CN108091106A - Fatigue drive prompting system, alarm set and Vehicular system - Google Patents
Fatigue drive prompting system, alarm set and Vehicular system Download PDFInfo
- Publication number
- CN108091106A CN108091106A CN201611060711.3A CN201611060711A CN108091106A CN 108091106 A CN108091106 A CN 108091106A CN 201611060711 A CN201611060711 A CN 201611060711A CN 108091106 A CN108091106 A CN 108091106A
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- Prior art keywords
- prompting
- fatigue
- driver
- sound wave
- alarm set
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
Abstract
The invention discloses a kind of fatigue drive prompting systems, the fatigue drive prompting system includes detection device and alarm set, wherein, detection device, for gathering the sign information of driver, and prompting control signal is sent when judging that driver is in fatigue driving according to sign information;Alarm set includes sonic generator, and sonic generator is used to send prompting sound wave when receiving and reminding control signal, wherein, the frequency of sound wave is reminded to exceed hearing frequency of sound wave scope.The fatigue drive prompting system can improve fatigue driving monitoring accuracy, more efficiently be reminded, avoid fatigue driving.Invention additionally discloses fatigue drive prompting devices and Vehicular system.
Description
Technical field
The invention belongs to technical field of vehicle more particularly to a kind of fatigue drive prompting system and fatigue driving devices
And Vehicular system.
Background technology
Driving fatigue refers to that driver after continuous driving for a long time, generates the imbalance of physiological function and mental function, and
Objectively there is the phenomenon that driving efficiency decline.Continue to drive vehicle after fatigue, can feel sleepy drowsiness, attention does not collect
In, appearance action is delayed or too early, road traffic thing easily occurs for the insecurity such as operation pauses or the correction time is improper
Therefore.Therefore fatigue driving is commonly referred to as " road killer ", is one of the main reason for causing traffic accident.
Now, for fatigue driving early warning, there are two types of forms:First, auto-loading driver fatigue monitor system, using driving
Facial characteristics, eye signal, head movement of the person of sailing etc. infer the fatigue state of driver, are then alarmed using voice
Prompting;Second, the anti-drowsy alarm of electronic equilibrium formula.It is worn on driver's ear, and work is carried out using electronic equilibrium principle
Make.Driver is in way of driving a vehicle, once generating sleepiness, head turns forward or arrives certain angle to layback, which will send out
Go out alarm, wake up driver and arouse vigilance.
For the above-mentioned mode reacted in auto-loading giving fatigue pre-warning system based on physiological driver's image, driven in monitoring
Whether the accuracy in fatigue state is higher by the person of sailing, and is typically all to be illustrated with voice or warning when reminding early warning still, right
The possibility ignored for the driver of fatigue is very big.For the anti-drowsy alarm of electronic equilibrium formula, based on driver
Headwork monitor whether that in fatigue state there is very high erroneous judgement, and when the genuine drowsiness of driver is to when bowing
It waits, then alarms, accident is perhaps unavoidably.
The content of the invention
It is contemplated that it solves at least some of the technical problems in related technologies.
For this purpose, the present invention needs to propose a kind of fatigue drive prompting system, the system for prompting, False Rate is low, can reduce
Fatigue driving accident.
The present invention also proposes a kind of fatigue drive prompting device and the vehicle using the fatigue drive prompting system.
To solve the above-mentioned problems, the fatigue drive prompting system that one aspect of the present invention proposes, including:Detection device is used
In the sign information of acquisition driver, and send and carry when judging that the driver is in fatigue driving according to the sign information
Awake control signal;And alarm set, the alarm set include sonic generator, the sonic generator is used for receiving
It states and sends prompting sound wave when reminding control signal, wherein, the frequency for reminding sound wave exceeds hearing frequency of sound wave scope.
The fatigue drive prompting system of the embodiment of the present invention detects the sign information of driver by detection device, according to
Sign information judges fatigue state, and detection accuracy is high, and then alarm set is by exceeding the sound wave of hearing frequency of sound wave scope
Driver is reminded, it is more efficient, so as to preferably avoid fatigue driving, ensure driving safety.
To solve the above-mentioned problems, the fatigue drive prompting device that another aspect of the present invention proposes, including:Body;Harmony
Wave producer, for sending prompting sound wave when receiving and reminding control signal, wherein, the frequency of the prompting sound wave, which exceeds, listens
Power frequency of sound wave scope.
The fatigue drive prompting device of the embodiment of the present invention is sent by sonic generator beyond hearing frequency of sound wave scope
Sound wave driver is reminded, it is more efficient, so as to preferably fatigue driving be avoided to cause the accident.
Based on above-described embodiment, Vehicular system that another aspect of the invention proposes, including:Vehicle;With fatigue described above
Assisting automobile driver system, wherein, detection device is arranged on the vehicle, and alarm set is worn on driver.
The Vehicular system of the embodiment of the present invention, using above-mentioned fatigue drive prompting system, fatigue driving monitoring accuracy
Height, it is more efficient to driver's prompting, fatigue driving can be better protected from, ensures driving safety.
Description of the drawings
Fig. 1 is the block diagram of fatigue drive prompting system according to embodiments of the present invention;
Fig. 2 is the block diagram of fatigue drive prompting system according to an embodiment of the invention;
Fig. 3 is the block diagram of alarm set according to embodiments of the present invention;
Fig. 4 is the block diagram of alarm set according to an embodiment of the invention;
Fig. 5 is the schematic diagram of extension neck Worn type alarm set according to an embodiment of the invention;
In Fig. 6 (1)-(6) be the bottom view of alarm set for Fig. 5, right view, front view, left view, rearview and
Top view;
Fig. 7 is the block diagram of Vehicular system according to embodiments of the present invention;And
Fig. 8 is the flow chart of fatigue drive prompting method according to embodiments of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The fatigue drive prompting system proposed according to embodiments of the present invention, fatigue drive prompting dress are described with reference to the accompanying drawings
It puts, fatigue drive prompting method and vehicle.
Fig. 1 is the block diagram of fatigue drive prompting system according to embodiments of the present invention, as shown in Figure 1, the system for prompting 100
Including detection device 10 and alarm set 20.
Wherein, detection device 10 is used to gather the sign information of driver, and judges that driver's is tired according to sign information
Labor state sends prompting control signal, for example with existing when judging that driver is in fatigue driving according to sign information
Fatigue driving warning monitoring system carries out fatigue state judgement using sign information, and accuracy is high.In some implementations of the present invention
In example, sign information includes but not limited to facial characteristics, eye information or head movement information.
Alarm set 20 includes sonic generator 21, and sonic generator 21 is used to send when receiving and reminding control signal
Sound wave is reminded, wherein, remind the frequency of sound wave that i.e. sonic generator 21 is sent not in sense of hearing model beyond hearing frequency of sound wave scope
Interior special sound wave is enclosed driver to be stimulated to regain consciousness, it is more efficient compared to common sound prompting.
The fatigue drive prompting system 100 of the embodiment of the present invention detects the sign information of driver by detection device 10,
Fatigue state is judged according to sign information, detection accuracy is high, and then alarm set 20 is by exceeding hearing frequency of sound wave scope
Sound wave driver is reminded, it is more efficient, so as to preferably avoid fatigue driving, ensure driving safety.
In some embodiments of the invention, the frequency of sound wave is reminded to be less than 20Hz or more than 20000Hz, that is, is being judged
During driver tired driving, ultrasonic wave or infrasound are sent to stimulate driver, send the sound wave model that the mankind can't hear
It encloses, driver can be reminded with stronger penetration power and by disturbing the nervous system of people, compared to common sound prompting
It is more efficient.
As shown in Fig. 2, alarm set 20 further includes body 22 and shock module 23, body 22 is worn on driver;
Shock module 23 is arranged on body 22, for carrying out vibration reminding when receiving and reminding control signal.Alarm set 20 can
To be arranged to hanging-on-neck type, it is worn on the neck of driver.Experiment shows to wake up the fatigue of driver or doze state, most
Effective method, when judging driver tired driving, is passed through i.e. using the interference of special sound wave and physical shock mode
Sonic generator 21 sends the special vibration reminding for reminding sound wave and shock module 23, can more efficiently wake up driving
Member avoids driver from carrying out fatigue driving.
Alternatively, it is also possible to be reminded simultaneously by sound, as shown in Fig. 2, alarm set 20 further includes sound module 24,
Sound module 24 is used to carry out sound early warning when receiving and reminding control signal.Sound be sound wave a kind of embodiment, frequency model
It is sound that the mankind can hear to be trapped among between 20Hz-20000Hz, herein, is reminded different from sound wave, and sound early warning can be with
Music including such as voice prompt, alarm song or melodious fierceness.
As shown in Fig. 2, the alarm set 20 further includes wireless module 25, wireless module 25 is used in vehicle launch with examining
It surveys device 10 and carries out wireless connection, naturally it is also possible to the company of detection device 10 and alarm set 20 is realized by wired mode
It connects.For example, as driver actuation, 20 automatic start of alarm set is connected with the WIFI of detection device 10;Detection device
10 detect driver as fatigue state, with will remind control signal transmission that alarm set 20 can lead to alarm set 20
Cross that three kinds of different modes for example shake, sound wave is reminded and driver is reminded in sound early warning incessantly, up to driver
Make positive reactive measures.
In addition, as shown in Fig. 2, the fatigue drive prompting system 100 can also include setting device 30, setting device 30 is used
According to user input instruction to vibration frequency, sound type and reminding at least one setting in the frequency range of sound wave
It puts.Specifically, 20 connection setting unit 30 of alarm set, such as by cell phone application, different individual character alerting patterns is customized, it can
It is adjusted with the frequency range to vibration frequency, sound type and prompting sound wave, thus is being not used in monitoring fatigue state
When, alarm set 20 is also used as wireless sound box with vehicle or carries.
In short, the fatigue drive prompting system 100 of the embodiment of the present invention, based on what is be monitored according to sign information
Detection device 10 and alarm set 20, it is ensured that the high accuracy of fatigue monitoring can reflect the driving condition of driver in time.
The mode of driver is being reminded also to have bigger difference with present technology, using remind sound wave, that is, special sound wave interference and
Physical shock mode, half-compulsory initiatively send reaction to the fatigue state of driver, in correlation technique by voice and
The warning ways such as bright light are compared, and reduce the danger of people's fatigue trip to greatest extent, can be as the mark for representing automotive safety
Standardization configures, and increases security and the hommization of automobile.In addition, alarm set 20 can also be used as the personalization such as wireless acoustics
Wearable device is carried and used.
The fatigue drive prompting device 20 of embodiment according to a further aspect of the invention is described with reference to the accompanying drawings.Fig. 3 is root
According to the block diagram of the fatigue drive prompting device 20 of the embodiment of the present invention.
As shown in figure 3, the fatigue drive prompting device 20 includes sonic generator 21 and body 22.Sonic generator 21 is used
Prompting sound wave is sent when receiving and reminding control signal, wherein, the frequency of sound wave is reminded to exceed hearing frequency of sound wave scope.
In some embodiments of the invention, the frequency of sound wave is reminded to be less than 20Hz or more than 20000Hz, that is, is judging that driver is tired
When please sailing, ultrasonic wave or infrasound are sent to stimulate driver, send the acoustical range that the mankind can't hear, it can be with
Stronger penetration power and driver is reminded by disturbing the nervous system of people, it is more efficient compared to common sound prompting.
The fatigue drive prompting device 20 of the embodiment of the present invention, is sent by sonic generator 21 beyond hearing frequency of sound wave
The sound wave of scope reminds driver, more efficient, so as to preferably fatigue driving be avoided to cause the accident.
Wherein, body 22 can be worn on driver, as shown in figure 4, alarm set 20 further includes shock module 23,
Shock module 23 is arranged on body, for carrying out vibration reminding when receiving and reminding control signal.Pass through sonic generator
21, which send the special vibration reminding for reminding sound wave and shock module 23, can more efficiently wake up driver, avoid driving
Member carries out fatigue driving.
Alternatively, it is also possible to be reminded simultaneously by sound, as shown in figure 4, alarm set 20 can also include sound mould
Block 24, sound module 24 are used to carry out sound early warning when receiving and reminding control signal.Herein, reminded different from sound wave,
Sound early warning can include the music of such as voice prompt, alarm song or melodious fierceness.
As shown in figure 4, the alarm set 20 further includes wireless module 25, wireless module 25 is used in vehicle launch with examining
It surveys device and carries out wireless connection to receive prompting control signal.By wired mode detection device can certainly be realized with carrying
The connection of awake device 20.
The fatigue drive prompting device 20 of the embodiment of the present invention, which may be employed, hangs neck Worn type, for example, as shown in figure 5, production
Product overall volume can be designed like earphone size, facilitate wearing and be placed in car.It says, with reference to detection device such as vehicle
Preceding dress driver fatigue monitor system, with the extension neck Worn type alarm set 20 of wirelessly such as WIFI connections, accuracy in detection higher,
More efficient and safe reaction can be made, come the fatigue state reminded or even mitigate driver, reduces thing to greatest extent
Therefore the possibility occurred.
(1)-(6) in Fig. 6 are the sectional views of the alarm set for Fig. 6 of the embodiment of the present invention, wherein, in figure 6,
(1) it is the bottom view of alarm set;(2) it is the right view of alarm set;(3) it is the front view of alarm set;(4) filled to remind
The left view put;(5) it is the rearview of alarm set;(6) it is the top view of alarm set.Using extension neck Worn type alarm set
20, preferably driver can be reminded.
Fig. 7 is the block diagram of Vehicular system according to embodiments of the present invention, as shown in fig. 7, the Vehicular system 1000 includes vehicle
200 and the fatigue drive prompting system 100 of above-mentioned aspect embodiment.Wherein, the detection device of fatigue drive prompting system 100
It can be arranged on vehicle 200, such as be arranged on the car body that can detect driver's sign information.Alarm set is worn on
With driver, such as it is placed on the neck of driver.
As driver actuation 200, alarm set automatic start is attached with detection device, detection device according to
When the sign information of driver is judged in fatigue state, with control signal transmission will be reminded to alarm set, and then, it reminds
Device may be employed three kinds of different modes and remind driver incessantly, until driver makes positive reactive measures.
The Vehicular system 1000 of the embodiment of the present invention, using above-mentioned fatigue drive prompting system 100, fatigue driving monitoring
Accuracy is high, more efficient to driver's prompting, can be better protected from fatigue driving, ensure driving safety.
The fatigue drive prompting method of embodiment according to a further aspect of the present invention is described with reference to the accompanying drawings.
Fig. 8 is the flow chart of fatigue drive prompting method according to embodiments of the present invention, as shown in figure 8, the fatigue driving
Based reminding method comprises the following steps:
S1 is received and is reminded control signal.
Specifically, detection device for example with driver fatigue monitor system is filled before existing vehicle, gathers the body of driver
Reference ceases, such as facial information, eye information or body operation information, and judges driver according to the sign information of driver
Whether be in fatigue driving, if it is determined that driver is in fatigue driving and then sends prompting control signal so that alarm set into
Row is reminded.
S2 sends prompting sound wave according to prompting control signal, wherein, the frequency of sound wave is reminded to exceed hearing frequency of sound wave model
It encloses.Using the special sound wave not in audibility range driver is stimulated to regain consciousness, compared to common sound prompting, more added with
Effect.
The fatigue drive prompting method of the embodiment of the present invention, by exceeding the sound wave of hearing frequency of sound wave scope to driver
It is reminded, it is more efficient, so as to preferably avoid fatigue driving, ensure safe driving.
In some embodiments of the invention, the frequency of sound wave is reminded to be less than 20Hz or more than 20000Hz, that is, is being judged
During driver tired driving, ultrasonic wave or infrasound are sent to stimulate driver, send the sound wave model that the mankind can't hear
It encloses, driver can be reminded with stronger penetration power and by disturbing the nervous system of people, compared to common sound prompting
It is more efficient.
In some embodiments of the invention, alarm set is worn on driver, in based reminding method of the invention, also
Vibration reminding can be carried out when receiving and reminding control signal.Experiment shows to wake up the fatigue of driver or doze state,
Most effective method using the interference of special sound wave and physical shock mode, can more efficiently wake up driver, avoid
Driver carries out fatigue driving.
Alternatively, it is also possible to be reminded simultaneously by sound, specifically, sound is carried out when receiving and reminding control signal
Early warning.Sound is a kind of embodiment of sound wave, and frequency range is the sound that the mankind can hear between 20Hz-20000Hz,
Here, reminded different from sound wave, sound early warning can include the music of such as voice prompt, alarm song or melodious fierceness.
To sum up, fatigue drive prompting system, alarm set and the based reminding method of the embodiment of the present invention, can improve tired
Please the monitoring precision sailed reminds using special sound wave with reference to vibration reminding and sound prompting to remind driver, can be with
Reach and preferably remind effect, avoid fatigue driving, ensure driving safety.
It should be noted that in the description of this specification, any mistake described otherwise above in flow chart or herein
Journey or method description are construed as, and expression includes one or more the step of being used to implement specific logical function or process
Executable instruction code module, segment or part, and the scope of the preferred embodiment of the present invention include it is other
Realize, wherein order that is shown or discussing can not be pressed, including according to involved function by it is basic simultaneously in the way of or press
Opposite order, carrys out perform function, this should be understood by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
Row system, device or equipment instruction fetch and the system executed instruction) it uses or combines these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
It puts.The more specific example (non-exhaustive list) of computer-readable medium includes following:Electricity with one or more wiring
Connecting portion (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or if necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, with hardware come realize in another embodiment, can be under well known in the art
Any one of row technology or their combination are realized:With for the logic gates to data-signal realization logic function
Discrete logic, have suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, one or a combination set of the step of including embodiment of the method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments described in this specification or example and different embodiments or exemplary feature
It closes and combines.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (12)
1. a kind of fatigue drive prompting system, which is characterized in that including:
Detection device for gathering the sign information of driver, and is judging that the driver is according to the sign information
Prompting control signal is sent during fatigue driving;With
Alarm set, the alarm set include sonic generator, and the sonic generator is used to receive the prompting control
Prompting sound wave is sent during signal processed, wherein, the frequency for reminding sound wave exceeds hearing frequency of sound wave scope.
2. fatigue drive prompting system as described in claim 1, which is characterized in that the alarm set further includes:
Body, the body are worn on the driver;With
Shock module, the shock module are arranged on the body, for being carried out when receiving the prompting control signal
Vibration reminding.
3. fatigue drive prompting system as claimed in claim 2, which is characterized in that the alarm set further includes:
Sound module, for carrying out sound early warning when receiving the prompting control signal.
4. fatigue drive prompting system as claimed in claim 3, which is characterized in that further include:
Set device, for according to user input instruction to vibration frequency, sound type and remind sound wave frequency range in
It is at least one to be configured.
5. fatigue drive prompting system as described in claim 1, which is characterized in that the alarm set further includes:
Wireless module, for carrying out wireless connection with the detection device in vehicle launch.
6. a kind of fatigue drive prompting device, which is characterized in that including:
Body;With
Sonic generator, for sending prompting sound wave when receiving and reminding control signal, wherein, the frequency for reminding sound wave
Beyond hearing frequency of sound wave scope.
7. fatigue drive prompting device as claimed in claim 6, which is characterized in that wherein, the body is worn on described drive
With the person of sailing, the fatigue drive prompting device further includes:
Shock module, the shock module are arranged on the body, for being carried out when receiving the prompting control signal
Vibration reminding.
8. fatigue drive prompting device as claimed in claim 6, which is characterized in that further include:
Sound module, for carrying out sound early warning when receiving the prompting control signal.
9. fatigue drive prompting device as claimed in claim 6, which is characterized in that further include:
Wireless module, for receiving the prompting control signal with detection device progress wireless connection in vehicle launch.
10. fatigue drive prompting device as claimed in claim 6, which is characterized in that the frequency for reminding sound wave is less than
20Hz or more than 20000Hz.
11. such as claim 6-10 any one of them fatigue drive prompting devices, which is characterized in that the fatigue drive prompting
Device is extension neck Worn type.
12. a kind of Vehicular system, which is characterized in that including:
Vehicle;With
Such as claim 1-5 any one of them fatigue drive prompting systems, wherein, detection device is arranged on the vehicle,
Alarm set is worn on driver.
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CN201611060711.3A CN108091106A (en) | 2016-11-22 | 2016-11-22 | Fatigue drive prompting system, alarm set and Vehicular system |
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CN201611060711.3A CN108091106A (en) | 2016-11-22 | 2016-11-22 | Fatigue drive prompting system, alarm set and Vehicular system |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113628416A (en) * | 2021-07-20 | 2021-11-09 | 广汽本田汽车有限公司 | Fatigue driving reminding system, method and device and storage medium |
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US20140097957A1 (en) * | 1995-06-07 | 2014-04-10 | American Vehicular Sciences Llc | Driver fatigue monitoring system and method |
CN204028500U (en) * | 2014-07-01 | 2014-12-17 | 马天驰 | Fatigue driving alarm glasses with function |
CN104841057A (en) * | 2015-05-08 | 2015-08-19 | 山东大学 | Electroencephalogram brainwave alpha based infrasonic wave driving fatigue relieving method and device |
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- 2016-11-22 CN CN201611060711.3A patent/CN108091106A/en active Pending
Patent Citations (3)
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US20140097957A1 (en) * | 1995-06-07 | 2014-04-10 | American Vehicular Sciences Llc | Driver fatigue monitoring system and method |
CN204028500U (en) * | 2014-07-01 | 2014-12-17 | 马天驰 | Fatigue driving alarm glasses with function |
CN104841057A (en) * | 2015-05-08 | 2015-08-19 | 山东大学 | Electroencephalogram brainwave alpha based infrasonic wave driving fatigue relieving method and device |
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Application publication date: 20180529 |