CN110040096A - Aggression detection system and method for vehicle cab - Google Patents

Aggression detection system and method for vehicle cab Download PDF

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Publication number
CN110040096A
CN110040096A CN201910383984.9A CN201910383984A CN110040096A CN 110040096 A CN110040096 A CN 110040096A CN 201910383984 A CN201910383984 A CN 201910383984A CN 110040096 A CN110040096 A CN 110040096A
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CN
China
Prior art keywords
aggression
vehicle
cockpit
control unit
detecting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910383984.9A
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Chinese (zh)
Inventor
赵明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mainland Investment (china) Co Ltd
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Mainland Investment (china) Co Ltd
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Filing date
Publication date
Application filed by Mainland Investment (china) Co Ltd filed Critical Mainland Investment (china) Co Ltd
Priority to CN201910383984.9A priority Critical patent/CN110040096A/en
Publication of CN110040096A publication Critical patent/CN110040096A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • B60R21/0153—Passenger detection systems using field detection presence sensors
    • B60R21/01538—Passenger detection systems using field detection presence sensors for image processing, e.g. cameras or sensor arrays
    • 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
    • B60R21/12—Occupant safety arrangements or fittings, e.g. crash pads which protect the occupants against personal attack from the inside or the outside of the vehicle
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Abstract

The present invention relates to a kind of systems for detecting the aggression in vehicle cab, wherein the system includes: one or more cameras, for obtaining the image information of cockpit；And control circuit board, for detecting in cockpit whether aggression occurs according to the image information obtained by one or more of cameras, wherein, the control circuit board includes: object extraction module, for extracting target object from the image information of cockpit；Gesture recognition module, for identification posture of extracted target object；And behavioral value module, for the posture of the target object identified to be input in preparatory trained learning model, to detect in cockpit whether aggression occurs.The invention further relates to a kind of corresponding aggression detection methods in vehicle cab.

Description

Aggression detection system and method for vehicle cab
Technical field
The present invention relates to Activity recognition fields, more particularly it relates to a kind of attack for vehicle cab Sexual behaviour detection system and method.
Background technique
In recent years, passenger hits driver on bus, the event of plunder steering wheel often occurs, and this extreme behavior is not Only all travel personnel on bus are all placed among danger, but also other vehicles and row on road can be injured People has seriously endangered public safety.
With the generally use of video monitoring system, there is the act of violence detection side based on video in many fields The application of case.For example, the researcher from univ cambridge uk, Indian country Institute for Research and Technology and the science Institute of Technology, India Have developed a kind of " act of violence " detection system using unmanned plane, can savate in identification crowd, stab or pinch neck etc. Violent action, accuracy rate is up to 85% or more.
But there is no at present applied to a whole set of perfect violence monitoring and emergency system on vehicle, it is public at some Although being equipped with monitoring camera in the vehicles, it is mostly used for carrying out identity authentication to driver and monitoring vehicle is superior The presence of visitor.
Summary of the invention
In order to solve the above problem in the prior art, the present invention proposes aggression detection scheme being applied to vehicle Closing cockpit scene in.Specifically, the invention proposes a kind of aggression detection systems for vehicle cab With method, interior special object (driver and passenger) and its behavior can be detected using camera information, it is easy to accomplish sudden and violent Power behavior monitoring；In addition, electronic control unit of the aggression detection system according to the present invention by CAN bus and vehicle It is communicatively coupled, takes corresponding emergency operation so as in the case where attack occurs, control vehicle in time, drop Low traffic accident rate, reduces the casualties due to caused by attack and property loss, the system is especially Suitable for public transport.
According to the first aspect of the invention, it provides and a kind of is for detect the aggression in vehicle cab System, wherein the system includes: one or more cameras, for obtaining the image information of cockpit；And control circuit board, it uses Whether aggression occurs according to the image information detection cockpit obtained by one or more of cameras, In, the control circuit board includes :-object extraction module, for extracting target object from the image information of cockpit；- Gesture recognition module, for identification posture of extracted target object；And-behavioral value module, for will be identified The posture of target object is input in preparatory trained learning model, to detect in cockpit whether aggression occurs.
According to an advantageous embodiment, the electronic control unit of the behavioral value module and vehicle carries out communication link It connects, the electronic control unit, which is suitable for controlling vehicle according to the testing result of behavioral value module, executes corresponding emergency operation.
According to an advantageous embodiment, when detecting generation aggression in cockpit, the electronic control is single The double jump lamp of member starting vehicle is to remind other vehicle and pedestrians on road.
According to an advantageous embodiment, aggression and the aggression occurs not when detecting in cockpit When being related to steering wheel, the electronic control unit executes braking to vehicle or speed limit operates.
According to an advantageous embodiment, aggression occurs in cockpit and the aggression relates to when detecting And when steering wheel, the Lane Keeping System of electronic control unit starting vehicle or the electronic control unit are according to working as The steering angle of front truck speed limit vehicle.
According to an advantageous embodiment, the system also includes the storages for storing preparatory trained learning model Device.
According to an advantageous embodiment, the aggression includes contention steering wheel, in malicious sabotage cockpit Instrument and equipment and to driver apply personal attack.
According to an advantageous embodiment, the object extraction module utilizes image of the feature pyramid network from cockpit Target object is extracted in information.
According to the second aspect of the invention, it provides a kind of for detecting the side of the aggression in vehicle cab Method, wherein this method comprises the following steps: the image information in cockpit is obtained；It is extracted from acquired image information Target object；Identify the posture of extracted target object；And the posture of the target object identified is input to preparatory instruction In the learning model perfected, to detect in cockpit whether aggression occurs.
It is single by electronic control when detecting generation aggression in cockpit according to an advantageous embodiment The double jump lamp of member starting vehicle is to remind other vehicle and pedestrians on road.
According to an advantageous embodiment, aggression and the aggression occurs not when detecting in cockpit When being related to steering wheel, braking is executed to vehicle by electronic control unit or speed limit operates.
According to an advantageous embodiment, aggression occurs in cockpit and the aggression relates to when detecting And when steering wheel, vehicle is limited by the Lane Keeping System of electronic control unit activation vehicle, or according to current vehicle speed Steering angle.
It is used to illustrate the specific reality of certain principles of the invention together with attached drawing by include this paper attached drawing and then Mode is applied, other feature possessed by system of the invention and advantage will be apparent or more specifically illustrated.
Detailed description of the invention
Fig. 1 shows the structure chart of aggression detection system according to the present invention；
Fig. 2 shows the schematic diagrames of aggression detection system according to the present invention；And
Fig. 3 shows the reality for the emergency measure taken in response to aggression testing result vehicle according to the present invention Apply process.
Specific embodiment
The aggression according to the present invention for cockpit is described below with reference to accompanying drawings and by embodiment to examine Examining system and method.In the following description, numerous specific details are set forth to make person of ordinary skill in the field more Comprehensively understand the present invention.But for the technical staff in technical field it is evident that realization of the invention can not have Have some in these details.On the contrary, it may be considered that implement the present invention with any combination of following feature and element, Regardless of whether they are related to different embodiments.Therefore, various aspects, feature, embodiment and advantage below is for illustrative purposes only It is used and is not construed as the element or restriction of claim, unless clearly proposing in the claims.
Fig. 1 shows the structure chart according to the present invention for the aggression detection system in vehicle cab.Such as Shown in Fig. 1, which may include one or more monitoring cameras, be mounted on the ceiling of cockpit to drive for obtaining Sail the image information in cabin.The image information that camera is obtained is sent to control circuit board, and control circuit board, which has, to be used for Determine the posture of travel personnel and the visual analysis chip of behavior, and the eMMC equipment for storing trained data set is (embedding Enter formula memory), to improve behavioral value and emergency response speed by offline matching way.
After receiving the image information from camera, visual analysis chip is performed the following operations: firstly, using special Sign pyramid network (a kind of convolutional neural networks) detects driver and passenger (i.e. from the picture that interior cockpit is shot " target object ")；Then, the posture of each object in image is analyzed and determined using ScatterNet network；Finally, by right The body contour of elephant resolves into several key points, thus calculates the arm of object, the position of leg and face and is based on these positions Identify the different types of aggression specified in training process.
Specifically, visual analysis chip may include object extraction module, gesture recognition module and behavioral value module.Its In, object extraction module from the image information of cockpit for extracting target object (driver or passenger)；Gesture recognition Module is for identification by the posture of the extracted target object of object extraction module；Behavioral value module is used for the mesh that will be identified The posture of mark object is input in preparatory trained learning model, to detect in cockpit whether aggression occurs.
It is understood that learning model obtains and the fierce mutual-action behavior to driver and passenger is trained, Training process can classify to different dynamic behaviors, including but not limited to: it punches, tear, fighting for steering wheel, foot is kicked etc., Trained learning model is storable in eMMC equipment.
Control circuit board is connected to the electronic control unit (ECU) of vehicle, which is suitable for according to control electricity The testing result control vehicle of behavioral value module in the plate of road executes corresponding emergency operation.For example, when detecting cockpit When interior generation aggression, the behavioral value module sends pre-warning signal to vehicle ECU.It is receiving from the behavior When the pre-warning signal of detection module, ECU starts the double jump lamp of vehicle by sending CAN message to remind other vehicles on road And pedestrian.
According to a preferred embodiment, object extraction module can also extract the wheel of steering wheel from the image information of cockpit Wide feature, and behavioral value module not only can judge aggression whether occurs in cockpit based on the posture of passenger, and And it can also further determine that whether aggression is related to steering wheel, that is, determine whether occur to grab direction in cockpit Disk movement.Wherein, when detecting generation aggression in cockpit and the aggression is not related to steering wheel, by The electronic control unit of vehicle executes braking or speed limit operation (such as constant speed cruising system of starting vehicle) to vehicle；Work as detection When aggression and the aggression occurs in cockpit being related to steering wheel, opened by the electronic control unit of vehicle The driving assistance system ADAS (for example, Lane Keeping System) of motor-car to take over or intervene the driving task of driver, or The steering angle of vehicle is limited according to current vehicle speed.
Fig. 2 shows the schematic diagrames of aggression detection system according to the present invention.Those skilled in the art can manage Solution, herein referred " aggression " refer to behavior occurring in cockpit, causing violence to interfere to driver Refer to behavior occurring in cockpit, causing violence to interfere to driver, including but not limited to contention steering wheel, malice is broken Instrument and equipment in bad cockpit and personal attack (punch, tear, foot is kicked) is applied to driver.
As shown in Figure 2, camera shoots the image in vehicle cab and is sent to control circuit board to carry out Aggression detection.After detecting aggression, control circuit board controls vehicle and executes emergency operation, for example, limit Car speed or steering angle processed, activation Lane Keeping System, constant speed cruising system or ADAS system etc..
Fig. 3 shows the tool for the emergency measure that vehicle is taken in response to aggression testing result according to the present invention Body implementing procedure.Firstly, control circuit board is detected according to camera image whether there is aggression in cockpit, work as detection To there are when aggression, control vehicle opens double jump lamp and alarms.
In addition, can further determine that whether aggression is related to steering wheel, if be not related to, judge whether speed is big In predetermined value (such as 30km/h), and speed be greater than predetermined value when brake operating is taken to vehicle so that its speed drop to it is pre- Below definite value.
As an example, if aggression is related to steering wheel (for example, passenger grabs driver's steering wheel), make Driving assistance system (such as Lane Keeping System) is activated to take over or intervene the driving task of driver.Alternatively, in no vehicle In the case where lane keeping system, vehicle steering angle is limited according to current vehicle speed.It should be noted that in order to be maintained at vehicle In lane, Lane Keeping System and/or electronic control unit etc. can also the speed to vehicle correspondingly adjusted, such as adopt Take brake measure etc..
It will be appreciated by persons skilled in the art that the above-mentioned emergency operation for aggression is not limited in Fig. 3 Cited movement and execution order, under the emergency case there are attack, all emergency that can ensure traffic safety Measure is fallen within the scope of protection of the present invention.
Aggression detection scheme is applied in the closing cockpit scene of vehicle by the present invention, can utilize camera Infomation detection car special object (driver and passenger) and its behavior, it is easy to accomplish；In addition, will be aggressive by CAN bus The electronic control unit of behavioral value system and vehicle is communicatively coupled, so as in the case where attack occurs, Control vehicle takes corresponding emergency operation in time, reduces traffic accident rate, reduces since attack is made At casualties and property loss, be particularly suitable in public transport.
In this application, it will appreciated by the skilled person that disclosed system can be by another way It realizes.System embodiment described above is only schematical, for example, the division of the module is only a kind of logic Function division, there may be another division manner in actual implementation, such as the function of multiple modules can combine or some mould The function of block can further be split.Each module in each embodiment of the application can integrate in a processing unit In, it is also possible to modules and physically exists alone, can also be integrated in one unit with two or more modules.It is above-mentioned Integrated module both can take the form of hardware realization, can also realize in the form of software functional units.
In addition, those of ordinary skill in the art, which are further appreciated that, realizes that all or part of the steps of above-mentioned recognition methods can To be done through the relevant hardware of the program instructions.Program above-mentioned can be stored in a computer readable storage medium. In embodiment of the method for the invention, the order of each step is not limited to cited order, for ordinary skill people For member, without creative efforts, the successive of each step is changed also within protection scope of the present invention.
Although the present invention has been disclosed in the preferred embodiments as above, the present invention is not limited to this.Any those skilled in the art Member, made various changes and modification, should all be included in protection scope of the present invention without departing from the spirit and scope of the present invention It is interior, therefore protection scope of the present invention should be defined by the scope defined by the claims..

Claims (12)

1. a kind of system for detecting the aggression in vehicle cab, wherein the system includes:
One or more cameras, for obtaining the image information in cockpit；With
Whether control circuit board is sent out for being detected in cockpit according to the image information obtained by one or more of cameras Raw aggression, wherein the control circuit board includes:
Object extraction module, for extracting target object from the image information obtained by one or more of cameras；
Gesture recognition module, for identification posture of extracted target object；And
Behavioral value module, for the posture of the target object identified to be input in preparatory trained learning model, with Whether aggression occurs in detection cockpit.
2. system according to claim 1, wherein the electronic control unit of the behavioral value module and vehicle is led to Letter connection, the electronic control unit are suitable for controlling vehicle according to the testing result of behavioral value module and execute corresponding emergency behaviour Make.
3. system according to claim 2, wherein when detecting generation aggression in cockpit, the electronics Control unit starts the double jump lamp of vehicle to remind other vehicle and pedestrians on road.
4. system according to claim 2, wherein aggression and the aggressiveness occur in cockpit when detecting When behavior is not related to steering wheel, the electronic control unit executes braking to vehicle or speed limit operates.
5. system according to claim 2, wherein aggression and the aggressiveness occur in cockpit when detecting When behavior is related to steering wheel, the Lane Keeping System of the electronic control unit starting vehicle or the electronic control unit The steering angle of vehicle is limited according to current vehicle speed.
6. system according to claim 1 or 2, wherein the system also includes for storing preparatory trained study The memory of model.
7. system according to claim 1 or 2, wherein the aggression is driven including contention steering wheel, malicious sabotage It sails the instrument and equipment in cabin and personal attack is applied to driver.
8. system according to claim 1 or 2, wherein the object extraction module is using feature pyramid network from driving It sails and extracts target object in the image information in cabin.
9. a kind of method for detecting the aggression in vehicle cab, wherein this method comprises the following steps:
Obtain the image information in cockpit；
Target object is extracted from acquired image information；
Identify the posture of extracted target object；And
The posture of the target object identified is input in preparatory trained learning model, whether is sent out with detecting in cockpit Raw aggression.
10. according to the method described in claim 9, wherein, when detect aggression occurs in cockpit when, by electronics Control unit starts the double jump lamp of vehicle to remind other vehicle and pedestrians on road.
11. method according to claim 9 or 10, wherein aggression and described occurs in cockpit when detecting When aggression is not related to steering wheel, braking is executed to vehicle by electronic control unit or speed limit operates.
12. method according to claim 9 or 10, wherein aggression and described occurs in cockpit when detecting When aggression is related to steering wheel, by the Lane Keeping System of electronic control unit activation vehicle, or according to working as front truck The steering angle of speed limit vehicle.
CN201910383984.9A 2019-05-09 2019-05-09 Aggression detection system and method for vehicle cab Pending CN110040096A (en)

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Application Number Priority Date Filing Date Title
CN201910383984.9A CN110040096A (en) 2019-05-09 2019-05-09 Aggression detection system and method for vehicle cab

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CN112215073A (en) * 2020-09-10 2021-01-12 华蓝设计（集团）有限公司 Traffic marking line rapid identification and tracking method under high-speed motion scene

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