CN110281938A - A kind of automobile line traffic control intelligent steering system and its control method merging fatigue detecting - Google Patents
A kind of automobile line traffic control intelligent steering system and its control method merging fatigue detecting Download PDFInfo
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- CN110281938A CN110281938A CN201910461766.2A CN201910461766A CN110281938A CN 110281938 A CN110281938 A CN 110281938A CN 201910461766 A CN201910461766 A CN 201910461766A CN 110281938 A CN110281938 A CN 110281938A
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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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
-
- 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
- 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
- B60W40/10—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 vehicle motion
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- 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
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2710/202—Steering torque
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of automobile line traffic control intelligent steering system and its control method for merging fatigue detecting, which includes: signal acquisition module, signal analysis module, control module, turns to execution module, turning path planning module, vehicle-state acquisition module, alarm module and stimulating module；The present invention more accurately judges that fatigue state when driver drives, avoids driver since fatigue driving causes the accident by fusion fatigue-driving detection technology, improves the safety of driving, improves steering system intelligent level.
Description
Technical field
The invention belongs to automobile steering system technical field, the automobile line traffic control for a kind of fusion fatigue driving detection is referred specifically to
Intelligent steering system and its control method.
Background technique
With economic continuous development, the quantity of automobile gradually increases, and the following traffic accident occurs again and again；It causes
The big major reason of the one of traffic accident is fatigue driving, therefore the driving condition for monitoring driver is particularly important, and is being driven
Realize that automobile safety Turning travel just needs to combine the steering-by-wire skill in intelligent driving when the person of sailing enters fatigue state
Art.Chinese invention patent application number is CN201811148648.8, a kind of title " tired driver driving prison based on brain-computer interface
It proposes that the brain wave data for collecting driver analyzes the brain states of driver in survey device ", judges tired driver state,
Carry out driving monitoring.Chinese invention patent application number is CN201810868649.3, and " one kind is based on EEG signals, eye electricity for title
The fatigue based on EEG signals, electro-ocular signal and electromyography signal is proposed in the real-time driving fatigue monitoring system of signal and electromyography signal "
Monitoring system is driven, according to fatigue driving state determined by the driving condition judgment module, carries out warning note.Middle promulgated by the State Council
Bright number of patent application is CN201611055740.0, proposes root in title " fatigue detecting systems of EEG signals and physiological signal "
Fatigue state detection is carried out according to EEG signals and a variety of physiological signals.
In conclusion driver fatigue state monitoring in existing automobile is mainly by the physiological signals such as EEG signals to driving
The driving condition for the person of sailing is monitored, and be will do it directly alarm or emergency stop automobile once finding driver tired driving, is held
Accident is easily caused, and does not account for automobile and causes bigger harm in highway parking.Steering-by-wire is for realizing
It is that intelligent driving automobile is extremely important, therefore is based on wire-controlled steering system and merges fatigue driving monitoring technology with great meaning
Justice.
Summary of the invention
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide a kind of automotive lines for merging fatigue detecting
Intelligent steering system and its control method are controlled, operating mode is selected for the testing result of fatigue driving, carries out steering-by-wire and hold
Row mechanism is precisely controlled, so as to overcome the problems existing in the prior art.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
The automobile line traffic control intelligent steering system of a kind of fusion fatigue detecting of the invention, comprising: signal acquisition module, signal analysis
Module, control module turn to execution module, turning path planning module, vehicle-state acquisition module, alarm module and stimulation mould
Block；Wherein,
The signal acquisition module includes physiological driver's signal acquisition unit, road conditions information gathering unit, driver's operation letter
Number acquisition unit and Signal Pretreatment unit, physiological driver's signal acquisition unit include that the acquisition of driver's eeg signal is single
Member, driver's temperature signals acquisition unit, driver's pupil signal acquisition unit, driver's arm muscles signal acquisition unit,
Driver's eeg signal acquisition unit is used to acquire original eeg signal when driver's driving；The driving
Member's temperature signals acquisition unit is used to acquire temperature signals when driver's driving；Driver's pupil signal acquisition list
Eyeball pupil status signal when member is for acquiring driver's driving；Driver's arm muscles signal acquisition unit is used for
Arm muscles nerve signal when acquiring driver's driving；The road conditions information gathering unit is for acquiring real-time road surface and road
The image information of face barrier；Driver's operation signal acquisition unit is used to acquire the corner letter of pilot control steering wheel
Number；The Signal Pretreatment unit is by collected eeg signal, temperature signals, pupil status signal, arm muscles signal
It is pre-processed, and pretreated result is transferred to signal analysis module, the image on real-time road surface and road obstacle is believed
Breath is transferred to turning path planning module after being pre-processed, after pre-processing to the angular signal that driver operates steering wheel
It is transferred to control module；
Preprocessing module in the signal analysis module input terminal connection signal acquisition module, output end link information acquire mould
Road conditions information gathering unit, driver's operation information acquisition unit, alarm module and stimulating module in block, for pretreatment
Driver's brain wave, temperature signals, pupil status signal, arm muscles signal data afterwards is analyzed, and judges driver's
Fatigue driving state；
Driver's operation signal acquisition unit and turning path rule in the control module input terminal connection signal acquisition module
Module is drawn, output end connection turns to execution module；The signal number transmitted according to signal acquisition module and turning path planning module
According to calculate turn to execution module required for command signal；
The vehicle-state acquisition module is used to obtain the feedback that front-wheel output corner, driver obtain under vehicle real-time status and turns
Square, speed, vehicle yaw velocity, and parameter is passed into control module and turning path planning module；
The information that the turning path planning module is transmitted according to vehicle-state acquisition module and signal acquisition module carries out real-time
Turning path planning, and the turning path information after planning is passed into control module；
The execution module that turns to is used to execute the planning of turning path planning module according to the input instruction signal of control module
Motor turning movement or the motor turning executed under driver's operational order act；
The alarm module is used for the driver tired driving state judged according to signal analysis module, carries out networking report
It is alert；
The triggering command that the stimulating module is used to be issued according to signal analysis module issues the stimulation to driver and acts.
Further, the Signal Pretreatment unit includes: amplifying circuit, A/D conversion circuit, video processing board-card and vehicle
Carrier communication unit；Amplifying circuit is used for the collected driver's eeg signal of signal acquisition module, driver's pupil status
Signal, driver's arm muscles electric signal, driver's operation signal carry out power amplification；After A/D conversion circuit is used for amplification
Eeg signal, pupil status signal, arm muscles electric signal, driver's operation signal carry out analog-to-digital conversion；Image procossing
Block the traffic information for obtaining the acquisition of road conditions information gathering unit and store traffic information while carrying out image recognition processing, comes
Road surface and barrier situation are detected, and is communicated by vehicle communicating cell and turning path planning module.
Further, the signal analysis module exports the signal acquisition module received electric by pretreated brain
Driving data under wave signal, temperature signals, pupil status signal, arm muscles electrical signal data and driver's waking state into
Row comparison, obtains driving fatigue degree threshold value, and judge whether driver is in a state of fatigue.
Further, the vehicle-state acquisition module includes: angular transducer, torque sensor, vehicle speed sensor, cross
Pivot angle velocity sensor；The angular transducer is mounted on the junction below steering wheel with steering column, drives for measuring
The corner of member's input direction disk；Torque sensor is mounted on steering column, obtains the feedback torque that driver obtains；Speed passes
Sensor is mounted on the output shaft of automobile gearbox, for measuring speed；Yaw-rate sensor is mounted on automobile center console
Lower section, for measuring the yaw velocity of vehicle.
Further, the steering execution module includes: road feel motor, road feel deceleration mechanism, assist motor and power-assisted
Deceleration mechanism；Assist motor output torque is acted on steering drag link by power-assisted deceleration mechanism, and steered wheel is driven to hold
Row turns to；Road feel motor by road feel deceleration mechanism connect steering shaft, receive control module instruction, output feedback torque act on to
Steering shaft completes road feel control.
Further, the stimulating module includes irritation insecticide sprayer, issues irritation medicament to driver.
A kind of control method of the automobile line traffic control intelligent steering system of fusion fatigue detecting of the invention is based on above-mentioned system
System, comprises the following steps that
Step 1: acquiring eeg signal, temperature signals, pupil status signal, the arm muscles signal of driver respectively, go forward side by side
Row pretreatment, is transferred to signal analysis module for pretreated result；Corner, the front-wheel for acquiring driver's input direction disk are defeated
Corner, driver obtain out feedback torque, speed, vehicle yaw rate signal, and be transferred to control module and steering
Path planning module；
Step 2: by the eeg signal of driver, temperature signals, pupil status signal, arm muscles signal data and awake shape
The driving data obtained when driver drives a car under state is compared, and fatigue driving threshold value is obtained, according to fatigue driving threshold value
Determine whether driver is in fatigue driving state；If driver is in fatigue driving state, carries out network alarm and sending out
Driver actions are stimulated out, enter step 3；4 are entered step if driver is in normal driving state；
Step 3: acquisition traffic information is simultaneously pre-processed, and according to collected information of vehicles and road surface three-dimensional image information,
Obstacle recognition is carried out, turning path is planned, enters step 5；
Step 4: the angular signal of acquisition pilot control steering wheel is simultaneously pre-processed, and according to pretreated result and vehicle
Status signal, generate steering order and simultaneously turned to, return step 1 after the completion；
Step 5: being turned to according to planning turning path instruction, after the completion return step 1.
Beneficial effects of the present invention:
System of the invention more accurately judges that tired shape when driver drives by fusion fatigue-driving detection technology
State avoids driver since fatigue driving causes the accident, and improves the safety of driving, improves steering system intelligent level.
Control method of the invention can carry out two kinds in conjunction with steering-by-wire executing agency, alarm mechanism and stimulation mechanism
The switching of operating mode improves the safety of Vehicular turn.
Detailed description of the invention
Fig. 1 is the functional block diagram of present system；
Fig. 2 is wire-controlled steering system control flow chart of the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Shown in referring to Fig.1, a kind of automobile line traffic control intelligent steering system of fusion fatigue detecting of the invention, comprising: signal
Acquisition module, control module, turns to execution module, turning path planning module, vehicle-state acquisition mould at signal analysis module
Block, alarm module and stimulating module；Wherein,
The signal acquisition module includes physiological driver's signal acquisition unit, road conditions information gathering unit, driver's operation letter
Number acquisition unit and Signal Pretreatment unit, physiological driver's signal acquisition unit include that the acquisition of driver's eeg signal is single
Member, driver's temperature signals acquisition unit, driver's pupil signal acquisition unit, driver's arm muscles signal acquisition unit,
Driver's eeg signal acquisition unit is used to acquire original eeg signal when driver's driving；The driving
Member's temperature signals acquisition unit is used to acquire temperature signals when driver's driving；Driver's pupil signal acquisition list
Eyeball pupil status signal when member is for acquiring driver's driving；Driver's arm muscles signal acquisition unit is used for
Arm muscles nerve signal when acquiring driver's driving；The road conditions information gathering unit is for acquiring real-time road surface and road
The image information of face barrier；Driver's operation signal acquisition unit is used to acquire the corner letter of pilot control steering wheel
Number；The Signal Pretreatment unit is by collected eeg signal, temperature signals, pupil status signal, arm muscles signal
It is pre-processed, and pretreated result is transferred to signal analysis module, the image on real-time road surface and road obstacle is believed
Breath carries out pretreatment and is transferred to turning path planning module, and the angular signal for operating steering wheel to driver carries out pretreatment transmission
To control module；
Preprocessing module in the signal analysis module input terminal connection signal acquisition module, output end link information acquire mould
Road conditions information gathering unit, driver's operation information acquisition unit, alarm module and stimulating module in block, for pretreatment
Driver's brain wave, temperature signals, pupil status signal, arm muscles signal data afterwards is analyzed, and judges driver's
Fatigue driving state；
Driver's operation signal acquisition unit and turning path rule in the control module input terminal connection signal acquisition module
Module is drawn, output end connection turns to execution module；The signal number transmitted according to signal acquisition module and turning path planning module
According to calculate turn to execution module required for command signal；
The vehicle-state acquisition module is used to obtain the feedback that front-wheel output corner, driver obtain under vehicle real-time status and turns
Square, speed, vehicle yaw velocity, and parameter is passed into control module and turning path planning module；
The information that the turning path planning module is transmitted according to vehicle-state acquisition module and signal acquisition module carries out real-time
Turning path planning, and the turning path information after planning is passed into control module；
The automobile for turning to execution module and being used to execute the planning of turning path planning module according to the input signal of control module
Go to action or the motor turning executed under driver's operational order act；
The alarm module is used for the driver tired driving state judged according to the signal analysis module, is joined
Net alarm；
The triggering command that the stimulating module is used to be issued according to the signal analysis module issues the stimulation to driver and acts.
Wherein, the Signal Pretreatment unit includes: amplifying circuit, A/D conversion circuit, video processing board-card and vehicle-mounted logical
Interrogate unit；Amplifying circuit be used for the collected driver's eeg signal of signal acquisition module, driver's pupil status signal,
Driver's arm muscles electric signal, driver's operation signal carry out power amplification；A/D conversion circuit is used for amplified brain electricity
Wave signal, temperature signals, pupil status signal, arm muscles electric signal, driver's operation signal carry out analog-to-digital conversion；At image
Reason blocks the traffic information for obtaining the acquisition of road conditions information gathering unit and stores traffic information while carrying out image recognition processing,
To detect road surface and barrier situation, and communicated by vehicle communicating cell and turning path planning module.
Wherein, the signal analysis module receive signal acquisition module output by pretreated eeg signal, pupil
Hole status signal, arm muscles electrical signal data carry out the driving data under above-mentioned signal data and driver's waking state
Comparison, obtains driving fatigue degree threshold value, and judge whether driver is in a state of fatigue.
Wherein, the vehicle-state acquisition module includes: angular transducer, torque sensor, vehicle speed sensor, yaw angle
Velocity sensor；The angular transducer is mounted on the junction below steering wheel with steering column, defeated for measuring driver
Enter the corner of steering wheel；Torque sensor is mounted on steering column, obtains the feedback torque that driver obtains；Vehicle speed sensor
It is mounted on the output shaft of automobile gearbox, for measuring speed；Yaw-rate sensor is mounted below automobile center console,
For measuring the yaw velocity of vehicle.
Wherein, the steering execution module includes: that road feel motor, road feel deceleration mechanism, assist motor and power-assisted are slowed down
Mechanism；Assist motor output torque is acted on steering drag link by power-assisted deceleration mechanism, is driven steered wheel to execute and is turned
To；Road feel motor connects steering shaft by road feel deceleration mechanism, receives control module instruction, and output feedback torque is acted on to steering
Axis completes road feel control.
Wherein, the stimulating module includes irritation insecticide sprayer, issues irritation medicament to driver.
Referring to shown in Fig. 2, a kind of control method of the automobile line traffic control intelligent steering system of fusion fatigue detecting of the invention,
Based on above system, comprise the following steps that
Step 1: signal acquisition module acquires eeg signal, temperature signals, pupil status signal, the arm flesh of driver respectively
Flesh signal, and pre-processed, pretreated result is transferred to signal analysis module；The acquisition of vehicle-state acquisition module is driven
Feedback torque that the corner of the person's of sailing input direction disk, front-wheel output corner, driver obtain, speed, vehicle yaw velocity
Signal, and it is transferred to control module and turning path planning module；
Step 2: the driver's items physiological signal data and awake shape that signal analysis module is inputted according to signal pre-processing module
The driving data obtained when driver drives a car under state is compared, and fatigue driving threshold value is obtained, according to fatigue driving threshold value
Determine whether driver is in fatigue driving state；That if signal analysis module analyzes the result is that driver is in fatigue driving
State, transmission triggering command carry out network alarm respectively and spray in the car to the alarm unit and stimulating unit in executing agency
Irritation medicament is penetrated, enters step 3；If signal analysis module analyze the result is that if driver is in normal driving state into
Enter step 4；
Step 3: road conditions information gathering module in signal acquisition module acquires traffic information, as vehicle flowrate, vehicle queue length,
Sections of road length, road barrier object location etc., are pre-processed, and turning path planning module receives vehicle-state acquisition respectively
The information of vehicles and road surface three-dimensional image information of module and signal acquisition module transmission, and obstacle recognition is carried out, planning turns to
Path enters step 5；
Step 4: the angular signal of signal acquisition module acquisition pilot control steering wheel is simultaneously pre-processed, by pretreated knot
Fruit is transferred to control module, and corresponding steering is calculated according to pretreated result and the status signal of vehicle in control module
It instructs and controls the assist motor and road feel motor that turn in execution module, assist motor output torque passes through power-assisted speed reducer
Structure acts on steering drag link, and steered wheel is driven to execute steering；Road feel motor is turned to by the connection of road feel deceleration mechanism
Axis receives control module instruction, and output feedback torque is acted on to steering shaft, completes road feel control, is finally completed steering, after the completion
Return step 1；
Step 5: the signal of turning path planning module is transferred to control module, and control module refers to execution unit transmitting is turned to
It enables, turns to execution unit and turned to according to instruction, after the completion return step 1.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of automobile line traffic control intelligent steering system for merging fatigue detecting characterized by comprising signal acquisition module, letter
Number analysis module, control module, turn to execution module, turning path planning module, vehicle-state acquisition module, alarm module and
Stimulating module；Wherein,
The signal acquisition module includes physiological driver's signal acquisition unit, road conditions information gathering unit, driver's operation letter
Number acquisition unit and Signal Pretreatment unit, physiological driver's signal acquisition unit include that the acquisition of driver's eeg signal is single
Member, driver's temperature signals acquisition unit, driver's pupil signal acquisition unit, driver's arm muscles signal acquisition unit,
Driver's eeg signal acquisition unit is used to acquire original eeg signal when driver's driving；The driving
Member's temperature signals acquisition unit is used to acquire temperature signals when driver's driving；Driver's pupil signal acquisition list
Eyeball pupil status signal when member is for acquiring driver's driving；Driver's arm muscles signal acquisition unit is used for
Arm muscles nerve signal when acquiring driver's driving；The road conditions information gathering unit is for acquiring real-time road surface and road
The image information of face barrier；Driver's operation signal acquisition unit is used to acquire the corner letter of pilot control steering wheel
Number；The Signal Pretreatment unit is by collected eeg signal, temperature signals, pupil status signal, arm muscles signal
It is pre-processed, and pretreated result is transferred to signal analysis module, the image on real-time road surface and road obstacle is believed
Breath is transferred to turning path planning module after being pre-processed, after pre-processing to the angular signal that driver operates steering wheel
It is transferred to control module；
Preprocessing module in the signal analysis module input terminal connection signal acquisition module, output end link information acquire mould
Road conditions information gathering unit, driver's operation information acquisition unit, alarm module and stimulating module in block, for pretreatment
Driver's brain wave, temperature signals, pupil status signal, arm muscles signal data afterwards is analyzed, and judges driver's
Fatigue driving state；
Driver's operation signal acquisition unit and turning path rule in the control module input terminal connection signal acquisition module
Module is drawn, output end connection turns to execution module；The signal number transmitted according to signal acquisition module and turning path planning module
According to calculate turn to execution module required for command signal；
The vehicle-state acquisition module is used to obtain the feedback that front-wheel output corner, driver obtain under vehicle real-time status and turns
Square, speed, vehicle yaw velocity, and parameter is passed into control module and turning path planning module；
The information that the turning path planning module is transmitted according to vehicle-state acquisition module and signal acquisition module carries out real-time
Turning path planning, and the turning path information after planning is passed into control module；
The execution module that turns to is used to execute the planning of turning path planning module according to the input instruction signal of control module
Motor turning movement or the motor turning executed under driver's operational order act；
The alarm module is used for the driver tired driving state judged according to signal analysis module, carries out networking report
It is alert；
The triggering command that the stimulating module is used to be issued according to signal analysis module issues the stimulation to driver and acts.
2. the automobile line traffic control intelligent steering system of fusion fatigue detecting according to claim 1, which is characterized in that the letter
Number pretreatment unit includes: amplifying circuit, A/D conversion circuit, video processing board-card and vehicle communicating cell；Amplifying circuit is used for
To the collected driver's eeg signal of signal acquisition module, driver's pupil status signal, driver's arm muscles telecommunications
Number, driver's operation signal carry out power amplification；A/D conversion circuit is used to believe amplified eeg signal, pupil status
Number, arm muscles electric signal, driver's operation signal carry out analog-to-digital conversion；Video processing board-card is for obtaining road conditions information gathering list
The traffic information of member acquisition simultaneously stores traffic information while carrying out image recognition processing, to detect road surface and barrier situation, and
It is communicated by vehicle communicating cell and turning path planning module.
3. the automobile line traffic control intelligent steering system of fusion fatigue detecting according to claim 1, which is characterized in that the letter
Number analysis module by the signal acquisition module received export by pretreated eeg signal, temperature signals, pupil shape
State signal, arm muscles electrical signal data and the data under driver's waking state compare, and obtain driving fatigue degree threshold value,
And judge whether driver is in a state of fatigue.
4. the automobile line traffic control intelligent steering system of fusion fatigue detecting according to claim 1, which is characterized in that the vehicle
State acquisition module includes: angular transducer, torque sensor, vehicle speed sensor, yaw-rate sensor；The angle
Sensor is mounted on the junction below steering wheel with steering column, for measuring the corner of driver's input direction disk；Torque
Sensor is mounted on steering column, obtains the feedback torque that driver obtains；Vehicle speed sensor is mounted on automobile gearbox
On output shaft, for measuring speed；Yaw-rate sensor is mounted below automobile center console, for measuring the sideway of vehicle
Angular speed.
5. the automobile line traffic control intelligent steering system of fusion fatigue detecting according to claim 1, which is characterized in that described
Turning to execution module includes: road feel motor, road feel deceleration mechanism, assist motor and power-assisted deceleration mechanism；Assist motor output is turned round
Square is acted on steering drag link by power-assisted deceleration mechanism, and steered wheel is driven to execute steering；Road feel motor passes through road feel
Deceleration mechanism connects steering shaft, receives control module instruction, and output feedback torque is acted on to steering shaft, completes road feel control.
6. the automobile line traffic control intelligent steering system of fusion fatigue detecting according to claim 1, which is characterized in that the thorn
Sharp module includes irritation insecticide sprayer, issues irritation medicament to driver.
7. a kind of control method for the automobile line traffic control intelligent steering system for merging fatigue detecting, based in the claims 1 to 6
The system of any one, which is characterized in that comprise the following steps that
Step 1: acquiring eeg signal, temperature signals, pupil status signal, the arm muscles signal of driver respectively, go forward side by side
Pretreated result is transferred to signal analysis module by line number Data preprocess；Acquire the corner, preceding of driver's input direction disk
Feedback torque that wheel output corner, driver obtains, speed, vehicle yaw rate signal, and be transferred to control module and
Turning path planning module；
Step 2: by the eeg signal of driver, temperature signals, pupil status signal, arm muscles signal data and awake shape
The driving data obtained when driver drives a car under state is compared, and fatigue driving threshold value is obtained, according to fatigue driving threshold value
Determine whether driver is in fatigue driving state；If driver is in fatigue driving state, carries out network alarm and sending out
Driver actions are stimulated out, enter step 3；4 are entered step if driver is in normal driving state；
Step 3: acquisition traffic information is simultaneously pre-processed, and according to collected information of vehicles and road surface three-dimensional image information,
Obstacle recognition is carried out, turning path is planned, enters step 5；
Step 4: the angular signal of acquisition pilot control steering wheel is simultaneously pre-processed, and according to pretreated result and vehicle
Status signal, generate steering order and simultaneously turned to, return step 1 after the completion；
Step 5: being turned to according to planning turning path instruction, after the completion return step 1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910461766.2A CN110281938B (en) | 2019-05-30 | 2019-05-30 | Automobile wire-control intelligent steering system integrating fatigue detection and control method thereof |
| PCT/CN2019/113500 WO2020237997A1 (en) | 2019-05-30 | 2019-10-26 | Automotive intelligent steer-by-wire system integrated with fatigue detection, and control method therefor |
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| CN201910461766.2A CN110281938B (en) | 2019-05-30 | 2019-05-30 | Automobile wire-control intelligent steering system integrating fatigue detection and control method thereof |
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| CN110281938B CN110281938B (en) | 2020-10-20 |
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| WO2020237997A1 (en) | 2020-12-03 |
| CN110281938B (en) | 2020-10-20 |
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