CN111137284A - Early warning method and early warning device based on driving distraction state - Google Patents

Early warning method and early warning device based on driving distraction state Download PDF

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Publication number
CN111137284A
CN111137284A CN202010007500.3A CN202010007500A CN111137284A CN 111137284 A CN111137284 A CN 111137284A CN 202010007500 A CN202010007500 A CN 202010007500A CN 111137284 A CN111137284 A CN 111137284A
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early warning
driver
driving
behavior
time
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CN111137284B (en
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郭应时
付锐
袁伟
王畅
刘文晓
张晓宁
季鑫
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Changan University
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Changan University
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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • B60W40/04—Traffic 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
    • B60W40/02—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
    • B60W40/09—Driving style or behaviour
    • 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
    • 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

Abstract

The invention discloses an early warning method and an early warning device based on a driving distraction state, which comprise the following steps: 1) acquiring traffic conditions and road conditions around a vehicle and identifying driving behaviors of a driver; 2) judging whether distracted driving behaviors exist according to the behaviors of the driver, and if not, entering 3); if yes, entering step 4); 3) judging whether the vehicle deviates from a lane or not based on the traffic condition and the road condition around the vehicle, if not, not sending out early warning, and ending the early warning of the current round; if the deviation exists, the voice prompts the driver, and the early warning of the current round is finished after the prompt is finished; 4) and predicting the impending collision type and lane departure condition, and carrying out early warning of corresponding levels based on the predicted condition. According to the early warning device and the early warning method based on the driving distraction state, the risk level of the current driving behavior is judged based on the driving state of the driver, the driving environment and the vehicle posture information, and early warning can be performed according to the reaction state of the driver, so that traffic accidents are avoided.

Description

Early warning method and early warning device based on driving distraction state
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to an early warning method and an early warning device based on a driving distraction state.
Background
The distracted driving is a common unsafe driving behavior which is easy to cause traffic accidents, and according to statistics, the number of death accidents caused by the distracted driving accounts for about 10% of the total number of death accidents. In the driving process, a driver uses a mobile phone, a navigation or other electronic products, or takes and drinks, talks, listens to music and broadcasts and the like, so that the driver is easy to distract from the attention, and traffic accidents are induced. In a distracted driving state, the potential conflict cognition of the longitudinal direction and the transverse direction of a driver is reduced, and the safe operation of the driver on a vehicle is influenced, for example, the reaction time of a mobile phone call and a short message to the reaction of the driver on the conflict of the pedestrian crossing the road is increased, and the influence of the latter is more obvious.
At present, a large number of researches about the influence of a distraction state detection method and distraction behaviors on a driver exist, and a driver-oriented early warning or alarm system and device have a plurality of methods, but the influence of distraction factors on the response time of the driver is not considered.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a driving distraction state-based early warning method and device.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a driving distraction state-based early warning method comprises the following steps:
1) acquiring traffic conditions and road conditions around a vehicle and identifying driving behaviors of a driver;
2) judging whether a distracted driving behavior exists according to the behavior of the driver, and if the distracted driving behavior does not exist, entering the step 3); if the distracted driving behavior exists, entering the step 4);
step 3) judging whether the vehicle deviates from the lane or not based on the surrounding traffic condition and the road condition of the vehicle, if not, not sending out early warning, and ending the early warning of the current round;
if the lane departure happens, the voice prompts the driver to ' depart from the lane ' or turn on the steering lamp ', and the early warning of the current wheel is finished after the prompt is finished;
and 4) predicting the impending collision type and lane departure condition, and carrying out early warning of corresponding levels based on the predicted condition.
Further, the collision type in the step 4) is predicted by predicting collision time TTC and a corresponding early warning time threshold T;
the early warning time threshold T comprises the time T taken by the vehicle to avoid the frontal collision and the side collision and change the lane departure stateiAnd the reaction time t required for the driver to finish different distracting driving behaviorsi。
Further, the early warning of the corresponding level based on the judged condition in the step 4) specifically comprises:
if the predicted frontal collision time x is not deviated when the lane is not deviated1(1) if the time is less than or equal to the corresponding early warning time threshold T, judging that frontal collision is about to occur if the driving state is not changed, performing secondary early warning and playing a reminding frequency band 3;
if the predicted side collision time x is not deviated when the lane is not deviated1(2) if the time is less than or equal to the corresponding early warning time threshold T, then side collision is about to occur, secondary early warning is carried out, and a reminding frequency band 2 is played;
if the predicted frontal collision time x is left during lane departure1(1) less than or equal to the corresponding warning time threshold T or the predicted side impact time x1(2) if the time threshold is less than or equal to the corresponding time threshold T, performing secondary early warning and playing a reminding frequency band 1;
when the lane deviates, if predictedFrontal collision time x1(1) a predicted side impact time x equal to or less than the corresponding pre-warning time threshold T1And (2) when the time threshold value is less than or equal to the corresponding time threshold value T, carrying out three-stage early warning and sending out vibration.
Further, the second-level early warning is converted with each other according to the updated data.
Further, the second-level early warning and the third-level early warning are mutually converted according to the updated data.
The early warning device for realizing the method comprises a driver behavior recognition device, an environmental information acquisition device, a control device and an early warning device;
the driver behavior recognition device is used for monitoring the head movement and the operation behavior of the driver in real time to judge whether the driver is in a distracted driving state and recognize the following distracted behaviors:
broadcasting channel switching behavior, mobile phone conversation behavior, passenger conversation behavior, mobile phone watching behavior and drinking behavior;
an environmental information acquisition means for acquiring traffic conditions and road conditions around the vehicle;
the control device is used for receiving the data of the environment information acquisition device and the driver behavior recognition device, calculating the distance between the vehicle and the lane lines on two sides, predicting collision time according to the distracted driving behavior of the driver, judging whether the collision time reaches a corresponding early warning time threshold value or not, and starting an early warning response grade if the collision time reaches the corresponding early warning time threshold value;
and the early warning device is used for receiving the control signal of the control device and starting a corresponding early warning level.
Furthermore, the control device is used for comprising a distraction behavior management unit, a data processing unit, an analysis and judgment unit and an RAM storage unit;
the distraction behavior management unit is used for writing the output of the driver behavior recognition device into a variable c, if distraction behavior exists, writing 1, and marking the state as distraction driving; if the distraction behavior does not exist, writing 0, marking the driving state as a normal driving state, and covering a rear judgment value with a front judgment value according to the time sequence;
the data processing unit is used for receiving the vehicleThe data of the surrounding traffic condition and the road condition are fused, and the predicted collision time TTC and the distance between the vehicle and the lane lines on the two sides are calculated; and calculating the predicted front collision to obtain TTC value, and writing the TTC value into x1(1,: in the variables, TTC value for predicting side impact is written in x1(2, in the variables;
the analysis and judgment unit is used for judging whether collision is about to occur or not and whether the lane deviates or not according to the predicted collision time TTC and the distance between the vehicle and the lane lines on the two sides;
RAM storage unit for storing variable c and variable x1(1,: and x)1(2,:)。
Compared with the prior art, the invention has the following beneficial effects:
according to the early warning device and the early warning method based on the driving distraction state, the risk level of the current driving behavior is judged based on the driving state of the driver, the driving environment and the vehicle posture information, and early warning can be performed according to the reaction state of the driver, so that traffic accidents are avoided; according to the general position and type of the potential danger, different early warnings are issued to prompt the direction and collision type of the potential danger, so that a driver performs corresponding obstacle avoidance operation to avoid traffic accidents; the early warning is only carried out under the condition that the driver is distracted, so that the interference to the driver is reduced; under the same driving condition, the distraction driving behavior obviously increases the response time of dangerous perception and decision of the driver, and the response time increased by different distraction driving behaviors is different.
Drawings
FIG. 1 is a schematic block diagram of an early warning device based on a driving distraction condition;
FIG. 2 is a flow chart of an implementation of a warning method based on a driving distraction;
FIG. 3 is a flow chart for performing early warning determination;
FIG. 4 is a schematic diagram of a driver driving behavior recognition that may be expanded.
The letter meaning in the present invention is:
c, the driving state of the driver is 1 or 0, 1, the driver is in a distracted driving state, and 0 is in a normal state;
b-driver distraction behavior, including B1、b2、b3、b4、b5The method is respectively corresponding to five behaviors of broadcasting, tuning, talking with a mobile phone, talking with passengers, watching the mobile phone and eating and drinking;
sign (a) -sign function, when a is positive, sign (a) is 1; when a is a negative value, sign (a) is 0;
x1potential danger as a crash event, TTC-predicted time to crash, x1(1:) predicted frontal collision time, x1(2,: predicted side impact time;
x2potential hazard is lane departure, x2＝(Δe1,Δe2) -distance of the vehicle from the lane lines on both sides;
t-early warning time threshold, T ═ Ti+ti，TiAvoidance of the reaction time required for the vehicle to take place of an accident, ti-the reaction time required for the driver to end the distraction state;
T1time taken from taking emergency braking until vehicle stop, T2-the time since taking the emergency braking or steering;
||a||1is the norm of a and is,
Figure BDA0002355823570000051
detailed description of the preferred embodiments
Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating the examples of the present invention. The present invention is in no way limited to any specific configuration and algorithm set forth below, but rather covers any modification, substitution, and improvement of elements, components, and algorithms without departing from the spirit of the invention.
The working principle of the invention is further explained below with reference to the attached drawings:
referring to fig. 1, fig. 1 is a schematic block diagram of a danger warning device based on driving distraction; the danger early warning device based on driving distraction comprises a driver behavior recognition device, an environmental information acquisition device, a control device and an early warning device, and specifically comprises the following components:
the driver behavior recognition device consists of a front camera, a side camera and an operation unit, wherein the front camera is arranged at the position of the roof right in front of a driver and is used for monitoring the head movement of the driver in real time; the side camera is arranged on a platform at the position, close to a car window, of the copilot, and the visual field range is complementary with that of the front camera and is used for monitoring the operation behavior of a driver in real time; the arithmetic unit is integrated in the control device, can identify the behaviors of broadcasting and tuning the channel of the driver, talking with the mobile phone, talking with passengers, watching the mobile phone (browsing web pages, sending information and the like) and eating and drinking, and sets the behavior b for broadcasting and tuning the channel of the driver1Indicating, for cell phone call behavior b2Indicating, talking to passengers, behaviour by b3B for showing the behavior of looking at the mobile phone (browsing web pages, sending messages, etc.)4For showing eating and drinking5Represents; the camera is communicated with the arithmetic unit in real time through the control device interface, the arithmetic unit processes data transmitted by the camera, detects whether the behaviors appear or not, and if the related behaviors are detected, the related behaviors biWhen 1, i is 1,2,3,4,5, no detected behavior is represented by 0. Meanwhile, if the behavior is detected, the operation unit writes 1 into a variable c, the variable c is stored in a control device RAM and is marked as a distracted driving state, the driver is judged to be in the distracted driving state, if the behavior is not detected, the operation unit writes 0 into the variable c and is marked as a normal driving state, and according to the time sequence, a rear judgment value can cover a front judgment value; the arithmetic unit writes the detected result into a vector B in real time and stores the vector B into the RAM, namely B ═ B1；b2；b3；b4；b5]For early warning response decision andand judging the early warning level. In the invention, only the early warning judgment method for detecting the distraction behavior at the same time point is analyzed.
The environment information acquisition device is used for acquiring traffic conditions and road conditions around the vehicle, wherein the road conditions comprise lane line positions, and the traffic conditions comprise relative positions, relative speeds, accelerations and other information of surrounding motor vehicles and non-motor vehicles; the environmental information acquisition device is connected with the control device through an interface, the acquired data are transmitted to the control device in real time, and the control device calculates and predicts the collision time (TTC) and the distance between the vehicle and the left lane line and the right lane line and is used for calculating the early warning time threshold. In consideration of actual circumstances, the vehicle-mounted radar to which the environment information acquisition device relates may include a camera, a millimeter wave radar, an ultrasonic radar, and the like.
The control device is a microcomputer and comprises a CPU, a ROM, a RAM and an interface, the interface comprises a D/A module and an A/D module, and in practice, the control device can be a vehicle-mounted ECU; the driver behavior recognition device and the environmental information acquisition device are communicated with the control device through an interface, video data collected by the driver behavior recognition device are processed in the control device, the driving behavior of the driver is recognized, whether the driver is in a distracted driving state or not is judged, and the distracted driving state is stored in the RAM; the environment information acquisition device transmits the relative position, relative speed and acceleration information of obstacles such as vehicles, pedestrians, bicycles and the like around the vehicle to the control device, the control device fuses radar data, and the predicted collision time (hereinafter referred to as TTC) and the distance delta e between the vehicle and lane lines on two sides are calculated; setting the possible collision events into two categories: a frontal collision (e.g. rear-end collision, frontal collision with a non-motor vehicle) and a side collision (e.g. scratch, pedestrian suddenly rushing out of the road), the control device calculates the TTC value for the frontal collision, writes x1(1,: in the variables, the TTC value for calculating the side impact is written in x1(2,: in the variables). The distance delta e between the two lane lines is written into x2Variables, wherein Δ e1Δ e is the distance between the vehicle and the left lane line, with the vehicle's left front wheel inside the lane line1Is positive, otherwise negative,. DELTA.e2Distance of the vehicle from the right lane line with the right front wheel of the vehicle inside the lane line, Δe2Positive, otherwise negative, if no lane line is detected, Δ e ═ 0,0]. If Δ e1And Δ e2And if the distance between the vehicle and the new lane lines on the two sides is a negative value, the vehicle is shown to have changed lanes at the moment, the new lane lines are re-identified, and the distance between the vehicle and the new lane lines on the two sides is calculated again. The RAM stores data including variable B, variable c and variable x1,x2。
The ROM of the control device stores an early warning time threshold T; the early warning time threshold T is calculated by two parts, the first part is the time for the vehicle to avoid the front collision and the side collision and change the lane departure state, and T is used1And T2Denotes, T1Taking the time from emergency braking to vehicle stopping for avoiding danger, T2The time for braking or steering the self-vehicle for avoiding danger is adopted; the second part is the response time required by the driver to finish different distraction driving behaviors, according to the existing documents, the distraction is divided into cognitive distraction, visual distraction and operation distraction, different distraction types have different influences on the response time of the driver, the distraction types related to different driving behaviors are different, and the response time required by finishing different distraction types is also different; therefore, the reaction time required to end the distraction state should be set to different initial values t for different driver operation behaviorsi. Setting the reaction time from the broadcast channel switching of the driver to the takeover of the vehicle as t1The reaction time from the end of the mobile phone call to the taking over of the vehicle by the driver is t2The reaction time required from the end of the conversation with the passenger to the take-over of the vehicle by the driver is t3The reaction time from the end of watching the mobile phone (browsing the webpage, sending information and the like) to the taking over of the vehicle is t4The reaction time from eating and drinking to taking over the vehicle is t5。
The early warning device consists of a sound prompting module and a vibration module, wherein the sound prompting module is arranged right in front of a driver, the vibration module is arranged on a driver seat, and the sound prompting module and the vibration module both receive an instruction transmitted by the control device and execute early warning according to the instruction. The early warning is divided into four stages, namely no early warning, primary early warning, secondary early warning and tertiary early warning. Wherein, the suggestion of second grade early warning sound has three frequency channel for suggestion collision type and approximate position, frequency channel 1 is used for the suggestion lane departure, and frequency channel 2 reminds there is the potential danger of side collision, and the possible head-on collision that appears of frequency channel 3 suggestion. When no early warning exists, the early warning device does not work; the method comprises the following steps of primary early warning, wherein a sound prompt module works, is used for voice prompt and is similar to map navigation voice prompt, and the prompt content is 'lane departure or turning-on-free' of a steering lamp; the method comprises the following steps of performing secondary early warning, wherein a sound prompt module works to prompt that the sound is relatively sharp, and sends out three frequency band drop sounds, wherein the frequency is from small to large, and the three potential danger types of lane departure, side collision and frontal collision are sequentially prompted; and 3, three-stage early warning is performed, the vibration module works, and a driver can obviously feel appropriate flutter to prompt the driver that the situation is dangerous and the distraction state is to be ended as soon as possible.
Referring to fig. 2, fig. 2 is a flow chart of the present invention; the method is executed in the running process of the automobile, is used for detecting the driving environment around the automobile, and reminds the driver to take over the automobile as soon as possible according to the potential danger direction and the collision type, so that the danger is avoided, and the automobile is driven safely.
In step 201, the speed of the vehicle is detected by using the vehicle-mounted sensor, and when the vehicle is in a running state, steps 202 to 220 are executed. In some embodiments, the vehicle travel data may be detected by a speed sensor.
Step 202, acquiring traffic conditions and road conditions around the vehicle by using an environmental information acquisition device; in some embodiments, vehicle operation data may be collected via on-board sensors such as speed sensors, acceleration sensors, throttle signals, brake signals, and the like; the relative position, relative speed and acceleration information of vehicles, pedestrians, bicycles and the like around the vehicle are collected through vehicle-mounted radars such as a camera, a millimeter wave radar, an ultrasonic radar and the like, and the information such as lane line position, traffic signs and the like is collected through the camera.
Step 203, recognizing the head movement and operation behavior of the driver by using a driver behavior recognition device; in some embodiments, the image information collected by the camera can be identified by methods such as image processing technology, deep learning and the like, so that the distracted driving behaviors such as broadcasting and channel switching of a driver, communication of a handheld phone, Bluetooth/hands-free conversation, mobile phone browsing, eating and drinking, fatigue/dozing, broadcast adjustment and the like can be detected, and the attention sight area of the driver can also be detected; the distracted driving behavior of listening to music/radio and the like of the driver can be detected through the audio sensor.
Step 204, after receiving the distracted driving behavior data, the self-running data, the traffic condition and the road condition, the control device judges whether the driver has the distracted driving behavior, and if the driver has the distracted driving behavior, the control device executes step 205; if there is no distracted driving behavior, step 212 is performed.
In step 212, the control device determines whether there is a lane departure, i.e., determines x2If the numerical value sign is positive (i.e. the judgment result is no), step 213 is executed, the early warning device does not work, is in a no early warning state, and ends the current judgment; if x2If the numerical value is positive or negative (i.e. the judgment result is yes), step 214 is executed, the driver is prompted by the voice of the early warning device to "lane departure or turn on no turn signal light", and after the prompting is finished, the current judgment is finished.
In step 205, the control device calculates the predicted time to collision TTC and the lane departure situation Δ e (Δ e)1，Δe2) Respectively stored in the control device ROM1And variable x2。
Step 206, judging whether the early warning time threshold is reached, specifically, comparing x by using the control device1The middle value and the early warning time threshold value T, if x1If the median value is less than the early warning time threshold T (i.e. the determination result is that the early warning time threshold is not reached), executing step 215, the early warning device does not work, is in a no-early warning state, and ends the current determination; if x1If the median value is greater than the warning time threshold T (i.e., the determination result is that the warning time threshold is reached), step 207 is executed. In some embodiments, the warning time threshold first portion T1In the process of calculating the braking time, the braking performance of the vehicle on the road ahead can be estimated in real time by an airborne method or a cloud-based calculation method, and the T can be estimated by establishing a functional relation between the speed and the acceleration through previous braking data and further estimating1The value is obtained. In some embodiments, the influence of distracted driving behavior on driver reaction time may be consistent, with a second portion T of the warning time threshold2The same t may be usedi。
Step 207, if the control device determines that the TTC and the warning time threshold T reach the front collision warning time threshold and no lane departure occurs, step 216 is executed, the warning device performs secondary warning, and the sound prompt module selects frequency band 3.
In step 208, if the judgment result of the TTC and the warning time threshold T by the control device is that the side collision warning time threshold is reached and the lane departure situation does not occur, step 217 is executed, the warning device is used for performing secondary warning, and the sound prompt module selects the frequency band 2.
Step 209, the control device determines whether the TTC and the warning time threshold T are the lane departure and whether the TTC of the frontal collision or the lateral collision reaches the corresponding warning time threshold, step 218 is executed, the warning device performs a secondary warning, and the sound prompt module selects the frequency band 1.
And step 210, if the control device judges that the TTC and the early warning time threshold value are the lane departure condition and the front collision and the side collision TTC simultaneously reach the corresponding early warning time threshold value, the control device executes step 219, the early warning device carries out three-stage early warning, the vibration module works to warn a driver of the current driving environment danger, the distraction is ended as soon as possible, and the vehicle is taken over.
After steps 216, 217, 218 and 219 are executed, the control device judges whether the driver finishes the distracted driving state and watches the area in front of the vehicle, if so, the wheel-on judgment is finished, and the next wheel judgment is waited; if the determination result is negative, the step 204 is returned to, and the determination is continued.
Optionally, in steps 207, 208, 209 and 210, according to the judgment result of the control device on the current situation, the four states may be mutually converted, in some embodiments, the second-stage pre-warning may jump to the third-stage pre-warning because the dangerous case is aggravated when the pre-warning is not ended, and may jump to the first-stage pre-warning/no pre-warning because the dangerous case is relieved; in other embodiments, the third-level pre-warning may skip to the second-level pre-warning/the first-level pre-warning/no pre-warning when the pre-warning is not over due to the release of the dangerous case.
Referring to fig. 3, fig. 3 is a flow chart of the early warning determination in the present invention;
step 302, the control device judges whether c is equal to 1, if c is 0, the control device judges that the c is N, and then step 308 is executed; otherwise, go to step 303;
step 308, the control device determines x2If the distance between the middle left lane and the middle right lane is positive or negative, the judgment is Y, and step 309 is executed; if the judgment result is N, executing step 310, and the early warning device does not work;
step 309, the early warning device performs primary early warning, and the voice prompt module prompts that the lane is deviated and the steering lamp is not turned on;
step 303, judging B is B if the 1 norm of B is equal to 1iAnd according to the corresponding action, executing the step 323 or 311 or 314 according to the distance between the vehicle and the left lane line and the right lane line. In step 323, x is determined2Whether the signs of the distances between the middle lane and the left lane and the right lane are both positive or not is judged, and if the signs are both positive, sign (x) is obtained2(1))&sign(x2(2) 1), then step 304 or 317 is performed.
Step 323, determine x1(1) vehicle reaction time T is less than or equal to1Reaction time t with driveriAnd x1 (2:) is greater than the vehicle reaction time T2Reaction time t with driveriWhen the detected side obstacles are not considered as potential dangers, the detected front obstacles are potential dangers which can not be avoided in time due to distraction, and the driver is warned to take over the vehicle as soon as possible by the early warning system. Executing step 305, comparing by using the control device to obtain the maximum early warning time threshold T meeting the condition of step 304, transmitting the early warning time threshold T to the early warning device by using the control device, executing step 306, sending out a second-level early warning by using the early warning device for T times in advance, selecting the frequency band 3 for the warning frequency band, and in step 307, detecting B by using the control device1When the driver looks at the front area when the driver is 0, step 322 is executed, the early warning is finished, and the driver is considered to finish the distraction driving state. Steps 304 through 307 are for pre-warning of a positive potential hazard.
In step 320, the control device determines x1(1) greater than the vehicle reaction time T1Reaction time t with driveriSum of&x1(2:) greater than vehicle reaction time T2Reaction time t with driveriIf so, it is determined that there is no potential danger, and step 321 is executed without performing an early warning.
In step 317, x is determined by the control device1(1) greater than the vehicle reaction time T1Reaction time t with driveriSum and x1(2) the vehicle reaction time T is less than or equal to2Reaction time t with driveriWhen the detected front obstacle is not considered as a potential danger, the detected side obstacle is a potential danger which can not be avoided in time due to distraction, step 318 is executed, the control device is used for comparing to obtain a maximum early warning time threshold T meeting the condition of step 317, the control device transmits the early warning time threshold T to the early warning device, step 319 is executed, the early warning device is used for advancing T times, secondary early warning is sent, the frequency band 2 is selected as the warning frequency band, and in step 307, the control device is used for detecting that B is | |1When the driver looks at the front area when the driver is 0, step 322 is executed, the early warning is finished, and the driver is considered to finish the distraction driving state. Steps 317 to 319 and 307 are for warning of a potential danger to the side.
Step 311 is executed to determine x by the control device1(1) vehicle reaction time T is less than or equal to1Reaction time t with driveriSum, or x1(2) the vehicle reaction time T is less than or equal to2Reaction time t with driveriSum, and judgment x2When the distance between the left lane and the right lane is positive, the step 312 is executed, the control device is used for comparing to obtain the maximum early warning time threshold T meeting the condition of the step 311, the control device transmits the early warning time threshold T to the early warning device, the step 313 is executed, the early warning device is used for sending out secondary early warning for T times in advance, the warning frequency band is selected to be 1 for warning the driver of lane departure and potential danger, and in the step 307, the control device is used for detecting the B < I > M1When the driver looks at the front area when the driver is 0, step 322 is executed, the early warning is finished, and the driver is considered to finish the distraction driving state. Steps 311 through 307 are performed on the premise thatThe vehicle is detected not to run in the lane line, and the phenomena of line pressing and the like occur, so that the potential dangerous condition caused by lane departure is warned.
In step 314, the control device determines x1(1) vehicle reaction time T is less than or equal to1Reaction time t with driveriSum and x1(2) the vehicle reaction time T is less than or equal to2Reaction time t with driveriSum, and judge x2When the distance between the left lane and the right lane is positive, step 315 is executed, the control device is used for comparing the maximum early warning time threshold T meeting the condition of step 314 to obtain the maximum early warning time threshold T, the control device transmits the maximum early warning time threshold T to the early warning device, step 316 is executed, the early warning device is used for sending out three-level early warning for T times in advance, the driver is warned that the current situation is very urgent, the distraction state needs to be ended as soon as possible, the vehicle is taken over, and in step 307, the control device is used for detecting the B < I > M1When the driver looks at the front area when the driver is 0, step 322 is executed, the early warning is finished, and the driver is considered to finish the distraction driving state. And steps 314 to 307, which are used for warning the driver that the current driving environment is complex, a plurality of possible collision events exist, dangerous cases need to be processed as soon as possible, and accidents are avoided.
Alternatively, the driver's distracting driving behavior may be embodied not only in the five behaviors considered in the present invention, but also in other various behaviors, and the recognition of the driving behavior of the driver, which includes the distracting driving behavior and the normal driving behavior, is described with reference to fig. 4. By using the detection device, the driving behaviors of the driver can be detected, wherein common driving behaviors comprise sleeping/dozing behaviors of the driver, fatigue driving, broadcasting and tuning, mobile phone conversation, mobile phone Bluetooth conversation, mobile phone watching, watching areas of the driver, eating and drinking, listening to music, listening to a radio, holding things by hands and the like. In some embodiments, the early warning time threshold and the decision early warning level are determined, multiple behavior influence factors can be considered at the same time, the early warning level can be decided by adopting a fuzzy judgment method, and a single row is selected and considered as a factor.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (7)

1. A driving distraction state-based early warning method is characterized by comprising the following steps of:
1) acquiring traffic conditions and road conditions around a vehicle and identifying driving behaviors of a driver;
2) judging whether a distracted driving behavior exists according to the behavior of the driver, and if the distracted driving behavior does not exist, entering the step 3); if the distracted driving behavior exists, entering the step 4);
step 3) judging whether the vehicle deviates from the lane or not based on the surrounding traffic condition and the road condition of the vehicle, if not, not sending out early warning, and ending the early warning of the current round;
if the lane departure happens, the voice prompts the driver to ' depart from the lane ' or turn on the steering lamp ', and the early warning of the current wheel is finished after the prompt is finished;
and 4) predicting the impending collision type and lane departure condition, and carrying out early warning of corresponding levels based on the predicted condition.
2. The driving distraction state-based warning method according to claim 1, wherein the collision type in step 4) is predicted by predicting a collision time TTC and a corresponding warning time threshold T;
the early warning time threshold T comprises the time T taken by the vehicle to avoid the frontal collision and the side collision and change the lane departure stateiAnd the reaction time t required for the driver to finish different distracting driving behaviorsi。
3. The early warning method based on the driving distraction state according to claim 2, wherein the early warning of the corresponding level based on the judged condition in the step 4) is specifically:
if the predicted frontal collision time x is not deviated when the lane is not deviated1(1) less than or equal to the corresponding early warning time threshold value T, judging that the front side is about to occur if the driving state is not changedPerforming secondary early warning and playing a reminding frequency band 3 when collision occurs;
if the predicted side collision time x is not deviated when the lane is not deviated1(2) if the time is less than or equal to the corresponding early warning time threshold T, then side collision is about to occur, secondary early warning is carried out, and a reminding frequency band 2 is played;
if the predicted frontal collision time x is left during lane departure1(1) less than or equal to the corresponding warning time threshold T or the predicted side impact time x1(2) if the time threshold is less than or equal to the corresponding time threshold T, performing secondary early warning and playing a reminding frequency band 1;
if the predicted frontal collision time x is left during lane departure1(1) a predicted side impact time x equal to or less than the corresponding pre-warning time threshold T1And (2) when the time threshold value is less than or equal to the corresponding time threshold value T, carrying out three-stage early warning and sending out vibration.
4. The warning method based on the driving distraction state of claim 3, wherein the secondary warnings are mutually converted according to the updated data.
5. The warning method based on the driving distraction state of claim 3, wherein the secondary warning and the tertiary warning are mutually converted according to the updated data.
6. A warning device for implementing the method of any one of claims 1 to 5, comprising driver behavior recognition means, environmental information acquisition means, control means and warning means;
the driver behavior recognition device is used for monitoring the head movement and the operation behavior of the driver in real time to judge whether the driver is in a distracted driving state and recognize the following distracted behaviors:
broadcasting channel switching behavior, mobile phone conversation behavior, passenger conversation behavior, mobile phone watching behavior and drinking behavior;
an environmental information acquisition means for acquiring traffic conditions and road conditions around the vehicle;
the control device is used for receiving the data of the environment information acquisition device and the driver behavior recognition device, calculating the distance between the vehicle and the lane lines on two sides, predicting collision time according to the distracted driving behavior of the driver, judging whether the collision time reaches a corresponding early warning time threshold value or not, and starting an early warning response grade if the collision time reaches the corresponding early warning time threshold value;
and the early warning device is used for receiving the control signal of the control device and starting a corresponding early warning level.
7. The early warning device as claimed in claim 6, wherein the control device is configured to include a distraction behavior management unit, a data processing unit, an analysis and judgment unit, and a RAM storage unit;
the distraction behavior management unit is used for writing the output of the driver behavior recognition device into a variable c, if distraction behavior exists, writing 1, and marking the state as distraction driving; if the distraction behavior does not exist, writing 0, marking the driving state as a normal driving state, and covering a rear judgment value with a front judgment value according to the time sequence;
the data processing unit is used for receiving data of traffic conditions and road conditions around the vehicle, fusing the data and calculating to obtain predicted collision time TTC and the distance between the vehicle and lane lines on two sides; and calculating the predicted front collision to obtain TTC value, and writing the TTC value into x1(1,: in the variables, TTC value for predicting side impact is written in x1(2, in the variables;
the analysis and judgment unit is used for judging whether collision is about to occur or not and whether the lane deviates or not according to the predicted collision time TTC and the distance between the vehicle and the lane lines on the two sides;
RAM storage unit for storing variable c and variable x1(1,: and x)1(2,:)。
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