acceleration threshold parameter, deflection angle speed threshold parameter and one respectively after the computing;
Step 2, this processing unit receive this that keep the moment sensing cell from this keep torque signals after, keep moment threshold parameter with this and carry out computing, keep the moment parameter sets to draw one;
Behind step 3, this processing unit reception this steering angle signal from this corner sensing cell, carry out computing with this deflection angle speed threshold parameter, to draw a deflection angle speed parameter set;
Behind step 4, this processing unit reception this lateral acceleration signal from this acceleration sensing unit, carry out computing with this lateral acceleration threshold parameter, to draw a lateral acceleration parameter sets;
Step 5, this processing unit are kept moment parameter sets, this set of deflection angle speed parameter and this lateral acceleration parameter sets according to this, calculate this driving hazard level numerical value;
After step 6, this processing unit reception are driven this driver's signal of video signal of image module from this, calculate this image hazard level numerical value;
Step 7, this processing unit go out this final hazard level numerical value according to this driving hazard level numerical value and this image hazard level numerical calculation, and order about this caution unit in this final dangerous numerical value during greater than this default hazard level numerical value and produce caution.
5. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: in step 3, behind this processing unit reception this steering angle signal from this corner sensing cell, indicator state parameter according to this steering angle signal, this deflection angle speed threshold parameter and a corresponding indicator state carries out computing, to draw this deflection angle speed parameter set.
6. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: in step 4, behind this processing unit reception this lateral acceleration signal from this acceleration sensing unit, indicator state parameter according to this lateral acceleration signal, this lateral acceleration threshold parameter and a corresponding indicator state carries out computing, to draw this lateral acceleration parameter sets.
7. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: in step 7, this processing unit is according to this driving hazard level numerical value and the product of first scale parameter and the product of this image hazard level numerical value and second scale parameter, add the General Logistics Department and calculate this final hazard level numerical value, and order about this caution unit in this final dangerous numerical value during greater than this default hazard level numerical value and produce caution.
8. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: this processing unit reception is calculated this image hazard level numerical value from this driver's signal of video signal of this driving image module, from behind this track signal of video signal of this track image module and the headstock signal of video signal from a headstock image module.
9. vehicle driving state method for supervising as claimed in claim 8, it is characterized in that: in this step 6, this processing unit calculates corresponding driver's risk parameters, a track risk parameters and a headstock image risk parameters respectively according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal, and calculates this image hazard level numerical value according to this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
10. vehicle driving state method for supervising as claimed in claim 9, it is characterized in that: in this step 6, this image hazard level numerical value is equal to of wherein numerical value maximum in this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
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