CN113095108A

CN113095108A - Fatigue driving detection method and device

Info

Publication number: CN113095108A
Application number: CN201911337840.6A
Authority: CN
Inventors: 孔庆宇
Original assignee: China Mobile Communications Group Co Ltd; China Mobile IoT Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile IoT Co Ltd
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2021-07-09
Anticipated expiration: 2039-12-23
Also published as: CN113095108B

Abstract

The invention provides a fatigue driving detection method and a device, belonging to the technical field of information processing, wherein the method comprises the following steps: acquiring first related information of a target object, wherein the first related information comprises at least one of the size of eyeballs surrounded by upper and lower eyelids, the posture of a human body and the position of the human body, and the first related information is obtained according to first information detected by a millimeter wave radar module which is arranged in front of the target object; and judging whether the target object is in a fatigue driving state or not according to the first relevant information. The detection scheme provided by the invention is not influenced by light and has high detection precision.

Description

Fatigue driving detection method and device

Technical Field

The invention relates to the technical field of information processing, in particular to a fatigue driving detection method and device.

Background

In the driving process of an automobile, fatigue driving is easy to occur to a driver during long-time driving and night driving, so that accident danger is caused. The existing scheme for detecting fatigue driving mainly depends on visual detection of eye closing state and eye closing time of human eyes and detection of human body postures. However, the detection scheme by vision is easily affected by the illumination intensity, especially when driving at night, the light in the vehicle is limited, the light required by the recognition of human faces, human eyes and human body postures cannot be provided, and the detection precision is greatly affected.

Disclosure of Invention

In view of the above, the invention provides a method and a device for detecting fatigue driving, which are used for solving the problems that the current scheme for detecting fatigue driving is greatly influenced by illumination intensity and is easy to cause low detection precision.

In order to solve the above technical problem, in a first aspect, the present invention provides a method for detecting fatigue driving, including:

acquiring first related information of a target object, wherein the first related information comprises at least one of the size of eyeballs surrounded by upper and lower eyelids, the posture of a human body and the position of the human body, and the first related information is obtained according to first information detected by a millimeter wave radar module which is arranged in front of the target object;

and judging whether the target object is in a fatigue driving state or not according to the first relevant information.

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid, and the first information includes a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the step of acquiring the first related information of the target object comprises the following steps:

distinguishing an eyelid from an eyeball according to the plurality of distances detected by the millimeter wave radar module;

calculating a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module.

calculating a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module;

calculating a width value between an inner canthus and an outer canthus according to a second included angle detected by the millimeter wave radar module and a distance between the millimeter wave radar module and the eyeball, wherein the second included angle is an included angle between a third connecting line and a fourth connecting line, the third connecting line is a connecting line between the inner canthus and the millimeter wave radar module, and the fourth connecting line is a connecting line between the outer canthus and the millimeter wave radar module;

and calculating the area of the eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the width value.

Optionally, after the step of calculating the width value between the inner canthus and the outer canthus according to the distance between the millimeter wave radar module and the eyeball and the second included angle, the method further includes:

if the distance between the millimeter wave radar module and the two eyes is different, calculating the deflection angle of the eyes according to the distance between the millimeter wave radar module and the two eyes and the distance between the two eyes; or calculating the deflection angle according to the distance between the millimeter wave radar module and the two eyes and a third included angle, wherein the third included angle is an included angle between a fifth connecting line and a sixth connecting line, and the fifth connecting line and the sixth connecting line are respectively connecting lines between the millimeter wave radar module and the two eyes;

calculating to obtain a first width value according to the deflection angle and the width value;

the step of calculating the area of the eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the width value comprises the following steps:

and calculating the area of an eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the first width value.

Optionally, the step of distinguishing an eyelid from an eyeball according to the plurality of distances detected by the millimeter wave radar module includes:

determining the eye position of the target object according to the second information acquired by the image acquisition module;

and acquiring the plurality of distances detected by the millimeter wave radar module on the eye position, and distinguishing an eyelid from an eyeball.

Optionally, the first related information includes the posture of the human body and/or the position of the human body; the step of acquiring the first related information of the target object comprises the following steps:

and acquiring the human body posture and/or the position of the human body according to the first information detected by the millimeter wave radar module and the second information acquired by the image acquisition module.

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid; the step of judging whether the target object is in a fatigue driving state according to the first related information comprises the following steps:

acquiring second related information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a first judgment threshold corresponding to the size according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the first judgment threshold and the size;

alternatively, the first and second electrodes may be,

sending first information detected by the millimeter wave radar module and/or second information acquired by the image acquisition module to a server, so that the server acquires second related information of the target object according to the first information and/or the second information; receiving a first judgment threshold value issued by the server according to the second relevant information, wherein the first judgment threshold value is a threshold value corresponding to the size; judging whether the target object is in a fatigue driving state or not according to the size and the first judgment threshold value;

wherein the second related information includes at least one of age, gender, and physical form.

Optionally, the first related information includes a position where the human body is located; the step of judging whether the target object is in a fatigue driving state according to the first related information comprises the following steps:

acquiring second related information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a second judgment threshold corresponding to the position of the human body according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the second judgment threshold and the position of the human body;

alternatively, the first and second electrodes may be,

sending first information detected by the millimeter wave radar module and/or second information acquired by the image acquisition module to a server, so that the server acquires second related information of the target object according to the first information and/or the second information; receiving a second judgment threshold value issued by the server according to the second relevant information, wherein the second judgment threshold value is a threshold value corresponding to the position of the human body; judging whether the target object is in a fatigue driving state or not according to the position of the human body and the second judgment threshold;

Optionally, the method further comprises at least one of the following steps:

if the target object is judged to be in a fatigue driving state, outputting alarm information for reminding the target object;

if the target object is judged to be in the fatigue driving state and the warning is invalid, sending first notification information to an automatic driving system so that the automatic driving system takes over control over the vehicle, wherein the warning is invalid, namely after the warning information is output, judging that the target object is in the fatigue driving state according to the current first related information of the target object;

and if the target object is judged to be in the fatigue driving state, sending second notification information to target equipment outside the vehicle.

In a second aspect, the present invention also provides a fatigue driving detecting apparatus, including: the millimeter wave radar module and the processor;

the millimeter wave radar module is used for detecting first information;

the processor is used for acquiring first related information of a target object according to the first information, wherein the first related information comprises at least one of the size of an eyeball surrounded by an upper eyelid and a lower eyelid, the posture of a human body and the position of the human body; judging whether the target object is in a fatigue driving state or not according to the first relevant information;

wherein the millimeter wave radar module is disposed in front of the target object.

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid, and the first information includes a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object;

the processor is used for distinguishing an eyelid from an eyeball according to the plurality of distances detected by the millimeter wave radar module;

the processor is further used for calculating a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module.

the processor is further used for calculating a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module;

the processor is further configured to calculate a width value between an inner canthus and an outer canthus according to a second included angle detected by the millimeter wave radar module and a distance between the millimeter wave radar module and the eyeball, where the second included angle is an included angle between a third connection line and a fourth connection line, the third connection line is a connection line between the inner canthus and the millimeter wave radar module, and the fourth connection line is a connection line between the outer canthus and the millimeter wave radar module;

the processor is further configured to calculate an area of an eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the width value.

Optionally, the processor is further configured to calculate a deflection angle of the eyes according to the distance between the millimeter wave radar module and the two eyes and the distance between the two eyes if the distance between the millimeter wave radar module and the two eyes is different; or calculating the deflection angle according to the distance between the millimeter wave radar module and the two eyes and a third included angle, wherein the third included angle is an included angle between a fifth connecting line and a sixth connecting line, and the fifth connecting line and the sixth connecting line are respectively connecting lines between the millimeter wave radar module and the two eyes;

the processor is further used for calculating to obtain a first width value according to the deflection angle and the width value;

the processor is further configured to calculate an area of an eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the first width value.

Optionally, the fatigue driving detection apparatus further includes: the image acquisition module is used for acquiring second information;

the processor is used for determining the eye position of the target object according to the second information acquired by the image acquisition module;

the processor is further configured to acquire the plurality of distances detected by the millimeter wave radar module for the eye position, and distinguish an eyelid from an eyeball.

Optionally, the first related information includes the posture of the human body and/or the position of the human body;

the fatigue driving detection device further includes: the image acquisition module is used for acquiring second information;

the first related information comprises the human body posture and/or the position of the human body; and the processor is used for acquiring the human body posture and/or the position of the human body according to the first information detected by the millimeter wave radar module and the second information acquired by the image acquisition module.

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid;

the processor is used for acquiring second related information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a first judgment threshold corresponding to the size according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the first judgment threshold and the size;

alternatively, the first and second electrodes may be,

the processor is used for sending first information detected by the millimeter wave radar module and/or second information acquired by the image acquisition module to a server so that the server can acquire second related information of the target object according to the first information and/or the second information; receiving a first judgment threshold value issued by the server according to the second relevant information, wherein the first judgment threshold value is a threshold value corresponding to the size; judging whether the target object is in a fatigue driving state or not according to the size and the first judgment threshold value;

Optionally, the first related information includes a position where the human body is located;

the processor is used for acquiring second related information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a second judgment threshold corresponding to the position of the human body according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the second judgment threshold and the position of the human body;

alternatively, the first and second electrodes may be,

the processor is used for sending first information detected by the millimeter wave radar module and/or second information acquired by the image acquisition module to a server so that the server can acquire second related information of the target object according to the first information and/or the second information; receiving a second judgment threshold value issued by the server according to the second relevant information, wherein the second judgment threshold value is a threshold value corresponding to the position of the human body; judging whether the target object is in a fatigue driving state or not according to the position of the human body and the second judgment threshold;

Optionally, the processor is further configured to perform at least one of the following steps:

In a third aspect, the present invention also provides a fatigue driving detecting apparatus, including:

the device comprises an acquisition module, a detection module and a display module, wherein the acquisition module is used for acquiring first related information of a target object, the first related information comprises at least one of the size of an eyeball surrounded by an upper eyelid and a lower eyelid, the posture of a human body and the position of the human body, the first related information is obtained according to first information detected by a millimeter wave radar module, and the millimeter wave radar module is arranged in front of the target object;

and the judging module is used for judging whether the target object is in a fatigue driving state or not according to the first relevant information.

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid, and the first information includes a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the acquisition module includes:

a distinguishing unit configured to distinguish an eyelid from an eyeball according to the plurality of distances detected by the millimeter wave radar module;

the first calculation unit is used for calculating a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module.

the second calculation unit is used for calculating a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module;

the third calculation unit is used for calculating the width value between an inner canthus and an outer canthus according to a second included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball, wherein the second included angle is an included angle between a third connecting line and a fourth connecting line, the third connecting line is a connecting line between the inner canthus and the millimeter wave radar module, and the fourth connecting line is a connecting line between the outer canthus and the millimeter wave radar module;

and the fourth calculating unit is used for calculating the area of the eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the width value.

Optionally, the obtaining module further includes:

a fifth calculating unit, configured to calculate a deflection angle of the eyes according to the distance between the millimeter wave radar module and the two eyes and the distance between the two eyes if the distances between the millimeter wave radar module and the two eyes are different; or calculating the deflection angle according to the distance between the millimeter wave radar module and the two eyes and a third included angle, wherein the third included angle is an included angle between a fifth connecting line and a sixth connecting line, and the fifth connecting line and the sixth connecting line are respectively connecting lines between the millimeter wave radar module and the two eyes;

a sixth calculating unit, configured to calculate a first width value according to the deflection angle and the width value;

and the seventh calculating unit is used for calculating the area of the eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the first width value.

Optionally, the distinguishing unit includes:

the positioning subunit is used for determining the eye position of the target object according to the second information acquired by the image acquisition module;

and the distinguishing subunit is used for acquiring the plurality of distances detected by the millimeter wave radar module on the eye position, and distinguishing an eyelid from an eyeball.

Optionally, the first related information includes the posture of the human body and/or the position of the human body; the acquisition module includes:

and the acquisition unit is used for acquiring the human body posture and/or the position of the human body according to the first information detected by the millimeter wave radar module and the second information acquired by the image acquisition module.

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid; the judging module comprises:

the first judgment unit is used for acquiring second related information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a first judgment threshold corresponding to the size according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the first judgment threshold and the size;

alternatively, the first and second electrodes may be,

the second judgment unit is used for sending the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module to a server so that the server can acquire second related information of the target object according to the first information and/or the second information; receiving a first judgment threshold value issued by the server according to the second relevant information, wherein the first judgment threshold value is a threshold value corresponding to the size; judging whether the target object is in a fatigue driving state or not according to the size and the first judgment threshold value;

Optionally, the first related information includes a position where the human body is located; the judging module comprises:

the third judging unit is used for acquiring second related information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a second judgment threshold corresponding to the position of the human body according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the second judgment threshold and the position of the human body;

alternatively, the first and second electrodes may be,

the fourth judging unit is used for sending the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module to a server so that the server can acquire second related information of the target object according to the first information and/or the second information; receiving a second judgment threshold value issued by the server according to the second relevant information, wherein the second judgment threshold value is a threshold value corresponding to the position of the human body; judging whether the target object is in a fatigue driving state or not according to the position of the human body and the second judgment threshold;

Optionally, the fatigue driving detection apparatus further includes at least one of the following modules:

the warning module is used for outputting warning information for reminding the target object if the target object is judged to be in a fatigue driving state;

the first notification module is used for sending first notification information to an automatic driving system to enable the automatic driving system to take over control over a vehicle if the target object is judged to be in a fatigue driving state and an alarm is invalid, wherein the alarm is invalid when the target object is judged to be in the fatigue driving state according to current first related information of the target object after the alarm information is output;

and the second notification module is used for sending second notification information to the target equipment outside the vehicle if the target object is judged to be in the fatigue driving state.

In a fourth aspect, the present invention further provides a fatigue driving detection apparatus, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor; the processor, when executing the computer program, implements the steps of any of the fatigue driving detection methods described above.

In a fifth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the fatigue driving detection methods described above.

The technical scheme of the invention has the following beneficial effects:

in the embodiment of the invention, at least one of the opening degree of human eyes, the posture of a human body and the position of the human body is detected by adopting a millimeter wave radar, and then whether a target object is in a fatigue driving state or not is judged according to the detected information, so that the detection precision is high without being influenced by light rays.

Drawings

Fig. 1 is a schematic flow chart of a fatigue driving detection method according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating a distance difference between an eyelid and an eyeball to a millimeter wave radar module according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating distances and angles of eyeballs detected by the millimeter wave radar module;

FIG. 4 is a schematic diagram illustrating a perceived decrease in eyeball size resulting from correcting head deflection in an embodiment of the present invention;

FIG. 5 is a schematic diagram of a position of a human body and a preset movement space range according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the timing at which the autopilot system takes over control of the vehicle in an embodiment of the invention;

fig. 7 is a schematic structural diagram of a fatigue driving detection apparatus according to a second embodiment of the present invention;

fig. 8 is a schematic overall structure diagram of a fatigue driving detection apparatus according to a second embodiment of the present invention;

fig. 9 is a schematic diagram of an appearance structure of a fatigue driving detection apparatus according to a second embodiment of the present invention;

fig. 10 is a schematic structural diagram of a fatigue driving detection apparatus according to a third embodiment of the present invention;

fig. 11 is a schematic structural diagram of a fatigue driving detection apparatus according to a fourth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

Referring to fig. 1, fig. 1 is a schematic flow chart of a fatigue driving detection method according to an embodiment of the present invention, including the following steps:

step 11: acquiring first related information of a target object, wherein the first related information comprises at least one of the size of eyeballs surrounded by upper and lower eyelids, the posture of a human body and the position of the human body, and the first related information is obtained according to first information detected by a millimeter wave radar module which is arranged in front of the target object;

step 12: and judging whether the target object is in a fatigue driving state or not according to the first relevant information.

The size of the eyeball surrounded by the upper eyelid and the lower eyelid may also be referred to as the degree of opening or the degree of eye openness of the human eye, and the target object is also referred to as the driver. The millimeter wave radar module may be disposed above a cab windshield.

Since the opening and closing degree of eyes is reduced and the human body is abnormally inclined forward, inclined left and right, and the like when the human body is in fatigue driving, the embodiment of the invention selects at least one of the size, the posture and the position of the human body of the eyeball surrounded by the upper eyelid and the lower eyelid to judge whether the target object is in the fatigue driving state.

According to the fatigue driving detection method provided by the embodiment of the invention, at least one of the degree of opening of human eyes, the posture of a human body and the position of the human body is detected by adopting the millimeter wave radar, and then whether the target object is in the fatigue driving state or not is judged according to the detected information, so that the method is not influenced by light rays, the degree of opening of human eyes can be accurately detected even in a dark state, and the detection precision is high.

The fatigue driving detection method described above will be exemplified below.

In an optional specific embodiment, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid, and the first information includes a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the step of acquiring the first related information of the target object comprises the following steps:

Optionally, the first included angle may be calculated according to phase information detected by the millimeter wave radar module. The phase information specifically includes phase information corresponding to a middle position of the upper eyelid edge and phase information corresponding to a middle position of the lower eyelid edge.

Wherein, the height value between the middle position of the upper eyelid edge and the middle position of the lower eyelid edge can be used as the size of the eyeball surrounded by the upper eyelid and the lower eyelid. The height value between the middle positions of the edges of the upper and lower eyelids may be regarded as the maximum height value between the upper and lower eyelids. Specifically, the central position of the edge of the upper eyelid, that is, the central position of the boundary line between the upper eyelid and the eyeball, may be considered as the highest point of the eyeball surrounded by the upper eyelid and the lower eyelid; the central position of the lower eyelid edge, i.e., the central position of the boundary line between the lower eyelid and the eyeball, can be considered as the lowest point of the eyeball surrounded by the upper eyelid and the lower eyelid.

In the embodiment of the invention, the eyelid is positioned on the outer side of the eyeball and has a certain thickness, so that the eyelid and the eyeball can be distinguished by the distance detected by the millimeter wave radar module. Specifically, the eyelids and the eyeball can be detected by millimeter wave radar to perform digital 3D (stereo) modeling, a digital 3D model is formed, and the opening and closing degree of the human eyes (eyelids) is sensed.

In another optional specific embodiment, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid, and the first information includes a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the step of acquiring the first related information of the target object comprises the following steps:

The area of the eyeball surrounded by the upper eyelid and the lower eyelid can be used as the size of the eyeball surrounded by the upper eyelid and the lower eyelid.

The specific process of calculating the height value between the middle position of the upper eyelid edge and the middle position of the lower eyelid edge and the width value between the inner canthus and the outer canthus (i.e., detecting the degree of opening) will be exemplified below.

First, referring to fig. 2, since the eyelid 1 is close to the eyeball 2 and has a certain thickness, generally about 2mm to 3mm (mm), the distance difference can be accurately calculated when the millimeter wave radar module 3 (for example, a 77GHz millimeter wave radar module) is used for irradiation. By the distance difference, a digitized 3D model of the eyelid and the eyeball is created.

Then, referring to fig. 3, fig. 3 is a digitized 3D model (image) detected by the millimeter wave radar module, and the angle information between the two points can be calculated according to the phase difference between the middle position of the upper eyelid edge and the middle position of the lower eyelid edge detected by the millimeter wave radar module, which is denoted as α 1, and the half angle α thereof is α 1/2. And obtaining the distance L between the millimeter wave radar module (central point) and the eyeball according to the distance detected by the millimeter wave radar module. And calculating to obtain a height value (namely an eye height value) H-2 tan alpha L between the middle position of the upper eyelid edge and the middle position of the lower eyelid edge. Similarly, a width value between the inner canthus and the outer canthus, i.e. an eye width value, can be calculated. Further, the area (eye opening area) a of the eyeball surrounded by the upper and lower eyelids can be obtained. If the target object is currently in the closed-eye state, the calculated area A is 0.

Since the sitting posture of the target object (i.e., the driver) may be changed and the target object (the driver) may be replaced, the millimeter wave radar module may have a difference between forward and backward directions at the next detection. For example, referring to fig. 3, if the target object tilts forward, it is detected that the distance between the millimeter wave radar module (center point) and the eyeball (center) is L1, the eye height angle is β 1, the half angle β thereof is β 1/2, and the calculated eye height value is H1-2-tan β L1. Similarly, the current eye width value of the target object (the width value between the inner canthus and the outer canthus) can be calculated. The area a1 of the eyeball surrounded by the current upper eyelid and the current lower eyelid of the target object can be further obtained. That is, the millimeter wave radar module may perform multiple or real-time detections, and then determine whether the current state of the current target object is a fatigue driving state according to the first information currently detected by the millimeter wave radar module.

In the case where the driver may be replaced, the embodiment of the present invention needs to dynamically adjust the determination threshold.

In addition, when judging whether the target object is in a fatigue driving state according to the first related information, the interference of the blinking of the transient state needs to be filtered. For example, the target object is determined to be in a fatigue driving state only when the acquired size of the eyeball surrounded by the upper and lower eyelids is smaller than a first determination threshold value and continues for a preset time length. Or when the sizes of the eyeballs surrounded by the upper eyelid and the lower eyelid acquired for N (1) times are smaller than a first judgment threshold value, judging that the target object is in a fatigue driving state.

if the distance between the millimeter wave radar module and the two eyes is different, calculating the deflection angle of the eyes according to the distance between the millimeter wave radar module and the two eyes and the distance between the two eyes;

When the human face deflects left and right, the distances m and n between the eyes (eyeball center points) and the millimeter wave radar module (center point) are different. The distance k between the two eyes may be acquired in advance, for example, measured in advance, and the distance between the two eyes is fixed for the same target object, so that the distance between the two eyes measured before may be acquired for calculating the deflection angle for the target object.

In the embodiment of the present invention, since the head (i.e., the face) of the target object may deflect left and right, a correction process is required to calculate the area of the eyeball surrounded by the upper eyelid and the lower eyelid.

As an alternative specific implementation manner, after the step of calculating the width value between the inner canthus and the outer canthus according to the distance between the millimeter wave radar module and the eyeball and the second included angle, the method further includes:

if the distance between the millimeter wave radar module and the two eyes is different, calculating the deflection angle according to the distance between the millimeter wave radar module and the two eyes and a third included angle, wherein the third included angle is an included angle between a fifth connecting line and a sixth connecting line, and the fifth connecting line and the sixth connecting line are respectively connecting lines between the millimeter wave radar module and the two eyes;

Specifically, referring to fig. 4, the distance k between the two eyes can be calculated according to the distance (m and n) between the millimeter wave radar module and the two eyes and a third included angle γ, where the third included angle γ is an included angle between a fifth connection line and a sixth connection line, the fifth connection line is a connection line between the millimeter wave radar module and the left eye (eyeball center point), and the sixth connection line is a connection line between the millimeter wave radar module and the right eye (eyeball center point). The third angle γ can be obtained from phase information detected by the millimeter wave radar. After the distance k between the two eyes is calculated according to the distance (m and n) between the millimeter wave radar module and the two eyes and the included angle γ, firstly, the distance a is calculated according to the distance m between the left eye and the millimeter wave radar module in fig. 4, then, the distance difference b between the millimeter wave radar module and the two eyes is calculated according to the distance n between the right eye and the millimeter wave radar module, and finally, the deflection angle θ is calculated according to k, a and b. And after the deflection angle theta is calculated, according to the deflection angle theta and the currently perceived width value, recalculating the real width value, namely the first width value according to a trigonometric formula, and calculating the area of the eyeball surrounded by the upper eyelid and the lower eyelid according to the first width value. Therefore, when the head (or the face) of the target object deflects left and right, the area of the eye opening can be accurately calculated, and false alarm is prevented.

That is, for the area reduction of the degree of opening (i.e., eye opening) caused by the head deflection, the head deflection angle (i.e., eye deflection angle) can be calculated through the distance difference between the two eyes and the millimeter wave radar module and the angle between the two eyes and the millimeter wave radar module (center point), and the real degree of opening and closing area can be calculated.

Similarly, the vertical deflection angle of the head (if the distance from the millimeter wave radar module to the highest point of the upper eyelid edge and the lowest point of the lower eyelid edge is different, the head is considered to be vertically deflected) can be calculated, and then the height value is corrected.

Of course, in other optional embodiments, after a first included angle between a first connection line (the first connection line is a connection line between the middle position of the edge of the upper eyelid and the millimeter wave radar module) and a second connection line (the second connection line is a connection line between the middle position of the edge of the lower eyelid and the millimeter wave radar module) is calculated according to the phase information detected by the millimeter wave radar module, a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid may be calculated according to the first included angle, the length of the first connection line, and the length of the second connection line by using a cosine law. Similarly, after a second included angle between a third connection line (the third connection line is a connection line between the inner canthus and the millimeter wave radar module) and a fourth connection line (the fourth connection line is a connection line between the outer canthus and the millimeter wave radar module) is calculated according to the phase information detected by the millimeter wave radar module, a width value between the inner canthus and the outer canthus can be calculated by using a cosine law according to the second included angle, the length of the third connection line and the length of the fourth connection line.

In the embodiment of the invention, the human head portrait information (specifically, the eye position) can be captured by the image acquisition module (for example, a camera), and the millimeter wave radar module is assisted to accurately position the eye position of the target object. Therefore, the millimeter wave radar module can quickly and accurately position eyes.

In the embodiment of the present invention, the image acquisition module (e.g., a camera) may be matched with the millimeter wave radar module, or the image acquisition module (e.g., a camera) may be used to assist in detecting the posture of the human body and/or the position of the human body more accurately.

For example, because a person is asleep and usually accompanied by a forward leaning or left-right deviation from a normal sitting posture, referring to fig. 5, the embodiment of the present invention can detect the position of the human body, and preset a movement space range 6 (a second determination threshold), and if the human body of the target object 5 exceeds the preset movement space range 6, the sitting posture of the target object is considered to be abnormal. Of course, human body postures may also be detected, such as sitting postures, relative positions of the head, and the like.

alternatively, the first and second electrodes may be,

In addition, optionally, the first related information includes a size of an eyeball surrounded by the upper and lower eyelids; the step of judging whether the target object is in a fatigue driving state according to the first related information comprises the following steps:

sending first information detected by the millimeter wave radar module and/or second information acquired by the image acquisition module to a server, so that the server acquires second related information of the target object according to the first information and/or the second information; receiving a digital 3D model issued by the server according to the second relevant information; determining the first judgment threshold according to the digital 3D model, wherein the first judgment threshold is a threshold corresponding to the size; and judging whether the target object is in a fatigue driving state or not according to the size and the first judgment threshold value.

In the embodiment of the invention, the 5G network can be matched, and high-speed interaction is carried out between local modeling and a cloud (server) model, so that the big data analysis capability is realized.

In the embodiment of the present invention, a first determination threshold may be set for the degree of opening of the eyes (the size of the eyeball surrounded by the upper and lower eyelids), and when the degree of opening of the eyes is lower than the first determination threshold, it is determined that the target object is in a fatigue driving state. The age and/or gender and/or physical form (stature) information of the target object can be acquired according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module, so that the digital 3D model can be matched and called more accurately, and more appropriate judgment thresholds are selected, namely, the first judgment thresholds which are adapted for different ages, genders and/or statures are selected, so that the detection of the fatigue state is more accurate. The age and/or the gender can be obtained through the information related to the human face, which is acquired by the millimeter wave radar module and/or the image acquisition module.

alternatively, the first and second electrodes may be,

In the embodiment of the present invention, information such as age and/or gender and/or body shape of the target object may be acquired according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module, so as to more accurately match and invoke the digital 3D model, and select a more appropriate determination threshold, that is, select an adapted second determination threshold for different ages, genders and/or statures, so as to more accurately detect the fatigue state. The age and/or the gender can be obtained through the information related to the human face, which is acquired by the millimeter wave radar module and/or the image acquisition module.

The above-mentioned determining whether the target object is in the fatigue driving state according to the size and the first determination threshold, and determining whether the target object is in the fatigue driving state according to the position of the human body and the second determination threshold, may be combined to jointly determine whether the target object is in the fatigue driving state.

Furthermore, the embodiment of the invention can also perform data interaction with a server (cloud) in real time through a 5G network, and upload the imaging information (used for judging second related information such as the age, sex and/or stature of the target object) of the face, body (human body) form and the like acquired by the local image acquisition module and the eye digital 3D model information and the body posture digital model captured by the millimeter wave radar module to the server for big data analysis to acquire a more accurate digital 3D model, and download a more matched first judgment threshold value of the opening and closing degree of human eyes, human body posture threshold value information and/or a second judgment threshold value (or called as a human body activity range threshold value model) of the position of the human body so as to more accurately judge whether the current state of the target object is the fatigue driving state. Particularly, data interaction can be performed with a server (cloud) in real time through a wireless network (e.g., a 5G network).

Further optionally, the method further comprises at least one of:

that is, after the warning information is output, the target object is still in a fatigue driving state, i.e., the warning is invalid.

And if the target object is judged to be in the fatigue driving state, sending second notification information to target equipment outside the vehicle. The second notification information is used for indicating that the target object is in a fatigue driving state.

The output of the warning information may specifically be controlling a speaker to make a sound warning and/or controlling a screen to display warning information, and the like, for reminding the target object.

Referring to fig. 6, if it is determined that the target object is in a fatigue driving state and the warning is invalid, a first notification message is sent to an automatic driving system, so that the specific process of the automatic driving system taking over control of the vehicle is as follows:

step 61: acquiring first related information of a target object;

step 62: judging whether the target object is in a fatigue driving state or not according to the first relevant information;

and step 63: if the target object is in a fatigue driving state, outputting alarm information; otherwise, go to step 61;

step 64: acquiring first related information of the target object, and judging whether the target object is in a fatigue driving state according to the first related information; and if the driver is still in the fatigue driving state, sending first notification information to an automatic driving system.

Specifically, the first notification information may be sent to the automatic driving system through a Controller Area Network (CAN, a common protocol for an automotive bus) bus and/or a wireless communication module (e.g., a WiFi module or a 5G communication module), so as to trigger automatic driving. After the automatic driving system takes over the control of the automobile, the preset danger avoiding strategies such as automatic driving, speed reduction, side parking and the like can be executed (according to a navigation line). Especially when the vehicle is in a high-speed driving state, the automatic control system is automatically linked with the automatic driving (control) system of the vehicle, and the automatic driving (control) system of the vehicle takes over the control of the vehicle, so that the occurrence of danger can be avoided, and the driving safety can be ensured. If the vehicle is detected to be in a flameout state, the first notification information does not need to be sent to the automatic driving system. Alternatively, the fatigue driving detection may be controlled to be turned off if it is detected that the vehicle is in a flameout state.

Specifically, the second notification information can be sent through a 5G network, so that unified cluster management of multiple vehicles can be realized, the method is particularly suitable for unified cluster management of long-distance fleets, and fatigue driving risks which can be sent are avoided. For example, the second notification information may be sent to vehicle-mounted devices of other vehicles in the fleet or terminal devices carried by people on the other vehicles, so that the people on the other vehicles can communicate or remind the target object through terminal devices such as a smart phone or an interphone, or drive the vehicle instead of the target object.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a fatigue driving detection device according to a second embodiment of the present invention, where the fatigue driving detection device 70 includes: a millimeter wave radar module 71 and a processor 72;

the millimeter wave radar module 71 is configured to detect first information;

the processor 72 is configured to obtain first related information of the target object according to the first information, where the first related information includes at least one of a size of an eyeball surrounded by upper and lower eyelids, a posture of a human body, and a position of the human body; judging whether the target object is in a fatigue driving state or not according to the first relevant information;

The size of the eyeball surrounded by the upper and lower eyelids may be referred to as the degree of opening or the degree of eye opening of the human eye, and the target object is also referred to as the driver. The millimeter wave radar module 71 may be integrated with the processor 72 to form the fatigue driving detection device, which may be disposed above the cab windshield (i.e., in front of the target object). Of course, in other alternative embodiments, the millimeter wave radar module 71 and the processor 72 may be disposed at different locations, for example, only the millimeter wave radar module 71 is disposed above the windshield of the cab, and the processor 72 is disposed at other places of the vehicle, and the two are connected through a wired or wireless communication module.

the processor 72 is configured to distinguish an eyelid from an eyeball according to the plurality of distances detected by the millimeter wave radar module;

the processor 72 is further configured to calculate a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module.

the processor 72 is further configured to calculate a height value between the middle position of the edge of the upper eyelid and the middle position of the edge of the lower eyelid according to the first included angle detected by the millimeter wave radar module and the distance between the millimeter wave radar module and the eyeball; the first included angle is an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between the middle position of the edge of the upper eyelid and the millimeter wave radar module, and the second connecting line is a connecting line between the middle position of the edge of the lower eyelid and the millimeter wave radar module;

the processor 72 is further configured to calculate a width value between an inner canthus and an outer canthus according to a second included angle detected by the millimeter wave radar module and a distance between the millimeter wave radar module and the eyeball, where the second included angle is an included angle between a third connection line and a fourth connection line, the third connection line is a connection line between the inner canthus and the millimeter wave radar module, and the fourth connection line is a connection line between the outer canthus and the millimeter wave radar module;

the processor 72 is further configured to calculate an area of an eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the width value.

Optionally, the processor 72 is further configured to calculate a deflection angle of the eyes according to the distance between the millimeter wave radar module and the two eyes and the distance between the two eyes if the distance between the millimeter wave radar module and the two eyes is different; or calculating the deflection angle according to the distance between the millimeter wave radar module and the two eyes and a third included angle, wherein the third included angle is an included angle between a fifth connecting line and a sixth connecting line, and the fifth connecting line and the sixth connecting line are respectively connecting lines between the millimeter wave radar module and the two eyes;

the processor 72 is further configured to calculate a first width value according to the deflection angle and the width value;

the processor 72 is further configured to calculate an area of an eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the first width value.

the processor 72 is configured to determine an eye position of the target object according to the second information acquired by the image acquisition module;

the processor 72 is further configured to obtain the plurality of distances detected by the millimeter wave radar module for the eye position, and distinguish an eyelid from an eyeball.

the processor 72 is configured to obtain the human body posture and/or the position of the human body according to the first information detected by the millimeter wave radar module and the second information acquired by the image acquisition module.

the processor 72 is configured to obtain second relevant information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a first judgment threshold corresponding to the size according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the first judgment threshold and the size;

alternatively, the first and second electrodes may be,

the processor 72 is configured to send first information detected by the millimeter wave radar module and/or second information acquired by the image acquisition module to a server, so that the server obtains second relevant information of the target object according to the first information and/or the second information; receiving a first judgment threshold value issued by the server according to the second relevant information, wherein the first judgment threshold value is a threshold value corresponding to the size; judging whether the target object is in a fatigue driving state or not according to the size and the first judgment threshold value;

the processor 72 is configured to obtain second relevant information of the target object according to the first information detected by the millimeter wave radar module and/or the second information acquired by the image acquisition module; determining a second judgment threshold corresponding to the position of the human body according to the second relevant information; judging whether the target object is in a fatigue driving state or not according to the second judgment threshold and the position of the human body;

alternatively, the first and second electrodes may be,

the processor 72 is configured to send first information detected by the millimeter wave radar module and/or second information acquired by the image acquisition module to a server, so that the server obtains second relevant information of the target object according to the first information and/or the second information; receiving a second judgment threshold value issued by the server according to the second relevant information, wherein the second judgment threshold value is a threshold value corresponding to the position of the human body; judging whether the target object is in a fatigue driving state or not according to the position of the human body and the second judgment threshold;

In summary, the fatigue driving detection device provided by the embodiment of the invention has self-learning and self-adaptive capabilities, and can dynamically adjust the judgment threshold.

Optionally, the processor 72 is further configured to perform at least one of the following steps:

That is to say, the detection device may prompt the target object when determining that the target object is in a fatigue driving state, and may also automatically inform an automatic driving system of the vehicle when the warning is invalid, so as to start an automatic driving function, perform operations such as automatic driving, vehicle avoidance, deceleration parking, and the like, and avoid danger.

Referring to fig. 8, fig. 8 is a schematic diagram of a hardware structure of the fatigue driving detecting device, which specifically includes:

the processor (CPU)72, an Artificial Intelligence (AI) algorithm, and a core chip of system operation are responsible for the operation processing of the digitized 3D model, and the specific functions are described above and will not be described herein again.

The millimeter wave radar module 71 is configured to detect the first information. Specifically, distance and angle information can be accurately detected, and a digital 3D model can be constructed. That is, it is responsible for acquiring digitized 3D data of eyelids, eyeballs, position information of the human body, and/or posture information of the human body. A77 GHz millimeter wave radar module can be selected.

The image collecting module 73 is configured to collect the second information, and specifically includes at least one of patterned information such as a human face, a human body shape, a human body posture, and a position of the human body, which can be referred to above in detail.

An audible alarm 74 for receiving the alarm information output by the processor and emitting a sound for alerting the target object; the audible alarm 74 may specifically be a horn.

A bus system 75 respectively connected to the processor 72 and the automatic driving system, and configured to be responsible for communication between the processor 72 and the automatic driving system, for example, to transmit first notification information sent by the processor 72 to the automatic driving system; in particular a CAN bus system.

The 5G communication module 76 can implement high-speed wireless data transmission at 2Gbps, and the detailed functions thereof are described above and will not be described in detail here. A SIM card slot can be arranged in the 5G communication module. Of course, other cellular communication modules are also possible, such as 4G communication modules or future 6G communication modules, etc., which are not described in detail here.

A 5G Multiple Input Multiple Output (MIMO) antenna 77 for implementing high bandwidth transmission of 5G networks up to 1Gbps or more.

Flash memory (Flash)78, non-volatile storage, for firmware storage/data model storage, etc., e.g., for saving the digitized 3D model described above, etc.

DDR4 internal memory 79 and DDR4 internal memory particles are externally hung on a CPU and used for running a system and software.

The WiFi module 80 may be configured to interact with the automatic driving system, for example, transmit the first notification information to trigger automatic driving.

And a screen 81 for interacting with alarm states/system settings and for displaying alarm information.

And the power supply module 82 is used for supplying power to all parts of the detection device.

Referring to fig. 9, fig. 9 is a schematic diagram of an appearance of the detecting device, and optionally, the detecting device may further include:

a fill-in light 91 disposed near the image capture module (i.e., camera) 73;

a hanger 92 for hanging the device above a cab windscreen;

a power interface 93, connected to the power module 82 built in the device, or a part of the power module 82, for externally connecting an external power supply such as a commercial power;

in addition, the 5G mimo antenna 77 may be in the form of a patch in fig. 9.

The embodiment of the present invention is a product embodiment corresponding to the above method embodiment, and therefore, detailed description is omitted here, and please refer to the first embodiment in detail.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a fatigue driving detection device according to a third embodiment of the present invention, where the fatigue driving detection device 100 includes:

the acquisition module 101 is configured to acquire first related information of a target object, where the first related information includes at least one of a size of an eyeball surrounded by upper and lower eyelids, a posture of a human body, and a position of the human body, and the first related information is obtained according to first information detected by a millimeter wave radar module, where the millimeter wave radar module is disposed in front of the target object;

the judging module 102 is configured to judge whether the target object is in a fatigue driving state according to the first related information.

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid, and the first information includes a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the acquisition module 101 includes:

Optionally, the obtaining module 101 further includes:

and the fourth calculating unit is used for calculating the area of the eyeball surrounded by the upper eyelid and the lower eyelid according to the height value and the first width value.

Optionally, the distinguishing unit includes:

Optionally, the first related information includes the posture of the human body and/or the position of the human body; the acquisition module 101 includes:

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid; the determining module 102 includes:

alternatively, the first and second electrodes may be,

Optionally, the first related information includes a position where the human body is located; the determining module 102 includes:

alternatively, the first and second electrodes may be,

Referring to fig. 11, fig. 11 is a schematic structural diagram of a fatigue driving detection apparatus according to a fourth embodiment of the present invention, where the fatigue driving detection apparatus 110 includes a processor 111, a memory 112, and a computer program stored in the memory 112 and capable of running on the processor 111; the processor 111, when executing the computer program, implements the steps of:

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid, and the first information includes a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the processor 111, when executing the computer program, may further implement the following steps:

the step of acquiring the first related information of the target object comprises the following steps:

Optionally, the processor 111 may further implement the following steps when executing the computer program:

after the step of calculating the width value between the inner canthus and the outer canthus according to the distance between the millimeter wave radar module and the eyeball and the second included angle, the method further comprises the following steps:

the step of distinguishing an eyelid from an eyeball according to the plurality of distances detected by the millimeter wave radar module includes:

Optionally, the first related information includes the posture of the human body and/or the position of the human body; the processor 111, when executing the computer program, may further implement the following steps:

Optionally, the first related information includes a size of an eyeball surrounded by the upper eyelid and the lower eyelid; the processor 111, when executing the computer program, may further implement the following steps:

the step of judging whether the target object is in a fatigue driving state according to the first related information comprises the following steps:

alternatively, the first and second electrodes may be,

Optionally, the first related information includes a position where the human body is located; the processor 111, when executing the computer program, may further implement the following steps:

alternatively, the first and second electrodes may be,

Optionally, when the processor 111 executes the computer program, at least one of the following steps may be further implemented:

The specific working process of the embodiment of the present invention is the same as that of the first embodiment of the method, and therefore, detailed description is not repeated here, and please refer to the description of the method steps in the first embodiment.

Ninth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in any one of the fatigue driving detection methods in the first embodiment. Please refer to the above description of the method steps in the corresponding embodiments.

The computer-readable storage media described above, 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.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A fatigue driving detection method, characterized by comprising:

2. The method according to claim 1, wherein the first related information includes a size of an eyeball surrounded by the upper and lower eyelids, the first information including a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the step of acquiring the first related information of the target object comprises the following steps:

3. The method according to claim 1, wherein the first related information includes a size of an eyeball surrounded by the upper and lower eyelids, the first information including a plurality of distances and angles between the millimeter wave radar module and the eye position of the target object; the step of acquiring the first related information of the target object comprises the following steps:

4. The method according to claim 3, wherein after the step of calculating the width between the inner canthus and the outer canthus according to the distance between the millimeter wave radar module and the eyeball and the second included angle, the method further comprises:

5. The method according to claim 2 or 3, wherein the step of distinguishing an eyelid from an eyeball according to the plurality of distances detected by the millimeter wave radar module comprises:

6. The method according to claim 1, wherein the first related information comprises the body posture and/or the position of the body; the step of acquiring the first related information of the target object comprises the following steps:

7. The method according to claim 1, wherein the first related information includes a size of an eyeball surrounded by the upper and lower eyelids; the step of judging whether the target object is in a fatigue driving state according to the first related information comprises the following steps:

alternatively, the first and second electrodes may be,

8. The method of claim 1, wherein the first related information includes a location of the human body; the step of judging whether the target object is in a fatigue driving state according to the first related information comprises the following steps:

alternatively, the first and second electrodes may be,

9. The method of claim 1, further comprising at least one of:

10. A fatigue driving detecting device, characterized by comprising: the millimeter wave radar module and the processor;

the millimeter wave radar module is used for detecting first information;

11. A fatigue driving detecting device, characterized by comprising:

12. A fatigue driving detection apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor; characterized in that the processor, when executing the computer program, carries out the steps in the fatigue driving detection method according to any one of claims 1 to 9.

13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the fatigue driving detection method according to any one of claims 1 to 9.