CN112381025A - Driver attention detection method and device, electronic equipment and storage medium - Google Patents
Driver attention detection method and device, electronic equipment and storage medium Download PDFInfo
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- CN112381025A CN112381025A CN202011323019.1A CN202011323019A CN112381025A CN 112381025 A CN112381025 A CN 112381025A CN 202011323019 A CN202011323019 A CN 202011323019A CN 112381025 A CN112381025 A CN 112381025A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—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
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
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Abstract
The embodiment of the invention provides a method and a device for detecting driver attention, electronic equipment and a storage medium, wherein the method comprises the following steps: obtaining a first ray corresponding to the sight of the driver from the driver image by a preset visual detection method; obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method; and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray. By the embodiment of the invention, the accurate judgment of the attention of the driver is realized, and the missing detection rate and the false detection rate are reduced.
Description
Technical Field
The present disclosure relates to the field of vehicle driving technologies, and in particular, to a method and an apparatus for detecting driver attention, an electronic device, and a storage medium.
Background
The driver's attention detection is determined by whether the driver's sight line falls on the lane ahead, and it is determined that the driver's attention is normal when the sight line falls on the lane ahead.
However, the prior art cannot deal with partial scenes, and when steering, a driver naturally checks the conditions of the left and right sides of the vehicle, so that the sight line does not necessarily fall on a road ahead, and the current method for detecting the distraction is invalid.
It can be seen that the prior art is not accurate enough for driver attentiveness detection.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for detecting driver attention, an electronic device, and a storage medium, so as to solve the problem in the prior art that driver attention detection is not accurate enough.
In order to solve the above technical problem, the embodiment of the present invention is implemented as follows:
in a first aspect, an embodiment of the present application provides a driver attention detection method, including:
obtaining a first ray corresponding to the sight of the driver from the driver image by a preset visual detection method;
obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method;
and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray.
In a second aspect, an embodiment of the present invention provides a driver attention detection apparatus, including:
the visual detection module is used for obtaining a first ray corresponding to the sight of the driver from the driver image through a preset visual detection method;
the target detection module is used for obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method;
and the attention judging module is used for determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a bus; the memory is used for storing a computer program; the processor is configured to execute the program stored in the memory to implement the driver attention detection method steps according to the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the driver attention detection method according to the first aspect are implemented.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention obtains the first ray corresponding to the sight line of the driver from the image of the driver by a preset visual detection method; obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method; and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray. By the embodiment of the invention, the accurate judgment of the attention of the driver is realized, and the missing detection rate and the false detection rate are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first flowchart illustrating a driver attention detection method according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a relationship between a first ray and a second ray according to an embodiment of the present invention;
FIG. 3 is a second flowchart illustrating a driver attention detection method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a road image provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of forming a second ray according to an embodiment of the present invention;
FIG. 6 is a third flowchart illustrating a driver attention detection method according to an embodiment of the invention;
FIG. 7 is a schematic diagram illustrating the module components of a driver attention detection apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a driver attention detection method and device, electronic equipment and a storage medium.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a driver attention detection method, and an execution subject of the method is an attention detection device. The method may specifically comprise the steps of:
and step S01, obtaining a first ray corresponding to the sight line of the driver from the driver image through a preset visual detection method.
The driver image is acquired by an image acquisition device installed inside the vehicle. And analyzing and processing the driver image by a preset visual detection method by using a computer vision technology to determine the position coordinates and the sight line direction of the eyeballs of the driver. The specific analysis processing process may be determined by a visual detection method, for example, the face feature analysis may be performed on the driver image, the face image in the driver image is detected by using a feature classifier, then the eye sockets in the face image are positioned, then the centers of the left and right eyeballs are positioned to serve as the position coordinates of the left and right eyeballs, and finally the sight direction of the driver is obtained by a sight direction estimation algorithm.
And respectively taking the average value of the position coordinates of the left eyeball and the right eyeball and the sight line direction as a starting point and a direction to obtain a first ray corresponding to the sight line of the driver.
Step S02, obtaining a second ray from the vehicle to the detected object from the road image by a preset object detection method.
The image of the road in front of the vehicle is acquired by an image acquisition device arranged in front of the vehicle while the image of the driver is acquired. And identifying a detection target from the road image through a preset target detection method, and obtaining a second ray from the vehicle to the detection target.
It should be understood that if the detection target is a vehicle, the vehicle information of the detection target may be further identified, including: brand, model, license plate, etc., and may present vehicle information via, for example, an augmented reality heads-up display AR-HUD.
The steps S01 and S02 may be performed simultaneously, not separately.
And step S03, determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray.
As shown in fig. 2, the current first ray and the current second ray are obtained through the above steps, and the position relationship between the first ray and the second ray is analyzed to determine whether the line of sight of the driver is facing the detection target, that is, whether the driver is looking at the detection target. And if the driver is judged to be looking at the detection target, determining that the attention of the driver is concentrated and the situation of distraction does not occur.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention obtains the first ray corresponding to the sight line of the driver from the image of the driver by a preset visual detection method; obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method; and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray. By the embodiment of the invention, the accurate judgment of the attention of the driver is realized, and the missing detection rate and the false detection rate are reduced.
Further, as shown in fig. 3, the specific processing manner of step S02 can be varied, and an alternative processing manner is provided below, which can be specifically referred to the processing of steps S021-S022.
And S021, identifying a detection target on the road in front by a preset target detection method according to the road image acquired by the image acquisition equipment in front of the vehicle.
An image of the road as shown in fig. 4 is acquired by an image pickup device located in front of the vehicle, and a detection target is identified therefrom. The detection target is an object or a sign that can be successfully recognized in the road image, for example, an automotive or non-automotive vehicle, a pedestrian, an obstacle in the road, a road sign on or beside a lane, or the like.
And S022, connecting the image acquisition equipment to the detection target to obtain a second ray.
And connecting the optical center of the image acquisition equipment to the center of the detection target to obtain the second ray. The specific connection process is as shown in fig. 5, and the distance from the center point of the picture to the optical center of the camera is calculated as follows: l _ c is 0.5 × L ctan (0.5 × a _ FOV), where L is the image size length and a _ FOV is the camera FOV angle parameter; the direction angle a _ o of the detection target is arctan (L/L _ c), wherein L is the distance from the center of a boundary frame of the detection target in the image to the center of the image; and respectively carrying out the calculation on the x direction and the y direction of the image to obtain a second ray from the camera to the detection target. The starting point of the second ray is the optical center position of the camera, and the optical center position can be obtained through experimental calibration.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention identifies the detection target of the road in front by a preset target detection method according to the road image acquired by the image acquisition equipment in front of the vehicle; and obtaining a second ray according to the connection line of the image acquisition equipment and the detection target. By the embodiment of the invention, the accurate judgment of the attention of the driver is realized, and the missing detection rate and the false detection rate are reduced.
Further, as shown in fig. 6, the specific processing manner of step S03 may be varied, and an alternative processing manner is provided below, which may be specifically referred to the processing of steps S031-S032 below.
Step S031, calculating a distance between the first ray and the second ray, and if the distance is smaller than a preset distance threshold, determining that the attention of the driver is focused.
When analyzing the positional relationship between the first ray and the second ray, the distance between the first ray and the second ray may be calculated. And comparing the obtained distance with a preset distance threshold, and if the obtained distance is smaller than the preset distance threshold, judging that the sight line of the driver is aligned with the detection target and the attention of the driver is focused. At this time, even if the driver's sight line does not fall on the front lane, it is considered that the driver's sight line is concentrated on the detection target and the driver's attention is concentrated.
It should be understood that the distance between the first ray and the second ray is specifically the shortest distance of the first ray and the second ray in the three-dimensional space, and the shortest distance may be calculated by calculating the distance between the points for forming the first ray and the second ray respectively and taking the minimum value of the distances, or alternatively, a line segment perpendicular to the first ray and the second ray respectively may be drawn between the first ray and the second ray and the distance of the line segment may be calculated. The shortest distance between the first ray and the second ray can be set according to actual needs, and a specific calculation process can be realized by a pre-written computer program.
Step S032, if the detection target with the distance smaller than the preset distance threshold value is not identified in a preset time period, determining that the attention of the driver is distracted.
And if the distance between the first ray and the second ray is not smaller than the distance threshold, determining that the sight line of the driver is not aligned with the detection target. And newly identifying a new detection target from the road image, constructing a second ray corresponding to the new detection target, recalculating the distance between the first ray and the second ray, and comparing the distance with the distance threshold. Until a detection target is identified in which the distance between the first ray and the second ray is less than the distance threshold, thereby determining that the driver's attention is focused.
And if the detection target with the distance smaller than the preset threshold value is not identified in the preset time period, judging that the sight line of the driver is not aligned with any detection target, and if the attention of the driver is in a dispersed state, sending corresponding warning information.
Further, the step S032 specifically includes:
step 033, if the distances between the first rays and the second rays corresponding to the preset number of detection targets identified in sequence are not smaller than a preset distance threshold, determining that the attention of the driver is dispersed.
Similarly, if a preset number of detection targets are continuously identified within the preset time period, but the calculated distance between the first ray and the second ray is not less than the distance threshold, it can be determined that the sight line of the driver is not aligned with any detection target, the attention of the driver is in a dispersed state, and corresponding warning information needs to be sent out.
As can be seen from the above technical solutions provided by the embodiments of the present invention, the embodiment of the present invention determines the attention state of the driver by calculating the distance between the first ray and the second ray and comparing the distance with a preset distance threshold. By the embodiment of the invention, the accurate judgment of the attention of the driver is realized, and the missing detection rate and the false detection rate are reduced.
Further, after step S031, the method further includes:
step S04, the center of the line segment corresponding to the distance between the first ray and the second ray is used as the position of the detection target.
The position relation of the detection target relative to the vehicle can be determined through the coordinates of the position of the detection target.
As can be seen from the above technical solutions provided by the embodiments of the present invention, in the embodiments of the present invention, the center of the line segment corresponding to the distance between the first ray and the second ray is used as the position of the detection target. By the embodiment of the invention, the reliability of target detection is improved, and the position of the detected target can be calculated by a clear principle.
On the basis of the same technical concept, the embodiment of the present invention further provides a driver attention detection apparatus corresponding to the method for detecting driver attention provided by the foregoing embodiment, and fig. 7 is a schematic diagram illustrating a module composition of the driver attention detection apparatus provided by the embodiment of the present invention, the driver attention detection apparatus is configured to execute the method for detecting driver attention described in fig. 1 to 6, and as shown in fig. 7, the driver attention detection apparatus includes: a visual detection module 701, an object detection module 702, and an attention determination module 703.
The vision detection module 701 is used for obtaining a first ray corresponding to the sight of the driver from the driver image through a preset vision detection method;
the object detection module 702 is configured to obtain a second ray from the vehicle to the detection object from the road image by a preset object detection method;
the attention judging module 703 is configured to determine whether the attention of the driver is distracted according to a position relationship between the first ray and the second ray.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention obtains the first ray corresponding to the sight line of the driver from the image of the driver by a preset visual detection method; obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method; and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray. By the embodiment of the invention, the accurate judgment of the attention of the driver is realized, and the missing detection rate and the false detection rate are reduced.
Further, the object detection module includes:
the system comprises a first detection unit, a second detection unit and a third detection unit, wherein the first detection unit is used for identifying a detection target positioned on a front road through a preset target detection method according to a road image acquired by an image acquisition device positioned in front of a vehicle;
and the second detection unit is used for connecting the image acquisition equipment to the detection target to obtain a second ray.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention identifies the detection target of the road in front by a preset target detection method according to the road image acquired by the image acquisition equipment in front of the vehicle; and obtaining a second ray according to the connection line of the image acquisition equipment and the detection target. By the embodiment of the invention, the reliability of target detection is improved, and meanwhile, the position of the detected target can be calculated by a clear principle, so that the accurate judgment on the attention of a driver is realized, and the missing detection rate and the false detection rate are reduced.
Further, the attention judging module includes:
the first judging unit is used for calculating the distance between the first ray and the second ray, and if the distance is smaller than a preset distance threshold value, the driver is judged to be concentrated;
a second determination unit, configured to determine that the driver's attention is distracted if a detection target whose distance is smaller than the preset distance threshold is not identified within a preset time period.
Further, the second determining unit is further configured to determine that the attention of the driver is distracted if the distances between the first rays and the second rays corresponding to the sequentially identified detection targets in the preset number are not less than a preset distance threshold.
As can be seen from the above technical solutions provided by the embodiments of the present invention, the embodiment of the present invention determines the attention state of the driver by calculating the distance between the first ray and the second ray and comparing the distance with a preset distance threshold. By the embodiment of the invention, the accurate judgment of the attention of the driver is realized, and the missing detection rate and the false detection rate are reduced.
Further, the apparatus further comprises: and the position determining module is used for taking the midpoint of a line segment corresponding to the distance between the first ray and the second ray as the position of the detection target.
As can be seen from the above technical solutions provided by the embodiments of the present invention, in the embodiments of the present invention, the center of the line segment corresponding to the distance between the first ray and the second ray is used as the position of the detection target. By the embodiment of the invention, the reliability of target detection is improved, and the position of the detected target can be calculated by a clear principle.
The driver attention detection device provided by the embodiment of the invention can realize each process in the embodiment corresponding to the driver attention detection method, and is not repeated here for avoiding repetition.
It should be noted that the driver attention detection apparatus provided in the embodiment of the present invention and the driver attention detection method provided in the embodiment of the present invention are based on the same inventive concept, and therefore, for specific implementation of the embodiment, reference may be made to implementation of the driver attention detection method described above, and repeated details are not described again.
Based on the same technical concept, the embodiment of the present invention further provides an electronic device for executing the method for detecting attention of a driver, and fig. 8 is a schematic structural diagram of an electronic device implementing various embodiments of the present invention, as shown in fig. 8. Electronic devices may vary widely in configuration or performance and may include one or more processors 801 and memory 802, where the memory 802 may store one or more stored applications or data. Wherein the memory 802 may be a transient storage or a persistent storage. The application program stored in memory 802 may include one or more modules (not shown), each of which may include a series of computer-executable instructions for the electronic device. Still further, the processor 801 may be configured to communicate with the memory 802 to execute a series of computer-executable instructions in the memory 802 on the electronic device. The electronic device may also include one or more power supplies 803, one or more wired or wireless network interfaces 804, one or more input-output interfaces 805, one or more keyboards 806.
Specifically, in this embodiment, the electronic device includes a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a bus; the memory is used for storing a computer program; the processor is used for executing the program stored in the memory and realizing the following method steps:
obtaining a first ray corresponding to the sight of the driver from the driver image by a preset visual detection method;
obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method;
and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray.
An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and when executed by a processor, the computer program implements the following method steps:
obtaining a first ray corresponding to the sight of the driver from the driver image by a preset visual detection method;
obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method;
and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, an electronic device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A driver attention detection method, characterized by comprising:
obtaining a first ray corresponding to the sight of the driver from the driver image by a preset visual detection method;
obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method;
and determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray.
2. The driver attention detection method according to claim 1, wherein the obtaining of the second ray from the vehicle to the detection target from the road image by a preset target detection method includes:
identifying a detection target on a road ahead by a preset target detection method according to a road image acquired by an image acquisition device on the front of the vehicle;
and connecting the detection target from the image acquisition equipment to obtain a second ray.
3. The method for detecting the attention of the driver according to claim 2, wherein the determining whether the attention of the driver is distracted according to the mutual position relationship between the first ray and the second ray includes:
calculating the distance between the first ray and the second ray, and if the distance is smaller than a preset distance threshold, judging that the attention of the driver is concentrated;
and if the detection target with the distance smaller than the preset distance threshold value is not identified in a preset time period, judging that the attention of the driver is dispersed.
4. The method according to claim 3, wherein the determining that the driver's attention is distracted if a detection target having a distance smaller than the preset distance threshold is not recognized within a preset time period comprises:
and if the distances between the first rays and the second rays corresponding to the detection targets of the sequentially identified preset number are not less than a preset distance threshold, determining that the attention of the driver is dispersed.
5. The driver attention detection method according to claim 3, characterized in that after determining that the attention of the driver is focused, the method further comprises:
and taking the midpoint of a line segment corresponding to the distance between the first ray and the second ray as the position of the detection target.
6. A driver attention detection device, characterized by comprising:
the visual detection module is used for obtaining a first ray corresponding to the sight of the driver from the driver image through a preset visual detection method;
the target detection module is used for obtaining a second ray from the vehicle to the detection target from the road image by a preset target detection method;
and the attention judging module is used for determining whether the attention of the driver is dispersed according to the position relation between the first ray and the second ray.
7. The driver attention detection device according to claim 6, characterized in that the target detection module includes:
the system comprises a first detection unit, a second detection unit and a third detection unit, wherein the first detection unit is used for identifying a detection target positioned on a front road through a preset target detection method according to a road image acquired by an image acquisition device positioned in front of a vehicle;
and the second detection unit is used for connecting the image acquisition equipment to the detection target to obtain a second ray.
8. The driver attention detection device according to claim 7, wherein the attention determination module includes:
the first judging unit is used for calculating the distance between the first ray and the second ray, and if the distance is smaller than a preset distance threshold value, the driver is judged to be concentrated;
a second determination unit, configured to determine that the driver's attention is distracted if a detection target whose distance is smaller than the preset distance threshold is not identified within a preset time period.
9. An electronic device comprising a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a bus; the memory is used for storing a computer program; the processor, executing the program stored on the memory, implementing the driver attention detection method steps of any of claims 1-5.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the driver attention detection method steps of any one of claims 1-5.
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| CN202011323019.1A CN112381025A (en) | 2020-11-23 | 2020-11-23 | Driver attention detection method and device, electronic equipment and storage medium |
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| CN202011323019.1A CN112381025A (en) | 2020-11-23 | 2020-11-23 | Driver attention detection method and device, electronic equipment and storage medium |
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