CN113516015B - Emotion recognition method, driving assisting device and application - Google Patents
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Abstract
Description
技术领域Technical field
本发明涉及汽车安全和智能辅助驾驶领域，具体为一种情绪识别方法、辅助驾驶装置以及应用。The invention relates to the fields of automobile safety and intelligent auxiliary driving, specifically an emotion recognition method, auxiliary driving device and application.
背景技术Background technique
驾驶员长期处在狭小的密闭空间，一旦遇上较为复杂的路况，如堵车，容易引起情绪变动，加大交通事故发生的概率。Drivers have been in a small confined space for a long time. Once they encounter more complex road conditions, such as traffic jams, it is easy to cause emotional changes and increase the probability of traffic accidents.
目前，通过皮电反应测试可以直接获取被测者的情绪生理信息，但是此类方法需要时刻接触人体，因此会对驾驶行为产生干扰，不适合用于对驾驶员的情绪采集。At present, the subject's emotional and physiological information can be directly obtained through galvanic skin response testing. However, such methods require constant contact with the human body, so they will interfere with driving behavior and are not suitable for collecting the driver's emotions.
因此，在汽车日趋智能化的当下，亟需配备情绪识别系统来识别驾驶员的紧张情绪并采取必要的措施，保障驾驶的舒适性以及道路的安全。Therefore, as cars become increasingly intelligent, it is urgent to be equipped with an emotion recognition system to identify the driver's nervousness and take necessary measures to ensure driving comfort and road safety.
发明内容Contents of the invention
本发明的目的在于提供一种情绪识别方法、辅助驾驶装置以及应用，能够通过视频图像对驾驶员情绪进行判断，无需接触人体，对驾驶行为无任何干扰。The purpose of the present invention is to provide an emotion recognition method, an auxiliary driving device and an application, which can judge the driver's emotion through video images without contacting the human body and without any interference to driving behavior.
本发明的技术方案是：一种情绪识别方法，包括：The technical solution of the present invention is: an emotion recognition method, including:
采集驾驶员正常坐姿下的人脸图像；Collect facial images of the driver in normal sitting posture;
采集所述人脸图像中的人脸区域面积、眼睛区域面积以及嘴巴特征作为表情识别的参数；Collect the face area, eye area and mouth features in the face image as parameters for expression recognition;
在车辆行驶中，周期性采集驾驶员的人脸图像，并将每一张人脸图像中的人脸区域面积、眼睛区域面积以及嘴巴特征与正常坐姿下的人脸图像进行比较，进行紧张情绪识别。While the vehicle is driving, the driver's face images are collected periodically, and the face area, eye area, and mouth features in each face image are compared with the face image in a normal sitting posture to evaluate the nervousness. Identify.
所述“并将每一张人脸图像中的人脸区域面积、眼睛区域面积以及嘴巴特征与正常坐姿下的人脸图像进行比较，进行紧张情绪识别”，包括："Compare the face area, eye area and mouth features in each face image with the face image in a normal sitting posture to identify nervous emotions", including:
设：待测人脸区域面积Sface、待测眼睛区域面积Seye和待测嘴巴特征λ；Assume: the area of the face area to be measured S face , the area of the eye area to be measured S eye and the mouth feature λ to be measured;
人脸区域面积S’face、眼睛区域面积S’eye和嘴巴特征λ’；Face area S' face , eye area S' eye and mouth feature λ';
若，Sface≥1.2S’face和/或和/或/>时，判定为驾驶员处于紧张状态。If, S face ≥1.2S' face and/or and/or/> , it is determined that the driver is in a nervous state.
所述“判定为驾驶员处于紧张状态”后，包括：After "it is determined that the driver is in a nervous state", it includes:
根据驾驶员处于紧张状态的时间，逐步对车辆进行控制，以保证驾驶安全。Based on the time the driver is in a tense state, the vehicle is gradually controlled to ensure driving safety.
所述“根据驾驶员处于紧张状态的时间，对车辆进行控制”，包括：The "control of the vehicle based on the time the driver is in a tense state" includes:
由控制时间由短到长，分别为：控制汽车的影音系统播放抒情的轻音乐或对汽车进行限速或在对汽车限速的同时打开车辆的双闪。From short to long control time, they are as follows: controlling the car's audio and video system to play lyrical light music or limiting the speed of the car or turning on the vehicle's double flashers while limiting the speed of the car.
一种如上所述的情绪识别方法在驾驶员紧张情绪识别方向的应用。An application of the emotion recognition method as described above in the direction of driver stress recognition.
一种应用了如上所述的情绪识别方法的辅助驾驶装置，包括：An assisted driving device applying the emotion recognition method as described above, including:
微处理模块；Microprocessing module;
车内摄像头，与所述微处理模块电性连接，用于采集车内驾驶员的图像；An in-car camera, electrically connected to the microprocessing module, is used to collect images of the driver in the car;
数据传输模块，与所述微处理模块电性连接，用于采集所述微处理模块在检测到驾驶员紧张情绪时发出的控制指令；A data transmission module, electrically connected to the microprocessing module, is used to collect control instructions issued by the microprocessing module when the driver's nervousness is detected;
执行模块，与所述数据传输模块电性连接，用于执行所述数据传输模块传递的所述控制指令。An execution module is electrically connected to the data transmission module and is used to execute the control instructions transmitted by the data transmission module.
所述执行模块，包括：The execution module includes:
影音系统，设置在待控制车辆内部，用于根据所述微处理模块发出的所述控制指令进行工作；An audio-visual system is installed inside the vehicle to be controlled and used to work according to the control instructions issued by the microprocessing module;
油门控制器，设置在待控制车辆内部，用于根据所述微处理模块发出的所述控制指令进行工作；A throttle controller is provided inside the vehicle to be controlled, and is used to work according to the control instructions issued by the microprocessing module;
双闪灯控制器，设置在待控制车辆上，用于根据所述微处理模块发出的所述控制指令进行工作。A double flashing light controller is provided on the vehicle to be controlled, and is used to work according to the control instructions issued by the microprocessing module.
上述的辅助驾驶装置，还包括：The above-mentioned auxiliary driving devices also include:
卫星与通信模块，与所述微处理模块无线通信，用于发送信息。The satellite and communication module communicate wirelessly with the microprocessing module and are used to send information.
上述的辅助驾驶装置，还包括：The above-mentioned auxiliary driving devices also include:
存储模块，设置在所述微处理模块与所述车内摄像头之间，用于存储所述车内摄像头采集的图片信息。A storage module is provided between the microprocessing module and the in-vehicle camera, and is used to store picture information collected by the in-vehicle camera.
上述的辅助驾驶装置，还包括：The above-mentioned auxiliary driving devices also include:
电源模块，分别与所述微处理模块、所述车内摄像头、所述数据传输模块以及所述执行模块电性连接，用于供电。The power module is electrically connected to the microprocessing module, the in-vehicle camera, the data transmission module and the execution module respectively for power supply.
本发明的有益效果至少包括：本发明通过车内摄像头对驾驶员进行情绪的计算和识别，无需与人体进行直接接触，避免了对驾驶员的驾驶行为产生干扰；在汽车行驶中检测人脸图像进行情绪识别时，采用人脸区域面积、眼睛区域面积和嘴巴特征多参数同时计算，避免单一参数计算错误或遗漏造成误判，保证情绪识别的准确性、可靠性；采用三级调节的控制机制，一定程度上避免驾驶员因紧张情绪导致的交通事故，保障驾驶员和周围道路的安全。The beneficial effects of the present invention at least include: the present invention calculates and recognizes the driver's emotions through the in-car camera without direct contact with the human body, avoiding interference with the driver's driving behavior; detecting face images while the car is driving When performing emotion recognition, multi-parameters such as face area, eye area and mouth characteristics are calculated simultaneously to avoid misjudgments caused by single parameter calculation errors or omissions, ensuring the accuracy and reliability of emotion recognition; a three-level adjustment control mechanism is adopted , to a certain extent, avoid traffic accidents caused by driver tension and ensure the safety of drivers and surrounding roads.
附图说明Description of drawings
图1为本发明所述方法的流程图。Figure 1 is a flow chart of the method of the present invention.
图2为本发明所述方法中嘴巴特征的一种示意图。Figure 2 is a schematic diagram of mouth features in the method of the present invention.
图3为本发明所述方法中嘴巴特征的另一种示意图。Figure 3 is another schematic diagram of mouth features in the method of the present invention.
图4为本发明所述方法中嘴巴特征的再一种示意图。Figure 4 is another schematic diagram of mouth features in the method of the present invention.
图5为本发明所述方法中人脸识别示意图。Figure 5 is a schematic diagram of face recognition in the method of the present invention.
图6为本发明所述辅助驾驶装置的结构框图。Figure 6 is a structural block diagram of the auxiliary driving device according to the present invention.
具体实施方式Detailed ways
下面结合附图对本申请进行进一步的说明。The present application will be further described below in conjunction with the accompanying drawings.
如图1，一种情绪识别方法，包括：As shown in Figure 1, an emotion recognition method includes:
采集驾驶员正常坐姿下的人脸图像；采集所述人脸图像中的人脸区域面积、眼睛区域面积以及嘴巴特征作为表情识别的参数；在车辆行驶中，周期性采集驾驶员的人脸图像，并将每一张人脸图像中的人脸区域面积、眼睛区域面积以及嘴巴特征与正常坐姿下的人脸图像进行比较，进行紧张情绪识别。Collect the driver's face image in the normal sitting posture; collect the face area, eye area area and mouth characteristics in the face image as parameters for expression recognition; while the vehicle is driving, periodically collect the driver's face image , and compare the face area, eye area and mouth features in each face image with the face image in a normal sitting posture to identify nervous emotions.
如图2～5，根据情绪的不同，嘴巴的特点也不同，可对嘴巴特征λ进行量化，即：定义两边嘴角的坐标为(a1，b1)、(a2，b2)，连接这两点得到线段c，其中点为，嘴巴的最高点坐标为(a3,b3)，则/>生气时嘴巴特征λ会变小，微笑时嘴巴特征λ会变大，基于此，对驾驶员的情绪进行判断；As shown in Figures 2 to 5, the characteristics of the mouth are different depending on the emotion. The mouth feature λ can be quantified, that is, the coordinates of the corners of the mouth on both sides are defined as (a 1 , b 1 ), (a 2 , b 2 ), and connected These two points yield a line segment c, whose midpoint is , the coordinates of the highest point of the mouth are (a 3 ,b 3 ), then/> When you are angry, the mouth feature λ will become smaller, and when you smile, the mouth feature λ will become larger. Based on this, the driver's emotion is judged;
采集驾驶员正常坐姿下的人脸图像，然后记录下该图像人脸区域面积S’face、眼睛区域面积S’eye和嘴巴特征λ’作为表情识别的相关参数，并以此为基准进行存储。Collect the face image of the driver in the normal sitting posture, and then record the face area S' face , eye area area S' eye and mouth feature λ' of the image as relevant parameters for expression recognition, and store them as a basis.
汽车行驶过程中，车内摄像头实时检测驾驶员的人脸图像，采集频率为4帧/s，通过预处理后提取每帧图像的特征：待测人脸区域面积Sface、待测眼睛区域面积Seye和待测嘴巴特征λ；当Sface≥1.2S’face时，表明驾驶员身体向前倾，具有紧张的情绪倾向，此时预判为“紧张”，当Sface≤0.6S’face时，表明驾驶员身体后仰，情绪为冷静，此时预判为“不紧张”，当0.6S’face≤Sface≤1.2S’face时，不做预判，继续保持检测；While the car is driving, the camera in the car detects the driver's face image in real time, with a collection frequency of 4 frames/s. After preprocessing, the features of each frame of image are extracted: the area of the face area to be tested S face and the area of the eye area to be tested. S eye and the mouth feature λ to be measured; when S face ≥1.2S' face , it indicates that the driver is leaning forward and has a nervous emotional tendency. At this time, it is predicted to be "nervous". When Sf ace ≤0.6S'f When ace , it indicates that the driver's body is leaning back and his mood is calm. At this time, the prediction is "not nervous". When 0.6S'f ace ≤S face ≤1.2S' face , no prediction is made and the detection continues;
对于待测眼睛区域面积Seye的检测，由于身体前倾和后仰会导致其发生变化，产生干扰，需结合人脸区域面积进行计算，即定义，当时，表明驾驶员的眼睛趋向于睁大，此时预判为“紧张”，当/>时，表明驾驶员的眼睛趋向于闭合，此时预判为“不紧张”；For the detection of the area of the eye area S eye to be measured, since the forward and backward leaning of the body will cause it to change and cause interference, it needs to be calculated based on the area of the face area, that is, when When , it indicates that the driver's eyes tend to open wide, and it is predicted to be "nervous" at this time. When/> , it indicates that the driver's eyes tend to close, and the prediction is "not nervous" at this time;
对于待测嘴巴特征λ，考虑驾驶员前倾和后仰会产生干扰，需结合人脸区域面积进行计算，即定义：当时，表明驾驶员噘嘴，此时预判为“紧张”，当/>时，表明驾驶员微笑，此时预判为“不紧张”；当/>时，不做预判，继续保持检测。For the mouth feature λ to be measured, considering that the driver's forward and backward leaning will cause interference, it needs to be calculated based on the area of the face area, that is, it is defined: when When , it means that the driver pouts, and it is predicted to be "nervous" at this time. When/> When , it means that the driver is smiling, and the prediction is "not nervous" at this time; when/> , do not make any predictions and continue to detect.
根据驾驶员处于紧张状态的时间，根据下述情绪计算规则表，逐步对车辆进行控制，以保证驾驶安全，包括：According to the time the driver is in a tense state, the vehicle is gradually controlled according to the following emotion calculation rule table to ensure driving safety, including:
①若连续16帧(4s)的预判为“紧张”，则判断为一级紧张，此时微处理模块发送指令至汽车的影音系统播放抒情的轻音乐，直至“紧张”的预判解除；②若连续32帧(8s)预判为“紧张”(包含前面16帧)，则判断为二级紧张，此时微处理模块发送限速指令至汽车的中央控制系统(若此时速度≥80km/h，则将速度限制为最高80km/h，若此时速度＜80km/h，则将速度限制为最高60km/h)，直至“紧张”的预判解除，并将定位信息发至远端服务器；③若连续48帧(12s)预判为“紧张”(包含前面32帧)，则判断为三级紧张，此时继续对车辆进行限速，并打开双闪灯，直至“紧张”的预判解除；① If the prediction for 16 consecutive frames (4 seconds) is "tension", it is judged to be a first-level tension. At this time, the microprocessing module sends instructions to the car's audio-visual system to play lyrical light music until the prediction of "tension" is relieved; ② If 32 consecutive frames (8s) are predicted to be "stressful" (including the previous 16 frames), it is judged to be level 2 stress. At this time, the microprocessing module sends a speed limit instruction to the central control system of the car (if the speed at this time is ≥ 80km/ h, the speed will be limited to a maximum of 80km/h. If the speed is <80km/h, the speed will be limited to a maximum of 60km/h) until the "tension" prediction is relieved and the positioning information will be sent to the remote server. ; ③ If 48 consecutive frames (12 seconds) are predicted to be "stressful" (including the previous 32 frames), it will be judged to be level 3 stress. At this time, the vehicle will continue to be subject to speed limits and double flashers will be turned on until the "stressful" prediction is reached. Judgment is released;
表I：情绪计算规则表：Table I: Sentiment calculation rule table:
如图6，一种驾驶员紧张情绪识别的辅助驾驶装置，车内摄像头、储存模块、微处理模块、定位与通讯模块、供电模块、数据传输模块以及执行模块，其中：所述的车内摄像头用于采集驾驶员的人脸图像，具有红外补光功能，保证在夜间以及较暗环境下能够进行识别；所述的微处理模块用于对车内摄像头采集的图像进行预处理，其核心功能是情绪计算以及根据计算结果做出控制策略；所述的储存模块用于储存车内摄像头采集的人脸区域面积、眼睛区域面积、嘴巴特征以及情绪计算的比对规则；所述定位与通讯模块，能够接收定位信号，根据控制策略向远端服务器(如车辆运输管理系统)发送信息；所述的供电模块包含可充电电池；所述的数据传输模块用于将微处理模块发出的控制指令发送至至汽车的中央控制系统，如执行模块；供电模块为摄像头、储存模块、微处理模块、定位与通讯模块、数据传输模块等提供所需电源；所述的数据传输模块、供电模块使用一根总线连接至汽车中控端实现数据传输和充电功能，同时保证控制指令的实时传输。As shown in Figure 6, an auxiliary driving device for driver stress recognition, an in-car camera, a storage module, a microprocessing module, a positioning and communication module, a power supply module, a data transmission module and an execution module, wherein: the in-car camera It is used to collect the driver's face image and has an infrared fill-in function to ensure recognition at night and in darker environments; the microprocessing module is used to preprocess the images collected by the camera in the car, and its core function is It is the calculation of emotions and making control strategies based on the calculation results; the storage module is used to store the face area, eye area, mouth characteristics and comparison rules for emotion calculation collected by the camera in the car; the positioning and communication module , capable of receiving positioning signals and sending information to remote servers (such as vehicle transportation management systems) according to control strategies; the power supply module includes a rechargeable battery; the data transmission module is used to send control instructions issued by the microprocessing module To the central control system of the car, such as the execution module; the power supply module provides the required power for the camera, storage module, microprocessing module, positioning and communication module, data transmission module, etc.; the data transmission module and power supply module use a The bus is connected to the car's central control terminal to realize data transmission and charging functions, while ensuring real-time transmission of control instructions.
需要明确的是：所述的微处理模块可以是单片机模块，可设置专门的PCB电路板与储存模块、微处理模块、定位与通讯模块、数据传输模块等电性连接。What needs to be made clear is that the microprocessing module can be a single-chip microcomputer module, and a special PCB circuit board can be set to be electrically connected to the storage module, microprocessing module, positioning and communication module, data transmission module, etc.
需要明确的是：本发明所述的辅助驾驶装置可以设置在一个壳体内，统一安装。为了方便使用，可以将上述的壳体通过可拆卸的连接部件连接在车辆内后视镜上；所述的连接部件可以是夹具。What needs to be made clear is that the auxiliary driving device according to the present invention can be arranged in a housing and installed uniformly. For convenience of use, the above-mentioned housing can be connected to the vehicle interior rearview mirror through a detachable connecting component; the connecting component can be a clamp.
本发明所述的辅助驾驶装置的工作过程是：驾驶员上车后，调整坐姿，启动汽车，辅助驾驶装置开始工作，此时车内摄像头拍摄到的人脸图像经过微处理模块预处理提取待测人脸区域面积、待测眼睛区域面积和待测嘴巴特征以及情绪计算后将数据储存至储存模块。汽车行驶中，将实时检测人脸表情，微处理模块进行预处理提取特征并进行情绪的参数计算和比对，根据比对结果进行发送指令对车辆进行控制；汽车熄火后，情绪识别系统自动关闭。The working process of the auxiliary driving device of the present invention is: after the driver gets in the car, he adjusts his sitting posture, starts the car, and the auxiliary driving device starts to work. At this time, the face image captured by the camera in the car is pre-processed and extracted by the micro-processing module. The area of the face area, the area of the eye area to be measured, the characteristics of the mouth to be measured, and the emotion are calculated and then the data is stored in the storage module. While the car is driving, facial expressions will be detected in real time, and the microprocessing module will perform preprocessing to extract features, calculate and compare emotional parameters, and send instructions to control the vehicle based on the comparison results; after the car is turned off, the emotion recognition system will automatically shut down. .
一种如上所述的情绪识别方法可以应用在汽车驾驶员紧张情绪识别的技术方向。An emotion recognition method as described above can be applied in the technical direction of car driver stress recognition.
以上所述仅为发明的较佳实施例而己，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the invention and are not intended to limit the invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention shall be included in the protection of the invention. within the range.
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