CN109624904A - Vehicle active defense method, system and vehicle - Google Patents
Vehicle active defense method, system and vehicle Download PDFInfo
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- CN109624904A CN109624904A CN201811344931.8A CN201811344931A CN109624904A CN 109624904 A CN109624904 A CN 109624904A CN 201811344931 A CN201811344931 A CN 201811344931A CN 109624904 A CN109624904 A CN 109624904A
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- Prior art keywords
- vehicle
- collide
- face
- occupant
- anticipation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
- B60R21/16—Inflatable occupant restraints or confinements designed to inflate upon impact or impending impact, e.g. air bags
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
- B60R21/16—Inflatable occupant restraints or confinements designed to inflate upon impact or impending impact, e.g. air bags
- B60R21/23—Inflatable members
- B60R21/231—Inflatable members characterised by their shape, construction or spatial configuration
- B60R21/2334—Expansion control features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/003—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks characterised by occupant or pedestian
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
Abstract
The invention discloses a kind of vehicle active defense method, system and vehicles, the Active Defending System Against includes: personnel state detection module, relative displacement parameter of the vehicle within the first predetermined time opposite with respect to the relative velocity parameters and person head of vehicle of the head for detecting occupant；Whether control module can collide the position that dangerous and prediction may collide for according to the relative velocity parameters and relative displacement parameter, prejudging occupant；The danger if anticipation can collide sends corresponding control instruction to execution module according to the position that anticipation collides；Execution module executes corresponding defence operation for responding the control instruction.Using technical solution of the present invention, Initiative Defense is carried out according to occupant's state of detection, no matter which kind of collision mode vehicle is in, and can get good Initiative Defense effect, applied widely.
Description
Technical field
The present invention relates to technical field of vehicle safety more particularly to a kind of vehicle active defense methods, system and vehicle.
Background technique
Safe automobile air bag is common passive type safety device, automobile crash occur when, vehicle
After interior personnel's impact air bag, air bag is detonated, and then provides the security protection of auxiliary for occupant.However, peace
There is also certain limitations for full air bag itself, and whether usual air bag, which is ignited, has very high point with the angle of its impact air bag
System, the touching of not all collision angle energy airbag opening, i.e., only in specific angle collisions air bag
Under the premise of, it just can be with firing safety air-bag.
In the prior art, generally according to the acceleration of vehicle body to determine whether collide, and then air bag is controlled
Opening and closing.However only by vehicle body acceleration as whether the judgment basis of firing safety air-bag, can not really reflect occupant
Situation, such as when non-frontal collision or secondary collision occur for occupant, cannot achieve timely Initiative Defense.Cause
This, there is an urgent need to develop a kind of novel vehicle active defense method, system and vehicles.
Summary of the invention
Technical problem to be solved by the present invention lies in solve the limitation of existing vehicle system of defense greatly and defend to imitate
The limited technical problem of fruit provides a kind of vehicle active defense method, system and vehicle.
In order to solve the above-mentioned technical problem, in a first aspect, the present invention provides a kind of vehicle Active Defending System Against, the system
System includes:
Personnel state detection module, for detecting relative velocity parameters and personnel head of the head with respect to vehicle of occupant
Relative displacement parameter of the portion with respect to vehicle within the first predetermined time；Wherein, the relative velocity parameters include relative velocity, institute
Stating relative displacement parameter includes relative shift and relative angular orientation；
Control module, for prejudging whether occupant can send out according to the relative velocity parameters and relative displacement parameter
The position that raw risk of collision and prediction may collide；The danger if anticipation can collide, collides according to anticipation
Position sends corresponding control instruction to execution module；
Execution module executes corresponding defence operation for responding the control instruction.
Further, the personnel state detection module includes:
Image acquisition unit, for obtaining the face face-image of occupant；
Face identification unit for detecting the face face-image, and identifies in the face face-image at least
One human face characteristic point；
Speed detection unit, for human face characteristic point described in real-time detection within second scheduled time with respect to the real-time position of vehicle
Shifting amount, and calculate the real-time relative velocity of the human face characteristic point；
Displacement detecting unit, for human face characteristic point described in real-time detection with respect to the opposite position of vehicle within the first predetermined time
Shifting amount and relative angular orientation.
Further, the control module includes:
Comparing unit, for the size of the relative velocity and preset threshold speed, and the phase
To the size of displacement and preset displacement threshold value；
First judging unit if being more than or equal to preset threshold speed for the velocity amplitude, and meets institute's rheme simultaneously
When shifting amount is more than or equal to preset displacement threshold value, anticipation occupant can collide danger；Otherwise, anticipation will not touch
Hit danger；
Second judgment unit, the danger if anticipation can collide, according to the relative angular orientation, anticipation may collide
Position；
Control unit, if for judging that occupant can collide danger, according to the position for prejudging and colliding,
Corresponding control instruction is sent to execution module.
Further, the execution module includes air bag device, and the air bag device includes interior head peace
At least one of full air bag, interior rear air bag, interior all side airbags and interior safety top air bag；The peace
Full airbag apparatus responds the control instruction, ignites at least one air bag.
Further, the personnel state detection module further includes safety belt detection unit, is for detecting occupant
It is no with fastening the safety belt；
The execution module includes air bag device, described if anticipation can collide dangerous and match and fasten the safety belt
Air bag device delay executes defence operation；If anticipation can collide dangerous and fasten the safety belt without matching, the substitute
Bag apparatus is immediately performed defence operation.
Further, it includes image collecting device that described image, which obtains module, and described image acquisition device is arranged in the car
On wall and/or on room mirror.
Second aspect provides a kind of vehicle active defense method, which comprises
The head vehicle opposite with respect to the relative velocity parameters and person head of vehicle of occupant is detected in the first pre- timing
Interior relative displacement parameter；Wherein, the relative velocity parameters include relative velocity, and the relative displacement parameter includes phase
To displacement and relative angular orientation；
According to the relative velocity parameters and relative displacement parameter, prejudge occupant whether can collide it is dangerous and
Predict the position that may be collided；The danger if anticipation can collide sends corresponding control according to the position that anticipation collides
System instruction is to execution module；
The control instruction is responded, corresponding defence operation is executed.
Further, the head of the detection occupant is with respect to the relative velocity parameters and person head of vehicle with respect to vehicle
Relative displacement parameter within the first predetermined time, comprising:
Obtain the face face-image of occupant；
The face face-image is detected, and identifies at least one human face characteristic point in the face face-image；
Human face characteristic point described in real-time detection calculates the people within second scheduled time with respect to the real-time displacement amount of vehicle
The real-time relative velocity of face characteristic point；
Human face characteristic point described in real-time detection is within the first predetermined time with respect to the relative shift of vehicle and relative angular orientation.
Further, described according to the relative velocity parameters and relative displacement parameter, prejudge whether occupant can send out
The position that raw risk of collision and prediction may collide；The danger if anticipation can collide, collides according to anticipation
Position sends corresponding control instruction to execution module, comprising:
Compare the size of the relative velocity and preset threshold speed, and the relative shift and default
Displacement threshold value size；
If the velocity amplitude is more than or equal to preset threshold speed, and meets the displacement simultaneously more than or equal to preset
When displacement threshold value, anticipation occupant can collide danger；Otherwise, anticipation will not collide danger；
The danger if anticipation can collide prejudges the position that may be collided according to the relative angular orientation；
If judging occupant can collide danger, according to the position for prejudging and colliding, corresponding control is sent
It instructs to execution module.
Further, the response control instruction executes corresponding defence operation, comprising:
Respond the control instruction, firing safety air-bag device；The air bag device includes interior head substitute
At least one of capsule, interior rear air bag, interior all side airbags and interior safety top air bag；
The method also includes:
Whether detection occupant, which matches, is fastened the safety belt；
If anticipation can collide dangerous and match and fasten the safety belt, the air bag device delay executes defence and operates；
If anticipation can collide dangerous and fasten the safety belt without matching, the air bag device is immediately performed defence operation.
The third aspect provides a kind of vehicle, including any vehicle Active Defending System Against of first aspect.
The implementation of the embodiments of the present invention has the following beneficial effects:
1) present invention is to carry out Initiative Defense according to occupant's state of detection, and no matter which kind of collision side vehicle is in
Formula can get good Initiative Defense effect, can be widely applied on the vehicles such as car, lorry and car.
2) relative velocity parameters and relative displacement parameter of the present invention according to the occupant of detection relative to vehicle, to judge
Whether occupant collides；And the position to be collided according to the possibility of anticipation, control execution module be touched to possible
The position hit executes corresponding defence operation, and Initiative Defense effect is good.
3) present invention is the state that occupant is detected based on face recognition technology, and detection occupant's shape can be improved
The accuracy of state further increases Initiative Defense effect.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology and advantage, below will be to implementation
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structural block diagram of the vehicle Active Defending System Against of one embodiment of the invention；
Fig. 2 is the structural block diagram of the personnel state detection module in one embodiment of the invention；
Fig. 3 is the structural block diagram comprising personnel state detection module and control module in one embodiment of the invention；
Fig. 4 is the flow chart of the vehicle active defense method of one embodiment of the invention；
Fig. 5 is the flow chart of a specific steps of the vehicle active defense method of one embodiment of the invention；
Fig. 6 is the flow chart of another specific steps of the vehicle active defense method of one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
In the prior art, whether vehicle collision detection mostly uses air bag to ignite to judge whether vehicle collides,
It and whether air bag ignition is required to collision angle, it usually needs under the premise of special angle collision, just may be used
With firing safety air-bag.In addition, the detection method usually require occur severe crash when could firing safety air-bag, using limitation
Property is big.In addition, there are also one is based on vehicle self-acceleration, to determine whether colliding, this can not intuitively judge vehicle
Non-frontal collision and secondary collision whether occurs, so weaken to a certain extent the security protection effect to occupant with
And the Initiative Defense function of vehicle.In consideration of it, we provide a kind of vehicle active defense method, system and vehicles.
One embodiment of the invention provides a kind of vehicle Active Defending System Against.
Fig. 1 is the structural block diagram of the vehicle Active Defending System Against of one embodiment of the invention.As shown in Figure 1, the system packet
Include personnel state detection module 100, control module 200 and execution module 300.The personnel state detection module 100 and execution
Module 300 is communicated to connect with the control module 200 respectively；The personnel state that control module 200 obtains occupant detects mould
Control instruction is sent to execution module to execute corresponding defence operation after analyzing and determining by the testing result of block.
Wherein, personnel state detection module 100 be used to detect the head of occupant with respect to vehicle relative velocity parameters with
And relative displacement parameter of the person head with respect to vehicle within the first predetermined time；Wherein, the relative velocity parameters include opposite
Velocity amplitude, the relative displacement parameter includes relative shift and relative angular orientation.
Whether control module 200 is used to prejudge occupant according to the relative velocity parameters and relative displacement parameter and can
The position that the dangerous and prediction that collides may collide；The danger if anticipation can collide, collides according to anticipation
Position, send corresponding control instruction to execution module.
Execution module 300 executes corresponding defence operation for responding the control instruction.
The present invention is to carry out Initiative Defense according to occupant's state of detection, and no matter which kind of collision mode vehicle is in,
Such as head-on crash, secondary collision or side collision, can get good Initiative Defense effect, can be widely applied to car,
On the vehicles such as lorry and car.In addition, the present invention is according to the occupant of detection relative to relative velocity parameters of vehicle and opposite
Displacement parameter, to judge whether occupant collides；And the position to be collided according to the possibility of anticipation, control execute mould
Block executes corresponding defence operation to the position that may be collided, and Initiative Defense effect is good.
In one embodiment of this invention, the relative velocity relative to vehicle that occupant is detected based on recognition of face is joined
Several and opposite relative displacement parameter of the vehicle within the first predetermined time.Wherein, the relative velocity parameters include relative velocity,
The relative displacement parameter includes relative shift and relative angular orientation.By detecting occupant based on face recognition technology
State, can be improved detection occupant's state accuracy, further increase Initiative Defense effect.
Fig. 2 is the structural block diagram of the personnel state detection module 100 of one embodiment of the invention.As shown in Fig. 2, the personnel
State detection module specifically may include image acquisition unit 110, face identification unit 120, speed detection unit 130 and displacement inspection
Survey unit 140.
Wherein, image acquisition unit 110 is used to obtain the face face-image of occupant.Image collection module may include
Image collecting device, the image collecting device may be provided on roof inner wall and/or in rearview mirror and/or vehicle side wall.Image
Acquisition device can be used for acquiring the face-image of the face of occupant in the car within the scope of 360 ° of space, preferably on horizontal plane
Face-image within the scope of 360 °.The people's face face-image can be direct picture, the side of at least one face comprising face
Image, overhead view image and oblique-view image.The image collecting device can be the common Image Acquisition such as camera, video camera, video recorder
Device.Face face degree image collected can be the frame picture or video image of acquisition.
Above-mentioned occupant includes positioned at front operator seat, co-driver and at least one car for being located behind passenger position
Personnel；And the quantity and its installation site of image collecting device can do corresponding adjustment according to the position of personnel to be detected, herein
Further limitation is not done.
Further, face identification unit 120 is for detecting the face face-image, and identifies the face face figure
At least one human face characteristic point as in.Specifically, the face face figure of occupant is obtained according to above-mentioned image collecting device
Picture detects and identifies that at least one human face characteristic point in the face face-image, the human face characteristic point can be at least one
At least one of a face, such as eyes, mouth, nose, ear etc..Face identification unit used in the present invention is to be based on
What existing face recognition technology, software and method were realized；Since face recognition technology is technology more mature at present,
Details are not described herein.
Further, speed detection unit 130 is used for the phase within second scheduled time of human face characteristic point described in real-time detection
To the real-time displacement amount of vehicle, and calculate the real-time relative velocity of the human face characteristic point.
For example, it is specifically described so that the human face characteristic point of identification is right eye as an example.
The mapping relations between image coordinate system and physical coordinates system are initially set up, which includes image coordinate system
With the scaling relationships of physical coordinates system.Specifically, references object is chosen, according to references object actual size and picture size
Establish the mapping relations between image coordinate system and physical coordinates system.The references object can be a certain specific calibration object.
The pupil for first identifying the right eye in face face-image M1 by face identification unit later, records t1 moment right eye
Coordinate position S1 of the pupil in face face-image M1, then acquire and identify the pupil of the right eye in face face-image M2
Hole records coordinate position S2 of the pupil of t2 moment right eye in face face-image M2, coordinates computed position S1 and coordinate bit
The picture displacement amount of S2 is set, later according to the mapping relations between described image coordinate system and physical coordinates system, conversion obtains the right side
The human face characteristic point is calculated from the t1 moment to the actual displacement at t2 moment, and then according to the formula of displacement and time in eye
Real-time relative velocity.
Further, displacement detecting unit 140 is for human face characteristic point phase within the first predetermined time described in real-time detection
To the relative shift and relative angular orientation of vehicle.
For example, by taking human face characteristic point is right eye as an example, in the face face-image M3 that face identification unit first identifies
Right eye pupil, record coordinate position S3 of the t3 moment right eye in face face-image M3, be then further continued for acquisition face
Face-image identifies the pupil of the right eye in another person's face face-image M4, records the pupil of t4 moment right eye in face face
The picture displacement amount of coordinate position S4 in portion image M4, coordinates computed position S3 and coordinate position S4, sit according to image later
Mapping relations between mark system and physical coordinates system, conversion obtain the actual real-time displacement amount of coordinate position S3 and S4, the reality
When displacement include relative shift and relative angular orientation.
Certainly, in another embodiment of the invention, the personnel state detection module is used to detect the shape of occupant
State, can be opposite to this to fast implement by wearing corresponding velocity sensor and displacement sensor with personnel in the car
The detection of speed parameter and relative displacement parameter.
Fig. 3 is the structural frames comprising personnel state detection module 100 and control module 200 of one embodiment of the invention
Figure.As shown in figure 3, the control module 200 includes comparing unit 210, the first judging unit 220, second judgment unit 230 and control
Unit 240 processed.Comparing unit 210 is used to compare the testing result of personnel state detection module acquisition, and comparison result is sent
To the first judging unit 220, control unit 240 according to the judging result of the first judging unit 220 and second judgment unit 230,
It sends corresponding control instruction and is operated to execution module 300 with executing correspondingly defence.
Wherein, comparing unit 210 is used for the size of the relative velocity and preset threshold speed, and compares
The size of the relative shift and preset displacement threshold value.Specifically, comparing unit obtains personnel state detection module institute
Detection as a result, the result that will test is compared with preset threshold speed, comparison result is fed back into the first judging unit.
In general, in the extremely short time, the speed before passenger can be collided with vehicle continues to do when vehicle collides
Uniform motion.In this way, can be 1~3ms in above-mentioned second predetermined time；And preset threshold speed can be 40~100Kmh.This
Outside, which can also be adjusted according to current vehicle speed, if t1 moment car speed is V0, the preset speed
Threshold value can be 1/2V0~V0, can also accordingly be adjusted according to the actual situation certainly.
It may be configured as 5~15ms in above-mentioned first predetermined time；At this point, preset displacement threshold value can be 15~25cm.
Certainly, according to interior space size, which can do corresponding adjusting.
If the first judging unit 220 is more than or equal to preset threshold speed for the velocity amplitude, and simultaneously described in satisfaction
When displacement is more than or equal to preset displacement threshold value, anticipation occupant can collide danger；Otherwise, anticipation will not occur
Risk of collision.
If second judgment unit 230 is for prejudging the danger that can collide, according to the relative angular orientation, anticipation may be sent out
The position of raw collision.Such as it when risk of collision can be sent according to the anticipation of the first judging unit, is then examined according to displacement detecting unit
The relative angular orientation of survey prejudges the position that may be collided.
If control unit 240 can collide danger for judge occupant, the portion that is collided according to the anticipation
Position, sends corresponding control instruction to execution module.
In one embodiment of this invention, execution module 300 includes air bag device, and air bag device includes car
At least one of head air bag, interior rear air bag, interior all side airbags and interior safety top air bag.
Air bag device responds the control instruction, ignites at least one air bag, to reduce the wound to the colliding part of prediction
Evil.
In addition, it is contemplated that vehicle is in the process of moving, vehicle crew may have the case where without button safety belt, at this time
It is more serious because being injured brought by collision.We are arranged the personnel state detection module and are also used to detect whether occupant matches
It fastens the safety belt.
Correspondingly, with continued reference to Fig. 3, which further includes safety belt detection unit 150, the peace
Whether full band detection unit 150, which is used to detect occupant to match, fastens the safety belt.Control unit 240 can be single according to the first judgement at this time
Member 220, second judgment unit 230 and safety belt detection unit 150 as a result, different control instructions is issued, so that holding
Row module 300 executes different response operations.The execution module 300 includes air bag device, if anticipation can collide
Dangerous and match and fasten the safety belt, air bag device delay executes defence operation, such as can postpone 0-15ms and execute；If prejudging meeting
It collides dangerous and fastens the safety belt without matching, air bag device is immediately performed defence operation.
Further embodiment of the present invention also provides a kind of vehicle active defense method.
Fig. 4 is the flow chart of the vehicle active defense method in one embodiment of the invention.As shown in figure 4, the method packet
It includes:
Step S200, the head Che opposite with respect to the relative velocity parameters and person head of vehicle of occupant is detected
Relative displacement parameter in one predetermined time；Wherein, the relative velocity parameters include relative velocity, the relative displacement ginseng
Number includes relative shift and relative angular orientation.
Specifically, in one embodiment of this invention, identify that the head of occupant is opposite based on face recognition technology
Relative displacement parameter of the relative velocity parameters and person head of vehicle with respect to vehicle within the first predetermined time, at this time such as Fig. 5 institute
Show, step S200 is specific can include:
Step S210, the face face-image of occupant is obtained；
Specifically, the face-image of the face of occupant in the car within the scope of 360 ° of space, preferably horizontal plane are acquired
Face-image within the scope of upper 360 °.The people's face face-image can be direct picture, the side of at least one face comprising face
Face image, overhead view image and oblique-view image.Face face degree image collected can be the frame picture or video image of acquisition.It can lead to
Cross the common image collecting device such as camera, video camera, video recorder.Image collecting device may be provided on roof inner wall
And/or in rearview mirror and/or vehicle side wall.The occupant includes positioned at front operator seat, co-driver and being located behind
An at least occupant for passenger position；And the quantity and its installation site of image collecting device can be according to the positions of personnel to be detected
Corresponding adjustment is done, does not do further limitation herein.
Step S220, the face face-image is detected, and identifies at least one face in the face face-image
Characteristic point；
Face identification unit for detecting the face face-image, and identify in the face face-image at least one
A human face characteristic point.Specifically, the face face-image that occupant is obtained according to above-mentioned image collecting device, detects and identifies
At least one human face characteristic point in the face face-image, the human face characteristic point can be at least one face, such as eye
At least one of eyeball, mouth, nose, ear etc..Face identification unit used in the present invention is known based on existing face
What other technology, software and method were realized；It is no longer superfluous herein since face recognition technology is technology more mature at present
It states.
Step S230, human face characteristic point described in real-time detection is within second scheduled time with respect to the real-time displacement amount of vehicle, and
Calculate the real-time relative velocity of the human face characteristic point；
It specifically, can be 1~3ms in second predetermined time.Now by the human face characteristic point of identification be right eye for into
Row illustrates.
The mapping relations between image coordinate system and physical coordinates system are initially set up, which includes image coordinate system
With the scaling relationships of physical coordinates system.Specifically, references object is chosen, according to references object actual size and picture size
Establish the mapping relations between image coordinate system and physical coordinates system.The references object can be a certain specific calibration object.
The pupil for first identifying the right eye in face face-image M1 by face identification unit later, records t1 moment right eye
Coordinate position S1 of the pupil in face face-image M1, then acquire and identify the pupil of the right eye in face face-image M2
Hole records coordinate position S2 of the pupil of t2 moment right eye in face face-image M2, coordinates computed position S1 and coordinate bit
The picture displacement amount of S2 is set, later according to the mapping relations between described image coordinate system and physical coordinates system, conversion obtains the right side
The human face characteristic point is calculated from the t1 moment to the actual displacement at t2 moment, and then according to the formula of displacement and time in eye
Real-time relative velocity.
Step S240, human face characteristic point described in real-time detection is within the first predetermined time with respect to the relative shift of vehicle and phase
To deflection.
Specifically, it may be configured as 5~15ms in first predetermined time.For example, using human face characteristic point as right eye
For, the pupil for the right eye in face face-image M3 that face identification unit first identifies records t3 moment right eye in face face
Then coordinate position S3 in portion image M3 is further continued for acquisition face face-image, identifies in another person's face face-image M4
Right eye pupil, record coordinate position S4 of the pupil in face face-image M4 of t4 moment right eye, coordinates computed position
The picture displacement amount of S3 and coordinate position S4, later according to the mapping relations between image coordinate system and physical coordinates system, conversion
Obtain the actual real-time displacement amount of coordinate position S3 and S4, which includes relative shift and relative angular orientation.
It certainly, in another embodiment of the invention, can be by wearing corresponding velocity sensor with personnel in the car
And displacement sensor, to realize the quick detection to the relative velocity parameters and relative displacement parameter.
Step S400, according to the relative velocity parameters and relative displacement parameter, prejudge whether occupant can touch
Hit the position that dangerous and prediction may collide；If anticipation can collide danger, according to the position that anticipation collides,
Corresponding control instruction is sent to execution module.
Specifically, as shown in fig. 6, step S400 specifically includes the following steps:
Step S410, the size of relative velocity described in comparison and preset threshold speed, and the opposite position
The size of shifting amount and preset displacement threshold value；
If step S420, the described velocity amplitude is more than or equal to preset threshold speed, and meets the displacement simultaneously and be greater than
When equal to preset displacement threshold value, anticipation occupant can collide danger；Otherwise, anticipation will not collide danger.
If step S430, prejudging the danger that can collide, according to the relative angular orientation, the portion that may be collided is prejudged
Position.
In general, in the extremely short time, the speed before passenger can be collided with vehicle continues to do when vehicle collides
Uniform motion.In this way, can be 1~3ms in above-mentioned second predetermined time；And preset threshold speed can be 40~100Kmh.This
Outside, which can also be adjusted according to current vehicle speed, if t1 moment car speed is V0, the preset speed
Threshold value can be 1/2V0~V0, can also accordingly be adjusted according to the actual situation certainly.
It may be configured as 5~15ms in above-mentioned first predetermined time；At this point, preset displacement threshold value can be 15~25cm.
Certainly, according to interior space size, which can do corresponding adjusting.
If step S440, judging occupant can collide danger, according to the position for prejudging and colliding, send
Corresponding control instruction is to execution module.
Step S600, the control instruction is responded, corresponding defence operation is executed.
Specifically, the control instruction, firing safety air-bag device are responded；The air bag device includes interior head
At least one of air bag, interior rear air bag, interior all side airbags and interior safety top air bag.
In addition, it is contemplated that vehicle is in the process of moving, vehicle crew may have the case where without button safety belt, at this time
It is more serious because being injured brought by collision.The step S200, which is arranged, in we may also include that
Step S250, whether detection occupant, which matches, is fastened the safety belt.
Detect whether that the sensor with fastening the safety belt, the sensor can connect with control module signal by installing on the seat
It connects.So referring to as a result, issuing different control in combination with the first judging unit, second judgment unit and safety belt detection unit
It enables, so that execution module executes different response operations.Step S440 at this time can be replaced:
Step S440 ' if, anticipation can collide dangerous and match and fasten the safety belt, the air bag device delay execution
Defence operation；If anticipation can collide dangerous and fasten the safety belt without matching, the air bag device is immediately performed defence behaviour
Make.
Specifically, if anticipation can collide dangerous and match and fasten the safety belt, air bag device delay executes defence and grasps
Make, such as 5-15ms execution can be postponed；If anticipation can collide dangerous and fasten the safety belt without matching, the air bag device
It is immediately performed defence operation.
It should be noted that during specific implementation, sequence the step of above method is without being limited thereto, as long as can be real
Existing identical function can be used other equivalent sequential steps and carry out.
Further embodiment of the present invention also provides a kind of vehicle.The vehicle includes being known based on face for any description above
Other Active Defending System Against.The vehicle can be car, lorry and car etc..
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of vehicle Active Defending System Against, which is characterized in that the system comprises:
Personnel state detection module, for detecting relative velocity parameters and person head phase of the head with respect to vehicle of occupant
To relative displacement parameter of the vehicle within the first predetermined time；Wherein, the relative velocity parameters include relative velocity, the phase
It include relative shift and relative angular orientation to displacement parameter；
Control module, for prejudging whether occupant can touch according to the relative velocity parameters and relative displacement parameter
Hit the position that dangerous and prediction may collide；If anticipation can collide danger, according to the position that anticipation collides,
Corresponding control instruction is sent to execution module；
Execution module executes corresponding defence operation for responding the control instruction.
2. system according to claim 1, which is characterized in that the personnel state detection module includes:
Image acquisition unit, for obtaining the face face-image of occupant；
At least one of face identification unit, for detecting the face face-image, and identify the face face-image
Human face characteristic point；
Speed detection unit, for human face characteristic point described in real-time detection within second scheduled time with respect to the real-time displacement of vehicle
Amount, and calculate the real-time relative velocity of the human face characteristic point；
Displacement detecting unit, for human face characteristic point described in real-time detection with respect to the relative shift of vehicle within the first predetermined time
And relative angular orientation.
3. system according to claim 1 or 2, which is characterized in that the control module includes:
Comparing unit, for the size of the relative velocity and preset threshold speed, and the opposite position
The size of shifting amount and preset displacement threshold value；
First judging unit if being more than or equal to preset threshold speed for the velocity amplitude, and meets the displacement simultaneously
When more than or equal to preset displacement threshold value, anticipation occupant can collide danger；Otherwise, anticipation will not collide danger
Danger；
Second judgment unit, the danger if anticipation can collide prejudge the portion that may be collided according to the relative angular orientation
Position；
Control unit, if, according to the position for prejudging and colliding, being sent for judging that occupant can collide danger
Corresponding control instruction is to execution module.
4. system according to claim 3, which is characterized in that the execution module includes air bag device, the peace
Full airbag apparatus includes interior head air bag, interior rear air bag, interior all side airbags and interior top peace
At least one of full air bag；The air bag device responds the control instruction, ignites at least one air bag.
5. system according to claim 3, which is characterized in that the personnel state detection module further includes safety belt detection
Whether unit matches for detecting occupant and fastens the safety belt；
The execution module includes air bag device, if anticipation can collide dangerous and match and fasten the safety belt, the safety
Airbag apparatus delay executes defence operation；If anticipation can collide dangerous and fasten the safety belt without matching, the air bag dress
It sets and is immediately performed defence operation；
It includes image collecting device that described image, which obtains module, and described image acquisition device is arranged on wall in the car and/or interior
On rearview mirror.
6. a kind of vehicle active defense method, which is characterized in that the described method includes:
The head vehicle opposite with respect to the relative velocity parameters and person head of vehicle of occupant is detected within the first predetermined time
Relative displacement parameter；Wherein, the relative velocity parameters include relative velocity, and the relative displacement parameter includes opposite position
Shifting amount and relative angular orientation；
According to the relative velocity parameters and relative displacement parameter, prejudge whether occupant can collide dangerous and predict
The position that may be collided；The danger if anticipation can collide sends corresponding control and refers to according to the position that anticipation collides
It enables to execution module；
The control instruction is responded, corresponding defence operation is executed.
7. according to the method described in claim 6, it is characterized in that, the head of the detection occupant is relatively fast with respect to vehicle
Spend the relative displacement parameter of parameter and person head with respect to vehicle within the first predetermined time, comprising:
Obtain the face face-image of occupant；
The face face-image is detected, and identifies at least one human face characteristic point in the face face-image；
Human face characteristic point described in real-time detection is within second scheduled time with respect to the real-time displacement amount of vehicle, and it is special to calculate the face
The real-time relative velocity of sign point；
Human face characteristic point described in real-time detection is within the first predetermined time with respect to the relative shift of vehicle and relative angular orientation.
8. method according to claim 6 or 7, which is characterized in that described according to the relative velocity parameters and opposite position
Whether shifting parameter, anticipation occupant can collide the position that dangerous and prediction may collide；If anticipation can occur
Risk of collision sends corresponding control instruction to execution module according to the position that anticipation collides, comprising:
Compare the size of the relative velocity and preset threshold speed, and the relative shift and preset position
The size of shifting amount threshold value；
If the velocity amplitude is more than or equal to preset threshold speed, and meets the displacement simultaneously more than or equal to preset displacement
When measuring threshold value, anticipation occupant can collide danger；Otherwise, anticipation will not collide danger；
The danger if anticipation can collide prejudges the position that may be collided according to the relative angular orientation；
If judging occupant can collide danger, according to the position for prejudging and colliding, corresponding control instruction is sent
To execution module.
9. method according to claim 6 or 7, which is characterized in that the response control instruction executes corresponding defence
Operation, comprising:
Respond the control instruction, firing safety air-bag device；The air bag device includes interior head air bag, vehicle
At least one of interior rear air bag, interior all side airbags and interior safety top air bag；
The method also includes:
Whether detection occupant, which matches, is fastened the safety belt；
If anticipation can collide dangerous and match and fasten the safety belt, the air bag device delay executes defence and operates；If pre-
Sentencing can collide dangerous and fasten the safety belt without matching, and the air bag device is immediately performed defence operation.
10. a kind of vehicle, which is characterized in that including any vehicle Active Defending System Against of claim 1-5.
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