CN106394673B - A kind of driver attention suitable for uneven road surface monitors and caution system - Google Patents
A kind of driver attention suitable for uneven road surface monitors and caution system Download PDFInfo
- Publication number
- CN106394673B CN106394673B CN201610136259.8A CN201610136259A CN106394673B CN 106394673 B CN106394673 B CN 106394673B CN 201610136259 A CN201610136259 A CN 201610136259A CN 106394673 B CN106394673 B CN 106394673B
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- driver
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- steering
- steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
- Steering Controls (AREA)
Abstract
The invention discloses a kind of suitable for driver attention's monitoring of uneven road surface and caution system, this system is based on wire-controlled steering system.It decides whether to judge driver's state of mind by steering wheel torque information by comparing information of road surface and the threshold value of setting；If desired judge and judging result is in a dangerous state of mind as driver, then send out alarm and reminding driver, this takes turns work and terminates if not needing to judge.The present invention realizes the judgement to driver's state of mind by the aligning torque on comprehensive analysis steering column on the dtc signal and steered wheel of torque sensor acquisition and speed, it can obtain accurate testing result, driver distraction is given and is timely warned, there is higher practicability and realizability.
Description
Technical field：
It is monitored the present invention relates to a kind of driver attention suitable for uneven road surface and caution system, this system is to be based on
Wire-controlled steering system, for monitoring automobile state of mind of driver, and when necessary when driving on uneven road surface
Alarm.
Background technology：
In vehicle travel process, complex working condition traveling influences greatly driver status, and uneven road surface belongs to complicated work
One kind of condition, driver's traveling easily cause driving fatigue in uneven road surface and are not concentrated so as to cause driver attention.
Latest data show 60% traffic accident do not concentrated with driver attention it is related, therefore uneven road surface traveling be it is a kind of very
Dangerous driving cycles need driver attention to concentrate safety when could ensure uneven sections of road at this time.Foreign scholar
More research has been done in the monitoring do not concentrated in driver attention, has utilized the face or eye of camera in car monitoring driver
It is a kind of common detection method.This method accuracy rate is higher, but increases hardware cost；Also with good grounds vehicle and leading vehicle distance
And steering wheel angle information judges whether driver diverts one's attention, but this is only applicable to following condition.
Therefore a kind of driver attention suitable for uneven road surface is needed to monitor and caution system, by the uneven journey on road surface
Whether degree decision systems work, and judge whether driver attention concentrates by steering wheel torque, this system does not increase hardware
Cost and can ensure monitoring effect reduce unnecessary system power dissipation simultaneously.
Invention content：
It is an object of the invention to develop a kind of driver attention's monitoring suitable for uneven road surface and caution system, this
System is based on wire-controlled steering system, is more than that first threshold occurs needing pilot control direction with deflecting roller aligning torque
Disk is trigger condition come the road conditions for ensureing to travel smooth-going, starts the monitoring of driver attention, electronic compared to mechanical connection
Servo steering system, wire-controlled steering system deflecting roller aligning torque, which is not transferred on steering column, influences torque sensor measurement
Steering wheel torque, therefore can effectively detect whether driver's traveling attention in uneven road surface is concentrated and when necessary
Warning is sent out, reduces the probability that accident occurs in uneven road surface for driver's traveling.
To achieve these goals, the present invention is realized by following technical solution：
A kind of driver attention suitable for uneven road surface monitors and caution system, including information acquisition module, electronics
Control unit module, alarm module.Believed in real time between information acquisition module and electronic control unit module, alarm module
Breath interaction, described information acquisition module are torque sensor, vehicle speed sensor and the measurement deflecting roller on steering column
The sensor of aligning torque, the torque sensor are used to obtain the torque on steering column, and the vehicle speed sensor is used to obtain
Take real-time speed；The electronic control unit module is increased for the electronic control unit of wire-controlled steering system and is turned to for comparing
Aligning torque on wheel and the first threshold that sets and compared with steering wheel torque and the second threshold of setting judgment module, to
Alarm module sends out the electronic control module of alarm command, prejudges the program of driver's each moment correct steering operation, wherein
The wire-controlled steering system is made of two controllers, is steering controller and road feel controller respectively, is led between two controllers
It crosses FlexRay buses and transmits information；The first threshold has reached for aligning torque needs pilot control steering mechanism to change
Become travel direction to ensure the value of driving process not usually；Caused by the second threshold is driver's active manipulation direction disk
Minimum torque values, second threshold are not definite value, are set by driver according to the situation of itself, because of the different driver sides of holding
Different to the dynamics of disk, driver's sets itself threshold value can more accurately judge whether driver attention concentrates.
More specifically, when the aligning torque on deflecting roller reaches first threshold, compare the direction that torque sensor is measured
Disk torque judges whether manipulation direction disk is turned to driver with second threshold, if the torque value that torque sensor measures is less than
Second threshold, continues to judge whether steering wheel torque is zero and is continuously the zero-time and reaches preset limiting value and then illustrate driver
Possible both hands departure direction disk, at this time electronic control unit send out alarm command control alarm module make a sound prompting driver
Until the correct manipulation direction disk traveling of driver, if judging result is less than second threshold for steering wheel torque but is not zero or continues
It is not reach preset limiting value zero continuous time then to make a sound with sustained vibration prompting driver until driver is correct
Manipulation direction disk travels, and starts next round monitoring；If the torque value measured is higher than second threshold, according to aligning torque at this time
Judge whether the steering operation that driver applies on the steering wheel is correct with speed, if correctly, terminating this wheel work, if not just
Really, then it sends out alarm command and reminds driver's operating mistake, alarm form adds vibration for sound, and vibration mode is often vibrates 0.5
Second stops vibration 0.2 second, and driver's operating mistake is i.e. to the opposite direction operation steering wheel of travel direction or according to driver's
Operation cannot significantly travel, and specifically how judge whether mistake is to be controlled by comparing the operation of driver with turning to driver's operation
Device processed according to anticipation the correct steering operation of driver program prejudge correct operation obtain a result, if driver's practical operation with
Correct operation direction that steering controller is prejudged according to the program of the anticipation correct steering operation of driver on the contrary, then operating mistake,
If driver's practical operation is poor according to the correct operation that the program of the anticipation correct steering operation of driver prejudges with steering controller
Then judging result is driver's operating mistake during away from more than preset limiting value.
More specifically, when the torque that steering wheel torque sensor measures is less than second threshold, explanation is that driver's hand is put
Dtc signal is amplified and it is monitored, if torque becomes from a certain moment by unconscious rotation when on the steering wheel at this time
Be zero and to be continuously zero be more than certain time, then illustrate driver may both hands departure direction disks, electronic control unit mould at this time
Block makes a sound alarm command to alarm module and reminds driver.
It is driven more specifically, being reminded when electronic control unit judges driver's both hands departure direction disk with voice signal
Member, when electronic control unit judges that driver attention does not concentrate but when both hands non-departure direction disk starts steering wheel vibration simultaneously
Driver is reminded with two kinds of forms of sound prompting, starting steering wheel simultaneously when the steering operation mistake for judging driver's implementation shakes
Dynamic and two kinds of forms of sound prompting remind driver, and are not concentrated respectively as driver attention with two different vibrations
With the vibration prompt of driver's operating mistake, the vibration mode that driver attention does not concentrate specially is prompted as continuous shaking,
The vibration mode of driver's operating mistake is prompted to stop vibration 0.2 second often to vibrate 0.5 second, this is distinguished straight than only with sound
It sees, this is that the steering of the tradition machineries such as electric boosting steering system formula connection can not be realized, because traditional is mechanical
Entire steering can all be vibrated during the steering steering wheel vibration of connection, influence driver's driving experience.
Compared with prior art, beneficial effects of the present invention are：
1. whether reaching predetermined threshold value as trigger condition using deflecting roller aligning torque, start the analysis to driver status,
While monitoring effect is ensured, unnecessary system power dissipation is reduced.
2. electronic control unit module adds specific program for the original electronic control unit of line control system, without in addition
Increase electronic control unit hardware device, development cost is reduced while avoiding device redundancey complexity.
3. the present invention can timely give when driver attention does not concentrate and remind, effectively avoid because of driver
Safety accident caused by absent minded, the mode taken sound and vibration while reminded can cause to avoid auditory tone cues
Delay and auditory tone cues acquisition error message that driver can be allowed clear, and with two different vibration modes
It distinguishes and driver attention is reminded not collect neutralization driver's operating mistake, distinguished than only with sound intuitive.
4. compared to the steering mechanically connected, the torque on wire-controlled steering system steering column will not be by ground
The influence of fluctuation, therefore the torque on steering column is exactly the torque of driver's application on the steering wheel, so as to more accurate
Really compare and judge.
Description of the drawings：
Fig. 1 is the principle of the present invention block diagram.
Fig. 2 is the method for work schematic diagram of the present invention.
Specific embodiment：
The specific embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
It is of the present invention a kind of suitable for driver attention's monitoring of uneven road surface and caution system refering to Fig. 1,2
Including data obtaining module 1, electronic control unit module 2, alarm module 3.
It is of the present invention a kind of suitable for driver attention's monitoring of uneven road surface and caution system course of work packet
Include following steps：
Step 1：The aligning torque on deflecting roller is monitored, and the deflecting roller aligning torque monitored is inputed into electronic control
Unit module；
Step 2：The aligning torque and first threshold on deflecting roller that electronic control unit module relatively monitors, if output
As a result it is yes, then performs step 3, if output result is no, return to step 1；
Step 3：Judge steering wheel torque whether be more than second threshold, i.e., driver whether active manipulation direction disk, if defeated
Go out result to be to perform step 4, if otherwise output result is performs step 5：
Step 4：Judge whether steering wheel torque is continuously zero and reaches preset time, if so then execute step 6, this takes turns work
Terminate, if otherwise performing step 7；
Step 5：The whether correct manipulation direction disk traveling of driver is judged, if then this wheel work terminates, if otherwise performing
Step 8, this wheel work terminates；
Step 6：Prompting is made a sound until the correct manipulation direction disk traveling of driver；
Step 7：Alarm is sent out until the correct manipulation direction disk traveling of driver, type of alarm add sound for continuous shaking
Sound is reminded；
Step 8：Alarm is sent out until the correct manipulation direction disk of driver travels, type of alarm adds vibration for sound,
Vibration mode stops vibration 0.2 second often to vibrate 0.5 second.
Above discussion is only the preferred embodiment of the present invention, is for explanation and illustration, is not to sheet of the invention
The limitation of body.The invention is not limited in specific embodiment disclosed herein, and determined by following claim.In addition,
The record related with specific embodiment in the description of front should not be construed as to the scope of the present invention or claim
The limitation of the definition of the middle term used.The various other different embodiments of disclosed embodiment and a variety of different deformations pair
It is obvious for those skilled in the art.But all these embodiments without departing substantially from basic idea of the present invention change
With deformation in scope of the appended claims.
Claims (8)
- It is 1. a kind of suitable for driver attention's monitoring of uneven road surface and caution system, which is characterized in that including acquisition of information Module, electronic control unit module, alarm module, described information acquisition module are connected with electronic control unit module, the electricity Sub-control unit module is connected with alarm module；Described information acquisition module is the torque sensor on steering column and vehicle speed sensor and measures deflecting roller The sensor of upper aligning torque, the torque sensor are used to obtain the torque on steering column, and the vehicle speed sensor is used for Obtain real-time speed；The electronic control unit module is increased for the electronic control unit of wire-controlled steering system for comparing on deflecting roller Aligning torque with set first threshold and compared with steering wheel torque with setting second threshold judgment module, to alarm mould Block sends out the electronic control unit module of alarm command, prejudges the program of driver's correct operation, wherein the steering-by-wire system System is made of two controllers, is steering controller and road feel controller respectively, is passed between two controllers by Flexray buses Pass information；The first threshold has reached for aligning torque to be needed pilot control steering mechanism and ensures to go to change travel direction Cross the value of Cheng Pingshun；The second threshold is minimum torque values caused by driver's active manipulation direction disk, and second threshold is simultaneously It is not definite value, driver sets according to the situation of itself.
- 2. it is according to claim 1 a kind of suitable for driver attention's monitoring of uneven road surface and caution system, it is special Sign is, when the aligning torque on deflecting roller reaches first threshold, compares the steering wheel torque and that torque sensor is measured Whether manipulation direction disk is turned to two threshold decision drivers, if the torque value that torque sensor measures is less than second threshold, Then illustrate that driver does not concentrate one's energy to drive at this time, electronic control unit module sends out alarm command to alarm module, reminds Pilot control wheel steering；If the torque value measured is higher than second threshold, sentenced according to aligning torque at this time and speed Whether the steering operation that disconnected driver applies on the steering wheel is correct, if correctly, terminating this wheel work, if incorrect, sending out Go out alarm command and remind driver's operating mistake, compared to the electric boosting steering system of mechanical connection, wire-controlled steering system turns Influence torque sensor measurement direction disk torque on steering column is not transferred to wheel aligning torque, is more convenient for accurately judging Driver, which unclamps, still holds steering wheel.
- 3. it is according to claim 1 a kind of suitable for driver attention's monitoring of uneven road surface and caution system, it is special Sign is that, when the torque that steering wheel torque sensor measures is less than second threshold, explanation is that driver's hand is put on the steering wheel When unconscious rotation, dtc signal is amplified at this time and it is monitored, if torque becomes zero from a certain moment and continues Be zero be more than certain time, then illustrate driver may both hands departure direction disks, electronic control unit module is to alarm mould at this time Block makes a sound alarm command and reminds driver.
- 4. it is according to claim 1 a kind of suitable for driver attention's monitoring of uneven road surface and caution system, it is special Sign is, when judging that driver attention does not concentrate or when steering operation mistake starts audible alarm and steering wheel vibration simultaneously Alarm.
- 5. it is according to claim 4 a kind of suitable for driver attention's monitoring of uneven road surface and caution system, it is special Sign is, does not collect the prompting for neutralizing driver's operating mistake respectively as driver attention with two different form of vibration, The vibration mode that specially prompting driver attention does not concentrate is continuous shaking, prompts the vibration mode of driver's operating mistake It was a cycle cycling cycling vibration for 0.2 second with continuous shaking stopping vibration in 0.5 second.
- 6. it is according to claim 4 a kind of suitable for driver attention's monitoring of uneven road surface and caution system, it is special Sign is, can set a frequency oneself liked after the vibration for experiencing each frequency by driver.
- 7. it is according to claim 1 a kind of suitable for driver attention's monitoring of uneven road surface and caution system, in vehicle Speed works when being more than 30km/h.
- 8. it is according to claim 1 a kind of suitable for driver attention's monitoring of uneven road surface and caution system, it is special Sign is, includes the following steps：Monitor the aligning torque and steering wheel torque on deflecting roller, and the deflecting roller aligning torque and steering wheel torque that will be detected Input to electronic control unit module；The aligning torque and first threshold on deflecting roller that electronic control unit relatively monitors； Electronic control unit module compares steering wheel torque and second threshold simultaneously；If judging result is reached for the aligning torque on deflecting roller To first threshold, the steering wheel torque measured is more than second threshold i.e. driver's active manipulation direction disk and operating mistake then electronics Control unit sends out alarm command and sends out business and control road feel simulated machine that steering wheel vibration is driven to be reminded as warning message Driver；List is controlled electronically if judging that steering wheel torque also reaches preset limiting value less than second threshold and duration Element module control voice device sends out alarm voice, this wheel work terminates；If judging result is returns positive force on deflecting roller Square does not reach first threshold, this wheel work terminates, and starts next round monitoring；If judging result is not below for steering wheel torque Second threshold or be still consistently less than less than second threshold the limiting value time do not reach preset limiting value then this wheel monitoring knot Beam starts next round monitoring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610136259.8A CN106394673B (en) | 2016-03-10 | 2016-03-10 | A kind of driver attention suitable for uneven road surface monitors and caution system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610136259.8A CN106394673B (en) | 2016-03-10 | 2016-03-10 | A kind of driver attention suitable for uneven road surface monitors and caution system |
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| CN106394673A CN106394673A (en) | 2017-02-15 |
| CN106394673B true CN106394673B (en) | 2018-06-08 |
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| CN201610136259.8A Expired - Fee Related CN106394673B (en) | 2016-03-10 | 2016-03-10 | A kind of driver attention suitable for uneven road surface monitors and caution system |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901562A (en) * | 2017-12-07 | 2019-06-18 | 天津英创汇智汽车技术有限公司 | A kind of driver's intervention recognition methods for vehicle driving model switching |
| CN109050397B (en) * | 2018-07-27 | 2020-09-11 | 吉利汽车研究院（宁波）有限公司 | Device and method for warning driver of releasing hands |
| CN112660236B (en) * | 2020-12-29 | 2022-03-25 | 东风汽车集团有限公司 | Vehicle steering control method and device and vehicle steering system |
| CN114694284B (en) * | 2022-03-24 | 2024-03-22 | 北京金和网络股份有限公司 | Special vehicle driver identity verification method and device |
| CN115503817A (en) * | 2022-08-30 | 2022-12-23 | 大运汽车股份有限公司 | Steering power-assisted mode switching control system and method through road surface conditions |
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| EP2591942A1 (en) * | 2011-11-11 | 2013-05-15 | Volvo Car Corporation | Arrangement and method for safeguarding driver attentiveness |
| CN203093752U (en) * | 2012-11-20 | 2013-07-31 | 长安大学 | Driving fatigue state early warning device based on steering wheel operation |
| CN104627240A (en) * | 2015-02-12 | 2015-05-20 | 重庆邮电大学 | Network-based intelligent steering wheel control system and control method thereof |
| CN105096528A (en) * | 2015-08-05 | 2015-11-25 | 广州云从信息科技有限公司 | Fatigue driving detection method and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8666603B2 (en) * | 2011-02-11 | 2014-03-04 | Sitting Man, Llc | Methods, systems, and computer program products for providing steering-control feedback to an operator of an automotive vehicle |
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2016
- 2016-03-10 CN CN201610136259.8A patent/CN106394673B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007331516A (en) * | 2006-06-14 | 2007-12-27 | Denso Corp | Tire pressure control device |
| EP2591942A1 (en) * | 2011-11-11 | 2013-05-15 | Volvo Car Corporation | Arrangement and method for safeguarding driver attentiveness |
| CN203093752U (en) * | 2012-11-20 | 2013-07-31 | 长安大学 | Driving fatigue state early warning device based on steering wheel operation |
| CN104627240A (en) * | 2015-02-12 | 2015-05-20 | 重庆邮电大学 | Network-based intelligent steering wheel control system and control method thereof |
| CN105096528A (en) * | 2015-08-05 | 2015-11-25 | 广州云从信息科技有限公司 | Fatigue driving detection method and system |
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| CN106394673A (en) | 2017-02-15 |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zheng Hongyu Inventor after: Zhou Jian Inventor after: Hu Jinghuan Inventor after: Wu Xuan Inventor after: He Lei Inventor after: Chen Guoying Inventor after: Zong Changfu Inventor before: Zheng Hongyu Inventor before: Hu Jinghuan Inventor before: Wu Xuan Inventor before: He Lei Inventor before: Chen Guoying Inventor before: Zong Changfu |
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Granted publication date: 20180608 Termination date: 20190310 |