CN113903017A - Fatigue driving detection method and system - Google Patents
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
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Abstract
The invention relates to the technical field of safe driving of automobiles, in particular to a fatigue driving detection method and system. The invention provides a fatigue driving detection method, which comprises the following steps: step S1, collecting driving behavior data to judge whether a preset driving behavior occurs, and collecting driver state data to judge whether a preset visual detection behavior occurs; step S2, judging the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior; and step S3, executing a preset reminding action according to the fatigue driving level of the driver. According to the fatigue driving detection method and system provided by the invention, the vehicle driving behavior of the driver and the body state of the driver are combined to carry out fatigue driving detection, the detection precision is higher, and the driver can be reminded to have a rest in time.
Description
Technical Field
The invention relates to the technical field of safe driving of automobiles, in particular to a fatigue driving detection method and system.
Background
When a driver drives a vehicle, the vehicle is likely to be fatigued due to long-term driving. The traffic accident easily caused by fatigue driving refers to the phenomenon that after a driver drives a vehicle continuously for a long time, the physiological function and the psychological function are disordered, and the driving skill is objectively reduced. Fatigue driving is one of the main causes of major traffic accidents.
At present, various means are provided for monitoring vehicles in China, but no good technical means is provided for monitoring the fatigue state of a driver. In the prior art, the fatigue driving is usually reminded by considering the time of continuous driving, factors causing the fatigue driving are various, the driving fatigue can be caused by traffic environment, environment outside a vehicle, sleeping quality and the like, and the continuous driving time causing the fatigue is different due to different physical qualities of each person, so that erroneous judgment or missed judgment is easily caused by only considering the continuous driving time.
Chinese patent CN201610969940.0 provides a fatigue driving determination device comprising: the device comprises an acquisition module, a calculation module, a judgment module and a processing module. The acquisition module is used for acquiring driving data, wherein the driving data comprises driving time, driving mileage and driving stability parameters; the calculation module is used for calculating a fatigue driving score according to the driving data; the judging module is used for judging whether the fatigue driving score exceeds a threshold value; and the processing module is used for determining that the driver is fatigue driving when the fatigue driving score exceeds the threshold value, and executing preset processing. The above patent also mainly considers driving time and driving mileage, and the judgment of the fatigue driving state of the driver is not accurate.
Therefore, it is necessary to provide a new fatigue driving detection method and system to improve the above problems.
Disclosure of Invention
The invention aims to provide a fatigue driving detection method and a system, which solve the problem that the fatigue driving state of a driver is difficult to accurately judge in the prior art.
In order to achieve the above object, the present invention provides a fatigue driving detection method, comprising the steps of:
step S1, collecting driving behavior data to judge whether a preset driving behavior occurs, and collecting driver state data to judge whether a preset visual detection behavior occurs;
step S2, judging the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior;
and step S3, executing a preset reminding action according to the fatigue driving level of the driver.
In an embodiment, the fatigue driving level in step S2 includes a driving level and a visual level:
the driving grade is upgraded or downgraded according to the condition that any one preset driving behavior appears or does not appear within a certain time;
and the visual grade is judged according to the duration and/or the occurrence frequency of the preset visual detection behavior within a certain time.
In an embodiment, the preset driving behavior comprises one or more of a curve driving behavior, a sudden steering behavior, a no steering torque behavior, a sudden braking behavior and a continuous driving behavior.
In one embodiment, the preset driving behavior comprises a curve driving behavior;
the step S1 further includes collecting lane information, and if the vehicle approaches the lane boundary for a predetermined number of times and the time interval between the vehicle and the lane boundary that is approached last time is less than a predetermined time, determining that curve driving behavior is occurring.
In one embodiment, the preset driving behavior comprises a sudden steering behavior;
the step S1 further includes collecting steering angle information of the vehicle, where the steering angle information of the vehicle includes a steering wheel rotation angle and a steering angular velocity, and if the steering wheel rotation angle and the steering angular velocity of the vehicle satisfy preset conditions, determining that a sudden steering behavior occurs.
In one embodiment, the predetermined driving behavior comprises a no-steering-torque behavior;
the step S1 further includes collecting lane information, steering angle information of the vehicle, and steering torque information, and if the lane information, the steering angle information of the vehicle, and the steering torque information satisfy preset conditions, determining that a no-steering torque behavior occurs.
In one embodiment, the predetermined driving behavior comprises sudden braking behavior;
the step S1 further includes collecting a master cylinder pressure signal, and if the master cylinder pressure exceeds a specified value within a preset vehicle speed range, determining that a sudden braking action occurs.
In one embodiment, the preset visual detection behaviors in step S1 include an eye closing behavior and a yawning behavior of the driver;
the visual rating in step S2 is determined according to the duration of the eye-closing behavior or the frequency of the yawning behavior within a certain time range.
In an embodiment, the step S3, further includes:
carrying out icon display of fatigue driving on an instrument panel;
changing the color of the icon for fatigue driving according to the fatigue driving grade of the driver;
the higher the driver's fatigue driving level, the darker the fatigue driving icon color.
In an embodiment, the step S3, further includes:
performing popup reminding on an instrument panel;
changing the frequency of popup reminding according to the fatigue driving grade of a driver;
when the fatigue driving grade of the driver is the lowest, the popup reminding is not carried out;
when the fatigue driving level of the driver is the highest, the popup window reminding is continuously carried out on the instrument panel, and the voice reminding is carried out.
In order to achieve the above object, the present invention provides a fatigue driving detection system, which comprises an image/video acquisition system, a vehicle machine system, an electronic power steering system and a vehicle body stabilization system:
the image/video acquisition system acquires lane information and driver state data and sends the lane information and the driver state data to the vehicle-mounted machine system;
the electronic power-assisted steering system collects the steering wheel rotation angle and the steering angular speed signal of the vehicle and sends the steering wheel rotation angle and the steering angular speed signal to the vehicle-mounted system;
the vehicle body stabilizing system collects vehicle speed and master cylinder pressure signals and sends the signals to the vehicle-mounted machine system;
the vehicle-mounted device system judges whether a preset driving behavior and/or a preset visual detection behavior occurs or not according to the received data, judges the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior, and executes a preset reminding action according to the fatigue driving level of the driver.
In one embodiment, the preset driving behavior comprises one or more of a curve driving behavior, a sudden steering behavior, a no steering torque behavior, a sudden braking behavior, and a continuous driving behavior:
if the vehicle approaches the lane sideline for a specified number of times and the occurrence time interval between the vehicle and the lane sideline which is approached last time is less than the specified time, the vehicle-mounted system judges the curve driving behavior;
if the steering wheel rotation angle and the steering angular speed of the vehicle meet preset conditions, the vehicle-mounted system judges that sudden steering action occurs;
the vehicle-mounted machine system judges that no steering torque action occurs if the lane information, the steering angle of the vehicle and the steering torque information meet preset conditions;
if the vehicle is in a preset vehicle speed range and the master cylinder pressure exceeds a specified value, the vehicle-mounted system judges that sudden braking action occurs;
and if the vehicle speed exceeds a preset range and the vehicle continuously runs for more than a preset time, the vehicle-mounted system judges that continuous driving behaviors occur.
In one embodiment, the fatigue driving level includes a driving level and a vision level:
the driving grade is upgraded or downgraded according to the condition that any one preset driving behavior appears or does not appear within a certain time;
and the visual grade is judged according to the duration and/or the occurrence frequency of the preset visual detection behavior within a certain time.
In one embodiment, the car machine system performs icon display of fatigue driving on an instrument panel and performs popup reminding on the instrument panel;
changing the color of the icon for fatigue driving according to the fatigue driving grade of the driver;
and changing the frequency of pop-up window reminding according to the fatigue driving grade of the driver.
According to the method and the system for detecting the fatigue driving, the vehicle driving behavior of the driver is combined with the body state of the driver, the fatigue driving is detected, the detection precision is higher, and the driver can be reminded to have a rest in time when the driver is tired.
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The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
FIG. 1 discloses a flowchart of a method for detecting fatigue driving according to an embodiment of the invention;
fig. 2 discloses a schematic block diagram of a fatigue driving detection system according to an embodiment of the invention.
The meanings of the reference symbols in the figures are as follows:
210 an image/video capture system;
211 an intelligent camera;
212DMS camera;
220 vehicle machine system;
230 an electronic power steering system;
240 body stabilization system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 discloses a flowchart of a fatigue driving detection method according to an embodiment of the present invention, and as shown in fig. 1, the fatigue driving detection method provided by the present invention includes the following steps:
step S1, collecting driving behavior data to judge whether a preset driving behavior occurs, and collecting driver state data to judge whether a preset visual detection behavior occurs;
step S2, judging the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior;
and step S3, executing a preset reminding action according to the fatigue driving level of the driver.
Each step of the present invention is explained in detail below.
And step S1, collecting driving behavior data to judge whether a preset driving behavior occurs, and collecting driver state data to judge whether a preset visual detection behavior occurs.
The driving behavior data includes lane information, a steering wheel rotation angle of the vehicle, a steering angular velocity signal, a vehicle speed, a master cylinder pressure signal, and other data related to the vehicle and the road.
Wherein, lane information can be gathered by intelligent camera. The intelligent camera detects the distance from the vehicle to the lane line and carries the timer.
An electronic power steering system (EPS) may provide steering wheel angle, steering angular velocity, and steering torque signals for a vehicle.
A body stability system (ESC) can provide vehicle speed and master cylinder pressure signals.
In the embodiment shown in fig. 1, the preset driving behavior includes one or more of a curve driving behavior, a sudden steering behavior, a non-steering torque behavior, a sudden braking behavior, and a continuous driving behavior.
The curve driving behavior refers to a behavior of a driving path changing laterally, and is displayed in a zigzag shape to a certain extent on a lane.
During normal driving, the driver may attempt to center the vehicle in the lane.
However, when the attention of the driver is low, the center following performance of the driver tends to be reduced.
In this embodiment, the intelligent camera is used to collect lane information, and if the vehicle approaches a lane boundary for a specified number of times and the time interval between the vehicle and the lane boundary that is approached last time is less than the specified time, the curve-based driving behavior is determined.
For example, if the vehicle is approaching the borderline 3 times and is less than 30s from the last occurrence, then curve driving behavior is considered to have occurred.
The sudden steering behavior refers to the behavior of understeer and sudden steering change when the vehicle runs along the lane.
During normal driving, the driver drives along the lane with the minimum steering to reduce the vehicle movement.
However, in a state where the driver's attention is reduced, the sustainability and deviation of the steering tend to be reduced, so that understeer and sudden steering change are repeated.
In this embodiment, the steering angle information of the vehicle is collected, the steering angle information of the vehicle includes a steering wheel rotation angle and a steering angular velocity, and if the steering wheel rotation angle and the steering angular velocity of the vehicle satisfy a preset condition, it is determined that a sudden steering behavior occurs.
For example, if the steering wheel angle is less than 4 degrees for 2 seconds, then the steering wheel angle exceeds 8-11 degrees (vehicle speed related), and the steering angular velocity exceeds 15deg/s, then abrupt steering behavior is deemed to have occurred.
The steering torque-free behavior refers to a behavior that the control force of the driver on the steering wheel is smaller than a preset threshold range.
The driving behavior of the vehicle may also be abnormal if the driver's steering wheel control force is weak.
In this embodiment, lane information acquired by the intelligent camera, steering angle information of the vehicle, and steering torque information are used, and if the lane information, the steering angle information of the vehicle, and the steering torque information meet preset conditions, it is determined that no steering torque behavior occurs.
For example, if the steering wheel steering torque is less than 1.5Nm and lasts for 2s, the steering angle is less than 4 degrees, and the distance from the lane line is less than 50cm, the no-steering-torque behavior is considered to occur.
The sudden braking behavior refers to a behavior in which the vehicle is suddenly braked while traveling in a normal speed range.
If the vehicle suddenly brakes too hard while traveling within the normal speed range, it may be determined that the driver is inattentive or drowsy, such as ignoring the heading or not maintaining a sufficient safe distance.
In the embodiment, the ESC is used for collecting a master cylinder pressure signal of the vehicle, and if the master cylinder pressure exceeds a specified value within a preset vehicle speed range, it is determined that sudden braking action occurs.
For example, if the vehicle speed exceeds 60kph and the master cylinder pressure is greater than 5bar, a sudden braking action is deemed to have occurred.
The continuous driving behavior is a behavior that the vehicle continuously drives within a preset vehicle speed range for more than a preset time.
Obviously, the vehicle speed range and the continuous travel time may be set as required.
For example, if the vehicle speed exceeds 2kph in the key cycle and starts to be timed, the continuous driving time exceeds 60min in the daytime and 60min in the evening, the continuous driving behavior is considered to occur.
In order to further improve the detection accuracy, the preset driving behaviors may have a certain sequence, for example, the continuous driving behavior may be used as a precondition, and the judgment of other preset driving behaviors may be performed only on the premise that the continuous driving is satisfied.
In order to further improve the detection accuracy, the driving behavior may be determined after a certain vehicle speed range and a certain continuous travel time are satisfied. For example, after the vehicle speed is 60km/h or more and the continuous running time is 5 minutes or more, the driving behavior is judged.
The driver state data mainly includes image/video data of the driver. It is obvious that other driver-related data, such as audio data, may also be included to assist in determining the driver's visually detectable behavior.
In the embodiment shown in fig. 1, the visual detection behaviors are preset, including the eye-closing behavior and yawning behavior of the driver.
Through a DMS (Driver Monitor System) camera, image/video data of a Driver are collected, and the eye closing behavior and yawning behavior of the Driver are detected.
In order to further improve the detection accuracy, the determination of the visual detection behavior may be performed after a certain vehicle speed range and a certain continuous travel time are satisfied.
For example, after the vehicle speed is 60km/h or more and the continuous running time is 30 minutes or more, the judgment of the visual inspection behavior is started.
And step S2, judging the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior.
Fatigue driving grade, including driving grade and vision grade:
the driving grade is upgraded or downgraded according to the condition that any one preset driving behavior appears or does not appear within a certain time;
and the visual grade is judged according to the duration and/or the occurrence frequency of the preset visual detection behavior within a certain time.
In the embodiment shown in fig. 1, any one of the preset driving behaviors occurs within a certain time, and the driving level is + 1.
For example, if any one of the preset driving behaviors occurs within 15 seconds, the driving level is + 1.
In the embodiment shown in fig. 1, if any one of the preset driving behaviors does not occur within a certain time, the driving level is-1.
For example, if any one of the preset driving behaviors occurs within 2 minutes, the driving level is-1.
In the example shown in fig. 1, the visual ratings are divided into light fatigue, moderate fatigue and severe fatigue.
Slight fatigue, closing eyes for 1.6 seconds or digging a yawning within 8 seconds;
moderate fatigue, i.e. closing eyes for 4 seconds or opening two yawns within 8 seconds;
severe fatigue, 6.4 seconds for eye closure within 8 seconds or more than three yawns.
And step S3, executing a preset reminding action according to the fatigue driving level of the driver.
Optionally, the preset reminding action includes:
carrying out icon display of fatigue driving on an instrument panel;
changing the color of the icon for fatigue driving according to the fatigue driving grade of the driver;
the higher the driver's fatigue driving level, the darker the fatigue driving icon color.
Optionally, the preset reminding action includes:
performing popup reminding on an instrument panel;
changing the frequency of popup reminding according to the fatigue driving grade of a driver;
when the fatigue driving grade of the driver is the lowest, the popup reminding is not carried out;
when the fatigue driving level of the driver is the highest, the popup window reminding is continuously carried out on the instrument panel, and the voice reminding is carried out.
In the embodiment shown in fig. 1, the fatigue driving level includes a driving level and a vision level.
The fatigue driving grades are classified into grade none, grade 1, grade 2 and grade 3.
Wherein, the fatigue driving grade is none, the corresponding driving grade is grade 1, grade 2 or the visual grade is slight fatigue;
a fatigue driving level of 1, the corresponding driving level being 3 or the visual level being moderate fatigue;
a fatigue driving grade of 2, wherein the corresponding driving grade is grade 4 or the vision grade is moderate fatigue;
fatigue driving grade 3, corresponding driving grade 5 or visual grade is severe fatigue.
When the fatigue driving grade of the driver is none, the instrument panel does not prompt, the vehicle-mounted machine system does not prompt, the fatigue driving grade is easy to trigger, much disturbance is caused to the user, and prompt is not performed.
When the fatigue driving grade of a driver is 1, the yellow fatigue driving icon is displayed on the instrument panel and the popup window prompts that whether the driver is tired or not, the driver needs to pay attention to rest, the car machine system does not prompt, the instrument panel pops up the popup window after 3 seconds and disappears, and the driver pops up the popup window once in 30 minutes.
When the fatigue driving grade of the driver is 2, the instrument panel displays an orange fatigue driving icon and pops up the window to prompt whether the fatigue driving icon is accumulated or not, please pay attention to rest, the vehicle machine system does not prompt, the instrument panel pops up the window to disappear after 3 seconds, and the instrument panel pops up only once in 30 minutes.
When the fatigue driving grade of the driver is 3, the red fatigue driving icon is displayed on the instrument panel, the popup window prompts that the driver has fatigue driving and please take a rest, the car machine system carries out voice reminding, the popup window of the instrument panel appears all the time, and the voice reminding is carried out every 30 minutes.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
Fig. 2 discloses a schematic block diagram of a fatigue driving detection system according to an embodiment of the present invention, and as shown in fig. 2, the fatigue driving detection system provided by the present invention includes an image/video capture system 210, a vehicle machine system 220, an electronic power steering system 230, and a vehicle body stabilization system 240:
the image/video acquisition system 210 acquires lane information and driver state data and transmits the lane information and the driver state data to the vehicle-mounted machine system 220;
the electronic power steering system 230 collects a steering wheel rotation angle and a steering angular velocity signal of the vehicle and sends the steering wheel rotation angle and the steering angular velocity signal to the vehicle-mounted device system 220;
the vehicle body stabilizing system 240 collects vehicle speed and master cylinder pressure signals and sends the signals to the vehicle-mounted machine system 220;
the vehicle-mounted device system 220 judges whether a preset driving behavior and/or a preset visual detection behavior occurs according to the received data, judges the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior, and executes a preset reminding action according to the fatigue driving level of the driver.
In the embodiment shown in fig. 2, the image/video acquisition system 210 includes a smart camera 211 and a DMS camera 212.
The intelligent camera 211 collects lane information, detects the distance from the vehicle to a lane line, and carries a timer.
The DMS camera 212 collects image/video data of the driver, and detects the eye-closing behavior and yawning behavior of the driver.
The specific implementation details of the fatigue driving detection system correspond to the above-described fatigue driving detection method, so the specific details are not described repeatedly here.
According to the fatigue driving detection method and system, the vehicle driving behavior of the driver is combined with the body state of the driver, fatigue driving detection is performed, detection accuracy is higher, and the driver can be reminded in time when the driver is tired.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The embodiments described above are provided to enable persons skilled in the art to make or use the invention and that modifications or variations can be made to the embodiments described above by persons skilled in the art without departing from the inventive concept of the present invention, so that the scope of protection of the present invention is not limited by the embodiments described above but should be accorded the widest scope consistent with the innovative features set forth in the claims.
Claims (14)
1. A fatigue driving detection method is characterized by comprising the following steps:
step S1, collecting driving behavior data to judge whether a preset driving behavior occurs, and collecting driver state data to judge whether a preset visual detection behavior occurs;
step S2, judging the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior;
and step S3, executing a preset reminding action according to the fatigue driving level of the driver.
2. The fatigue driving detecting method according to claim 1, wherein the fatigue driving level in step S2 includes a driving level and a visual level:
the driving grade is upgraded or downgraded according to the condition that any one preset driving behavior appears or does not appear within a certain time;
and the visual grade is judged according to the duration and/or the occurrence frequency of the preset visual detection behavior within a certain time.
3. The fatigue driving detection method according to claim 2, wherein the preset driving behavior includes one or more of a curve running behavior, a sudden steering behavior, a non-steering torque behavior, a sudden braking behavior, and a continuous driving behavior.
4. The fatigue driving detection method according to claim 3, wherein the preset driving behavior includes a curve driving behavior;
the step S1 further includes collecting lane information, and if the vehicle approaches the lane boundary for a predetermined number of times and the time interval between the vehicle and the lane boundary that is approached last time is less than a predetermined time, determining that curve driving behavior is occurring.
5. The fatigue driving detection method according to claim 3, wherein the preset driving behavior includes a sudden steering behavior;
the step S1 further includes collecting steering angle information of the vehicle, where the steering angle information of the vehicle includes a steering wheel rotation angle and a steering angular velocity, and if the steering wheel rotation angle and the steering angular velocity of the vehicle satisfy preset conditions, determining that a sudden steering behavior occurs.
6. The fatigue driving detection method according to claim 3, wherein the preset driving behavior includes a no-steering-torque behavior;
the step S1 further includes collecting lane information, steering angle information of the vehicle, and steering torque information, and if the lane information, the steering angle information of the vehicle, and the steering torque information satisfy preset conditions, determining that a no-steering torque behavior occurs.
7. The fatigue driving detection method according to claim 3, wherein the preset driving behavior includes a sudden braking behavior;
the step S1 further includes collecting a master cylinder pressure signal, and if the master cylinder pressure exceeds a specified value within a preset vehicle speed range, determining that a sudden braking action occurs.
8. The fatigue driving detecting method according to claim 2, wherein the preset visual detection behaviors in the step S1 include an eye-closing behavior and a yawning behavior of the driver;
the visual rating in step S2 is determined according to the duration of the eye-closing behavior or the frequency of the yawning behavior within a certain time range.
9. The fatigue driving detecting method according to claim 1, wherein the step S3 further includes:
carrying out icon display of fatigue driving on an instrument panel;
and changing the color of the icon for fatigue driving according to the fatigue driving grade of the driver.
10. The fatigue driving detecting method according to claim 9, wherein the step S3 further includes:
performing popup reminding on an instrument panel;
and changing the frequency of pop-up window reminding according to the fatigue driving grade of the driver.
11. The utility model provides a fatigue driving detecting system which characterized in that, includes image/video acquisition system, car machine system, electronic power assisted steering system and automobile body stable system:
the image/video acquisition system acquires lane information and driver state data and sends the lane information and the driver state data to the vehicle-mounted machine system;
the electronic power-assisted steering system collects the steering wheel rotation angle and the steering angular speed signal of the vehicle and sends the steering wheel rotation angle and the steering angular speed signal to the vehicle-mounted system;
the vehicle body stabilizing system collects vehicle speed and master cylinder pressure signals and sends the signals to the vehicle-mounted machine system;
the vehicle-mounted device system judges whether a preset driving behavior and/or a preset visual detection behavior occurs or not according to the received data, judges the fatigue driving level of the driver according to the occurrence frequency and/or duration of the preset driving behavior and/or the preset visual detection behavior, and executes a preset reminding action according to the fatigue driving level of the driver.
12. The fatigue driving detection system of claim 11, wherein the preset driving behavior comprises one or more of a curved driving behavior, a sudden steering behavior, a no steering torque behavior, a sudden braking behavior, and a continuous driving behavior:
if the vehicle approaches the lane sideline for a specified number of times and the occurrence time interval between the vehicle and the lane sideline which is approached last time is less than the specified time, the vehicle-mounted system judges the curve driving behavior;
if the steering wheel rotation angle and the steering angular speed of the vehicle meet preset conditions, the vehicle-mounted system judges that sudden steering action occurs;
the vehicle-mounted machine system judges that no steering torque action occurs if the lane information, the steering angle of the vehicle and the steering torque information meet preset conditions;
if the vehicle is in a preset vehicle speed range and the master cylinder pressure exceeds a specified value, the vehicle-mounted system judges that sudden braking action occurs;
and if the vehicle speed exceeds a preset range and the vehicle continuously runs for more than a preset time, the vehicle-mounted system judges that continuous driving behaviors occur.
13. The fatigue driving detection system of claim 11, wherein the fatigue driving ratings, including a driving rating and a vision rating:
the driving grade is upgraded or downgraded according to the condition that any one preset driving behavior appears or does not appear within a certain time;
and the visual grade is judged according to the duration and/or the occurrence frequency of the preset visual detection behavior within a certain time.
14. The fatigue driving detection system of claim 11, wherein the car machine system performs icon display of fatigue driving on an instrument panel and performs pop-up window reminding on the instrument panel;
changing the color of the icon for fatigue driving according to the fatigue driving grade of the driver;
and changing the frequency of pop-up window reminding according to the fatigue driving grade of the driver.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116665193A (en) * | 2023-07-11 | 2023-08-29 | 无锡车联天下信息技术有限公司 | Intelligent cabin driver fatigue vision auxiliary detection method |
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| CN116665193A (en) * | 2023-07-11 | 2023-08-29 | 无锡车联天下信息技术有限公司 | Intelligent cabin driver fatigue vision auxiliary detection method |
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