CN105748076A - Assistant decision-making system and method for conversion of manual control to mechanical control on basis of human body respiratory signal - Google Patents
Assistant decision-making system and method for conversion of manual control to mechanical control on basis of human body respiratory signal Download PDFInfo
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Abstract
The invention relates to the technical field of human factors engineering, in particular to an assistant decision-making system for conversion of manual control to mechanical control on basis of a human body respiratory signal. The system at least comprises a respiration detection module and a controller, wherein the respiration detection module is used for acquiring the respiratory signal of operating personnel in real time, and outputting a respiration rate signal; the controller is connected with the respiration detection module, and is used for receiving and analyzing the respiratory signal, evaluating a cognitive state of the operating personnel according to respiration characteristics reflected by the respiratory signal, and assisting the operating personnel to decide whether to convert into mechanical control from manual control or not according to an evaluation result. The invention discloses an assistant decision-making method for conversion of manual control to mechanical control on basis of the human body respiratory signal. The system and the method disclosed by the invention have the advantages that the conversion of the manual control to the mechanical control is performed in an assistant manner on the basis of judging whether the operating personnel are in a high tension state in a manual control task or not, so that the probability of occurrence of human errors is effectively reduced, and the human factor reliability and safety level of the system are improved.
Description
Technical field
The present invention relates to Human Engineering technical field, particularly relate to a kind of people based on human body respiration signal and control favourable turn control aid decision-making system and method.
Background technology
Artificial Control is (with complex human-machine system's control mode that people takes as the leading factor, be called for short people control) and apparatus control (be also called and automatically control, it is the complex human-machine system's automatic control mode taken as the leading factor with machine, is called for short machine control) combining is increasingly becoming the principal mode of complex human-machine system's control mode.Such as the control of mass automatic production industrial system, nuclear power station emergency operation control, civil aviaton or military aircraft flight control etc., existing people is controlled, organic control again, they have all given full play to the respective advantage of operator and machine system self, improve the level of security that complex human-machine system is overall.
The control mode that people's control and machine control combine is in the different phase of task process, it is necessary to select control mode towards specific tasks situation science, reliable to ensure Mission Success and system.Currently, the mode relying primarily on operator self decision-making realizes.But the method also exists bigger human-equation error risk, particularly under urgent or complicated task situation, operator is in the state that high-pressure, cognitive competence are more weak, limited plan can only be carried out or expectation property judges, the selection of next step action each depends on the perception to task situation prominent features or experience so that human-equation error probability rises significantly.
VeltmanJ.A., GaillardA.W.K., et al. study for the physiological indexes under the different memory tasks difficulty levels of pilot in the paper " Physiologicalworkloadreactionstoincreasinglevelsoftaskdi fficulty " that " Ergonomics " delivers, finding along with the increase of tested cognitive load, its respiratory frequency (Frequency) dramatically speeds up.
JeffreyB.Brookings, GlennF.Wilsonh, in the paper " Psychophysiologicalresponsestochangesinworkloadduringsim ulatedairtrafficcontrol " that CarolyneR.Swain et al. delivers at " BiologicalPsychology ", cognitive load evaluation studies for USAF Air Traffic Administers finds, lifting along with task difficulty, tested breathing rate index significantly raises, but the change of respiratory depth (RespiratoryAmplitude) index is not notable.In the paper " wave conversion removes breath signal interference in electrocardiosignal " that Liu Xuehong, Wu Aiping, Wang Liye, Li Chuanyong et al. deliver " biomedical engineering is with clinical ", the research for Chinese population finds, the frequency range of human body respiration signal is 0.1～0.35Hz.The paper " comparative study of Sensitivity of Mental Load Assessment Indexes " that the cleer and peaceful Ma Ruishan of Dong Ming delivers at " aerospace medicine and engineering in medicine " is studied for cognition (mental) load test of Chinese population and finds, increase along with task difficulty, tested cognitive load improves, gradually breathe interval (InterRespirationInterval, it is called for short IRI) it is substantially reduced, breathing rate (RespirationRate is called for short RR) dramatically speeds up.
Comprehensively report Related literature analysis, during cognitive over loading, the breathing rate RR index of human body respiration signal will significantly raise, and in the cognitive load research of different situations (such as different task, different crowd etc.), there is universality, therefore the breathing rate RR index of human body respiration signal is used for promptly or under complex task situation, the assessment of operator's cognitive state has technical feasibility.Meanwhile, this technology is applied to complex human-machine system people control favourable turn control process there is not yet relevant report.
Summary of the invention
The problems referred to above for current above-mentioned existence, the present invention provides a kind of people based on human body respiration signal to control favourable turn control aid decision-making system, people controls favourable turn control to be applied to that the cognitive state of operator is estimated assist described operator to decide whether, described system includes:
Respiration detection module, the breath signal of operator described in Real-time Collection, and described breathing rate signal is exported；
Controller, it is connected with described respiration detection module, to receive and to analyze described breath signal, with the respiratory characteristic reflected according to described breath signal, the cognitive state of described operator is estimated, and people controls favourable turn control to assist described operator to decide whether according to assessment result.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making system, wherein, described respiration detection module includes differential pressure type piezoresistive silicon sensor, and described differential pressure type piezoresistive silicon sensor is connected with described controller, it is delivered to described controller with the breath signal by the differential pressure form of Real-time Collection.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making system, wherein, described piezoresistive silicon sensor is placed in breast restraining the thoracic cavity place of operator.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making system, and wherein, described respiration detection module also includes:
Amplifying circuit, is connected with described differential pressure type piezoresistive silicon sensor, to receive described breath signal, and by output after the amplification of described breath signal；
Analog to digital conversion circuit, is connected with described amplifying circuit and described controller respectively, and to receive the differential pressure signal after the amplification of described amplifying circuit output, and output to described controller is analyzed processing after being converted into digital breath signal.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making system, wherein, described amplifying circuit is provided with the first normal phase input end+INA and the second normal phase input end+INB and the first outfan OUTA and the second outfan OUTB, that described piezoresistive silicon sensor exports is the positive breath signal S+ and anti-phase breath signal S-of one group of differential type, described positive breath signal S+ transmission transmits the second normal phase input end+INB to described amplifying circuit to the first normal phase input end+INA, described anti-phase breath signal S-of described amplifying circuit.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making system, and wherein, described amplifying circuit is connected to:
First resistance R1 and the second resistance R2, described first resistance R1 is connected between the first outfan OUTA of described amplifying circuit and the second outfan OUTB；Described second resistance R2 is connected between described first outfan OUTA2 and the first inverting input-INA；And
3rd resistance R3, described 3rd resistance R3 is connected between described first outfan OUTA and the second outfan OUTB；
Wherein, described second inverting input-INB is connected between described first resistance R1 and the 3rd resistance R3；The amplification of described amplifying circuit is determined by (1+2R2/R1).
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making system, and wherein, described controller is according to the cognitive state assessment result of described operator generation video data and buzzing instruction, and described system also includes:
Display module, is connected with described controller, and to receive and to perform display task according to described video data, and then operator described in display alarm decide whether that people controls favourable turn control；
Buzzer, is connected with described controller, and to receive and to perform buzzing task according to described buzzing instruction, and then buzzing reminds described operator to decide whether, and people controls favourable turn control.
A kind of people based on human body respiration signal controls favourable turn control aid decision-making method, is applied to the people based on human body respiration signal described above and controls favourable turn control aid decision-making system, and described method includes:
Step 1: operator proceed by people and control operation；
Step 2: gather breath signal r (i) i >=1 of described operator by respiration detection module and processed by controller, to extract the respiratory characteristic of described operator；
Step 3: the cognitive state of described operator is estimated according to described respiratory characteristic, and people controls favourable turn control to assist described operator to decide whether according to the assessment result of the cognitive state of described operator.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making method, and wherein, described respiratory characteristic includes breathing in real time rate of increase, and described step 2 includes:
Described people in step 1 is controlled before operation starts, by described breathing rate acquisition module gather described operator initial breathing rate signal r0I () i >=1, carries out discrete time Fourier transform to applying main signal frequency determination methods after described initial breathing rate signal filtering, obtains the initial breathing rate f of described operator0,r；
Described people in step 1 is controlled after operation starts, by described breathing rate acquisition module collection real-time breathing rate signal r (i) i >=1 storing operator, and described real-time breathing rate signal is carried out segment processing obtain the breathing rate signal sequence r of segmentationn, and be integer, the breathing rate signal sequence r to described segmentationnObtained the real-time breathing rate f of described operator by main signal frequency determination methods after being filteredn,r；
Calculate the real-time breathing rate rate of increase I of described operatorn,h, described in
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making method, and wherein, described step 3 also includes:
Judge whether described real-time breathing rate rate of increase satisfies condition In,r>=50% and In+2,r≥In+1,r≥In,r, wherein n >=1；If meeting, the evaluation result G of the cognitive state of described operator being set as the unknown, and people controls favourable turn control to assist described operator to decide whether；If being unsatisfactory for, the evaluation result G of the cognitive state of described operator being set as G=0, and assist operators does not decide whether that people controls favourable turn control.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making method, and wherein, described breathing rate feature also includes real-time respiratory depth rate rate of change, and described step 2 also includes:
Described people in step 1 is controlled before operation starts, by described breathing rate acquisition module gather described operator initial breathing rate signal r0I () i >=1, after described initial breathing rate signal filtering, obtains the initial respiratory depth d of described operator0,r, andWherein fs,rSample frequency for the breath signal of described operator；
Described people in step 1 is controlled after operation starts, and by described respiration detection module collection real-time breathing rate signal r (i) i >=1 storing operator, and described real-time breathing rate signal is carried out segment processing obtains real-time respiratory depth dn,r, described in
Calculate real-time respiratory depth rate of change
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making method, and wherein, people is controlled the warning level controlled of making a connection and included the first warning level and the second warning level to assist described operator to decide whether, described step 3 also includes:
When the evaluation result G of described cognitive state is unknown, determine whether whether described real-time breathing rate rate of increase satisfies condition Cn,r>=100% and Cn+2,r≥Cn+1,r≥Cn,r, wherein n >=1；If meeting, the evaluation result G of the cognitive state of described operator being set as G=2, and people controls favourable turn control to assist described operator to decide whether with described first warning level；If being unsatisfactory for, the cognitive state G of described operator being assessed as G=1, and people controls favourable turn control to assist described operator to decide whether with described second warning level.
The above-mentioned people based on human body respiration signal controls favourable turn control aid decision-making method, wherein, is shown by display module and buzzer rings warns described operator simultaneously under described first warning level；Lower of described second warning level warns described operator by the display of described display module.
Accompanying drawing explanation
Fig. 1 is the present invention based on the people of breath signal controls the system block diagram of favourable turn control aid decision-making system；
Fig. 2 is the present invention based on the people of breath signal controls the circuit theory diagrams of favourable turn control aid decision-making system；
Fig. 3 is the present invention based on the people of breath signal controls the method flow schematic diagram of favourable turn control aid decision-making method.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as limiting to the invention.
In conjunction with accompanying drawing, the specific embodiment of the invention is described further.
First, in conjunction with accompanying drawing 1, Fig. 2, the people based on operator's breath signal is controlled favourable turn control aid decision-making system to illustrate:
Can choosing the differential pressure type piezoresistive silicon sensor 26PCBFA6D of Honeywell company production as respiration detection module, amplifying circuit can adopt OP4177 components and parts, and the differential amplification of symmetric parallel can obtain high input impedance and common mode rejection ratio；Analog to digital conversion circuit can adopt AD7674 components and parts, bipolar input, sample rate 800kS/s, dynamic range 103dB, is input to single-chip microcomputer STC15W4K32S4 by SPI interface；Display module can adopt low-power consumption 1602 character to show.
The breath signal of respiration detection module 1 Real-time Collection operator, and breathing rate signal is exported；Controller 4 is connected with respiration detection module 1, to receive and to analyze breath signal, with the respiratory characteristic reflected according to breath signal, the cognitive state of operator is estimated, and decides whether that people controls favourable turn control according to assessment result assist operators；Respiration detection module 1 can include or adopt differential pressure type piezoresistive silicon sensor, here to adopt differential pressure type piezoresistive silicon sensor 1, and differential pressure type piezoresistive silicon sensor 1 is connected with controller 4, it is delivered to controller 4 with the breath signal by the differential pressure form of Real-time Collection；With breast restraining, piezoresistive silicon sensor 1 can be placed in the thoracic cavity place of operator；Amplifying circuit 2 can be connected with differential pressure type piezoresistive silicon sensor 1, to receive breath signal, and by output after breath signal amplification；Analog to digital conversion circuit 3 is connected with amplifying circuit 2 and controller 4 respectively, to receive the differential pressure signal after the amplification of amplifying circuit 2 output, and exports after being converted into digital breath signal and is analyzed processing to controller 4；Amplifying circuit 2 is provided with the first normal phase input end+INA and the second normal phase input end+INB and the first outfan OUTA and the second outfan OUTB, that piezoresistive silicon sensor 1 exports is the positive breath signal S+ and anti-phase breath signal S-of one group of differential type, positive breath signal S+ transmission transmits the second normal phase input end+INB to amplifying circuit 2 to the first normal phase input end+INA, anti-phase breath signal S-of amplifying circuit 2；First resistance R1 and the second resistance R2 in amplifying circuit 2, the first resistance R1 is connected between the first outfan OUTA of amplifying circuit and the second outfan OUTB；Second resistance R2 is connected between the first outfan OUTA and the first inverting input-INA；3rd resistance R3, described 3rd resistance R3 is connected between the first outfan OUTA and the second outfan OUTB；Wherein, the second inverting input-INB is connected between the first resistance R1 and the 3rd resistance R3；The amplification of amplifying circuit is determined by (1+2R2/R1)；Display module 5 is connected with controller 4, and to receive and to perform display task according to video data, and then display alarm operator decide whether that people controls favourable turn control；Buzzer 6 is connected with controller 4, and to receive and to perform buzzing task according to buzzing instruction, and then buzzing reminds operator to decide whether, and people controls favourable turn control.
In conjunction with Fig. 3, change operation for the control mode of certain submarine navigation device simulating command information system, the people based on operator's breath signal is controlled favourable turn control aid decision-making method and illustrates.
The people based on operator's breath signal in the present invention is controlled favourable turn control aid decision device and is arranged on correct position (such as control station) near submarine navigation device simulating command information system.After operator are in place, device is attached, with breast restraining, differential pressure type piezoresistive silicon sensor is placed in the thoracic cavity place of operator, it is desirable to bond sites degree of tightness appropriateness.After device connects, opening device power supply.Operator proceed by the operation of simulating command information system with people's prosecutor formula.
Step 1: operator's breath signal r (i) i >=1 gathered via differential pressure type piezoresistive silicon sensor is processed, extracts breathing rate feature
Step 1.1: man-machine system people controls the breath signal starting acquisition operations personnel for first 5 minutes that operation begins preparing for implementing, and records storage；
Step 1.2: set people and control the operator's breath signal starting for first 5 minutes to gather that operation begins preparing for implementing as r0I () i >=1, it is carried out passband filtering by application Butterworth wave filter, and cut-off frequecy of passband is set to Ωp=[0.20 π, 0.70 π], stopband cut-off frequency is set to Ωs=[0.02 π, 0.80 π], pass band damping is 0.5dB, and stopband maximum attenuation is 10dB, output signal frequency scope 0.10～0.35Hz；Application main signal frequency determination methods, obtains the breathing rate f of operator0,r=0.2Hz；
Step 2.3: people being controlled the operator's breath signal gathered after operation starts and carries out segment processing, sequence length is Lr=60fs,r, fs,rFor the sample frequency of operator's breath signal, LrFor the breath signal length that acquisition time is 1 minute；
Step 2.4: set people and control the segmentation breath signal r gathered after operation startsn
rn=[r ((n-1) × Lr+300fs,r+1),r((n-1)×Lr+300fs,r+2),…,h((n-1)×Lr+300fs,r+Lr)] n >=1 and be integer, to rnIt is carried out passband filtering by application Butterworth wave filter, and cut-off frequecy of passband is set to Ωp=[0.20 π, 0.70 π], stopband cut-off frequency is set to Ωs=[0.02 π, 0.80 π], pass band damping is 0.5dB, and stopband maximum attenuation is 10dB, output signal frequency scope 0.10～0.35Hz；Application main signal frequency determination methods, obtains the heart rate f of operatorn,r；
Step 2.5: calculating people is controlled operation and started the real-time breathing rate rate of increase I of rear operatorn,r
From n=1, it is possible to obtain people and control operation and start the real-time breathing rate rate of increase sequence of rear operator
[0,0,0.08,0.08,0.17,0.25,0.50,0.55,0.55,…]
It is found that after control operation starts the 3rd minute starts, the breathing rate of operator starts to raise.Research shows, cognition (mental) load test for Chinese population studies discovery, and along with the increase of task difficulty, tested cognitive load improves, and gradually breathing interval is substantially reduced, and breathing rate dramatically speeds up.Meanwhile, the research for Chinese population finds, the frequency range of human body respiration signal is 0.10～0.35Hz, and breathing rate time tranquil is 0.20～0.33Hz, but this value exists interindividual variation.
Step 2: operator's breath signal r (i) i >=1 gathered via differential pressure type piezoresistive silicon sensor is processed, extracts respiratory depth feature
Step 2.1: man-machine system people controls the breath signal starting acquisition operations personnel for first 5 minutes that operation begins preparing for implementing, and records storage；
Step 1.2: set people and control the initial breath signal of operator starting for first 5 minutes to gather that operation begins preparing for implementing as r0I () i >=1, it is carried out passband filtering by application Butterworth wave filter, and cut-off frequecy of passband is set to Ωp=[0.20 π, 0.70 π], stopband cut-off frequency is set to Ωs=[0.02 π, 0.80 π], pass band damping is 0.5dB, and stopband maximum attenuation is 10dB, output signal frequency scope 0.10～0.35Hz；Then people is controlled and is operated the initial respiratory depth starting front operator
Step 2.3: people being controlled the operator's breath signal gathered after operation starts and carries out segment processing, sequence length is Lr=60fs,r, fs,rFor the sample frequency of operator's breath signal, LrFor the breath signal length that acquisition time is 1 minute；
Step 2.4: set people and control the segmentation breath signal r gathered after operation startsn
rn=[r ((n-1) × Lr+300fs,r+1),r((n-1)×Lr+300fs,r+2),…,h((n-1)×Lr+300fs,r+Lr)]
N >=1 and be integer, to rnIt is carried out passband filtering by application Butterworth wave filter, and cut-off frequecy of passband is set to Ωp=[0.20 π, 0.70 π], stopband cut-off frequency is set to Ωs=[0.02 π, 0.80 π], pass band damping is 0.5dB, and stopband maximum attenuation is 10dB, output signal frequency scope 0.10～0.35Hz；Then people is controlled and is operated the real-time respiratory depth starting rear operator
Step 2.5: calculating people is controlled operation and started the real-time respiratory depth rate of change C of rear operatorn,r
From n=1, it is possible to obtain people and control operation and start the real-time respiratory depth rate of increase sequence of rear operator
[0.01,0.01,0.02,0.01,0.10,0.08,0.12,0.15,0.18,…]
Step 3: the cognitive state based on breathing rate and respiratory depth feature is assessed
Judgment criterion according to design, as n=7, condition (1) meets but condition (2) is unsatisfactory for, operator state grade G=1.Device shows " suggestion people controls favourable turn control ", but buzzer is not reported to the police.
In such cases, operator are effectively pointed out, and can be made whether that executor controls the decision-making of favourable turn control according to oneself state and Task Circumstance.
The foregoing is only preferred embodiment of the present invention; not thereby restriction embodiments of the present invention and protection domain; to those skilled in the art; all utilizations description of the present invention and the made equivalent replacement of diagramatic content and the obtained scheme of apparent change should be can appreciate that, all should be included in protection scope of the present invention.
Claims (13)
1. the people based on human body respiration signal controls favourable turn control aid decision-making system, it is characterised in that people controls favourable turn control to be applied to that the cognitive state of operator is estimated assist described operator to decide whether, described system includes:
Respiration detection module, the breath signal of operator described in Real-time Collection, and described breathing rate signal is exported；
Controller, it is connected with described respiration detection module, to receive and to analyze described breath signal, with the respiratory characteristic reflected according to described breath signal, the cognitive state of described operator is estimated, and people controls favourable turn control to assist described operator to decide whether according to assessment result.
2. the people based on human body respiration signal according to claim 1 controls favourable turn control aid decision-making system, it is characterized in that, described respiration detection module includes differential pressure type piezoresistive silicon sensor, and described differential pressure type piezoresistive silicon sensor is connected with described controller, it is delivered to described controller with the breath signal by the differential pressure form of Real-time Collection.
3. the people based on human body respiration signal according to claim 2 controls favourable turn control aid decision-making system, it is characterised in that described piezoresistive silicon sensor is placed in the thoracic cavity place of operator with breast restraining.
4. the people based on human body respiration signal according to claim 2 controls favourable turn control aid decision-making system, it is characterised in that described system also includes:
Amplifying circuit, is connected with described differential pressure type piezoresistive silicon sensor, to receive described breath signal, and by output after the amplification of described breath signal；
Analog to digital conversion circuit, is connected with described amplifying circuit and described controller respectively, and to receive the differential pressure signal after the amplification of described amplifying circuit output, and output to described controller is analyzed processing after being converted into digital breath signal.
5. the people based on human body respiration signal according to claim 4 controls favourable turn control aid decision-making system, it is characterized in that, described amplifying circuit is provided with the first normal phase input end+INA and the second normal phase input end+INB and the first outfan OUTA and the second outfan OUTB, that described piezoresistive silicon sensor exports is the positive breath signal S+ and anti-phase breath signal S-of one group of differential type, described positive breath signal S+ transmission transmits the second normal phase input end+INB to described amplifying circuit to the first normal phase input end+INA, described anti-phase breath signal S-of described amplifying circuit.
6. the people based on human body respiration signal according to claim 5 controls favourable turn control aid decision-making system, it is characterised in that described amplifying circuit is connected to:
First resistance R1 and the second resistance R2, described first resistance R1 is connected between the first outfan OUTA of described amplifying circuit and the second outfan OUTB；Described second resistance R2 is connected between described first outfan OUTA and the first inverting input-INA；And
3rd resistance R3, described 3rd resistance R3 is connected between described first outfan OUTA and the second outfan OUTB；
Wherein, described second inverting input-INB is connected between described first resistance R1 and the 3rd resistance R3；The amplification of described amplifying circuit is determined by (1+2R2/R1).
7. the people based on human body respiration signal according to claim 4 controls favourable turn control aid decision-making system, it is characterised in that described controller is according to the cognitive state assessment result of described operator generation video data and buzzing instruction, and described system also includes:
Display module, is connected with described controller, and to receive and to perform display task according to described video data, and then operator described in display alarm decide whether that people controls favourable turn control；
Buzzer, is connected with described controller, and to receive and to perform buzzing task according to described buzzing instruction, and then buzzing reminds described operator to decide whether, and people controls favourable turn control.
8. the people based on human body respiration signal controls favourable turn control aid decision-making method, it is characterised in that being applied to the people based on human body respiration signal as described in claim 1-7 and control favourable turn control aid decision-making system, described method includes:
Step 1: operator proceed by people and control operation；
Step 2: gather breath signal r (i) i >=1 of described operator by respiration detection module and processed by controller, to extract the respiratory characteristic of described operator；
Step 3: the cognitive state of described operator is estimated according to described respiratory characteristic, and people controls favourable turn control to assist described operator to decide whether according to the assessment result of the cognitive state of described operator.
9. the people based on human body respiration signal according to claim 8 controls favourable turn control aid decision-making method, it is characterised in that described respiratory characteristic includes breathing in real time rate of increase, and described step 2 includes:
Described people in step 1 is controlled before operation starts, by described breathing rate acquisition module gather described operator initial breathing rate signal r0I () i >=1, carries out discrete time Fourier transform to applying main signal frequency determination methods after described initial breathing rate signal filtering, obtains the initial breathing rate f of described operator0,r；
Described people in step 1 is controlled after operation starts, by described breathing rate acquisition module collection real-time breathing rate signal r (i) i >=1 storing operator, and described real-time breathing rate signal is carried out segment processing obtain the breathing rate signal sequence r of segmentationn, and be integer, the breathing rate signal sequence r to described segmentationnObtained the real-time breathing rate f of described operator by main signal frequency determination methods after being filteredn,r；
Calculate the real-time breathing rate rate of increase I of described operatorn,h, described in
10. the people based on human body respiration signal according to claim 9 controls favourable turn control aid decision-making method, it is characterised in that described step 3 also includes:
Judge whether described real-time breathing rate rate of increase satisfies condition In,r>=50% and In+2,r≥In+1,r≥In,r, wherein n >=1；If meeting, the evaluation result G of the cognitive state of described operator being set as the unknown, and people controls favourable turn control to assist described operator to decide whether；If being unsatisfactory for, the evaluation result G of the cognitive state of described operator being set as G=0, and assist operators does not decide whether that people controls favourable turn control.
11. the people based on human body respiration signal according to claim 10 controls favourable turn control aid decision-making method, it is characterised in that described breathing rate feature also includes real-time respiratory depth rate rate of change, and described step 2 also includes:
Described people in step 1 is controlled before operation starts, by described breathing rate acquisition module gather described operator initial breathing rate signal r0I () i >=1, after described initial breathing rate signal filtering, obtains the initial respiratory depth d of described operator0,r, andWherein fs,rSample frequency for the breath signal of described operator；
Described people in step 1 is controlled after operation starts, and by described respiration detection module collection real-time breathing rate signal r (i) i >=1 storing operator, and described real-time breathing rate signal is carried out segment processing obtains real-time respiratory depth dn,r, described in
Calculate real-time respiratory depth rate of change
12. the people based on human body respiration signal according to claim 11 controls favourable turn control aid decision-making method, it is characterized in that, people is controlled the warning level controlled of making a connection and is included the first warning level and the second warning level to assist described operator to decide whether, described step 3 also includes:
When the evaluation result G of described cognitive state is unknown, determine whether whether described real-time breathing rate rate of increase satisfies condition Cn,r>=100% and Cn+2,r≥Cn+1,r≥Cn,r, wherein n >=1；If meeting, the evaluation result G of the cognitive state of described operator being set as G=2, and people controls favourable turn control to assist described operator to decide whether with described first warning level；If being unsatisfactory for, the cognitive state G of described operator being assessed as G=1, and people controls favourable turn control to assist described operator to decide whether with described second warning level.
13. the people based on human body respiration signal according to claim 12 controls favourable turn control aid decision-making method, it is characterised in that shown by display module under described first warning level and buzzer rings warns described operator simultaneously；Lower of described second warning level warns described operator by the display of described display module.
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