CN107168313A - Control the method and device of vehicle drive - Google Patents

Control the method and device of vehicle drive Download PDF

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Publication number
CN107168313A
CN107168313A CN201710349318.4A CN201710349318A CN107168313A CN 107168313 A CN107168313 A CN 107168313A CN 201710349318 A CN201710349318 A CN 201710349318A CN 107168313 A CN107168313 A CN 107168313A
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China
Prior art keywords
eeg signals
vehicle
mental imagery
imagery eeg
driver
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陈迎亚
陈效华
张绍勇
贾文伟
曹天翼
邓希兰
周玉祥
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BAIC Motor Co Ltd
Beijing Automotive Group Co Ltd
Beijing Automotive Research Institute Co Ltd
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BAIC Motor Co Ltd
Beijing Automotive Research Institute Co Ltd
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Priority to CN201710349318.4A priority Critical patent/CN107168313A/en
Publication of CN107168313A publication Critical patent/CN107168313A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/015Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Neurosurgery (AREA)
  • Neurology (AREA)
  • Health & Medical Sciences (AREA)
  • Dermatology (AREA)
  • Biomedical Technology (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)

Abstract

This disclosure relates to which a kind of method and device of control vehicle drive, this method includes:Gather the first Mental imagery EEG signals of driver;Vehicle operation is controlled according to the first Mental imagery EEG signals of the current running status of vehicle and the driver collected.This method avoid driver due to visual fatigue caused by extraneous visual stimulus, the security in vehicle operation is improved.

Description

Control the method and device of vehicle drive
Technical field
This disclosure relates to field of automobile control, in particular it relates to a kind of method and device of control vehicle drive.
Background technology
Brain-computer interface technology refers to independent of traditional peripheral nerve and sarcous motion control path, in brain The man-machine interaction mode of connection is directly set up between external equipment.Brain-computer interface technology is applied to intelligent driving field, can be Human brain is realized to be set up directly " link " between automotive system, realizes " idea " control automobile.
The EEG (Electro encephalo graphy, EEG signals) for being presently used for realizing brain-computer interface is usually SSVEP (steady-state visual evoked potential, Steady State Visual Evoked Potential), P300 etc..Existing " brain control Automobile " scheme is mainly based upon SSVEP and realizes that auxiliary drives function, for example, navigation and music control etc..Or pass through brain telecommunications Number judge driver fatigue state, the corresponding control of triggering or warning function.But due to brain-computer interface technology recognition accuracy, There is certain limitation in transmission rate and stability, it is necessary to rely on extraneous visual stimulus system, can not only embody driver Subjective consciousness, and road conditions and ambient condition information can not be paid close attention in real time due to driver eye fixation's stimulating system, caused Security is substantially reduced, and the visual fatigue of driver is easily caused during driver's long-duration driving.
There is drawbacks described above to the mode that automobile is controlled due to being currently based on EEG signals, therefore one kind is effectively solved Measure needs to be suggested.
The content of the invention
The purpose of the disclosure is to provide a kind of method and device of control vehicle drive, to solve to be based in the prior art EEG signals are controlled the problem of security is relatively low to automobile.
To achieve these goals, the disclosure provides a kind of method for controlling vehicle drive, the first fortune of collection driver Dynamic imagination EEG signals;According to the current running status of vehicle and the first Mental imagery EEG signals collected control vehicle Operation.
Optionally, the above method also includes:Before the first Mental imagery EEG signals of collection driver, when default Between in section multi collect driver the second Mental imagery EEG signals;Extract the second Mental imagery EEG signals of multi collect Feature;Learning training is carried out to the feature extracted using grader, the spy of at least two Mental imagery EEG signals is obtained Levy;Operate foundation are corresponding to close with least two of vehicle respectively the feature of at least two Mental imagery EEG signals extracted System.
Optionally, vehicle is controlled according to the current running status of vehicle and the first Mental imagery EEG signals collected Operation, including:The feature of the first Mental imagery EEG signals is extracted, according to the feature of the Mental imagery EEG signals pre-established Corresponding relation between the operation of vehicle, it is determined that object run corresponding with the first Mental imagery EEG signals collected, Control the operation of vehicle performance objective.
Optionally, above-mentioned at least two Mental imageries EEG signals, including:Driver's imagination controls its body different parts At least two produced Mental imagery EEG signals.
Optionally, above-mentioned at least two operation includes:Vehicle left/right steering operation, the forward/backward operation of vehicle and car Halt/back operation.
Optionally, the first Mental imagery EEG signals of driver are gathered, including:With predetermined period taken at regular intervals driver The first electric imaginary signals of motion brain.
Optionally, vehicle is controlled according to the current running status of vehicle and the first Mental imagery EEG signals collected Operation, including:If the first Mental imagery EEG signals currently collected are to be controlled its left hand by driver's imagination and produced Mental imagery EEG signals, then control vehicle turn left the first predetermined angle;If the first Mental imagery brain currently collected Electric signal is to imagine the Mental imagery EEG signals for controlling its right hand and producing by driver, then controls vehicle right-hand rotation second to preset Angle;When the travel speed of vehicle is more than 0, if the first Mental imagery EEG signals currently collected are thought by driver As the Mental imagery EEG signals for controlling its left foot and/right crus of diaphragm and producing, then vehicle brake is controlled;When travel speed of vehicle etc. When 0, if the first Mental imagery EEG signals currently collected are to be controlled its left foot and/right crus of diaphragm by driver's imagination and produced Raw Mental imagery EEG signals, then control vehicle at the uniform velocity to travel.
To achieve these goals, the disclosure also provides a kind of device of control vehicle drive, including:First collection mould Block, the first Mental imagery EEG signals for gathering driver;Control module, for according to the current running status of vehicle with And the first Mental imagery EEG signals control vehicle operation collected.
Optionally, said apparatus also includes:Second acquisition module, for the first Mental imagery brain electricity in collection driver Before signal, the second Mental imagery EEG signals of multi collect driver in preset time period;Extraction module, for extracting The feature of second Mental imagery EEG signals of multi collect;Sort module, for being entered using grader to the feature extracted Row learning training, obtains the feature of at least two Mental imagery EEG signals;Module is set up, for by extract at least two The feature of Mental imagery EEG signals sets up corresponding relation with least two operations of vehicle respectively.
Optionally, above-mentioned control module is used for:The feature of the first Mental imagery EEG signals is extracted, according to what is pre-established Corresponding relation between the feature of Mental imagery EEG signals and the operation of vehicle, it is determined that with the first Mental imagery brain for collecting The corresponding object run of electric signal, the performance objective operation of control vehicle.
Optionally, above-mentioned at least two Mental imageries EEG signals include:Driver's imagination controls its body different parts At least two produced Mental imagery EEG signals.
Optionally, above-mentioned at least two operation includes:Vehicle left/right steering operation, the forward/backward operation of vehicle and car Halt/back operation.
Optionally, above-mentioned first acquisition module is used for:Thought with the motion brain electricity of predetermined period taken at regular intervals driver first Picture signals.
Optionally, above-mentioned control module, including:First control unit, if thought for the first motion currently collected As EEG signals are to imagine the Mental imagery EEG signals for controlling its left hand and producing by driver, then vehicle left-hand rotation first is controlled Predetermined angle;Second control unit, if for the first Mental imagery EEG signals currently collected being imagined by driver The Mental imagery EEG signals for controlling its right hand and producing, then control vehicle the second predetermined angle of right-hand rotation;3rd control unit, is used In when the travel speed of vehicle is more than 0, if the first Mental imagery EEG signals currently collected are imagined by driver The Mental imagery EEG signals for controlling its left foot and/right crus of diaphragm and producing, then control vehicle brake;4th control unit, for working as When the travel speed of vehicle is equal to 0, if the first Mental imagery EEG signals currently collected are to be imagined to control by driver Its left foot and/right crus of diaphragm and the Mental imagery EEG signals that produce, then control vehicle at the uniform velocity to travel.
The scheme that the present embodiment is provided, controls car steering function, due to Mental imagery by Mental imagery EEG signals EEG signals are spontaneous EEG signals, independent of environmental stimuli, it is to avoid caused by driver is due to extraneous visual stimulus Visual fatigue, improves the security of driving procedure.
Other feature and advantage of the disclosure will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute a part for specification, with following tool Body embodiment is used to explain the disclosure together, but does not constitute limitation of this disclosure.In the accompanying drawings:
Fig. 1 be this disclosure relates to control vehicle drive method flow chart;
Fig. 2 be this disclosure relates to vehicle control system structured flowchart;
Fig. 3 be this disclosure relates to training system realize the flow chart of training process;
Fig. 4 be this disclosure relates to the flow chart that EEG signals are identified;
Fig. 5 be this disclosure relates to control vehicle drive device structured flowchart.
Embodiment
It is described in detail below in conjunction with accompanying drawing embodiment of this disclosure.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
Embodiment of the disclosure provides a kind of method for controlling vehicle drive, and Fig. 1 is the flow chart of this method, such as Fig. 1 Shown, this method includes following processing:
Step 101:Gather the first Mental imagery EEG signals of driver;
In the present embodiment, the Mental imagery EEG signals of driver, Ke Yishe can be regularly gathered with predetermined period The predetermined period is put for several seconds, based on this, the Mental imagery EEG signals that can be arrived according to continuous collecting in a period of time come The control to a certain complete operation of vehicle is realized, for example, it is assumed that collection period is 1 second, when being collected in 10 seconds 10 times Mental imagery EEG signals, then performed 10 corresponding control operations to vehicle of the EEG signals in this 10 seconds.
The method that the present embodiment is provided can also include the operation foundation pair that need to perform specified EEG signals and vehicle The step of should being related to, based on this, before step 101, the method that the present embodiment is provided can also include:Collection driver's Before first Mental imagery EEG signals, the second Mental imagery EEG signals of multi collect driver in preset time period; Extract the feature to the second Mental imagery EEG signals of multi collect;Study instruction is carried out to the feature extracted using grader Practice, obtain the feature of at least two Mental imagery EEG signals;By the spy of at least two Mental imagery EEG signals extracted Levy at least two operations respectively with vehicle and set up corresponding relation.Wherein, at least two operations of vehicle can specifically include:Car The forward/backward operation of left/right steering operation, vehicle and vehicle halt/back operation.
It should be noted that in the present embodiment, the behaviour of learning training is carried out to the Mental imagery EEG signals of driver Be required for performing when making not in user every time using vehicle, for same user, its it is first using automobile when perform A complete learning training.If other users need to use Current vehicle, need to re-start it is complete once Learning training.
Step 102:According to the current running status of vehicle and the first Mental imagery EEG signals collected control car Operation.
After the first Mental imagery EEG signals of driver are collected, the first Mental imagery EEG signals are extracted Feature, according to the corresponding relation between the feature of Mental imagery EEG signals and the operation of vehicle pre-established, it is determined that with working as Before the corresponding object run of Mental imagery EEG signals that collects, the performance objective operation of control vehicle.
Wherein, the running status of vehicle can specifically include the speed that vehicle is travelled, and can pass through CAN (Controller Area Network, controller local area network) bus obtains the speed information of automobile, based on this, according to the operation of vehicle currently State and the Mental imagery EEG signals control vehicle operation collected, include but is not limited to following several control modes:
If the first Mental imagery EEG signals currently collected are controlled its left hand by driver's imagination and produced Mental imagery EEG signals, then control vehicle the first predetermined angle of left-hand rotation;
If the first Mental imagery EEG signals currently collected are controlled its right hand by driver's imagination and produced Mental imagery EEG signals, then control vehicle the second predetermined angle of right-hand rotation;
When the travel speed of vehicle is more than 0, if the first Mental imagery EEG signals currently collected are by driving The Mental imagery EEG signals that member's imagination controls its left foot and/right crus of diaphragm and produced, then control vehicle brake;
When the travel speed of vehicle is equal to 0, if the first Mental imagery EEG signals currently collected are by driving The Mental imagery EEG signals that member's imagination controls its left foot and/right crus of diaphragm and produced, then control vehicle at the uniform velocity to travel.
Each step and realization principle of the method provided above the present embodiment have carried out brief elaboration, below then to reality The system of existing this method is introduced.
In the present embodiment, eeg signal acquisition device, electroencephalogramsignal signal analyzing device and the part structure of actuator three can be used Into vehicle control system realize method that the present embodiment is provided, the structured flowchart of the system is as shown in Figure 2.
Eeg signal acquisition device is used for the Mental imagery EEG signals of collection vehicle driver.The eeg signal acquisition device bag Include electrode for encephalograms, amplifier and transmitting element.Wherein, electrode for encephalograms is contacted with driver's scalp, for picking up the brain electricity of user Signal, multiple electrode for encephalograms of diverse location can make the electric cap of brain and be worn on in account.Each electrode for encephalograms is sequentially through electricity Polar curve is connected on amplifier, and electroencephalogramsignal signal analyzing device is sent to after the processing such as amplifier is amplified to EEG signals, filtered. When user carries out Mental imagery, mainly the scalp EEG signals in its sensorimotor area change.Therefore, in the present embodiment In, electrode for encephalograms is attached to the scalp sensorimotor area of driver, imaginary signals can be measured by the electrode for encephalograms in motion The electric current generated when being transmitted between nervous system.
In the present embodiment, after the Mental imagery EEG signals of driver are collected, it is necessary to analyze the signal, It can specifically be realized using electroencephalogramsignal signal analyzing device.The electroencephalogramsignal signal analyzing device is by wired or wireless communication mode with being connected There is the amplifier connection of each electrode for encephalograms connection.If the connected mode of amplifier and electroencephalogramsignal signal analyzing device is wire communication, Then the transmitting element of eeg signal acquisition device is connection amplifier and the cable of electroencephalogramsignal signal analyzing device.Brain is electric in this case The receiving unit of signal analyzer is the port being connected with cable, such as USB (USB, Universal Serial Bus) mouth or serial ports.If the connected mode of amplifier and electroencephalogramsignal signal analyzing device is radio communication, eeg signal acquisition device Transmitting element and the receiving unit of electroencephalogramsignal signal analyzing device can be wireless communication module, such as bluetooth, zigbee, wifi etc.. Amplifier and electrode for encephalograms can be fixed on the electric cap of brain using communication, it is allowed to the complete free movement of tester, Traditional cable movement is avoided to disturb, to obtain high-quality electroencephalographic record.Wherein, amplifier can built-in chargeable electricity Pond, it is allowed to the continuous record of a few hours.
The hardware of electroencephalogramsignal signal analyzing device is the complete industrial control board of interface;Its software systems includes receiving unit, training system System, identifying system and control unit.Receiving unit receives the Mental imagery EEG signals of driver from eeg signal acquisition device; Training system being capable of the Sample Establishing eeg signal classification device mould based on a number of Mental imagery EEG signals collected Type, and model parameter is passed into identifying system;Identifying system can realize the Mental imagery position of ONLINE RECOGNITION user, be sent to Control unit;Control unit is controlled after optimization generation control instruction and is transferred to executing agency.
Wherein, training system, which is used to realize, is based on sufficient amount of known sample, is found most according to certain learning rules The process of excellent grader.Fig. 3 is the flow chart that training system realizes training process.The training process is located in advance including EEG signals Reason, feature extraction and classifier training.
Pretreatment:Because EEG signals are very faint, the interference of noise, main noise are highly susceptible in its gatherer process Have:50Hz/60Hz power supply disturbance artefact, eye movement artefact and muscular movement artefact.It can reduce and make an uproar after pretreatment Sound shadow is rung, and obtains more pure EEG signals.Preprocess method can include band filter (high pass, low pass and band logical Deng), spatial filter (Laplace filter and altogether average reference etc.) and burbling noise component algorithms (isolated component point Analysis and principal component analysis) etc..
Feature extraction:The purpose of feature extraction is to find out to be best able to explicitly indicate that user's difference consciousness letter in EEG signals The feature of breath, various parameters is determined by these features, and constitute the characteristic vector for having maximum relation degree with Tasks Process.Mental imagery EEG feature extraction method can use ERD (Event related desynchronization, Event-related desynchronization), ERS (Event related desynchronization, event-related design) and CSP Modes such as (Common special pattern, feature and cospace patterns) is carried out.
When some corticocerebral region is activated, the metabolism in the region and CBF increase, while brain information is processed The amplitude for causing alpha (8-13Hz) and beta (13-30Hz) frequency range to be shaken lowers or blocked, and this electrophysiological phenomena is claimed For ERD.Alpha and beta frequency spectrums show the electrical activity that obvious wave amplitude increases under brain tranquillization or inert condition, and this is ERS.User is when imagining left hand motion, and ERD phenomenons will occur in sensorimotor region on the right side of cerebral cortex;In imagination right hand fortune When dynamic, ERD phenomenons will occur in sensorimotor region on the left of cerebral cortex;In imagination both feet motion, the sense of cerebral cortex center Feel that ERD phenomenons will occur in moving region.Therefore corresponding brain electricity can be extracted according to the difference of these region electrical energy of brain Feature, identifies all kinds of brain power modes, i.e. various EEG signals eventually through suitable grader.
The principle of cospace pattern is to seek taking optimal spatial mapping direction by building a common spatial filter, So that a class signal is maximum in the energy value that this side up, and another kind of signal is minimum in the energy value that this side up.
Classifier training:Each training sample is carried out after feature extraction, composing training sample set feeding grader;According to Classification accuracy is iterated, and constantly adjusts classifier parameters, finally gives optimal grader.Sorting technique mainly has LDA (Linear discriminant analysis, linear discriminant analysis), NN (Neural network, neutral net), ELM (Extreme learning machine, extreme learning machine), SVM (Support Vector Machines, SVMs) Deng.
Identifying system can be realized to be handled the EEG signals collected in real time, draws the purpose of recognition result, is used Automobile corresponding function is controlled with realizing.Fig. 4 is the flow chart that EEG signals are identified.It is pre- that the process includes EEG signals Processing, feature extraction and Classification and Identification.Pretreatment and pretreatment and the feature extracting method of feature extracting method and training system Unanimously, it will not be repeated here;Classification and Identification be based on training after optimum classifier identify user movement be intended to, that is, identify Vehicle corresponding to the Mental imagery EEG signals of user needs operation to be performed.
Control unit:Can be total by CAN between the control unit of electroencephalogramsignal signal analyzing device and the electronic controller of actuator Line is communicated, therefore it is required that the control unit of electroencephalogramsignal signal analyzing device will have CAN interface.The control list of electroencephalogramsignal signal analyzing device Member obtains the speed information (at least one in the current running status of vehicle i.e. in above-mentioned steps 102 of automobile by CAN Kind of information), control unit according to speed and EEG's Recognition result formation control instruction, instruct specific forming process include but It is not limited to following several:
1st, when speed is 0km/h:
EEG's Recognition result is that driver imagines that its left hand is moved, then control instruction is:Automobile turns left 10 ° (i.e. pair Above-mentioned predetermined angle is answered, can also be specifically other number of degrees, 10 ° herein are merely illustrative);
EEG's Recognition result is that driver imagines that its right hand is moved, then control instruction is:Automobile is turned right 10 °;
EEG's Recognition result is that driver imagines its both feet motion (double-legged or any one pin), then control instruction For:Automobile at the uniform velocity advances, and speed is 10km/h.
2nd, when speed is more than 0km/h:
Electroencephalogramrecognition recognition result is that driver imagines that its left hand is moved, then control instruction is:Automobile turns left 10 °;
Electroencephalogramrecognition recognition result is that driver imagines that its right hand is moved, then control instruction is:Automobile is turned right 10 °;
Electroencephalogramrecognition recognition result is that driver imagines its both feet motion, then control instruction is:Brake to speed is 0km/h.
Above control instruction is sent to the electronic controller of executing agency by CAN after control optimization.
Pass through the control signal, it is possible to achieve the optimization controlled automobile, control optimisation strategy can specifically include:Start Optimization, solves that stiction is larger the problem of cause when automobile starting advances;Optimization is turned to, automobile is solved and is turned to suddenly by straight trip When, the problem of turning to not in place;Security performance optimizes, and solves to run into barrier, recognition result mistake etc. in vehicle traveling process The safety problem brought.
Actuator in the present embodiment includes electronic controller and automobile bottom executing agency.Electronic controller passes through CAN Bus receives the control instruction that brain electricity analytical device is transmitted, and drives the bottom executing agency of automobile to complete corresponding according to control instruction Action.Wherein, automobile bottom executing agency includes but is not limited to steering wheel, wheel, indicator lamp and engine etc..
The method that the present embodiment is provided, car steering function is controlled by Mental imagery EEG signals.Due to Mental imagery EEG signals are spontaneous EEG signals, independent of environmental stimuli, it is to avoid caused by driver is due to extraneous visual stimulus Visual fatigue, improves user's initiative;Meanwhile, this method imagines EEG signals as the control of automobile using self-motion Instruction, can bring new experience for driver, liberate the both feet and both hands of driver, while being also physical handicaps patient Manipulation automobile offers convenience;In person, this method is further increased by Mental imagery training system and rational control strategy The security of automobile control process.
Embodiment of the disclosure additionally provides a kind of device of control vehicle drive, and the device is used to realize above-mentioned control car The method driven, the device can be set and in vehicle or mobile unit, Fig. 5 is the structured flowchart of the device, such as Shown in Fig. 5, the device 50 includes following part:
First acquisition module 51, the first Mental imagery EEG signals for gathering driver;
First acquisition module 51 can be used for:With the first motion brain electricity imagination letter of predetermined period taken at regular intervals driver Number.
Control module 52, for according to the current running status of vehicle and the first Mental imagery EEG signals collected Control vehicle operation.
Further, said apparatus 50 can also include:Second acquisition module, for the first motion in collection driver Before imagination EEG signals, the second Mental imagery EEG signals of multi collect driver in preset time period;Extraction module, For extracting the feature to the second Mental imagery EEG signals of multi collect;Sort module, for using grader to extracting The feature arrived carries out learning training, obtains the feature of at least two Mental imagery EEG signals;Module is set up, for that will extract At least two operations of the feature respectively with vehicle of at least two Mental imagery EEG signals set up corresponding relation.
Wherein, at least two Mental imagery EEG signals can specifically include:Driver's imagination controls its body difference portion At least two Mental imagery EEG signals produced by position.And, at least two operations can specifically include:Vehicle left/right turns Halted/back operation to operation, the forward/backward operation of vehicle and vehicle.
Based on above-mentioned second acquisition module, extraction module, sort module and the function that module is realized is set up, this implementation Control module 52 in example specifically can be used for:After the first Mental imagery EEG signals of collection driver, extract this The feature of one Mental imagery EEG signals, according between the feature of Mental imagery EEG signals and the operation of vehicle pre-established Corresponding relation, it is determined that object run corresponding with the first Mental imagery EEG signals currently collected, control vehicle is performed Object run.
Above-mentioned control module can specifically include following part:First control unit, if for currently collecting The first Mental imagery EEG signals be to be imagined to control its left hand and the Mental imagery EEG signals that produce by driver, then control Vehicle the first predetermined angle of left-hand rotation;Second control unit, if being for the first Mental imagery EEG signals currently collected The Mental imagery EEG signals for controlling its right hand and producing are imagined by driver, then control vehicle the second predetermined angle of right-hand rotation;The Three control units, for when the travel speed of vehicle is more than 0, if the first Mental imagery EEG signals currently collected are The Mental imagery EEG signals for controlling its left foot and/right crus of diaphragm and producing are imagined by driver, then control vehicle brake;4th control Unit, for when the travel speed of vehicle is equal to 0, if the first Mental imagery EEG signals currently collected are by driving The Mental imagery EEG signals that member's imagination controls its left foot and/right crus of diaphragm and produced, then control vehicle at the uniform velocity to travel.
The device that the present embodiment is provided, car steering function is controlled by Mental imagery EEG signals.Due to Mental imagery EEG signals are spontaneous EEG signals, independent of environmental stimuli, it is to avoid caused by driver is due to extraneous visual stimulus Visual fatigue, improves user's initiative;Meanwhile, the present apparatus is referred to using self-motion imagination EEG signals as the control of automobile Order, can bring new experience for driver, liberate the both feet and both hands of driver, while also being grasped for physical handicaps patient Control automobile offers convenience;In person, the present apparatus further increases vapour by Mental imagery training system and rational control strategy The security of car control process.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out with technical scheme of this disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.
In addition, can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought, it should equally be considered as disclosure disclosure of that.

Claims (14)

1. a kind of method for controlling vehicle drive, it is characterised in that including:
Gather the first Mental imagery EEG signals of driver;
The vehicle fortune is controlled according to the current running status of vehicle and the first Mental imagery EEG signals collected OK.
2. according to the method described in claim 1, it is characterised in that methods described also includes:
Before the first Mental imagery EEG signals of collection driver, driven in preset time period described in multi collect The second Mental imagery EEG signals of member;
Extract the feature of the second Mental imagery EEG signals of the multi collect;
Learning training is carried out to the feature extracted using grader, the spy of at least two Mental imagery EEG signals is obtained Levy;
By at least two operations of the feature of at least two Mental imageries EEG signals extracted respectively with the vehicle Set up corresponding relation.
3. method according to claim 2, it is characterised in that the running status current according to vehicle and collect The first Mental imagery EEG signals control vehicle operation, including:
Extract the feature of the first Mental imagery EEG signals, according to the feature of the Mental imagery EEG signals pre-established with Corresponding relation between the operation of vehicle, it is determined that target corresponding with the first Mental imagery EEG signals collected is grasped Make, control the vehicle to perform the object run.
4. method according to claim 2, it is characterised in that at least two Mental imageries EEG signals, including:
Driver's imagination controls at least two Mental imagery EEG signals produced by its body different parts.
5. method according to claim 2, it is characterised in that at least two operation includes:
The forward/backward operation of vehicle left/right steering operation, vehicle and vehicle halt/back operation.
6. according to the method described in claim 1, it is characterised in that the first Mental imagery brain telecommunications of the collection driver Number, including:
With the first electric imaginary signals of motion brain of driver described in predetermined period taken at regular intervals.
7. the method according to claim 1 to 6 any one, it is characterised in that the operation shape according to vehicle currently State and the first Mental imagery EEG signals collected control the vehicle operation, including:
If the first Mental imagery EEG signals currently collected are to be controlled its left hand by the driver imagination and produced Raw Mental imagery EEG signals, then control the first predetermined angle of the vehicle left-hand rotation;
If the first Mental imagery EEG signals currently collected are to be controlled its right hand by the driver imagination and produced Raw Mental imagery EEG signals, then control the second predetermined angle of the vehicle right-hand rotation;
When the vehicle travel speed be more than 0 when, if the first Mental imagery EEG signals currently collected be by The Mental imagery EEG signals that driver's imagination controls its left foot and/right crus of diaphragm and produced, then control the vehicle brake;
When the vehicle travel speed be equal to 0 when, if the first Mental imagery EEG signals currently collected be by The Mental imagery EEG signals that driver's imagination controls its left foot and/right crus of diaphragm and produced, then control the vehicle at the uniform velocity to go Sail.
8. a kind of device of control vehicle drive, it is characterised in that including:
First acquisition module, the first Mental imagery EEG signals for gathering driver;
Control module, for according to the current running status of vehicle and the first Mental imagery EEG signals control collected Make the vehicle operation.
9. device according to claim 8, it is characterised in that described device also includes:
Second acquisition module, for before the first Mental imagery EEG signals of collection driver, in preset time period The second Mental imagery EEG signals of driver described in interior multi collect;
Extraction module, the feature of the second Mental imagery EEG signals for extracting the multi collect;
Sort module, for carrying out learning training to the feature extracted using grader, obtains at least two motions and thinks As the feature of EEG signals;
Set up module, for by the feature of at least two Mental imageries EEG signals extracted respectively with the vehicle Corresponding relation is set up at least two operations.
10. device according to claim 9, it is characterised in that the control module is used for:
Extract the feature of the first Mental imagery EEG signals, according to the feature of the Mental imagery EEG signals pre-established with Corresponding relation between the operation of vehicle, it is determined that target corresponding with the first Mental imagery EEG signals collected is grasped Make, control the vehicle to perform the object run.
11. device according to claim 9, it is characterised in that at least two Mental imageries EEG signals, including:
Driver's imagination controls at least two Mental imagery EEG signals produced by its body different parts.
12. device according to claim 9, it is characterised in that at least two operation includes:
The forward/backward operation of vehicle left/right steering operation, vehicle and vehicle halt/back operation.
13. device according to claim 8, it is characterised in that first acquisition module is used for:
With the electric imaginary signals of the motion brain of driver first described in predetermined period taken at regular intervals.
14. the device according to claim 8 to 13 any one, it is characterised in that the control module, including:
First control unit, if for the first Mental imagery EEG signals currently collected being thought by the driver As the Mental imagery EEG signals for controlling its left hand and producing, then the first predetermined angle of the vehicle left-hand rotation is controlled;
Second control unit, if for the first Mental imagery EEG signals currently collected being thought by the driver As the Mental imagery EEG signals for controlling its right hand and producing, then the second predetermined angle of the vehicle right-hand rotation is controlled;
3rd control unit, for when the travel speed of the vehicle is more than 0, if first motion currently collected Imagination EEG signals are that the Mental imagery EEG signals for controlling its left foot and/right crus of diaphragm and producing are imagined by the driver, then control Make the vehicle brake;
4th control unit, for when the travel speed of the vehicle is equal to 0, if first motion currently collected Imagination EEG signals are that the Mental imagery EEG signals for controlling its left foot and/right crus of diaphragm and producing are imagined by the driver, then control The vehicle is made at the uniform velocity to travel.
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