CN108583430A - A kind of control loop and judgment method for detecting and reminding driver distraction - Google Patents
A kind of control loop and judgment method for detecting and reminding driver distraction Download PDFInfo
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- CN108583430A CN108583430A CN201810494994.5A CN201810494994A CN108583430A CN 108583430 A CN108583430 A CN 108583430A CN 201810494994 A CN201810494994 A CN 201810494994A CN 108583430 A CN108583430 A CN 108583430A
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- 238000001514 detection method Methods 0.000 abstract description 3
- 210000001508 eye Anatomy 0.000 description 14
- SVPXDRXYRYOSEX-UHFFFAOYSA-N bentoquatam Chemical compound O.O=[Si]=O.O=[Al]O[Al]=O SVPXDRXYRYOSEX-UHFFFAOYSA-N 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0872—Driver physiology
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Abstract
A kind of control loop and judgment method for detecting and reminding driver distraction provided by the invention, including processing unit, processing unit is connected with data acquisition unit, wherein, data acquisition unit is used for the driving condition of collection vehicle transport condition and driver, and by collected data transmission to processing unit, whether processing unit judges driver in driving condition of diverting one's attention according to the data information received；The present invention acquires the various states of driver's different angle, so that whether subsequent flow detection driver is in state of diverting one's attention, and then reaches the prompting and early warning to driver；The configuration of the present invention is simple is easily achieved.
Description
Technical field
The present invention relates to field of automobile safety, and in particular to a kind of control loop for detecting and reminding driver distraction
And judgment method.
Background technology
Automobile industry is constantly developing, and technology is constantly being reformed and innovated, and safety problem is also government, enterprise, user
Maximum the point concerned.Human factor accounts for prodigious ratio in terms of Causes of Road Accidents.And it is risen in human factor leading
The factor of effect is also mostly related with driver's vision, including do not concentrated by driver attention, attention is improper, under attention
Divert one's attention to drive and the improper drive manners such as fatigue driving caused by the reasons such as drop.
And above a variety of vision disturbing factors can all impact the driving of automobile, to cause aggravation automobile tire
Wear, the bad and transmission system that causes to brake it is impaired, What is more can due to automobile timely maintain or
Maintaining bad may lead to traffic accident.
Existing detection is reminded or early warning is due to originals such as driver attention do not concentrate, attention is improper, decreased attentions
In terms of the visual problem caused by concentrates on fatigue driving, and it is detected and the aspect of early warning is then less to diverting one's attention to drive.
Invention content
The purpose of the present invention is to provide a kind of for detecting and reminding the control loop and judgment method of driver distraction,
It solves and is currently used in the mode of the detection improper driving of driver, mainly the data of fatigue driving are acquired, and still
Do not have to divert one's attention drive data be acquired, cause when driver be in divert one's attention state when, driver can not be reminded
Or early warning, and then increase traffic accident odds.
In order to achieve the above object, the technical solution adopted by the present invention is：
A kind of control loop for detecting and reminding driver distraction provided by the invention, including processing unit, processing
Unit is connected with data acquisition unit, wherein data acquisition unit is used for the driving shape of collection vehicle transport condition and driver
State, and by collected data transmission to processing unit, whether processing unit judges driver according to the data information received
In driving condition of diverting one's attention.
Preferably, data acquisition unit includes non-intrusion type eye tracker, rotation sensor, holding power transducer, infrared sensing
Device and the camera being distributed on the back up rearview mirror of left and right, wherein non-intrusion type eye tracker is used to acquire the vision of driver
Watch position and duration attentively；Rotation sensor is for acquiring the rotation angle of steering wheel and instantaneous rotary acceleration；Grip passes
Sensor holds the dynamics of steering wheel for driver；Whether infrared sensor, which is operating car for acquiring driver's hand, sets
It is standby；The camera being distributed on the back up rearview mirror of left and right is for acquiring the current driving path of the vehicle.
Preferably, non-intrusion type eye tracker is mounted on the top of meter panel of motor vehicle, and its camera is towards driver's eye.
Preferably, holding power transducer is installed on the steering wheel.
Preferably, rotation sensor is mounted on wheel steering tubing string.
Preferably, infrared sensor is mounted on Automobile operation platform.
A kind of judgment method based on claim 1-6 any one of them control loops, includes the following steps：
Step 1, road traffic flow is divided into three grades V/C by Assessment of Serviceability of Roads, meanwhile, give the road of each grade
Road assigns corresponding opinion rating a；I.e.：
As 0 ＜ V/C≤0.35, then a=1 is enabled；
As 0.35 ＜ V/C≤0.75, then a=2 is enabled；
As 0.75 ＜ V/C≤1.0, then a=3 is enabled；
It step 2, will be in period of time T1Interior acquired non-intrusion type eye tracker data, holding power transducer data, rotation
Sensing data and infrared sensor data calculate driver T in one cycle as independent variable according to formula (1)1Manipulate vapour
The aggregated duration α of vehicle operation console：
Wherein, within the time of the 0.1s, when the state of automobile and driver meet following three conditions simultaneously：A. speed
＞ 0；B. driver's hand departure direction disk；C. when Automobile operation platform is steered, then Ai=1；Otherwise, Ai=0；
It step 3, will cycle T at the same time1Interior acquired non-intrusion type eye tracker data are independent variable, according to formula
(2) the lasting cumulative time β of the non-road ahead of driver's main view is calculated：
Wherein, within the time of the 0.1s, when the sight of driver leaves road ahead, then Ci=1 is enabled；Otherwise Ci=
0；
Within the time of the 0.1s, when the sight of driver is at speedometer or rearview mirror, then Di=1 is enabled；Otherwise Di
=0
Within the time of the 0.1s, when the sight of driver is in road ahead, then Ci=0 and Di=0 are enabled；
Step 4, driver is calculated in period of time T according to formula (3)1The interior drive parameter index A that diverts one's attention：
Wherein, as A >=4, then it represents that driver is in driving condition of diverting one's attention.
Preferably, in step 2 and step 3, in period of time T1It is interior, to acquire a data every 0.1s.
Compared with prior art, the beneficial effects of the invention are as follows：
A kind of control loop for detecting and reminding driver distraction provided by the invention, is adopted by data acquisition unit
Collect the driving condition of the transport condition of vehicle and the different angle of driver, and by collected data transmission to processing unit,
Whether processing unit judges driver in state of diverting one's attention, and then reach and carried to driver according to the data information received
Awake and early warning；The configuration of the present invention is simple is easily achieved.
Further, the present invention also provides a kind of judgment methods for detecting and reminding driver distraction, first to road
The magnitude of traffic flow on road is classified, further according to the transport condition of the driving condition and vehicle of the driver of data acquisition unit acquisition
Driver is calculated separately in period of time T1The lasting cumulative time of non-road ahead is watched in interior action and driver attentively, and calculating is driven
The person of sailing diverts one's attention parameter within the time cycle；Judgment method provided by the invention is simple, is easily achieved.
Description of the drawings
Fig. 1 is control loop structural schematic diagram of the present invention；
Fig. 2 is the first decision flow chart of condition whether driver of the present invention diverts one's attention to drive；
Fig. 3 is the second decision flow chart of condition whether driver of the present invention diverts one's attention to drive.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention is described in more detail.
As shown in Figure 1, a kind of control loop for detecting and reminding driver distraction provided by the invention, including data
Collecting unit, processing unit and prompting prewarning unit, wherein data acquisition unit is used to acquire road and the information of driver,
And collected information is transferred to processing unit, processing unit will be handled the information received, to judge driver
Whether in driving condition of diverting one's attention.Transfer information to prompting prewarning unit later, remind prewarning unit can by loudspeaker or
Driver of person's diode prompting in driving condition of diverting one's attention, and its around the hazardous vehicles in certain distance can be reminded
His vehicle.
Wherein, data acquisition unit includes non-intrusion type eye tracker, rotation sensor, holding power transducer, infrared sensor
And it is distributed in the camera on the back up rearview mirror of left and right, wherein
Non-intrusion type eye tracker is installed inside the vehicle, is located above meter panel of motor vehicle, and below windshield, and it is imaged
Head is towards driver's eye, the visual fixations position for obtaining driver and duration, and by collected data information
It is transferred to processing unit, analyzing the data measured by non-intrusion type eye tracker can judge to drive through the processing unit in time
Whether the person of sailing is to divert one's attention to drive.
Camera on the side mirror rearview mirror of left and right will be acquired for acquiring the current driving path of the vehicle
For the data information transfer arrived to processing unit, processing unit judges whether the transport condition of the vehicle is normal.
Holding power transducer is installed on the steering wheel, for detecting the interaction between driver's both hands and steering wheel, is adopted
Collect driver hold steering wheel dynamics, while by collected data need to pass to processing unit to analyze driving for driver
Sail state.
Rotation sensor is mounted on wheel steering tubing string, and the rotation angle and instantaneous rotation for acquiring steering wheel add
Speed, and the operating status by collected data transmission to processing unit to judge to drive.
Infrared sensor is mounted in Automobile operation platform, for acquiring whether driver's hand is operating in-vehicle device,
And by collected data transmission to processing unit analyzing the driving condition of driver.
The processing unit uses ARM9 processors, concrete model S3C2410；For receiving, handling non-intrusion type
Whether the information that eye tracker, camera, holding power transducer, rotation sensor, infrared sensor are sent out, comprehensive descision driver locate
Driver is reminded in driving condition of diverting one's attention, and by alarm unit.
It includes that the first prompting prewarning unit and second remind prewarning unit to remind prewarning unit, wherein first reminds early warning
Unit is used to remind the driver in driving condition of diverting one's attention；Second prompting prewarning unit is for reminding near the hazardous vehicles
Other vehicles.
First prompting prewarning unit and the second prompting prewarning unit are loudspeaker or diode；Wherein, second early warning is reminded
On other disposed proximally vehicles of unit, and it is connect by bus or train route cooperative system (CVIS) between processing unit, it is single through processing
The information is transferred to bus or train route cooperative system (CVIS) to the information that member processing obtains by technology by radio communication.It is cooperateed with by bus or train route
System can share the information of vehicle in a certain range, that is to say, that the information that can drive driver distraction is transmitted
To neighbouring other vehicles.
The present invention is characterized in that：
Include non-intrusion type eye tracker in data collecting system, the eye movement data acquired can reflect driver's eye
Eyeball watches position attentively, can be analyzed with the detailed position of watching attentively to driver by processing module, to analyze driver
Vision system whether be absorbed in driving.Treated, and eye movement data can be combined with other onboard sensors further to sentence
Whether disconnected driver, which is in, is divert one's attention to drive, and the divert one's attention type driven and the degree for analyzing driving.
Can not only the driver of the vehicle be sent out early warning by reminding in prewarning unit, and processing module can also be by the knot of processing
Fruit is sent to bus or train route cooperative system (CVIS).Bus or train route cooperative system (CVIS) can pass information to neighbouring other of the vehicle and be equipped with
The vehicle of onboard sensor, the vehicle equipped with onboard sensor will pass it to interior carry after receiving information
Awake prewarning unit makes interior driver generate the vehicle driven in analysis vigilant.Driver can take suitably according to this information
Measure to avoid traffic accident or avoid the generation of secondary traffic accident.
Bus or train route cooperative system (CVIS) is only applied to the transmission of vehicle-workshop information.
A kind of judgment method for detecting and reminding driver distraction includes the following steps：
Step 1, road traffic flow is divided into three grades V/C by Assessment of Serviceability of Roads, meanwhile, give the road of each grade
Road assigns corresponding opinion rating a, i.e.,：
As 0 ＜ V/C≤0.35, then a=1 is enabled；
As 0.35 ＜ V/C≤0.75, then a=2 is enabled；
As 0.75 ＜ V/C≤1.0, then a=3 is enabled；
Wherein, V：Maximum service volume；C：Basic capacity, shown in table specific as follows：
| Opinion rating (a) | V/C | Traffic behavior describes |
| 1 | 0~0.35 | Pass unimpeded wagon flow, substantially without delay |
| 2 | 0.35~0.75 | Stable flow has a small amount of or certain delay |
| 3 | 0.75~1.0 | Unstable flow or close to Unstable flow, there is larger delay |
It step 2, will be in period of time T1Interior acquired non-intrusion type eye tracker data, holding power transducer data, rotation
Sensing data and infrared sensor data are as independent variable, and calculating driver according to formula (1), T1 manipulates vapour in one cycle
The aggregated duration α of vehicle operation console：
Wherein, in period of time T1It is interior, to acquire a data every 0.1s, set T1For 6s；Meanwhile the 0.1s's
In time, when the state of automobile and driver meet following three conditions simultaneously：A. speed ＞ 0；B. driver's hand departure direction
Disk；C. when operating platform is steered, then Ai=1；Otherwise, Ai=0；
It step 3, will cycle T at the same time1Interior acquired non-intrusion type eye tracker data are independent variable, according to formula
(2) the lasting cumulative time β of the non-road ahead of driver's main view is calculated：
Wherein, in period of time T 1, to acquire a data every 0.1s, T1 is set as 6s；Meanwhile the note of driver
Apparent place setting including three kinds of situations, respectively：Sight road ahead, sight leave road ahead and sight be in speedometer or after
Visor.
Within the time of the 0.1s, when the sight of driver leaves road ahead, then Ci=1 is enabled；Otherwise Ci=0；
Within the time of the 0.1s, when the sight of driver is at speedometer or rearview mirror, then Di=1 is enabled；Otherwise Di
=0
Within the time of the 0.1s, when the sight of driver is in road ahead, then Ci=0 and Di=0 are enabled；
Step 4, driver is calculated in period of time T according to formula (3)1The interior drive parameter index A that diverts one's attention：
Wherein, as A >=4, then it represents that driver is in driving condition of diverting one's attention.
Claims (8)
1. a kind of control loop for detecting and reminding driver distraction, which is characterized in that including processing unit, processing unit
It is connected with data acquisition unit, wherein data acquisition unit is used for the driving condition of collection vehicle transport condition and driver, and
By collected data transmission to processing unit, processing unit judges whether driver is according to the data information received and divides
Heart driving condition.
2. a kind of control loop for detecting and reminding driver distraction according to claim 1, which is characterized in that number
According to collecting unit include non-intrusion type eye tracker, rotation sensor, holding power transducer, infrared sensor and be distributed in left and right fall
Camera on vehicle rearview mirror, wherein non-intrusion type eye tracker is used to acquire visual fixations position and the duration of driver；
Rotation sensor is for acquiring the rotation angle of steering wheel and instantaneous rotary acceleration；Holding power transducer is used for driver holding side
To the dynamics of disk；Infrared sensor is for acquiring whether driver's hand is operating in-vehicle device；After being distributed in left and right reversing
Camera on visor is for acquiring the current driving path of the vehicle.
3. a kind of control loop for detecting and reminding driver distraction according to claim 2, which is characterized in that non-
Intrusive eye tracker is mounted on the top of meter panel of motor vehicle, and its camera is towards driver's eye.
4. a kind of control loop for detecting and reminding driver distraction according to claim 2, which is characterized in that hold
Force snesor is installed on the steering wheel.
5. a kind of control loop for detecting and reminding driver distraction according to claim 2, which is characterized in that rotation
Turn sensor on wheel steering tubing string.
6. a kind of control loop for detecting and reminding driver distraction according to claim 2, which is characterized in that red
Outer sensor is mounted on Automobile operation platform.
7. a kind of judgment method based on claim 1-6 any one of them control loops, which is characterized in that including following step
Suddenly：
Step 1, road traffic flow is divided into three grades V/C by Assessment of Serviceability of Roads, meanwhile, it is assigned to the road of each grade
Give corresponding opinion rating a；I.e.：
As 0 ＜ V/C≤0.35, then a=1 is enabled；
As 0.35 ＜ V/C≤0.75, then a=2 is enabled；
As 0.75 ＜ V/C≤1.0, then a=3 is enabled；
It step 2, will be in period of time T1Interior acquired non-intrusion type eye tracker data, holding power transducer data, rotation sensor
Data and infrared sensor data are as independent variable, and calculating driver according to formula (1), T1 manipulates Automobile operation in one cycle
The aggregated duration α of platform：
Wherein, within the time of the 0.1s, when the state of automobile and driver meet following three conditions simultaneously：A. speed ＞ 0；
B. driver's hand departure direction disk；C. when Automobile operation platform is steered, then Ai=1；Otherwise, Ai=0；
It step 3, will cycle T at the same time1Interior acquired non-intrusion type eye tracker data are independent variable, are counted according to formula (2)
Calculate the lasting cumulative time β of the non-road ahead of driver's main view：
Wherein, within the time of the 0.1s, when the sight of driver leaves road ahead, then Ci=1 is enabled；Otherwise Ci=0；
Within the time of the 0.1s, when the sight of driver is at speedometer or rearview mirror, then Di=1 is enabled；Otherwise Di=0
Within the time of the 0.1s, when the sight of driver is in road ahead, then Ci=0 and Di=0 are enabled；
Step 4, driver is calculated in period of time T according to formula (3)1The interior drive parameter index A that diverts one's attention：
Wherein, as A >=4, then it represents that driver is in driving condition of diverting one's attention.
8. a kind of judgment method for detecting and reminding driver distraction according to claim 7, which is characterized in that step
Rapid 2 and step 3 in, in period of time T1It is interior, to acquire a data every 0.1s.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109969195A (en) * | 2019-03-25 | 2019-07-05 | 陕西科技大学 | A kind of driver's face abnormal behavior alarm system and method and the vehicle based on it |
| CN110728824A (en) * | 2019-09-25 | 2020-01-24 | 东南大学 | Driver fatigue state detection and reminding method based on multi-source data |
| CN110816543A (en) * | 2019-10-28 | 2020-02-21 | 东南大学 | Driver distraction driving detection and early warning system and method under vehicle turning and lane changing scenes |
| CN110843764A (en) * | 2019-11-29 | 2020-02-28 | 长安大学 | Auxiliary system for promoting safe driving of driver |
| CN110910611A (en) * | 2019-12-13 | 2020-03-24 | 上海擎感智能科技有限公司 | Reminding method, system, terminal and vehicle |
| WO2020078464A1 (en) * | 2018-10-19 | 2020-04-23 | 上海商汤智能科技有限公司 | Driving state detection method and apparatus, driver monitoring system, and vehicle |
| CN112699821A (en) * | 2021-01-04 | 2021-04-23 | 长安大学 | Driving early warning method based on driver visual attention prediction |
| CN112883834A (en) * | 2021-01-29 | 2021-06-01 | 重庆长安汽车股份有限公司 | DMS system distraction detection method, DMS system distraction detection system, DMS vehicle, and storage medium |
| US11312298B2 (en) | 2020-01-30 | 2022-04-26 | International Business Machines Corporation | Modulating attention of responsible parties to predicted dangers of self-driving cars |
| CN114872713A (en) * | 2021-10-19 | 2022-08-09 | 长安大学 | Device and method for monitoring abnormal driving state of driver |
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