CN113844455B - Method and device for braking a vehicle while the driver is tired - Google Patents
Method and device for braking a vehicle while the driver is tired Download PDFInfo
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- CN113844455B CN113844455B CN202110996318.XA CN202110996318A CN113844455B CN 113844455 B CN113844455 B CN 113844455B CN 202110996318 A CN202110996318 A CN 202110996318A CN 113844455 B CN113844455 B CN 113844455B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004397 blinking Effects 0.000 claims description 30
- 238000012790 confirmation Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 12
- 230000002618 waking effect Effects 0.000 claims description 11
- 206010039203 Road traffic accident Diseases 0.000 abstract description 5
- 208000027418 Wounds and injury Diseases 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 5
- 230000034994 death Effects 0.000 abstract description 5
- 231100000517 death Toxicity 0.000 abstract description 5
- 208000014674 injury Diseases 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000001815 facial effect Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006996 mental state Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
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- Automation & Control Theory (AREA)
- Transportation (AREA)
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- Regulating Braking Force (AREA)
Abstract
The application discloses a method and a device for braking a vehicle in a state that a driver is tired, and belongs to the technical field of vehicle control. The method comprises the following steps: determining whether the driver is in an exhausted state; if it is determined that the driver is in an exhausted state, the vehicle is decelerated by pressing a brake pedal of the vehicle by controlling the brake lever. This application has realized the warning to navigating mate, simultaneously, reduces the speed of vehicle, prevents the emergence of the traffic accident that leads to because the speed of a motor vehicle is too high, has reduced the personal injury and death.
Description
Technical Field
The application relates to the technical field of vehicle braking, in particular to a method and a device for braking a vehicle under the fatigue state of a driver.
Background
With the continuous development of automotive electronic technology, automobiles gradually become main transportation tools for people to go out, and automatic driving gradually becomes the future trend of the automobile market.
However, in the automatic driving process, when the vehicle detects that the mental state of the driver is tired, the vehicle controls a buzzer on the vehicle to play music, and then the driver is reminded.
However, the driver cannot be effectively reminded only by the buzzer on the vehicle, and therefore traffic accidents are easily caused when the driver is in an exhausted state, and even personal injuries and deaths are caused.
Disclosure of Invention
The embodiment of the application provides a method and a device for braking a vehicle under the fatigue state of a driver, and the method and the device can solve the problems that traffic accidents are easily caused under the fatigue state of the driver and even personal injuries and deaths are caused in the prior art. The technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for braking a vehicle in a state where a driver is tired, the method including:
determining whether the driver is in an exhausted state;
if it is determined that the driver is in an exhausted state, the vehicle is decelerated by controlling the brake lever to press a brake pedal of the vehicle.
Optionally, the determining whether the driver is in an exhausted state includes:
determining a blinking interval duration of a human eye and a closing duration of the human eye;
if the blinking interval duration is less than a first preset duration, or the closing duration is greater than a second preset duration, determining that the driver is in an exhausted state;
and if the blinking interval duration is greater than or equal to a first preset duration and the closing duration is less than or equal to a second preset duration, determining that the driver is in an awake state.
Optionally, the determining the blinking interval duration of the human eye and the closing duration of the human eye includes:
determining a first face image with an eye aspect ratio of 0 and a second face image with an eye aspect ratio of 0, wherein the eye aspect ratio corresponding to the previous face image of the first face image is not 0, the eye aspect ratio corresponding to the next face image of the second face image is not 0, and the eye aspect ratios of the face images between the first face image and the second face image are both 0;
determining a time interval between an acquisition time point corresponding to the first face image and an acquisition time point corresponding to the second face image as the closing time of the human eyes;
and determining the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the next first human face image, or determining the time interval between the acquisition time point corresponding to the second human face image and the acquisition time point corresponding to the next second human face image as the blinking interval duration of the human eyes.
Optionally, the pressing the brake pedal of the vehicle by controlling the brake lever includes:
sending a first pulse signal to a switching device, wherein the first pulse signal is used for controlling the switching device to be closed, and then after the switching device is closed, a power supply supplies power to a stepping motor pushing device;
sending a second pulse signal to the stepping motor pushing device, wherein the second pulse signal is used for controlling the stepping motor pushing device to extend a brake rod from an initial position at a first preset speed so as to press the brake pedal, and the brake rod at the initial position does not press the brake pedal.
Optionally, the method further includes:
when the driver is determined to be in the waking state, changing the second pulse signal into a third pulse signal, wherein the third pulse signal is used for controlling the stepping motor pushing device to retract the brake rod at a second preset speed;
receiving a position confirmation signal sent by a position detection device, wherein the position confirmation signal is used for indicating that the brake rod is contracted to the initial position;
stopping sending the first pulse signal to the switching device, and stopping sending the third pulse signal to the stepping motor pushing device.
Optionally, after determining that the driver is in an exhausted state, the method further includes:
sending a fourth pulse signal to a buzzer so that the buzzer plays according to the fourth pulse signal;
after the determining that the driver is in the awake state, further comprising:
and stopping sending the fourth pulse signal to the buzzer.
In a second aspect, an embodiment of the present application provides an apparatus for braking a vehicle while a driver is tired, the apparatus comprising:
a determination module configured to determine whether a driver is in a tired state;
a pressing module configured to press a brake pedal of the vehicle by controlling the brake lever to decelerate the vehicle if it is determined that the driver is in a tired state.
Optionally, the determining module is configured to:
determining a blinking interval duration of a human eye and a closing duration of the human eye;
if the blinking interval duration is less than a first preset duration, or the closing duration is greater than a second preset duration, determining that the driver is in an exhausted state;
and if the blinking interval duration is greater than or equal to a first preset duration and the closing duration is less than or equal to a second preset duration, determining that the driver is in an awake state.
Optionally, the determining module is configured to:
determining a first face image with an eye aspect ratio of 0 and a second face image with an eye aspect ratio of 0, wherein the eye aspect ratio corresponding to the previous face image of the first face image is not 0, the eye aspect ratio corresponding to the next face image of the second face image is not 0, and the eye aspect ratios of the face images between the first face image and the second face image are both 0;
determining a time interval between an acquisition time point corresponding to the first face image and an acquisition time point corresponding to the second face image as the closing time of the human eyes;
and determining the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the next first human face image, or determining the time interval between the acquisition time point corresponding to the second human face image and the acquisition time point corresponding to the next second human face image as the blinking interval duration of the human eyes.
Optionally, the pressing module is configured to:
sending a first pulse signal to a switching device, wherein the first pulse signal is used for controlling the switching device to be closed, and then after the switching device is closed, a power supply supplies power to a stepping motor pushing device;
sending a second pulse signal to the stepping motor pushing device, wherein the second pulse signal is used for controlling the stepping motor pushing device to extend a brake rod from an initial position at a first preset speed so as to press the brake pedal, and the brake rod at the initial position does not press the brake pedal.
Optionally, the apparatus further comprises a contraction module configured to:
when the driver is determined to be in the waking state, changing the second pulse signal into a third pulse signal, wherein the third pulse signal is used for controlling the stepping motor pushing device to retract the brake rod at a second preset speed;
receiving a position confirmation signal sent by a position detection device, wherein the position confirmation signal is used for indicating that the brake rod is contracted to the initial position;
and stopping sending the first pulse signal to the switching device, and stopping sending the third pulse signal to the stepping motor pushing device.
Optionally, the apparatus further includes a playing module configured to:
sending a fourth pulse signal to a buzzer so that the buzzer plays according to the fourth pulse signal;
after the determining that the driver is in the awake state, further comprising:
and stopping sending the fourth pulse signal to the buzzer.
When the driver is in fatigue state, the brake pedal of the vehicle is pressed through the control brake rod, so that the driver can feel the pressing of the brake pedal and the reduction of the vehicle speed, the driver is reminded, meanwhile, the occurrence of traffic accidents caused by overhigh vehicle speed is prevented due to the reduction of the vehicle speed, and personal injuries and deaths are reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a method for braking a vehicle while a driver is exhausted according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a method for braking a vehicle while a driver is exhausted according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a method for braking a vehicle while a driver is tired according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a method for braking a vehicle while a driver is exhausted according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an apparatus for braking a vehicle in a state where a driver is tired according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the following detailed description of the embodiments of the present application will be made with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for braking a vehicle in a driver fatigue state according to an embodiment of the present application. Referring to fig. 1, the embodiment includes:
Wherein, the driver is a person sitting on the main driver seat to drive the vehicle.
In an implementation, a controller on the vehicle determines whether the driver is tired.
Optionally, the controller determines a blinking interval duration of the human eye and a closing duration of the human eye; if the blinking interval duration is less than a first preset duration or the closing duration is greater than a second preset duration, the controller determines that the driver is in an exhausted state; if the blink interval duration is greater than or equal to a first preset duration and the closed duration is less than or equal to a second preset duration, the controller determines that the driver is awake.
The human eye interval time is the interval time between the last eye closing and the next eye closing or the interval time between the last eye opening and the next eye opening. The closing time period of the human eyes is the time period between the time when the human eyes are just closed and the time when the human eyes are just opened. The first and second preset durations are durations set by a technician.
In implementation, when the vehicle is started, the controller on the vehicle and the camera mounted inside the vehicle are turned on. The camera periodically collects face images of a driver and sends the collected face images to the controller. The controller analyzes the collected human face image and determines the blinking interval duration of human eyes of a driver and the closing duration of the human eyes. If the blinking interval duration is less than a first preset duration or the closing duration is greater than a second preset duration, the controller determines that the driver is in an exhausted state. If the blinking interval duration is greater than or equal to a first preset duration and the closed duration is less than or equal to a second preset duration, the controller determines that the driver is awake.
The camera in the embodiment of the application can be installed at a position where a face image of a driver can be shot, for example, the camera is installed right in front of the driver.
When the blinking interval duration is less than the first preset duration, it indicates that the driver blinks too fast. And when the closing time is longer than the second preset time, the driver is indicated to be sleeping. This all means that the driver is tired and needs to press the brake pedal of the vehicle by controlling the brake lever in order to decelerate the vehicle.
Optionally, the controller determines a first face image with an eye aspect ratio of 0 and a second face image with an eye aspect ratio of 0, where the eye aspect ratio corresponding to a previous face image of the first face image is not 0, the eye aspect ratio corresponding to a next face image of the second face image is not 0, and the eye aspect ratios of the face images between the first face image and the second face image are both 0. And the controller determines the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the second human face image as the closing time of human eyes. And the controller determines the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the next first human face image or the time interval between the acquisition time point corresponding to the second human face image and the acquisition time point corresponding to the next second human face image as the blinking interval duration of human eyes.
The first face image is an eye image acquired when eyes are just closed. The second facial image is an image of human eyes collected when the human eyes just open. The first face image and the second face image are face images collected in a blinking process, namely the eye aspect ratio of the face image between the first face image and the second face image is 0. The first face image and the second face image can be the same face image or two adjacent face images. Of course, at least one facial image is spaced between the first facial image and the second facial image.
In the embodiment of the application, the method for obtaining the eye aspect ratio corresponding to the face image comprises the following steps: after a face image is obtained, extracting left and right eye feature points on the face image by using a dlib algorithm. Taking extracting the right eye in the face image as an example, as shown in fig. 2, six feature points, which are P1, P2, P3, P4, P5, and P6, are extracted around the right eye, where the positional relationship of P1, P2, P3, P4, P5, and P6 is shown in fig. 2, and the eye aspect ratio is calculated based on the formula EAR = (| | P2-P6| + | P3-P5 |)/2 | | | P1-P4| |. Wherein, P1, P2, P3, P4, P5 and P6 are the corresponding position coordinates thereof respectively.
In an actual process, after the human eyes on the face image are detected, only the eye aspect ratio corresponding to any one of the two human eyes may be determined, or the eye aspect ratios corresponding to the two human eyes may be calculated, and then the average value of the two eye aspect ratios is used as the final result.
Meanwhile, as shown in fig. 3, four feature points may be extracted in the right eye, and the eye aspect ratio may be calculated based on the four feature points.
If it is determined that the driver is in an exhausted state, step 102, the vehicle is decelerated by pressing a brake pedal of the vehicle with the control brake lever.
Optionally, if the controller determines that the driver is in an exhausted state, the controller sends a first pulse signal to the switching device, the first pulse signal is used for controlling the switching device to be closed, and then after the switching device is closed, the power supply supplies power to the stepping motor pushing device. The controller sends a second pulse signal to the stepping motor pushing device, wherein the second pulse signal is used for controlling the stepping motor pushing device to extend the brake rod from the initial position at a first preset speed to press the brake pedal, and the brake rod at the initial position does not press the brake pedal.
The switch device can be a relay or a triode. Taking the switch device as an example of a relay, if the relay is closed when receiving the high-level pulse signal, the first pulse signal is a high-level pulse signal. And if the relay is disconnected when receiving the low-level pulse signal, the second pulse signal is a low-level pulse signal. The stepping motor pushing device can convert self shaft rotation into linear motion, and further pushes the brake rod to perform linear motion. The stepping motor pushing device and the brake rod are arranged in an internal structure below an automobile accelerator. The first preset speed is obtained by the stepping motor pushing device according to the frequency of the received second pulse signal.
In an implementation, the controller sends a first pulse signal to the switching device, and the switching device is closed when the switching device receives the first pulse signal sent by the controller. After the switching device is closed, the circuit shown in fig. 5 is closed and the power supply supplies power to the stepper motor driven devices in the circuit. After the power supply supplies power to the stepping motor pushing device in the circuit, the controller sends a second pulse signal to the stepping motor pushing device, and the stepping motor pushing device is used for controlling the stepping motor pushing device to extend out of the brake rod from the initial position at a first preset speed to press the brake pedal after receiving the second pulse signal so as to press the brake pedal, wherein the brake rod at the initial position does not press the brake pedal.
In an embodiment of the present application, the controller stops sending the second pulse signal to the stepping motor pushing device when the brake lever is at the end position, wherein the brake lever at the end position has pressed the brake pedal to a maximum extent that the brake pedal can be subjected to, or the brake lever at the end position has pressed the brake pedal to a preset angle. In the embodiment of the present application, the length of the brake lever extension may be determined by the transmission time of the second pulse signal and the first preset speed, and it is determined whether the brake lever is at the end position based on the initial position and the length of the brake lever extension.
In this embodiment, the controller may also send the second pulse signal to the stepping motor driving device first, and then send the first pulse signal to the switching device.
Alternatively, when the brake lever has not reached the end position, the controller determines that the driver is awake and needs to control the brake lever to retract to the initial position, breaking the circuit shown in fig. 4. The method comprises the following specific steps: when the driver is determined to be in the waking state, the controller changes the second pulse signal into a third pulse signal, and the third pulse signal is used for controlling the stepping motor pushing device to retract the brake rod at a second preset speed. The controller receives a position confirmation signal sent by the position detection device, and the position confirmation signal is used for indicating that the brake rod is contracted to the initial position. The controller stops sending the first pulse signal to the switching device and stops sending the third pulse signal to the stepping motor pushing device.
Wherein, the second pulse signal and the third pulse signal are opposite pulse signals. The position detection device can be an infrared ray emission device, and can also be other position detection devices.
In an implementation, when it is determined that the driver is awake, the controller does not transmit the second pulse signal any more, but transmits the third pulse signal. After the stepping motor pushing device receives the third pulse signal, the stepping motor pushing device stops extending the brake rod at the first preset speed, and contracts the brake rod at the second preset speed. After the brake rod is contracted to the initial position, the controller receives a position confirmation signal sent by the position detection device. The controller stops sending the first pulse signal to the switch device and the third pulse signal to the stepping motor pushing device, and the stepping motor pushing device stops, so that the brake rod stops moving.
A button can be preset on the vehicle, and when a driver clicks the preset button on the vehicle, the controller receives a command corresponding to the button and determines that the driver is awake. Of course, the vehicle may not be provided with a button, and when the controller determines that the driver is in an exhausted state, the controller acquires the face image acquired by the camera, and determines whether the driver is in a wakeful state based on the acquired face image. If the controller determines that the driver is awake, the controller does not transmit the second pulse signal any more, but transmits the third pulse signal.
Alternatively, after the brake lever reaches the end position, the controller determines that the driver is awake and needs to control the brake lever to retract to the initial position, breaking the circuit shown in FIG. 4. The method comprises the following specific steps: when the driver is determined to be in the waking state, the controller sends a third pulse signal to the stepping motor pushing device, and the third pulse signal is used for controlling the stepping motor pushing device to retract the brake rod at a second preset speed. The controller receives a position confirmation signal sent by the position detection device, and the position confirmation signal is used for indicating that the brake rod is contracted to the initial position. The controller stops sending the first pulse signal to the switching device and stops sending the third pulse signal to the stepping motor pushing device.
Optionally, if it is determined that the driver is in an exhausted state, a fourth pulse signal is sent to the buzzer, so that the buzzer plays according to the fourth pulse signal. After the controller determines that the driver is in the awake state, the controller stops transmitting the fourth pulse signal to the buzzer.
Wherein, the buzzer can be arranged in the rotating hole in the front handrail.
When the driver is in fatigue state, the brake pedal of the vehicle is pressed through the control brake rod, so that the driver can feel the pressing of the brake pedal and the reduction of the vehicle speed, the driver can be reminded, meanwhile, the vehicle speed is reduced, traffic accidents caused by overhigh vehicle speed are prevented, and personal injuries and deaths are reduced.
In the embodiment of the present application, the controller may be a vehicle controller. In order to reduce the operation burden of the vehicle controller, a single chip microcomputer can be arranged between the vehicle controller and the stepping motor pushing device, the switch control device and the buzzer. Thus, when the single chip receives a control signal sent by the vehicle controller, the stepping motor pushing device, the switch control device and the buzzer are controlled based on the control signal, wherein the process of controlling the stepping motor pushing device, the switch control device and the buzzer is similar to the control process, and the process is not repeated here. The single chip microcomputer can be arranged in the rotating hole in the front handrail.
Fig. 3 is a schematic structural diagram of braking a vehicle in a state where a driver is tired according to an embodiment of the present application, and referring to fig. 3, the apparatus includes:
a determination module 301 configured to determine whether the driver is in a tired state;
a pressing module 302 configured to press a brake pedal of the vehicle by controlling the brake lever to decelerate the vehicle if it is determined that the driver is in a tired state.
Optionally, the determining module 301 is configured to:
determining a blinking interval duration of a human eye and a closing duration of the human eye;
if the blinking interval duration is less than a first preset duration, or the closing duration is greater than a second preset duration, determining that the driver is in a tired state;
and if the blinking interval duration is greater than or equal to a first preset duration and the closing duration is less than or equal to a second preset duration, determining that the driver is in an awake state.
Optionally, the determining module 301 is configured to:
determining a first face image with an eye aspect ratio of 0 and a second face image with an eye aspect ratio of 0, wherein the eye aspect ratio corresponding to the previous face image of the first face image is not 0, the eye aspect ratio corresponding to the next face image of the second face image is not 0, and the eye aspect ratios of the face images between the first face image and the second face image are both 0;
determining a time interval between an acquisition time point corresponding to the first face image and an acquisition time point corresponding to the second face image as the closing time of the human eyes;
and determining the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the next first human face image, or determining the time interval between the acquisition time point corresponding to the second human face image and the acquisition time point corresponding to the next second human face image as the blinking interval duration of the human eyes.
Optionally, the pressing module 302 is configured to:
sending a first pulse signal to a switching device, wherein the first pulse signal is used for controlling the switching device to be closed, and then after the switching device is closed, a power supply supplies power to a stepping motor pushing device;
sending a second pulse signal to the stepping motor pushing device, wherein the second pulse signal is used for controlling the stepping motor pushing device to extend a brake rod from an initial position at a first preset speed so as to press the brake pedal, and the brake rod at the initial position does not press the brake pedal.
Optionally, the apparatus further comprises a contraction module configured to:
when the driver is determined to be in the waking state, changing the second pulse signal into a third pulse signal, wherein the third pulse signal is used for controlling the stepping motor pushing device to retract the brake rod at a second preset speed;
receiving a position confirmation signal sent by a position detection device, wherein the position confirmation signal is used for indicating that the brake rod is contracted to the initial position;
stopping sending the first pulse signal to the switching device, and stopping sending the third pulse signal to the stepping motor pushing device.
Optionally, the apparatus further includes a playing module configured to:
sending a fourth pulse signal to a buzzer so that the buzzer plays according to the fourth pulse signal;
after the determining that the driver is in the awake state, further comprising:
and stopping sending the fourth pulse signal to the buzzer.
It should be noted that: the above embodiment provides an example only with the above division of the functional modules when the vehicle braking device brakes the vehicle in the state where the driver is tired, and in practical applications, the above function distribution may be completed by different functional modules as needed, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. In addition, the device for braking the vehicle in the fatigue state of the driver provided by the embodiment and the method embodiment for braking the vehicle in the fatigue state of the driver belong to the same concept, and specific implementation processes are detailed in the method embodiment and are not described again.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A method of braking a vehicle while a driver is tired, the method comprising:
determining whether the driver is in an exhausted state;
if the driver is determined to be in an exhausted state, pressing a brake pedal of the vehicle by controlling a brake lever to decelerate the vehicle;
wherein, the brake pedal of vehicle is pressed through controlling the brake lever, includes:
sending a first pulse signal to a switching device, wherein the first pulse signal is used for controlling the switching device to be closed, and then after the switching device is closed, a power supply supplies power to a stepping motor pushing device;
sending a second pulse signal to the stepping motor pushing device, wherein the second pulse signal is used for controlling the stepping motor pushing device to extend a brake rod from an initial position at a first preset speed so as to press the brake pedal, and the brake rod at the initial position does not press the brake pedal;
judging whether the brake rod is in the end position;
stopping sending the second pulse signal to the stepping motor pushing device when the brake lever is in an end position, wherein the brake lever in the end position has pressed the brake pedal to the maximum extent that the brake pedal can bear, or has pressed the brake pedal to a preset angle;
after the brake lever reaches the end position, if the brake lever is determined to be in the waking state, the brake lever is controlled to be contracted to the initial position, wherein a button is arranged on the vehicle, and when the button is clicked by a driver, the driver is determined to be in the waking state;
if the brake lever does not reach the end position, the driver is determined to be in a waking state, and the brake lever is controlled to be contracted to the initial position;
wherein the control brake lever is retracted to an initial position, comprising: changing the second pulse signal into a third pulse signal, wherein the third pulse signal is used for controlling the stepping motor pushing device to contract the brake rod at a second preset speed; when a position confirmation signal sent by a position detection device is received, stopping sending the first pulse signal to the switch device and stopping sending the third pulse signal to the stepping motor pushing device, wherein the position detection device is an infrared ray emission device, and the position confirmation signal is used for indicating that the brake rod is contracted to the initial position;
the judging whether the brake lever is at the end position comprises the following steps: determining the extending length of the brake rod through the sending time of the second pulse signal and a first preset speed; judging whether the brake lever is at the end position or not based on the initial position and the extending length of the brake lever;
the determining whether the driver is tired comprises:
determining a first face image with an eye aspect ratio of 0 and a second face image with an eye aspect ratio of 0, wherein the eye aspect ratio corresponding to the previous face image of the first face image is not 0, the eye aspect ratio corresponding to the next face image of the second face image is not 0, and the eye aspect ratios of the face images between the first face image and the second face image are both 0;
determining the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the next first human face image, or the time interval between the acquisition time point corresponding to the second human face image and the acquisition time point corresponding to the next second human face image as the blinking interval duration of human eyes;
and if the duration of the blinking interval is less than a first preset duration, determining that the driver is in a tired state.
2. The method of claim 1, wherein determining whether the driver is tired further comprises:
determining a blinking interval duration of a human eye and a closing duration of the human eye;
if the blinking interval duration is less than a first preset duration, or the closing duration is greater than a second preset duration, determining that the driver is in a tired state;
and if the blinking interval duration is greater than or equal to a first preset duration and the closing duration is less than or equal to a second preset duration, determining that the driver is in an awake state.
3. The method of claim 2, wherein determining the duration of the closure of the human eye comprises:
and determining the time interval between the acquisition time point corresponding to the first face image and the acquisition time point corresponding to the second face image as the closing time of the human eyes.
4. The method of claim 1, wherein if the driver is determined to be tired, further comprising:
sending a fourth pulse signal to a buzzer so that the buzzer plays according to the fourth pulse signal;
after the determining that the driver is in the awake state, further comprising:
and stopping sending the fourth pulse signal to the buzzer.
5. An apparatus for braking a vehicle while a driver is tired, the apparatus comprising:
a determination module configured to determine whether a driver is in an exhausted state;
a pressing module configured to press a brake pedal of a vehicle by controlling a brake lever to decelerate the vehicle if it is determined that the driver is in an exhausted state;
wherein, the brake pedal of vehicle is pressed through controlling the brake lever, includes:
sending a first pulse signal to a switching device, wherein the first pulse signal is used for controlling the switching device to be closed, and then after the switching device is closed, a power supply supplies power to a stepping motor pushing device;
sending a second pulse signal to the stepping motor pushing device, wherein the second pulse signal is used for controlling the stepping motor pushing device to extend a brake rod from an initial position at a first preset speed so as to press the brake pedal, and the brake rod at the initial position does not press the brake pedal;
judging whether the brake lever is in the end position;
stopping sending the second pulse signal to the stepping motor pushing device when the brake lever is in an end position, wherein the brake lever in the end position has pressed the brake pedal to the maximum extent that the brake pedal can bear, or has pressed the brake pedal to a preset angle;
after the brake lever reaches the end position, if the brake lever is determined to be in the waking state, the brake lever is controlled to be contracted to the initial position, wherein a button is arranged on the vehicle, and when the button is clicked by a driver, the driver is determined to be in the waking state;
if the brake lever does not reach the end position, the driver is confirmed to be in a waking state, and the brake lever is controlled to be contracted to the initial position;
wherein the control brake lever is retracted to an initial position, comprising: changing the second pulse signal into a third pulse signal, wherein the third pulse signal is used for controlling the stepping motor pushing device to contract the brake rod at a second preset speed; when a position confirmation signal sent by a position detection device is received, stopping sending the first pulse signal to the switch device and stopping sending the third pulse signal to the stepping motor pushing device, wherein the position detection device is an infrared ray emission device, and the position confirmation signal is used for indicating that the brake rod is contracted to the initial position;
the judging whether the brake lever is at the end position includes: determining the extending length of the brake rod through the sending time of the second pulse signal and a first preset speed; judging whether the brake lever is at the end position or not based on the initial position and the extending length of the brake lever;
the determining whether the driver is in an exhausted state comprises:
determining a first face image with an eye aspect ratio of 0 and a second face image with an eye aspect ratio of 0, wherein the eye aspect ratio corresponding to the previous face image of the first face image is not 0, the eye aspect ratio corresponding to the next face image of the second face image is not 0, and the eye aspect ratios of the face images between the first face image and the second face image are both 0;
determining the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the next first human face image, or the time interval between the acquisition time point corresponding to the second human face image and the acquisition time point corresponding to the next second human face image as the blinking interval duration of human eyes;
and if the duration of the blinking interval is less than a first preset duration, determining that the driver is in a tired state.
6. The apparatus of claim 5, wherein the determination module is configured to:
determining a blink interval duration of a human eye and a closure duration of the human eye;
if the blinking interval duration is less than a first preset duration, or the closing duration is greater than a second preset duration, determining that the driver is in an exhausted state;
and if the blinking interval duration is greater than or equal to a first preset duration and the closing duration is less than or equal to a second preset duration, determining that the driver is in an awake state.
7. The apparatus of claim 6, wherein the determination module is configured to:
and determining the time interval between the acquisition time point corresponding to the first human face image and the acquisition time point corresponding to the second human face image as the closing time of the human eyes.
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| CN202110996318.XA CN113844455B (en) | 2021-08-27 | 2021-08-27 | Method and device for braking a vehicle while the driver is tired |
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