CN111986488A - Fatigue driving detection method and device, electronic equipment and storage medium - Google Patents
Fatigue driving detection method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN111986488A CN111986488A CN202010958580.0A CN202010958580A CN111986488A CN 111986488 A CN111986488 A CN 111986488A CN 202010958580 A CN202010958580 A CN 202010958580A CN 111986488 A CN111986488 A CN 111986488A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- time period
- preset
- steering wheel
- driving
- 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.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Abstract
A method and a device for detecting fatigue driving, electronic equipment and a storage medium belong to the technical field of automobile driving safety. The detection method comprises the following steps: acquiring a plurality of first steering wheel turning angles of a vehicle in a first driving time period and a plurality of second steering wheel turning angles of the vehicle in a second driving time period; determining a variance reference value of the steering wheel rotation of the vehicle in the first travel time period based on the plurality of first steering wheel angles, and determining a real-time variance value of the steering wheel rotation of the vehicle in the second travel time period based on the plurality of second steering wheel angles; if the real-time variance value is smaller than the variance reference value, sending a prompt alarm; and if the duration of the prompt alarm exceeds the preset duration, determining that the driver of the vehicle is in a fatigue driving state. The method and the device can not influence the detection process and the detection result due to the change of the external environment, and greatly improve the anti-interference capability.
Description
Technical Field
The present disclosure relates to the field of automobile driving safety technologies, and in particular, to a method and an apparatus for detecting fatigue driving, an electronic device, and a storage medium.
Background
With the increasing number of vehicles, driving accidents are increased year by year, and fatigue driving is an important factor for causing road safety accidents. How to detect the fatigue condition of the driver quickly and accurately gives a prompt, and when the driver is in a serious condition, the vehicle speed is reduced by adopting a mandatory measure, so that the method has great significance for reducing accidents caused by fatigue driving.
Most of the existing fatigue driving detection methods are used for judging whether the driver is in fatigue driving during the driving process by collecting information of the driver, for example, a series of collected information of the driver such as head information, physiological characteristics, eye position and the like, and combining a machine learning method to make a judgment, but a large amount of data needs to be collected, and various driving habits of different drivers have large deviation, so that the real-time performance and the accuracy of the methods still need to be improved.
Disclosure of Invention
In view of this, embodiments of the present application provide at least a method and an apparatus for detecting fatigue driving, an electronic device, and a storage medium, which detect a steering angle of a steering wheel, so as to detect fatigue driving of a driver, and effectively detect a state of the driver without affecting driving of the driver, thereby effectively reducing an influence of an external environment on a detection process and a detection result, greatly improving an anti-interference capability, contributing to reducing a possibility of fatigue driving, and improving driving safety.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a method for detecting fatigue driving, including:
the method comprises the steps of obtaining a plurality of first steering wheel turning angles of a vehicle in a first driving time period and a plurality of second steering wheel turning angles of the vehicle in a second driving time period, wherein the first driving time period is a time period when a preset driving condition is met in the driving process of the vehicle, and the second driving time period is a time period to be monitored after the first driving time period;
determining a variance reference value of the steering wheel rotation of the vehicle in the first travel time period based on the plurality of first steering wheel angles, and determining a real-time variance value of the steering wheel rotation of the vehicle in the second travel time period based on the plurality of second steering wheel angles;
if the real-time variance value is smaller than the variance reference value, sending a prompt alarm;
and if the duration of the prompt alarm exceeds the preset duration, determining that the driver of the vehicle is in a fatigue driving state.
In one possible embodiment, the preset driving condition includes:
a turn signal of the vehicle is not turned on; the vehicle is within a preset running time from the start of running.
In a possible embodiment, the determining that the driver of the vehicle is in a fatigue driving state if the duration of the prompt alarm exceeds a preset duration includes:
if the duration of the prompt alarm exceeds a first preset duration and is lower than a second preset duration, determining that a driver of the vehicle is in a general fatigue driving state;
and if the duration of the prompt alarm exceeds a second preset duration, determining that the driver of the vehicle is in an extreme fatigue driving state, wherein the fatigue degree of the general fatigue driving state is less than that of the extreme fatigue driving state.
In a possible embodiment, after determining that the driver of the vehicle is in a fatigue driving state if the duration of the prompt alarm exceeds a preset duration, the detection method further includes:
acquiring image information in a preset area around the vehicle;
judging whether the information of the person/non-motor vehicle exists in a preset area or not according to the image information;
and if the information of the people/the non-motor vehicles exists in the preset area, determining that the type of the road where the vehicles are located is a common road.
In a possible embodiment, after determining that the road type of the vehicle is a general road if the information of the person/non-motor vehicle exists in the preset area, the detection method further includes:
acquiring a first distance between a longitudinal center line of the vehicle and a right road edge of the vehicle in the driving direction, and a second distance between an intersection point of the longitudinal center line of the road where the vehicle is located and a front wall of the vehicle and a center position of a preset parking area;
calculating a first turning angle of the vehicle according to the first distance and the second distance;
and controlling the vehicle to decelerate until the vehicle is parked to a preset parking area according to the first turning angle.
In a possible embodiment, after the determining whether the information of the person/non-motor vehicle exists in the preset area according to the image information, the detecting method further includes:
if no information of people/non-motor vehicles exists in the preset area, determining that the road condition type of the vehicle is an expressway;
judging whether an emergency lane exists within a preset distance in front of the vehicle and whether a running vehicle exists within the preset distance behind the vehicle;
if an emergency lane exists in a preset distance in front of the vehicle and no vehicle runs in the preset distance behind the vehicle, acquiring a third distance between a longitudinal center line of the vehicle and a right side road edge in the vehicle running direction and a fourth distance between an intersection point of the longitudinal direction of the vehicle and a front wall of the vehicle and the emergency lane;
calculating a second turning angle of the vehicle according to the third distance and the fourth distance;
and controlling the vehicle to decelerate until the vehicle is parked to an emergency lane according to the second turning angle.
In a second aspect, an embodiment of the present application further provides a detection apparatus, where the detection apparatus includes:
the system comprises an acquisition module and a monitoring module, wherein the acquisition module is used for acquiring a plurality of first steering wheel turning angles of a vehicle in a first driving time period and a plurality of second steering wheel turning angles of the vehicle in a second driving time period, the first driving time period is a time period when a preset driving condition is met in the driving process of the vehicle, and the second driving time period is a time period to be monitored after the first time period;
a first determination module configured to determine a variance reference value of the steering wheel rotation of the vehicle in the first driving time period based on the plurality of first steering wheel angles, and determine a real-time variance value of the steering wheel rotation of the vehicle in the second driving time period based on the plurality of second steering wheel angles;
the alarm judgment module is used for sending out a prompt alarm if the real-time variance value is smaller than the variance reference value;
and the second determination module is used for determining that the driver of the vehicle is in a fatigue driving state if the duration of the prompt alarm exceeds a first preset duration.
In one possible embodiment, the preset driving conditions include:
a turn signal of the vehicle is not turned on; the vehicle is within a preset running time from the start of running.
In a possible implementation manner, the second determining module is specifically configured to:
if the duration of the prompt alarm exceeds a first preset duration and is lower than a second preset duration, determining that a driver of the vehicle is in a general fatigue driving state;
and if the duration of the prompt alarm exceeds a second preset duration, determining that the driver of the vehicle is in an extreme fatigue driving state, wherein the fatigue degree of the general fatigue driving state is less than that of the extreme fatigue driving state.
In one possible implementation, the detection device further includes:
the second acquisition module is used for acquiring image information in a preset area around the vehicle;
the first judgment module is used for judging whether the information of the person/non-motor vehicle exists in a preset area or not according to the image information;
and the third determining module is used for determining that the type of the road where the vehicle is located is a common road if the information of the person/the non-motor vehicle exists in the preset area.
In one possible implementation, the detection device further includes:
the third acquisition module is used for acquiring a first distance between a longitudinal center line of a road where the vehicle is located currently and a right road edge in the vehicle running direction, and a second distance between an intersection point of the longitudinal center line of the road where the vehicle is located currently and a front wall of the vehicle and a center position of a preset parking area;
a first calculation module for calculating a first turning angle of the vehicle based on the first distance and the second distance;
and the first control module is used for controlling the vehicle to decelerate until the vehicle is parked in a preset parking area according to the first turning angle.
In one possible implementation, the detection device further includes:
the fourth determining module is used for determining that the road condition type of the vehicle is the expressway if the information of the people/non-motor vehicles does not exist in the preset area;
the second judgment module is used for judging whether an emergency lane exists within a preset distance in front of the vehicle and whether a running vehicle exists within the preset distance behind the vehicle;
a fourth obtaining module, configured to obtain a third distance between a longitudinal center line of the vehicle and a right road edge of a vehicle driving direction, and a fourth distance between an intersection point of the longitudinal direction of the vehicle and a front wall of the vehicle and the emergency lane, if there is an emergency lane within a preset distance in front of the vehicle and there is no vehicle driving within the preset distance behind the vehicle;
a second calculation module that calculates a second turning angle of the vehicle based on the third distance and the fourth distance;
and the second control module controls the vehicle to decelerate until the vehicle is parked to an emergency lane according to the second turning angle.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory communicate via the bus when the electronic device is running, and the machine-readable instructions are executed by the processor to perform the steps of the detection method according to the first aspect or any one of the possible embodiments of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps of the detection method described in the first aspect or any one of the possible implementation manners of the first aspect.
In the embodiment of the application, through the change of vehicle steering wheel corner in the process of traveling, whether preliminary judgement driver is tired driving, and according to the reaction time that the driver closed voice warning, confirm the fatigue level that the driver is in, and according to the fatigue level that the driver is in, control the vehicle slows down to stopping to predetermineeing parking area or emergent lane in, and the detection object of the embodiment of this application is the steering wheel, and this detection object can not influence driver's operation, and consequently, the driver can not influence testing process and testing result because of external environment changes, and the influence of effectual reduction external environment to testing process and testing result has improved the interference killing feature greatly, helps reducing fatigue driving's possibility, improves the security of driving.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flowchart illustrating a method for detecting fatigue driving according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating another fatigue driving detection method provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram illustrating a fatigue driving detection apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural diagram illustrating another fatigue driving detection apparatus provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram illustrating another fatigue driving detection apparatus provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram illustrating another fatigue driving detection apparatus provided in an embodiment of the present application;
fig. 7 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Description of the main element symbols:
in the figure: 300-a detection device; 301-a first acquisition module; 302-a first determination module; 303-alarm judging module; 304-a second determination module; 305-a second acquisition module; 306-a first determination module; 307-a third determination module; 308-a third obtaining module; 309-a first computing module; 310-a first control module; 311-a fourth determination module; 312-a second determination module; 313-a fourth acquisition module; 314-a second calculation module; 315-a second control module; 700-an electronic device; 710-a processor; 720-a memory; 730-bus.
Detailed Description
To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be performed in reverse order or concurrently. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
To enable those skilled in the art to utilize the present disclosure, the following embodiments are presented in conjunction with a specific application scenario, "detection of fatigue driving," and it will be apparent to those skilled in the art that the general principles defined herein may be applied to other embodiments and application scenarios without departing from the spirit and scope of the present disclosure.
The method and apparatus for detecting fatigue driving, the electronic device, or the computer-readable storage medium in the embodiments of the present application may be applied to any scene of fatigue driving, and the embodiments of the present application do not limit specific application scenes, and any scheme using the method and apparatus for detecting fatigue driving provided by the embodiments of the present application is within the scope of the present application.
It should be noted that, through research, before the present application is proposed, most of the existing fatigue driving detection methods determine whether a driver is tired or not during driving by collecting information of the driver, for example, a series of driver information such as collected head information, physiological characteristics, eye position, etc., and combining a machine learning method to make a determination, but such methods need to collect a large amount of data, and various driving habits of different drivers have large deviations, and therefore, such methods still need to be improved in real-time performance and accuracy.
In view of the above problems, the embodiments of the present application provide a method for detecting fatigue driving, which preliminarily determines whether a driver is fatigue driving through a change in a steering wheel angle of a vehicle during driving, and determining the fatigue level of the driver according to the response time of the driver for closing the voice alarm, and controlling the vehicle to decelerate to stop in a preset parking area or an emergency lane according to the fatigue level of the driver, wherein the detection object of the embodiment of the application is a steering wheel, this detection object can not influence driver's operation, consequently, the driver can not influence testing process and testing result because of the external environment changes, and the effectual external environment that reduces is to the influence of surveying process and testing result, has improved the interference killing feature greatly, helps reducing fatigue driving's possibility, improves the security of driving.
For the convenience of understanding of the present application, the technical solutions provided in the present application will be described in detail below with reference to specific embodiments.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for detecting fatigue driving according to an embodiment of the present disclosure. As shown in fig. 1, the detection method provided in the embodiment of the present application includes the following steps:
s101, acquiring a plurality of first steering wheel angles of a vehicle in a first running time period and a plurality of second steering wheel angles of the vehicle in a second running time period, wherein the first running time period is a time period when a preset running condition is met in the running process of the vehicle, and the second running time period is a time period to be monitored after the first running time period.
In this step, the steering wheel angle value collected by the steering wheel angle sensor in a first driving time period of the vehicle and the steering wheel angle value collected by the steering wheel angle sensor in a second driving time period of the vehicle in a time period to be monitored after the first time period are obtained.
Further, the preset running condition includes: a turn signal of the vehicle is not turned on; the vehicle is within a preset running time from the start of running.
In a specific embodiment, in the running process of the vehicle, if a steering lamp of the vehicle is turned on, the driver is considered to be in an energetic non-fatigue driving state, and if the steering lamp of the vehicle is not turned on, the probability of fatigue driving of the driver is proved; according to the embodiment of the application, a section of energetic time period in which the vehicle starts to run is selected as the first running time period from the preset running time, so that the accuracy of the plurality of first steering wheel angles and the rigor of the plurality of first steering wheel angles as variance reference values are guaranteed.
And S102, determining a variance reference value of the turning of the steering wheel of the vehicle in the first running time period based on the plurality of first steering wheel turning angles, and determining a real-time variance value of the turning of the steering wheel of the vehicle in the second running time period based on the plurality of second steering wheel turning angles.
In this step, the variance calculation is performed on the plurality of first steering wheel angles by the steering wheel angle reference variance calculation module to obtain a variance reference value, which is a variance reference when the driver is in a non-tired driving and energetic state, and the variance calculation is performed on the plurality of second steering wheel angles by the steering wheel angle reference variance calculation module to obtain a real-time variance value.
Wherein the variance reference value is unchanged if the vehicle continues to keep running straight, and the variance reference value is newly determined if the vehicle continues to run straight after the turn lamp is turned on.
S103, if the real-time variance value is smaller than the variance reference value, a prompt alarm is sent out.
In this step, the magnitude relation between the real-time variance value and the variance reference value is compared, if the real-time variance value is greater than the variance reference value, the driver is in a non-fatigue driving state, and if the real-time variance value is less than the variance reference value, the probability that the driver is in fatigue driving is considered to exist, and a voice prompt alarm is given out.
And S104, if the duration of the prompt alarm exceeds the preset duration, determining that the driver of the vehicle is in a fatigue driving state.
In the step, the duration time of the prompt alarm is compared with the preset duration time, if the duration time of the prompt alarm exceeds the preset duration time, the driver of the vehicle is determined to be in a fatigue driving state, the duration time of the prompt alarm is classified, and the fatigue driving degree of the driver is judged according to different duration times of the prompt alarm.
The time for manually turning off the voice alarm device by the driver is determined as the duration of the prompt alarm, the fatigue driving degree of the driver is determined by comparing the duration of the alarm with the preset duration, if the duration of the prompt alarm exceeds the preset duration, the driver of the vehicle is determined to be in a fatigue driving state, the duration of the prompt alarm is not more than the preset duration, and the driver of the vehicle is determined to be in a non-fatigue driving state.
Further, if the duration of the prompt alarm exceeds a first preset duration and is lower than a second preset duration, it is determined that the driver of the vehicle is in a general fatigue driving state.
In a specific embodiment, the duration of the prompt alarm is compared with a first preset duration, and if the duration of the prompt alarm exceeds the first preset duration, it is determined that the driver of the vehicle is in a general fatigue driving state.
The time for manually turning off the voice alarm device by the driver is determined as the duration of the prompt alarm, the time for manually turning off the voice alarm device by the driver is compared with the first preset duration, if the time for manually turning off the voice alarm device by the driver exceeds the first preset duration and is less than the second preset duration, the driver of the vehicle is determined to be in a general fatigue driving state, and if the time for manually turning off the voice alarm device by the driver is less than the first preset duration, the driver of the vehicle is determined to be in a non-fatigue driving state.
Further, if the duration of the prompt alarm exceeds a second preset duration, it is determined that the driver of the vehicle is in an extreme fatigue driving state, wherein the fatigue degree of the general fatigue driving state is less than the fatigue degree of the extreme fatigue driving state.
In a specific embodiment, the duration of the warning is compared with a second preset duration, if the duration of the warning exceeds the second preset duration, it is determined that the driver of the vehicle is in an extreme fatigue driving state, and since the first preset duration is less than the second preset duration, the fatigue degree of the general fatigue driving state is less than the fatigue degree of the extreme fatigue driving state.
And determining the time for manually turning off the voice alarm device by the driver as the duration of the prompt alarm, comparing the time for manually turning off the voice alarm device by the driver with a second preset duration, and determining that the driver of the vehicle is in the extreme fatigue driving state if the time for manually turning off the voice alarm device by the driver exceeds the second preset duration.
Compared with the detection method of fatigue driving in the prior art, the detection method of fatigue driving provided by the embodiment of the application preliminarily judges whether the driver is in fatigue driving or not through the change of the steering wheel angle of the vehicle in the driving process, determines the fatigue level of the driver according to the response time of the driver for turning off the voice alarm, controls the vehicle to decelerate to stop in a preset parking area or an emergency lane according to the fatigue level of the driver, and has the advantages that the detection object is the steering wheel and does not influence the operation of the driver, so that the detection process and the detection result cannot be influenced by the change of the external environment by the driver, the influence of the external environment on the detection process and the detection result is effectively reduced, the anti-interference capability is greatly improved, and the possibility of fatigue driving is favorably reduced, the driving safety is improved.
Referring to fig. 2, fig. 2 is a flowchart illustrating another fatigue driving detection method according to an embodiment of the present disclosure. As shown in fig. 2, the method for detecting fatigue driving provided by the embodiment of the application includes the following steps:
s201, acquiring a plurality of first steering wheel angles of a vehicle in a first driving time period and a plurality of second steering wheel angles of the vehicle in a second driving time period, wherein the first driving time period is a time period when a preset driving condition is met in the driving process of the vehicle, and the second driving time period is a time period to be monitored after the first driving time period.
And S202, determining a variance reference value of the turning of the steering wheel of the vehicle in the first running time period based on the plurality of first steering wheel turning angles, and determining a real-time variance value of the turning of the steering wheel of the vehicle in the second running time period based on the plurality of second steering wheel turning angles.
And S203, if the real-time variance value is smaller than the variance reference value, sending a prompt alarm.
And S204, if the duration of the prompt alarm exceeds the preset duration, determining that the driver of the vehicle is in a fatigue driving state.
The descriptions of step S201 to step S204 may refer to the descriptions of step S101 to step S104, and the same technical effects may be achieved, and are not described herein again.
And S205, acquiring image information in a preset area around the vehicle.
In the step, image information in a preset area around the vehicle is acquired through image acquisition equipment.
The preset area is a square area within a preset distance of the left, right, front and rear of the vehicle.
And S206, judging whether the information of the person/the non-motor vehicle exists in the preset area or not according to the image information.
In this step, it is determined whether there is human/non-motor vehicle information in a square area within the preset distance around the vehicle through the image information acquired by the image acquisition device.
And S207, if the information of the people/non-motor vehicles exists in the preset area, determining that the type of the road where the vehicles are located is a common road.
Further, a first distance between a longitudinal centerline of the vehicle and a right-side road edge in the vehicle traveling direction and a second distance between an intersection point of the longitudinal centerline of the road where the vehicle is currently located and a front wall of the vehicle and a preset parking area center position are obtained.
In a specific embodiment, after determining that the type of the road on which the vehicle is located is a general road, a radar detector installed at an intersection of a through-axis midpoint line parallel to the vehicle driving direction and a front wall of the vehicle starts to identify a first distance L between a longitudinal centerline of the vehicle and a right side road edge in the vehicle driving direction, and a second distance H between an intersection of a longitudinal centerline of the road on which the vehicle is currently located and the front wall of the vehicle and a center position of a preset parking area.
In this step, the preset parking area may be specifically set to be a rectangular area within 3.5 meters from the edge of the current road, and the length of the rectangular area corresponding to the width is 10 meters, and the area of the rectangular area is greater than or equal to the floor area of the vehicle.
The setting of the rectangular area can be changed and reset according to the specific requirements of the actual situation.
Further, a first turning angle of the vehicle is calculated based on the first distance and the second distance.
In a specific embodiment, the first turning angle of the vehicle is calculated, specifically:
α＝arccosL/H
where α is the first turning angle, L is the first distance, and H is the second distance.
Further, according to the first turning angle, the vehicle is controlled to decelerate until the vehicle is parked to a preset parking area.
In a specific embodiment, in the process that the vehicle runs according to the first turning angle, if an obstacle is detected in front of the vehicle, the vehicle stops for waiting and starts the double flashing of the vehicle, and after the vehicle decelerates until the vehicle stops to a preset parking area, the double flashing of the vehicle is still kept in a starting state until a closing instruction of the double flashing is received, and the driver is confirmed to eliminate fatigue.
Further, if the information of the people/non-motor vehicles does not exist in the preset area, the road condition type of the vehicles is determined to be the expressway.
Further, whether an emergency lane exists in a preset distance in front of the vehicle and whether a running vehicle exists in the preset distance behind the vehicle are judged.
In a specific embodiment, after determining that the type of the road where the vehicle is located is an expressway, the radar detector detects whether an emergency lane exists in front of the vehicle, and if the emergency lane exists, the driver can stop the vehicle in the emergency lane.
Further, if there is an emergency lane in the preset distance in front of the vehicle and there is no vehicle traveling in the preset distance behind the vehicle, a third distance between the longitudinal center line of the vehicle and the right side road edge in the vehicle traveling direction and a fourth distance between the intersection point of the vehicle longitudinal direction and the vehicle front wall and the emergency lane are obtained.
In a specific embodiment, a radar detector mounted at the intersection of the over-axle midpoint line parallel to the vehicle travel direction and the vehicle front wall identifies whether a vehicle is traveling within a third distance M between the longitudinal center line and the right side road edge in the vehicle travel direction and a fourth distance G between the intersection of the vehicle longitudinal direction and the vehicle front wall and the emergency lane.
In the step, the speed measuring radar is used for detecting the speed corresponding to the running vehicle after the vehicle is detected, and whether the speed corresponding to the running vehicle is smaller than the current speed of the vehicle is judged.
The setting of the fourth distance G can be changed and reset according to the specific requirements of the actual situation.
Further, a second turning angle of the vehicle is calculated based on the third distance and the fourth distance.
In a specific embodiment, the second turning angle of the vehicle is calculated by:
where β is the first turning angle, M is the third distance, and G is the fourth distance.
Further, according to the second turning angle, the vehicle is controlled to decelerate until the vehicle is parked to an emergency lane.
In a specific embodiment, after the vehicle travels to the emergency lane according to the second turning angle, the vehicle still keeps the double-flashing of the vehicle in the on state until receiving the off command of the double-flashing, and the driver is confirmed to be fatigue-relieved.
Compared with the detection method of fatigue driving in the prior art, the detection method of fatigue driving in the power system provided by the embodiment of the application preliminarily judges whether the driver is in fatigue driving or not through the change of the steering wheel angle of the vehicle in the driving process, determines the fatigue level of the driver according to the response time of the driver for closing the voice alarm, controls the vehicle to decelerate to stop in a preset parking area or an emergency lane according to the fatigue level of the driver, and has the advantages that the detection object is the steering wheel and does not influence the operation of the driver, so that the driver does not influence the detection process and the detection result due to the change of the external environment, the influence of the external environment on the detection process and the detection result is effectively reduced, the anti-interference capability is greatly improved, and the possibility of fatigue driving is reduced, the driving safety is improved.
Based on the same inventive concept, the embodiment of the present application further provides a detection apparatus for fatigue driving corresponding to the detection method for fatigue driving, and since the principle of the apparatus in the embodiment of the present application for solving the problem is similar to the detection method in the embodiment of the present application, the implementation of the apparatus can refer to the implementation of the method, and repeated details are not repeated.
Referring to fig. 3, 4, 5 and 6, fig. 3 is a schematic structural diagram of a fatigue driving detecting device according to an embodiment of the present disclosure, fig. 4 is a second schematic structural diagram of a fatigue driving detecting device according to an embodiment of the present disclosure, fig. 5 is a third schematic structural diagram of a fatigue driving detecting device according to an embodiment of the present disclosure, fig. 6 is a fourth schematic structural diagram of a fatigue driving detecting device according to an embodiment of the present disclosure, as shown in fig. 3, the detecting device 300 includes:
the first obtaining module 301 is configured to obtain a plurality of first steering wheel angles of a vehicle in a first driving time period, and a plurality of second steering wheel angles of the vehicle in a second driving time period, where the first driving time period is a time period when a preset driving condition is met during driving of the vehicle, and the second driving time period is a time period to be monitored after the first driving time period.
A first determining module 302, configured to determine a variance reference value of the steering wheel rotation of the vehicle in the first driving time period based on the plurality of first steering wheel angles, and determine a real-time variance value of the steering wheel rotation of the vehicle in the second driving time period based on the plurality of second steering wheel angles.
And an alarm judging module 303, configured to send a prompt alarm if the real-time variance value is smaller than the variance reference value.
A second determining module 304, configured to determine that a driver of the vehicle is in a fatigue driving state if the duration of the prompt alert exceeds a first preset duration.
Optionally, the preset driving conditions include:
a turn signal of the vehicle is not turned on; the vehicle is within a preset running time from the start of running.
Optionally, the second determining module 304 is specifically configured to:
and if the duration of the prompt alarm exceeds a first preset duration and is lower than a second preset duration, determining that the driver of the vehicle is in a general fatigue driving state.
And if the duration of the prompt alarm exceeds a second preset duration, determining that the driver of the vehicle is in an extreme fatigue driving state, wherein the fatigue degree of the general fatigue driving state is less than that of the extreme fatigue driving state.
As shown in fig. 4, the detecting device 300 includes:
the first obtaining module 301 is configured to obtain a plurality of first steering wheel angles of a vehicle in a first driving time period, and a plurality of second steering wheel angles of the vehicle in a second driving time period, where the first driving time period is a time period when a preset driving condition is met during driving of the vehicle, and the second driving time period is a time period to be monitored after the first driving time period.
A first determining module 302, configured to determine a variance reference value of the steering wheel rotation of the vehicle in the first driving time period based on the plurality of first steering wheel angles, and determine a real-time variance value of the steering wheel rotation of the vehicle in the second driving time period based on the plurality of second steering wheel angles.
And an alarm judging module 303, configured to send a prompt alarm if the real-time variance value is smaller than the variance reference value.
A second determining module 304, configured to determine that a driver of the vehicle is in a fatigue driving state if the duration of the prompt alert exceeds a first preset duration.
A second obtaining module 305, configured to obtain image information in a preset area around the vehicle.
A first judging module 306, configured to judge whether there is information about a person or a non-motor vehicle in the preset area according to the image information.
A third determining module 307, configured to determine that the type of the road where the vehicle is located is a general road if the information of the person/non-motor vehicle exists in the preset area.
As shown in fig. 5, the detecting device 300 includes:
the first obtaining module 301 is configured to obtain a plurality of first steering wheel angles of a vehicle in a first driving time period, and a plurality of second steering wheel angles of the vehicle in a second driving time period, where the first driving time period is a time period when a preset driving condition is met during driving of the vehicle, and the second driving time period is a time period to be monitored after the first driving time period.
A first determining module 302, configured to determine a variance reference value of the steering wheel rotation of the vehicle in the first driving time period based on the plurality of first steering wheel angles, and determine a real-time variance value of the steering wheel rotation of the vehicle in the second driving time period based on the plurality of second steering wheel angles.
And an alarm judging module 303, configured to send a prompt alarm if the real-time variance value is smaller than the variance reference value.
A second determining module 304, configured to determine that a driver of the vehicle is in a fatigue driving state if the duration of the prompt alert exceeds a first preset duration.
The third obtaining module 308 is configured to obtain a first distance between a longitudinal centerline of a road where the vehicle is currently located and a right road edge in the vehicle driving direction, and a second distance between an intersection point of the longitudinal centerline of the road where the vehicle is currently located and a front wall of the vehicle and a center position of a preset parking area.
A first calculation module 309 is configured to calculate a first turning angle of the vehicle according to the first distance and the second distance.
And the first control module 310 is used for controlling the vehicle to decelerate until the vehicle is parked to a preset parking area according to the first turning angle.
As shown in fig. 6, the detecting device 300 includes:
the first obtaining module 301 is configured to obtain a plurality of first steering wheel angles of a vehicle in a first driving time period, and a plurality of second steering wheel angles of the vehicle in a second driving time period, where the first driving time period is a time period when a preset driving condition is met during driving of the vehicle, and the second driving time period is a time period to be monitored after the first driving time period.
A first determining module 302, configured to determine a variance reference value of the steering wheel rotation of the vehicle in the first driving time period based on the plurality of first steering wheel angles, and determine a real-time variance value of the steering wheel rotation of the vehicle in the second driving time period based on the plurality of second steering wheel angles.
And an alarm judging module 303, configured to send a prompt alarm if the real-time variance value is smaller than the variance reference value.
A second determining module 304, configured to determine that a driver of the vehicle is in a fatigue driving state if the duration of the prompt alert exceeds a first preset duration.
A fourth determining module 311, configured to determine that the road condition type of the vehicle is an expressway if the information of the person/non-motor vehicle does not exist in the preset area.
The second determining module 312 is configured to determine whether there is an emergency lane within a preset distance in front of the vehicle and whether there is a driving vehicle within the preset distance behind the vehicle.
A fourth obtaining module 313, configured to obtain, if there is an emergency lane within a preset distance in front of the vehicle and there is no vehicle traveling within the preset distance behind the vehicle, a third distance between a longitudinal center line of the vehicle and a right side road edge of the vehicle traveling direction, and a fourth distance between an intersection point of the vehicle longitudinal direction and a front wall of the vehicle and the emergency lane.
A second calculating module 314, configured to calculate a second turning angle of the vehicle according to the third distance and the fourth distance.
And a second control module 315 configured to control the vehicle to decelerate until the vehicle stops to an emergency lane according to the second turning angle.
Compared with the fatigue driving detection device in the prior art, the fatigue driving detection device provided by the embodiment of the application preliminarily judges whether the driver is in fatigue driving or not through the change of the steering wheel angle of the vehicle in the driving process, determines the fatigue level of the driver according to the response time of the driver for closing the voice alarm, controls the vehicle to decelerate to stop in a preset parking area or an emergency lane according to the fatigue level of the driver, and has the advantages that the detection object is the steering wheel and does not influence the operation of the driver, so that the driver does not influence the detection process and the detection result due to the change of the external environment, the influence of the external environment on the detection process and the detection result is effectively reduced, the anti-interference capability is greatly improved, and the possibility of fatigue driving is reduced, the driving safety is improved.
Based on the same application concept, please refer to fig. 7, and fig. 7 is a schematic structural diagram of an electronic device 700 according to an embodiment of the present application, including: a processor 710, a memory 720 and a bus 730, wherein the memory 720 stores machine-readable instructions executable by the processor 710, when the electronic device 700 is operated, the processor 710 communicates with the memory 720 via the bus 730, and the machine-readable instructions are executed by the processor 710 to perform the steps of the detection method according to any of the above embodiments.
In particular, the machine readable instructions, when executed by the processor 710, may perform the following:
the method comprises the steps of obtaining a plurality of first steering wheel turning angles of a vehicle in a first driving time period and a plurality of second steering wheel turning angles of the vehicle in a second driving time period, wherein the first driving time period is a time period when a preset driving condition is met in the driving process of the vehicle, and the second driving time period is a time period to be monitored after the first time period;
determining a variance reference value of the steering wheel rotation of the vehicle in the first travel time period based on the plurality of first steering wheel angles, and determining a real-time variance value of the steering wheel rotation of the vehicle in the second travel time period based on the plurality of second steering wheel angles;
if the real-time variance value is smaller than the variance reference value, sending a prompt alarm;
and if the duration of the prompt alarm exceeds the preset duration, determining that the driver of the vehicle is in a fatigue driving state.
In the embodiment of the application, through the change of vehicle steering wheel corner in the process of traveling, whether preliminary judgement driver is tired driving, and according to the driver closes the reaction time of audio alert, confirms the fatigue level that the driver is in, and according to the fatigue level that the driver is in, control the vehicle slows down to stopping to predetermineeing parking area or emergent lane in, and the detection object of the embodiment of this application is the steering wheel, and this detection object can not influence driver's operation, and consequently, the driver can not influence testing process and testing result because of external environment changes, and the influence of effectual reduction external environment to testing process and testing result has improved the interference killing feature greatly, helps reducing fatigue driving's possibility, improves the security of driving.
Based on the same application concept, embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the detection method provided in the foregoing embodiments are executed.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, when a computer program on the storage medium is run, the detection method can be executed, the safety of a user can be improved, the detection method is irrelevant to the posture of a human body, when a vehicle starts to run, the detection system starts to run, the detection process and the detection result cannot be influenced by the change of an external environment, and the anti-interference capability is greatly improved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for detecting fatigue driving, the method comprising:
the method comprises the steps of obtaining a plurality of first steering wheel turning angles of a vehicle in a first driving time period and a plurality of second steering wheel turning angles of the vehicle in a second driving time period, wherein the first driving time period is a time period when a preset driving condition is met in the driving process of the vehicle, and the second driving time period is a time period to be monitored after the first driving time period;
determining a variance reference value of the steering wheel rotation of the vehicle in the first travel time period based on the plurality of first steering wheel angles, and determining a real-time variance value of the steering wheel rotation of the vehicle in the second travel time period based on the plurality of second steering wheel angles;
if the real-time variance value is smaller than the variance reference value, sending a prompt alarm;
and if the duration of the prompt alarm exceeds the preset duration, determining that the driver of the vehicle is in a fatigue driving state.
2. The detection method according to claim 1, wherein the preset running condition includes:
a turn signal of the vehicle is not turned on; the vehicle is within a preset running time from the start of running.
3. The detection method according to claim 1, wherein the determining that the driver of the vehicle is in a fatigue driving state if the duration of the prompt alarm exceeds a preset duration comprises:
if the duration of the prompt alarm exceeds a first preset duration and is lower than a second preset duration, determining that a driver of the vehicle is in a general fatigue driving state;
and if the duration of the prompt alarm exceeds a second preset duration, determining that the driver of the vehicle is in an extreme fatigue driving state, wherein the fatigue degree of the general fatigue driving state is less than that of the extreme fatigue driving state.
4. The detection method according to claim 1, wherein after determining that the driver of the vehicle is in a fatigue driving state if the duration of the prompt alarm exceeds a preset duration, the detection method further comprises:
acquiring image information in a preset area around the vehicle;
judging whether the information of the person/non-motor vehicle exists in a preset area or not according to the image information;
and if the information of the people/the non-motor vehicles exists in the preset area, determining that the type of the road where the vehicles are located is a common road.
5. The detection method according to claim 4, wherein after determining that the road type of the vehicle is a general road if the information of the person/non-motor vehicle exists in the preset area, the detection method further comprises:
acquiring a first distance between a longitudinal center line of the vehicle and a right road edge of the vehicle in the driving direction, and a second distance between an intersection point of the longitudinal center line of the road where the vehicle is located and a front wall of the vehicle and a center position of a preset parking area;
calculating a first turning angle of the vehicle according to the first distance and the second distance;
and controlling the vehicle to decelerate until the vehicle is parked to a preset parking area according to the first turning angle.
6. The detection method according to claim 4, wherein after said determining whether there is human/non-motor vehicle information in a preset area based on the image information, the detection method further comprises:
if no information of people/non-motor vehicles exists in the preset area, determining that the road condition type of the vehicle is an expressway;
judging whether an emergency lane exists within a preset distance in front of the vehicle and whether a running vehicle exists within the preset distance behind the vehicle;
if an emergency lane exists in a preset distance in front of the vehicle and no vehicle runs in the preset distance behind the vehicle, acquiring a third distance between a longitudinal center line of the vehicle and a right side road edge in the vehicle running direction and a fourth distance between an intersection point of the longitudinal direction of the vehicle and a front wall of the vehicle and the emergency lane;
calculating a second turning angle of the vehicle according to the third distance and the fourth distance;
and controlling the vehicle to decelerate until the vehicle is parked to an emergency lane according to the second turning angle.
7. A detection device for fatigue driving, characterized in that the detection device comprises:
the monitoring device comprises a first acquisition module and a second acquisition module, wherein the first acquisition module is used for acquiring a plurality of first steering wheel turning angles of a vehicle in a first running time period and a plurality of second steering wheel turning angles of the vehicle in a second running time period, the first running time period is a time period when a preset running condition is met in the running process of the vehicle, and the second running time period is a time period to be monitored after the first running time period;
a first determination module configured to determine a variance reference value of the steering wheel rotation of the vehicle in the first driving time period based on the plurality of first steering wheel angles, and determine a real-time variance value of the steering wheel rotation of the vehicle in the second driving time period based on the plurality of second steering wheel angles;
the alarm judgment module is used for sending out a prompt alarm if the real-time variance value is smaller than the variance reference value;
and the second determination module is used for determining that the driver of the vehicle is in a fatigue driving state if the duration of the prompt alarm exceeds a first preset duration.
8. The detection device according to claim 7, wherein the preset running condition includes:
a turn signal of the vehicle is not turned on; the vehicle is within a preset running time from the start of running.
9. An electronic device, comprising: processor, memory and bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of the detection method according to any one of claims 1 to 6.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, is adapted to carry out the steps of the detection method according to any one of the preceding claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010958580.0A CN111986488B (en) | 2020-09-14 | 2020-09-14 | Fatigue driving detection method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010958580.0A CN111986488B (en) | 2020-09-14 | 2020-09-14 | Fatigue driving detection method and device, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111986488A true CN111986488A (en) | 2020-11-24 |
| CN111986488B CN111986488B (en) | 2021-11-30 |
Family
ID=73450238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010958580.0A Active CN111986488B (en) | 2020-09-14 | 2020-09-14 | Fatigue driving detection method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111986488B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366909A (en) * | 2022-10-21 | 2022-11-22 | 四川省公路规划勘察设计研究院有限公司 | Dynamic early warning method and device for driver accidents in long and large longitudinal slope section and electronic equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016012332A (en) * | 2014-06-27 | 2016-01-21 | 重井 晴雄 | Anti-doze system for driving which observes state of pupils or upper eyelids using line-of-sight tracking sensor so that driver of vehicle can be prevented from dozing when driver is about to doze during driving, thus senses change in state, and prevents driver from dozing by applying vibration to driver's body using vibration motor incorporated in seat |
| KR20160043361A (en) * | 2014-10-13 | 2016-04-21 | 현대모비스 주식회사 | Method and system for seinsing fatigue state of driver |
| JP2017220070A (en) * | 2016-06-09 | 2017-12-14 | マツダ株式会社 | Drive support device |
| CN206863768U (en) * | 2017-04-26 | 2018-01-09 | 桂林电子科技大学 | A kind of tired driver detection means based on steering wheel image |
| US20180188739A1 (en) * | 2016-12-29 | 2018-07-05 | Automotive Research & Testing Center | Automatic lane following control system and method for vehicles |
| CN207867669U (en) * | 2017-12-26 | 2018-09-14 | 郑州宇通客车股份有限公司 | Driver fatigue early warning system and vehicle |
| CN109961610A (en) * | 2017-12-26 | 2019-07-02 | 郑州宇通客车股份有限公司 | Driver fatigue early warning and detection method, giving fatigue pre-warning system and vehicle |
| CN110466529A (en) * | 2019-07-25 | 2019-11-19 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of emergency vehicle method, controller and vehicle |
| CN110466530A (en) * | 2019-08-15 | 2019-11-19 | 广州小鹏汽车科技有限公司 | Based reminding method and system, vehicle in a kind of driving procedure |
| CN110853357A (en) * | 2019-12-02 | 2020-02-28 | 华东交通大学 | Early warning control system and method for dangerous highway sections and construction areas |
-
2020
- 2020-09-14 CN CN202010958580.0A patent/CN111986488B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016012332A (en) * | 2014-06-27 | 2016-01-21 | 重井 晴雄 | Anti-doze system for driving which observes state of pupils or upper eyelids using line-of-sight tracking sensor so that driver of vehicle can be prevented from dozing when driver is about to doze during driving, thus senses change in state, and prevents driver from dozing by applying vibration to driver's body using vibration motor incorporated in seat |
| KR20160043361A (en) * | 2014-10-13 | 2016-04-21 | 현대모비스 주식회사 | Method and system for seinsing fatigue state of driver |
| JP2017220070A (en) * | 2016-06-09 | 2017-12-14 | マツダ株式会社 | Drive support device |
| US20180188739A1 (en) * | 2016-12-29 | 2018-07-05 | Automotive Research & Testing Center | Automatic lane following control system and method for vehicles |
| CN206863768U (en) * | 2017-04-26 | 2018-01-09 | 桂林电子科技大学 | A kind of tired driver detection means based on steering wheel image |
| CN207867669U (en) * | 2017-12-26 | 2018-09-14 | 郑州宇通客车股份有限公司 | Driver fatigue early warning system and vehicle |
| CN109961610A (en) * | 2017-12-26 | 2019-07-02 | 郑州宇通客车股份有限公司 | Driver fatigue early warning and detection method, giving fatigue pre-warning system and vehicle |
| CN110466529A (en) * | 2019-07-25 | 2019-11-19 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of emergency vehicle method, controller and vehicle |
| CN110466530A (en) * | 2019-08-15 | 2019-11-19 | 广州小鹏汽车科技有限公司 | Based reminding method and system, vehicle in a kind of driving procedure |
| CN110853357A (en) * | 2019-12-02 | 2020-02-28 | 华东交通大学 | Early warning control system and method for dangerous highway sections and construction areas |
Non-Patent Citations (2)
| Title |
|---|
| WANG HAILIN: "Fatigue Driving Detection System Design Based on Driving Behavior", 《2010 INTERNATIONAL CONFERENCE ON OPTOELECTRONICS AND IMAGE PROCESSING》 * |
| 胡鸿: "车载驾驶员疲劳驾驶预警与控制系统研究", 《中国安全生产科学技术》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115366909A (en) * | 2022-10-21 | 2022-11-22 | 四川省公路规划勘察设计研究院有限公司 | Dynamic early warning method and device for driver accidents in long and large longitudinal slope section and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111986488B (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9415776B2 (en) | Enhanced lane departure system | |
| US7786896B2 (en) | Parking assistance system and parking assistance method | |
| CN104512394B (en) | The auxiliary braking control method and system of automobile parking process | |
| KR101320223B1 (en) | Method and system for assisting a driver when parking or manoeuvring a motor vehicle | |
| KR101115221B1 (en) | System and method for alerting when other vehicles approximates by own vehicle | |
| JP2006163828A (en) | Alarm device for vehicle, and method of alarming ambient condition of vehicle | |
| CN113370992B (en) | Vehicle line pressing reminding method and device and storage medium | |
| CN107139921B (en) | A kind of steering collision-proof method and system for vehicle | |
| CN110654378B (en) | Vehicle control method, device and system and vehicle | |
| CN111986488B (en) | Fatigue driving detection method and device, electronic equipment and storage medium | |
| CN104139780B (en) | Vehicle goes out car householder method and device and utilizes this method and the system of device | |
| CN113815620A (en) | Method, device and equipment for evaluating safe driving of vehicle and storage medium | |
| CN114613194A (en) | Early warning method and device for vehicle meeting at curve and vehicle | |
| CN113511198B (en) | Method, apparatus and storage medium for predicting blind zone collision when self-vehicle turns | |
| CN113353083B (en) | Vehicle behavior recognition method | |
| CN112498341B (en) | Emergency braking method and device based on road conditions and computer readable storage medium | |
| CN110450788B (en) | Driving mode switching method, device, equipment and storage medium | |
| CN114643996A (en) | Driving assistance method and vehicle | |
| CN115782911A (en) | Data processing method for steering wheel hands-off event in driving scene and related device | |
| CN111483458A (en) | Power system control method and device | |
| KR20110122336A (en) | Apparatus and method for preventing false alarm of lane departure warning | |
| CN114506332A (en) | Driving assistance method and device, electronic equipment and storage medium | |
| KR20180067043A (en) | Steering torque control device and control method for tire wear prevention. | |
| KR20090046031A (en) | An apparatus for judging the possiblity or impossiblility of parallel-parking of vehicle | |
| KR20100060535A (en) | Smart cruise control system of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |