CN103723147B - A kind of method warning vehicle shift and estimation driver condition - Google Patents
A kind of method warning vehicle shift and estimation driver condition Download PDFInfo
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- CN103723147B CN103723147B CN201310724695.3A CN201310724695A CN103723147B CN 103723147 B CN103723147 B CN 103723147B CN 201310724695 A CN201310724695 A CN 201310724695A CN 103723147 B CN103723147 B CN 103723147B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000003340 mental effect Effects 0.000 claims abstract description 25
- 230000001186 cumulative effect Effects 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 206010011968 Decreased immune responsiveness Diseases 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- SBNFWQZLDJGRLK-UHFFFAOYSA-N phenothrin Chemical compound CC1(C)C(C=C(C)C)C1C(=O)OCC1=CC=CC(OC=2C=CC=CC=2)=C1 SBNFWQZLDJGRLK-UHFFFAOYSA-N 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
Classifications
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
The present invention provides a kind of method warning vehicle shift and estimation driver condition, first set up and comprise driver's mental status and vehicle path of motion and the driver condition model of the relation of car speed, and capture vehicle body signal and lane center side-play amounts such as the speed of vehicle, indicator；Utilize processor judge the speed of vehicle whether more than a preset vehicle speed and whether there is startup indicator, whether vehicle is pressed onto a lane line etc., if it is not, the most again capture vehicle body signal and lane center side-play amount；The most then processor is compared according to the driver condition model in lane center side-play amount and at least one skew speed, with data base, the mental status of estimation driver.
Description
Technical field
The present invention relates to a kind of technology judging driver condition, particularly relate to a kind of warning vehicle shift
Method with estimation driver condition.
Background technology
Along with scientific and technological progress, being well off, vehicle popularity rate in the family is greatly improved, but with
The frequent of vehicle use, vehicle accident is consequently increased, wherein because driver's mental status is the best
The vehicle accident of accident more account for major part therein, such as fatigue driving or drunk driving etc., works as essence
When god is not in good state, when driver turns cannot in real time steering wheel rotation, even linear road be likely to because of
Steering wheel gets loose and makes vehicle shift.
At present technology there is a kind of lane bias alarm system, can whether travel in track by detecting vehicle
Between, if information warning can be proposed in the middle of vehicle shift road, but, when driver is because of the most wholwe-hearted or tired
When causing vehicle shift track, although lane bias alarm system can remind driver's vehicle the most inclined
Move, but driver can be caused to depend on this system unduly, thus regular tired or the most attentively drive, very
Easily ignoring to get used to alarming sound, improving danger on the contrary.
In view of this, the present invention, then for above-mentioned the deficiencies in the prior art, proposes a kind of vehicle shift alert
Show and the method for estimation driver condition, effectively to overcome above-mentioned series of problems.
Summary of the invention
The main object of the present invention is providing a kind of side warning vehicle shift and estimation driver condition
Method, it utilizes the side-play amount of vehicle shift lane center to analyze the path of motion of vehicle, and according to vehicle
The mental status of the velocity estimated driver that skew and driver reply, allows driver whether know oneself
It is suitable for being further continued for driving.
Another object of the present invention is providing a kind of side warning vehicle shift and estimation driver condition
Method, whether it is more than preset vehicle speed by detection speed, whether is had whether dozen indicator, vehicle have pressure
The vehicle running states such as line decide whether to begin the evaluation at the mental status of driver.
Another object of the present invention is providing a kind of side warning vehicle shift and estimation driver condition
Method, its project being consistent with driver condition model according to the driving behavior of driver gives a mark,
Mark summation more Gao Ze represents the mental status of driver better, if being deducted points, when driver is presetting
Time in there is not abnormal skew, then can get bonus point.
For reaching above-mentioned purpose, the present invention provides a kind of and warns vehicle shift and estimation driver condition
Method, comprises the following steps: to set up the mental status comprising driver and vehicle path of motion and vehicle
The driver condition model of the relation of speed, and be stored in a data base；Capture vehicle includes car
Whether speed, indicator are opened, whether line ball offsets vehicle at interior multiple vehicle body signals and lane center
Amount；Whether the speed of vehicle is more than a preset vehicle speed and whether start direction to utilize a processor to judge
Lamp, whether vehicle is pressed onto a lane line etc., if it is not, then return to previous step；And processor according to
At least one skew speed and lane center side-play amount during the lane center that vehicle shift is advanced at present,
Compare with the driver condition model in data base, the mental status of estimation driver.
Further, this driver condition model includes the lane center of this this lane center of vehicle shift
Side-play amount, when reverting to the lane center side-play amount of this lane center, this lane center of this vehicle shift
Skew speed and this vehicle skew speed when reverting to this lane center.
Further, during this lane center of this vehicle shift, if this lane center side-play amount divided by time
This skew speed obtained by between is less than 50 centimeters/second, and revert to this skew car of this lane center
Speed again smaller than 50 centimeters/second, is then defined as imprudence and offsets.
Further, during this lane center of this vehicle shift, if this lane center side-play amount divided by time
This skew speed obtained by between is less than 50 centimeters/second, and revert to this skew car of this lane center
Speed more than 50 centimeters/second, is then defined as this driver and the most attentively drives.
Further, during this lane center of this vehicle shift, if this lane center side-play amount divided by time
This skew speed obtained by between is more than 50 centimeters/second, and revert to this skew car of this lane center
Speed less than 50 centimeters/second, is then defined as that this driver is wholwe-hearted or fatigue driving.
Further, during this lane center of this vehicle shift, if this lane center side-play amount divided by time
This skew speed obtained by between is more than 50 centimeters/second, and revert to this skew car of this lane center
Speed more than 50 centimeters/second, is then defined as this driver's fatigue driving.
Further, comprise the following steps: one mark initial value is set for driver and drives for each
The mental status of the person of sailing is respectively provided with a corresponding mark, cumulative on the basis of mark initial value
The mark that the mental status of driver is corresponding, the essence of the highest then this driver of calculated mark summation
God's state is better.
Further, if this driver do not occur in a Preset Time imprudence offset, the most wholwe-hearted
Driving, wholwe-hearted or fatigue driving and fatigue driving, then this mark summation can obtain bonus point.
Further, this Preset Time can be 150 seconds.
Further, the mental status of this driver of estimation is shown in a warning interface by this processor
On.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is that the present invention warns vehicle shift and the showing of vehicle shift in the method for estimation driver condition
It is intended to；
Fig. 2 is the flow chart that the present invention warns vehicle shift and the method for estimation driver condition；
Fig. 3 be vehicle shift of the present invention warning with estimation driver condition method in vehicle shift to
Amount schematic diagram.
Description of reference numerals: 10-vehicle；12a-lane line；12b-lane line.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is entered
Row clearly and completely describes, it is clear that described embodiment is only a part of embodiment of the present invention,
Rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
Have and pay the every other embodiment obtained under creative work premise, broadly fall into present invention protection
Scope.
The present invention is a kind of method warning vehicle shift and estimation driver condition, and it captures vehicle body letter
Number judge whether vehicle offsets and side-play amount, and analyze vehicle path of motion and speed etc., from set up
In every implied terms of driver condition model, comparison goes out the situation best suited, and gives point according to situation
Number, to estimate the mental status of driver.
Being illustrated in figure 1 the present invention warns vehicle shift to exist with vehicle in the method for estimation driver condition
Producing the path of motion schematic diagram of skew when advancing in track, vehicle 10 is advanced forward in track,
After in figure, lower section is, before being arranged above, it is assumed that vehicle is first displaced to the right B point from A point, is pressed onto the right side
The lane line 12a of side, returns timing to the left and is displaced to again close to the position C near left-hand lane line 12b
Point, left and right skew in track.Now may utilize the mental status of the method estimation driver of the present invention,
Refer to the present invention shown in Fig. 2 and warn the flow process of vehicle shift and the method for estimation driver condition
Figure.
In Fig. 2, in S10, first first set up a driver condition model, and be stored in a data base
In, this driver condition model comprise the driver's mental status and vehicle path of motion when driving and
The relation of car speed, during such as vehicle shift and reply, speed when side-play amount and skew, to judge
The condition of the travel condition of vehicle, such as slow-motion go out slowly, slow-motion goes out soon, F.F. goes out slowly or F.F. goes out soon
Deng, or travel condition during other skews, and set a kind of driver of travel condition condition
State, gives to dividing to pre-conditioned, as a example by four kinds of conditions of the example above, drives for four kinds preset
The person's of sailing state can include imprudence offset, the most attentively drive, wholwe-hearted or fatigue driving and fatigue driving
Deng, these cause the driver condition of vehicle shift to be all negative point.
Step S12 captures multiple vehicle body signals and a lane center side-play amount, the vehicle body signal packet of vehicle
Include speed, whether indicator has startup etc., lane center side-play amount be then vehicle with lane center it
Between transversal displacement, as a example by the 1st figure, lane center side-play amount is dx；Step S14 utilizes
One processor judge the speed of vehicle whether more than a preset vehicle speed, owing to the present invention is applicable at a high speed
Situation about driving over a long distance on highway, preset vehicle speed is speed per hour 70 kilometers the most in one embodiment, when
Warn vehicle shift just can start, instead with the system of estimation driver condition when speed is more than 70 kilometers
Then system anergy as described in step S16, return to step S12；If speed exceedes preset vehicle speed, then
Judging whether vehicle has startup indicator in step S18, if there being startup indicator, representing vehicle shift
For the conscious behavior of driver, it is not belonging to abnormal skew, warning vehicle shift need not be started and estimate
Survey the system of driver condition, as described in step S22, therefore enter driving condition reply mechanism, and return
To step S12；If judging in step S18, driver does not beat indicator, then sentence then at step S20
Whether disconnected vehicle is pressed onto a lane line, if it is not, then represent the degree that vehicle shift not yet reaches to watch out for,
Therefore as described in step S22, enter driving condition reply mechanism, and return to step S12；If step S20
Middle judgement vehicle has been pressed onto lane line, then the processor of system can analyze the path of motion of vehicle, foundation
Skew speed during the center in the track that vehicle shift is advanced at present, with the driver condition in data base
Model is compared, and such as step S24～S26, such as, judges that lane center side-play amount and skew speed are
No have be consistent with several implied termss in driver condition model；After comparison, step S28
The mental status of estimation driver, if there being the meeting being consistent with the implied terms in driver condition model
Deduction of points, the mark of available driver's mental status after being added up by mark, the highest representative of mark is driven
The mental status of person is better.
The warning vehicle shift that the present invention provides further includes at utilization with the method for estimation driver condition
The driver condition of estimation is shown on a warning interface by reason device, such as step S30, allows driver's energy
Enough see the mark that warning vehicle shift and the system estimating driver condition are estimated, remind driver
Should keep to the side to have a rest or step up vigilance, to avoid getting into an accident.
3rd figure is that the present invention warns vehicle shift and a vehicle shift in the method for estimation driver condition
The vectorial schematic diagram of embodiment, it is assumed that vehicle is displaced to B point from A point, then is returned to C point, and
Vehicle body signal meets the situation of above-mentioned estimation driver condition, that is speed exceedes preset vehicle speed, do not beats
Indicator and vehicle live conductor etc..Vehicle comprises advance vector when A point is displaced to B pointAnd partially
The amount of shifting toX1 is vehicle center side-play amount, if being t from A point to the time that B point is spent, thenAdvance vector is comprised again when B point is returned to C pointAnd offset vector
X2 is vehicle center side-play amount, according to experimental result,Definition when being approximately more than 50 centimeter/second
For high-speed displacement, otherwise it is low speed displacement,Do not affect.If lane center side-play amount is removed
With the skew speed obtained by the time, that isLess than 50 centimeters/second, and revert to lane center it
Skew speedI.e. it is also smaller than 50 centimeters/second, is then defined as " imprudence skew "；IfIt is less than
50 centimeters/second, andMore than 50 centimeters/second, then it is defined as driver and " the most attentively drives "；IfMore than 50 centimeters/second, andLess than 50 centimeters/second, then it is defined as driver " the most wholwe-hearted or tired
Please sail "；If carMore than 50 centimeters/second, andMore than 50 centimeters/second, then it is defined as driving
Person's " fatigue driving ".
The present invention more according to the such condition in different driver condition models, and set corresponding to
Giving to dividing to a point benchmark, such as " imprudence skew " is-10, and " the most attentively driving " is-20,
" inwholwe-hearted or fatigue driving " is-30, and " fatigue driving " is-40, and other situations then detain 10 points,
Therefore in the embodiment shown in the 3rd figure, lane center side-play amountIt is 90,It is 80, therefore is
F.F. goes out soon, meets the condition of " F.F. goes out soon ", therefore driver is fatigue driving, if from full marks 100
Separately begin button, then the mental status of driver is 60 points, and above-mentioned giving divides benchmark system as the present invention's
Embodiment, it is not limited to this condition sets.
Additionally, provide a driver condition to reply mechanism, in vehicle is returned to track in the present invention
Between and stable advance after, if there is not any one abnormal vehicle shift in a Preset Time in driver
Time, mark can obtain bonus point, it is assumed that Preset Time is 150 seconds, if driver did not sent out in 150 seconds
The situations such as the skew of raw such as imprudence, the most attentively driving, fatigue driving, the bonus point of available 10 points,
And showing on warning interface, driver can see the data of quantization, figure from warning interface or divide
Number.
In sum, the warning vehicle shift that the present invention provides first is arranged with the method estimating driver condition
Except the situation of normal vehicle skew, the path offset by car amount in the case of abnormal skew is divided
Analysis estimation driving condition, and mark according to driving condition in various degree, it is provided that driver quantifies
Data, figure or mark on a warning interface, the mental status of oneself is suitable not to allow driver know
It is suitable for being further continued for driving rather than only point out when vehicle shift driver to return to center, track, keeps away
Exempt from driver because excessively relying on lane bias alarm regular fatigue driving or the most wholwe-hearted feelings such as driving
Condition.
Only as described above, only the preferred embodiments of the invention, not be used for limit the present invention
The scope of enforcement.Therefore it is the most all according to the feature described in the present patent application scope and the impartial change for it of spirit institute
Or modify, all should be included in the claim of the present invention.
Claims (9)
1. the method warning vehicle shift and estimation driver condition, it is characterised in that include
The following step:
A () sets up the relation of the mental status and vehicle path of motion and the car speed comprising driver
Driver condition model, and be stored in a data base；
B () captures including whether the opening include speed, indicator of this vehicle, vehicle whether line ball many
Individual vehicle body signal and lane center side-play amount；
C () utilizes a processor to judge whether whether the speed of this vehicle more than a preset vehicle speed and open
Dynamic indicator, if it is not, then return to step (b)；
D () judges whether this vehicle is pressed onto a lane line, if it is not, then return to step (b)；And
At least one skew car during e lane center that () this processor is advanced at present according to this vehicle shift
Speed and this lane center side-play amount, with this data base in driver condition model compare, estimation
The mental status of this driver, this step (e) comprises the following steps: arrange a mark for driver initial
Value and the mental status for each driver are respectively provided with a corresponding mark, initial at mark
The mark that on the basis of value, the mental status of cumulative driver is corresponding, calculated mark summation is the highest
Then the mental status of this driver is better.
Warning vehicle shift the most according to claim 1 and the method estimating driver condition,
It is characterized in that, this driver condition model includes that the lane center of this this lane center of vehicle shift is inclined
Shifting amount, when reverting to the lane center side-play amount of this lane center, this lane center of this vehicle shift
Skew speed and this vehicle revert to skew speed during this lane center.
Warning vehicle shift the most according to claim 2 and the method estimating driver condition,
It is characterized in that, during this lane center of this vehicle shift, if this lane center side-play amount is divided by the time
This obtained skew speed is less than 50 centimeters/second, and revert to this skew speed of this lane center
Again smaller than 50 centimeters/second, then it is defined as imprudence and offsets.
Warning vehicle shift the most according to claim 2 and the method estimating driver condition,
It is characterized in that, during this lane center of this vehicle shift, if this lane center side-play amount is divided by the time
This obtained skew speed is less than 50 centimeters/second, and revert to this skew speed of this lane center
More than 50 centimeters/second, then it is defined as this driver and the most attentively drives.
Warning vehicle shift the most according to claim 2 and the method estimating driver condition,
It is characterized in that, during this lane center of this vehicle shift, if this lane center side-play amount is divided by the time
This obtained skew speed is more than 50 centimeters/second, and revert to this skew speed of this lane center
Less than 50 centimeters/second, then it is defined as that this driver is wholwe-hearted or fatigue driving.
Warning vehicle shift the most according to claim 2 and the method estimating driver condition,
It is characterized in that, during this lane center of this vehicle shift, if this lane center side-play amount is divided by the time
This obtained skew speed is more than 50 centimeters/second, and revert to this skew speed of this lane center
More than 50 centimeters/second, then it is defined as this driver's fatigue driving.
Warning vehicle shift the most according to claim 1 and the method estimating driver condition,
It is characterized in that, if this driver does not occurs imprudence to offset in a Preset Time or fatigue is driven
Sail, then this mark summation obtains bonus point.
Warning vehicle shift the most according to claim 7 and the method estimating driver condition,
It is characterized in that, this Preset Time is 150 seconds.
Warning vehicle shift the most according to claim 1 and the method estimating driver condition,
It is characterized in that, the mental status of this driver of estimation is shown in a warning interface by this processor
On.
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104616436B (en) * | 2014-12-25 | 2017-04-12 | 财团法人车辆研究测试中心 | Fatigue driving determining system and method |
| CN108694362A (en) * | 2017-04-11 | 2018-10-23 | 致伸科技股份有限公司 | Control apparatus of vehicle and its operating method |
| CN108725447A (en) * | 2017-04-18 | 2018-11-02 | 慧展科技股份有限公司 | Driving condition alarming method for power and its system |
| US20180362083A1 (en) * | 2017-06-15 | 2018-12-20 | Winwise Tech Co.,Ltd. | Driving state warning method and system thereof |
| CN108583584B (en) * | 2018-04-12 | 2020-05-19 | 安徽江淮汽车集团股份有限公司 | Lane departure warning method and system |
| CN110853342A (en) * | 2018-07-24 | 2020-02-28 | 东旭科技集团有限公司 | Method and device for determining driving state, street lamp and readable storage medium |
| CN112116783A (en) * | 2019-06-20 | 2020-12-22 | 株式会社日立制作所 | Method and device for monitoring fatigue driving |
| CN110901650B (en) * | 2019-11-02 | 2021-11-26 | 芜湖职业技术学院 | Vehicle compaction line self-adjusting system and method |
| CN112991790B (en) * | 2019-12-02 | 2022-06-07 | 宇龙计算机通信科技(深圳)有限公司 | Method, device, electronic equipment and medium for prompting user |
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