CN116238521A - Vehicle braking method and device based on driver state detection - Google Patents
Vehicle braking method and device based on driver state detection Download PDFInfo
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- CN116238521A CN116238521A CN202310165838.5A CN202310165838A CN116238521A CN 116238521 A CN116238521 A CN 116238521A CN 202310165838 A CN202310165838 A CN 202310165838A CN 116238521 A CN116238521 A CN 116238521A
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Automation & Control Theory (AREA)
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- Traffic Control Systems (AREA)
Abstract
The invention provides a vehicle braking method and device based on driver state detection, the method comprises the steps of obtaining driver data and current running speed of a vehicle, and identifying the driver state according to the driver data, wherein the driver state comprises a conventional state and an unconventional state, and the unconventional state comprises a fatigue state and a disease state; judging whether the driver state is a normal state; if the driver state is an abnormal state, judging whether the current running speed is greater than a vehicle speed threshold value or not; and if the current running speed is greater than the vehicle speed threshold value, triggering dangerous early warning and outputting an emergency braking instruction to brake the vehicle. According to the method and the device, the data acquisition module, the data processing module, the vehicle body control module and the early warning module are respectively used for acquiring and processing the driver data and the vehicle data, the processed data are judged to perform early warning and vehicle body control according to the judging result, automatic detection of the driver state is achieved, the vehicle is controlled according to the detecting result, and the occurrence rate of traffic accidents is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to a vehicle braking method and device based on driver state detection.
Background
With the increase of living standard of people and the gradual decrease of automobile manufacturing cost in economic development, the automobile keeping amount is continuously increased, but the number of car accidents is increased obviously, and fatigue driving occupies a large proportion in car accident analysis.
The fatigue driving phenomenon is more common among truck drivers, the driving scene of the truck is basically in a high-speed and heavy-load state, and the accident damage force caused by the fatigue driving phenomenon is stronger, but the truck is not dead but hurt by the driver after the accident occurs due to the design of a driving building of the truck, the lack of safety airbag and other automobile parts related to safety guarantee, and meanwhile, the accident caused by sudden diseases is also common.
At present, no effective solution is available for traffic accidents caused by fatigue driving and diseases, the regulation of driving duration is generally adopted, and the problem is fundamentally solved without combining technical means.
Disclosure of Invention
Based on the above, the invention aims to provide a vehicle braking method and device based on driver state detection, which are used for solving the technical problems that in the prior art, fatigue driving and traffic accidents caused by diseases are prevented by adopting a specified driving time, so that the prevention effect is poor.
The invention provides a vehicle braking method based on driver state detection, which is realized by adopting a vehicle braking device based on driver state detection, wherein the device comprises a data acquisition module, a data processing module, a vehicle body control module and an early warning module, the data acquisition module is used for acquiring driver data and vehicle data, the driver data comprises eye closing time, a sight line deviation angle and a sight line deviation time, the vehicle data comprises vehicle running speed, the acquired driver data and vehicle data are transmitted to the data processing module, and the data processing module transmits the processed data to the early warning module and the vehicle body control module so as to perform danger early warning and control a vehicle body;
the method is particularly applied to a data processing module, and comprises the following steps:
acquiring driver data and the current running speed of the vehicle, and identifying a driver state according to the driver data, wherein the driver state comprises a regular state and an irregular state, and the irregular state comprises a fatigue state and a disease state;
judging whether the driver state is a normal state;
if the driver state is an abnormal state, judging whether the current running speed is greater than a vehicle speed threshold value or not;
and if the current running speed is greater than the vehicle speed threshold value, triggering dangerous early warning and outputting an emergency braking instruction to brake the vehicle.
In addition, the vehicle braking method based on driver state detection according to the present invention may further have the following additional technical features:
further, the step of judging whether the driver state is the normal state includes:
acquiring a sight line deviation angle of a driver, wherein the sight line deviation angle comprises an up-down deviation angle and a left-right deviation angle;
when the vertical deviation angle of the driver's sight line is greater than 45 DEG or the horizontal deviation angle is greater than 30 DEG, the driver is judged to be in a fatigue state or a disease state.
Further, if the current running speed is greater than the vehicle speed threshold, the step of triggering the danger early warning and outputting an emergency braking instruction to brake the vehicle comprises the following steps:
and outputting an emergency braking instruction to brake the vehicle when the early warning time is longer than 3 minutes.
Further, in the step of outputting an emergency braking instruction to brake the vehicle when the early warning time is longer than 3 minutes, the method of braking the vehicle includes:
the vehicle speed was reduced at a constant speed of 10km/h per second until the current running speed was 0.
Further, if the current running speed is greater than the vehicle speed threshold, triggering dangerous early warning and outputting an emergency braking instruction to brake the vehicle, wherein the early warning method comprises the following steps:
the left and right steering lamps flash at a frequency of 1Hz, the left and right steering indicating lamps of the instrument flash at a frequency of 1Hz, the instrument buzzer gives out sound alarm at a frequency of 1Hz, the instrument display screen gives out a red frame and flashes at a frequency of 1Hz, and the instrument displays a character of 'danger triggered emergency braking' to remind a driver.
Further, the method further comprises:
when the driver data is not acquired and the current running speed is greater than 5km/h, the driver is judged to be in a fatigue state or a disease state, and the danger early warning is triggered and an emergency braking instruction is output to brake the vehicle.
Further, the step of determining that the driver is in a fatigue state or a disease state, triggering a hazard pre-warning, and outputting an emergency braking instruction to brake the vehicle includes:
and outputting an emergency braking instruction when the early warning time is longer than 1 minute.
Further, the step of determining that the driver is in a fatigue state or a disease state, triggering a hazard pre-warning and outputting an emergency braking instruction to brake the vehicle further includes:
and when the count of the trigged danger early warning is over 30 minutes, resetting the accumulated count of the danger early warning.
Another aspect of the present invention provides a vehicle braking device based on driver status detection, applied to the above vehicle braking method based on driver status detection, the device comprising:
the data acquisition module comprises a driver image acquisition unit and a vehicle data acquisition unit, wherein the driver image acquisition unit comprises a driver monitoring camera, the driver image acquisition unit is used for acquiring the eye closing time, the sight line deviation angle and the sight line deviation time of a driver, and the vehicle data acquisition unit is used for acquiring the running speed of a vehicle;
the data processing module comprises a driver monitoring host and a fatigue and disease judging unit, wherein the driver monitoring host is used for receiving and processing the image data acquired by the image acquisition unit to obtain eye closing time, a sight line deviation angle and a sight line deviation time, and the fatigue and disease judging unit is used for judging the state of a driver according to the data processed by the driver monitoring host;
the vehicle body control module comprises an emergency braking exit unit, a vehicle body controller and a braking anti-lock braking system, wherein the emergency braking exit unit is used for releasing emergency braking when a driver resumes a normal state; the vehicle body controller is used for opening/closing a danger warning command; the braking anti-lock system is used for receiving an emergency braking instruction and braking the vehicle according to the emergency braking instruction;
the early warning module comprises a lamp and an instrument and is used for responding to the danger warning instruction.
According to the vehicle braking method and device based on the driver state detection, the data acquisition module, the data processing module, the vehicle body control module and the early warning module are respectively used for acquiring and processing the driver data and the vehicle data, and judging the processed data to perform early warning and vehicle body control according to the judging result, so that the automatic detection of the driver state and the control of the vehicle according to the detecting result are realized, the method of preventing the fatigue driving and the accident caused by the disease through the specified driving duration in the prior art is replaced, and the occurrence rate of the accident is reduced; further, the driver state is identified according to the driver data, when the driver is in an irregular state, the current running speed of the vehicle is identified to judge whether the current running speed is greater than a vehicle speed threshold, if so, the driver is positioned on the running vehicle and is in an irregular state, the driver is in a dangerous place, the system triggers dangerous early warning and outputs an emergency braking instruction to brake the vehicle, traffic accidents are avoided to ensure the life safety of the driver, and the technical problem that fatigue driving and traffic accidents caused by diseases are prevented by adopting a specified driving duration generally in the prior art, so that the prevention effect is poor is solved.
Drawings
FIG. 1 is a flow chart of a vehicle braking method based on driver status detection in a first embodiment of the present invention;
FIG. 2 is a schematic diagram of the detection principle in a second embodiment of the present invention;
the invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In order to solve the technical problems that the fatigue driving and the accident caused by diseases are prevented by adopting the specified driving time in the prior art, and the prevention effect is poor. The application provides a vehicle braking method and device based on driver state detection, which are used for respectively acquiring and processing driver data and vehicle data by establishing a data acquisition module, a data processing module, a vehicle body control module and an early warning module, judging the processed data to perform early warning and vehicle body control according to a judging result, thereby realizing automatic detection of the driver state and controlling the vehicle according to the detecting result, replacing the method for preventing the fatigue driving and the vehicle accident caused by diseases by stipulating driving duration in the prior art, and reducing the occurrence rate of the vehicle accident; further, the driver state is identified according to the driver data, when the driver is in an irregular state, the current running speed of the vehicle is identified to judge whether the current running speed is greater than a vehicle speed threshold, if so, the driver is positioned on the running vehicle and is in an irregular state, the driver is in a dangerous place, the system triggers dangerous early warning and outputs an emergency braking instruction to brake the vehicle, traffic accidents are avoided to ensure the life safety of the driver, and the technical problem that fatigue driving and traffic accidents caused by diseases are prevented by adopting a specified driving duration generally in the prior art, so that the prevention effect is poor is solved.
Example 1
Referring to fig. 1, a vehicle braking method based on driver status detection in a first embodiment of the present invention is shown, which includes steps S101-S104:
s101, acquiring driver data and the current running speed of the vehicle, and identifying the driver state according to the driver data.
Specifically, the driver state includes a normal state and an abnormal state, and the abnormal state includes a fatigue state and a disease state.
S102, judging whether the driver state is a normal state.
As a specific example, the step of determining whether the driver state is the normal state includes:
acquiring a sight line deviation angle of a driver, wherein the sight line deviation angle comprises an up-down deviation angle and a left-right deviation angle; when the vertical deviation angle of the driver's sight line is greater than 45 DEG or the horizontal deviation angle is greater than 30 DEG, the driver is judged to be in a fatigue state or a disease state.
If the driver status is abnormal, executing step S103;
if the driver state is the normal state, returning to execute the step S101;
s103, judging whether the current running speed is greater than a vehicle speed threshold value.
If the current running speed is greater than the vehicle speed threshold, executing step S104;
if the current running speed is not greater than the vehicle speed threshold, executing step S101;
and S104, triggering dangerous early warning and outputting an emergency braking instruction to brake the vehicle.
As a specific example, in the above step, when the early warning time is longer than 3 minutes, the vehicle speed is reduced at a constant speed of 10km/h per second until the current running speed is 0.
In this embodiment, the early warning method includes: the left and right steering lamps flash at a frequency of 1Hz, the left and right steering indicating lamps of the instrument flash at a frequency of 1Hz, the instrument buzzer gives out sound alarm at a frequency of 1Hz, the instrument display screen gives out a red frame and flashes at a frequency of 1Hz, and the instrument displays a character of 'danger triggered emergency braking' to remind a driver.
In this embodiment, the vehicle braking method based on driver state detection in the present application further includes:
when the driver data is not acquired and the current running speed is greater than 5km/h, the driver is judged to be in a fatigue state or a disease state, and the danger early warning is triggered and an emergency braking instruction is output to brake the vehicle. Specifically, when the early warning time is longer than 1 minute, outputting an emergency braking instruction; and when the count of the trigged danger early warning is over 30 minutes, resetting the accumulated count of the danger early warning.
As a specific example, after receiving an emergency braking instruction sent by the driver monitoring host, if the driver returns to normal, the driver can turn off the alarm through the danger indicator key, and the driver monitoring host turns off the emergency braking instruction, and then turns off the corresponding danger early warning reminding such as a headlight, an instrument and the like.
In summary, in the vehicle braking method based on driver status detection in the above embodiment of the present invention, by establishing a data acquisition module, a data processing module, a vehicle body control module, and an early warning module, which are respectively configured to acquire and process driver data and vehicle data, and determine the processed data to perform early warning and vehicle body control according to a determination result, thereby implementing automatic detection of a driver status and controlling a vehicle according to a detection result, replacing the method of preventing a car accident caused by fatigue driving and disease by specifying a driving duration in the prior art, and reducing the occurrence rate of the car accident; further, the driver state is identified according to the driver data, when the driver is in an irregular state, the current running speed of the vehicle is identified to judge whether the current running speed is greater than a vehicle speed threshold, if so, the driver is positioned on the running vehicle and is in an irregular state, the driver is in a dangerous place, the system triggers dangerous early warning and outputs an emergency braking instruction to brake the vehicle, traffic accidents are avoided to ensure the life safety of the driver, and the technical problem that fatigue driving and traffic accidents caused by diseases are prevented by adopting a specified driving duration generally in the prior art, so that the prevention effect is poor is solved.
Example two
Referring to fig. 2, a vehicle braking device based on driver status detection in a second embodiment of the present invention is shown, and the device includes a data acquisition module, a data processing module, a vehicle body control module and an early warning module, wherein the data acquisition module is used for acquiring driver data and vehicle data, the driver data includes a closed-eye time, a line-of-sight deviation angle and a line-of-sight deviation time, the vehicle data includes a vehicle running speed, the acquired driver data and vehicle data are transmitted to the data processing module, and the data processing module transmits the processed data to the early warning module and the vehicle body control module for danger early warning and vehicle body control.
Specific:
the data acquisition module comprises a driver image acquisition unit and a vehicle data acquisition unit, wherein the driver image acquisition unit comprises a driver monitoring camera, the driver image acquisition unit is used for acquiring the eye closing time, the sight line deviation angle and the sight line deviation time of a driver, and the vehicle data acquisition unit is used for acquiring the running speed of a vehicle;
the data processing module comprises a driver monitoring host and a fatigue and disease judging unit, wherein the driver monitoring host is used for receiving and processing the image data acquired by the image acquisition unit to obtain eye closing time, a sight line deviation angle and a sight line deviation time, and the fatigue and disease judging unit is used for judging the state of a driver according to the data processed by the driver monitoring host;
the vehicle body control module comprises an emergency braking exit unit, a vehicle body controller and a braking anti-lock braking system, wherein the emergency braking exit unit is used for releasing emergency braking when a driver resumes a normal state; the vehicle body controller is used for opening/closing a danger warning command; the braking anti-lock system is used for receiving an emergency braking instruction and braking the vehicle according to the emergency braking instruction;
the early warning module comprises a lamp and an instrument and is used for responding to the danger warning instruction.
In summary, in the vehicle braking device based on driver status detection in the above embodiment of the present invention, by establishing a data acquisition module, a data processing module, a vehicle body control module, and an early warning module, which are respectively configured to acquire and process driver data and vehicle data, and determine the processed data to perform early warning and vehicle body control according to a determination result, thereby implementing automatic detection of a driver status and controlling a vehicle according to a detection result, replacing a method for preventing a car accident caused by fatigue driving and disease by specifying a driving duration in the prior art, and reducing the occurrence rate of the car accident; further, the driver state is identified according to the driver data, when the driver is in an irregular state, the current running speed of the vehicle is identified to judge whether the current running speed is greater than a vehicle speed threshold, if so, the driver is positioned on the running vehicle and is in an irregular state, the driver is in a dangerous place, the system triggers dangerous early warning and outputs an emergency braking instruction to brake the vehicle, traffic accidents are avoided to ensure the life safety of the driver, and the technical problem that fatigue driving and traffic accidents caused by diseases are prevented by adopting a specified driving duration generally in the prior art, so that the prevention effect is poor is solved.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. The vehicle braking method based on the driver state detection is characterized by comprising a vehicle braking device based on the driver state detection, wherein the device comprises a data acquisition module, a data processing module, a vehicle body control module and an early warning module, the data acquisition module is used for acquiring driver data and vehicle data, the driver data comprises eye closing time, a sight line deviation angle and a sight line deviation time, the vehicle data comprises vehicle running speed, the acquired driver data and vehicle data are transmitted to the data processing module, and the data processing module transmits the processed data to the early warning module and the vehicle body control module so as to perform danger early warning and control a vehicle body;
the method is particularly applied to a data processing module, and comprises the following steps:
acquiring driver data and the current running speed of the vehicle, and identifying a driver state according to the driver data, wherein the driver state comprises a regular state and an irregular state, and the irregular state comprises a fatigue state and a disease state;
judging whether the driver state is a normal state;
if the driver state is an abnormal state, judging whether the current running speed is greater than a vehicle speed threshold value or not;
and if the current running speed is greater than the vehicle speed threshold value, triggering dangerous early warning and outputting an emergency braking instruction to brake the vehicle.
2. The vehicle braking method based on the driver state detection according to claim 1, characterized in that the step of judging whether the driver state is the normal state includes:
acquiring a sight line deviation angle of a driver, wherein the sight line deviation angle comprises an up-down deviation angle and a left-right deviation angle;
when the vertical deviation angle of the driver's sight line is greater than 45 DEG or the horizontal deviation angle is greater than 30 DEG, the driver is judged to be in a fatigue state or a disease state.
3. The method for braking a vehicle based on driver status detection according to claim 1, wherein the step of triggering a hazard warning and outputting an emergency braking command to brake the vehicle if the current running speed is greater than a vehicle speed threshold value comprises:
and outputting an emergency braking instruction to brake the vehicle when the early warning time is longer than 3 minutes.
4. The vehicle braking method based on driver state detection according to claim 1, wherein in the step of outputting an emergency braking instruction to brake the vehicle when the early warning time is longer than 3 minutes, the method of braking the vehicle includes:
the vehicle speed was reduced at a constant speed of 10km/h per second until the current running speed was 0.
5. The vehicle braking method based on driver status detection according to claim 1, wherein, in the step of triggering a hazard warning and outputting an emergency braking instruction to brake the vehicle if the current running speed is greater than the vehicle speed threshold, the warning method comprises:
the left and right steering lamps flash at a frequency of 1Hz, the left and right steering indicating lamps of the instrument flash at a frequency of 1Hz, the instrument buzzer gives out sound alarm at a frequency of 1Hz, the instrument display screen gives out a red frame and flashes at a frequency of 1Hz, and the instrument displays a character of 'danger triggered emergency braking' to remind a driver.
6. The vehicle braking method based on driver state detection according to claim 1, characterized in that the method further comprises:
when the driver data is not acquired and the current running speed is greater than 5km/h, the driver is judged to be in a fatigue state or a disease state, and the danger early warning is triggered and an emergency braking instruction is output to brake the vehicle.
7. The method for braking a vehicle based on detection of a driver's condition according to claim 6, wherein the step of determining that the driver is in a fatigue state or a disease state, triggering a hazard warning, and outputting an emergency braking command to brake the vehicle comprises:
and outputting an emergency braking instruction when the early warning time is longer than 1 minute.
8. The method for braking a vehicle based on driver status detection as defined in claim 6, wherein the step of determining that the driver is in a fatigue state or a disease state, triggering a hazard warning, and outputting an emergency braking command to brake the vehicle further comprises:
and when the count of the trigged danger early warning is over 30 minutes, resetting the accumulated count of the danger early warning.
9. A vehicle braking device based on driver state detection, characterized by being applied to the vehicle braking method based on driver state detection as claimed in any one of the above claims 1 to 8, the device comprising:
the data acquisition module comprises a driver image acquisition unit and a vehicle data acquisition unit, wherein the driver image acquisition unit comprises a driver monitoring camera, the driver image acquisition unit is used for acquiring the eye closing time, the sight line deviation angle and the sight line deviation time of a driver, and the vehicle data acquisition unit is used for acquiring the running speed of a vehicle;
the data processing module comprises a driver monitoring host and a fatigue and disease judging unit, wherein the driver monitoring host is used for receiving and processing the image data acquired by the image acquisition unit to obtain eye closing time, a sight line deviation angle and a sight line deviation time, and the fatigue and disease judging unit is used for judging the state of a driver according to the data processed by the driver monitoring host;
the vehicle body control module comprises an emergency braking exit unit, a vehicle body controller and a braking anti-lock braking system, wherein the emergency braking exit unit is used for releasing emergency braking when a driver resumes a normal state; the vehicle body controller is used for opening/closing a danger warning command; the braking anti-lock system is used for receiving an emergency braking instruction and braking the vehicle according to the emergency braking instruction;
the early warning module comprises a lamp and an instrument and is used for responding to the danger warning instruction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310165838.5A CN116238521A (en) | 2023-02-24 | 2023-02-24 | Vehicle braking method and device based on driver state detection |
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| CN202310165838.5A CN116238521A (en) | 2023-02-24 | 2023-02-24 | Vehicle braking method and device based on driver state detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749925A (en) * | 2023-06-20 | 2023-09-15 | 哈尔滨工业大学 | Man-machine hybrid driving-oriented artificial driving evidence dynamic accumulation braking method and system |
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2023
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749925A (en) * | 2023-06-20 | 2023-09-15 | 哈尔滨工业大学 | Man-machine hybrid driving-oriented artificial driving evidence dynamic accumulation braking method and system |
| CN116749925B (en) * | 2023-06-20 | 2024-05-07 | 哈尔滨工业大学 | Man-machine hybrid driving-oriented artificial driving evidence dynamic accumulation braking method and system |
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