KR20180083114A - System and method for detecting condition of driver by applying torque - Google Patents

Abstract

The present invention relates to a system for detecting condition of a driver by applying torque. The system according to the present invention includes: a torque applying portion for applying torque to a steering wheel of a vehicle; a measuring unit for measuring an operation value of the steering wheel by a driver; and a determining unit for determining the state of the driver using the value measured from the measuring unit. According to the present invention, provided is a system for detecting condition of a driver by applying torque, capable of relatively accurately determining drowsy driving by using a relatively simple structure.

Description

TECHNICAL FIELD [0001] The present invention relates to a system and a method for measuring a driver state of a torque applying method,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a system and method for measuring a driver's state of a torque applying method, and more particularly, to a torque applying method for a driver's state measuring system and method capable of actively determining a driver's state.

As it is known that the major cause of major traffic accidents is drowsiness driving, many methods for preventing drowsiness driving are being studied. In this regard, research has been conducted on the driver drowsiness judgment technique of shooting a driver based on vision technology,

However, there is a problem that it is difficult to judge the accurate fatigue drowsiness due to the recognition performance, wearing glasses, laughter, and the like depending on the surrounding environment and the light condition in the case of the driver image based method.

Another method of determining the drowsiness or sleep state of a driver is to continue to study a method of detecting drowsiness by sensing and analyzing various vital signs of the driver.

Specifically, a drowsiness determination system and method using a short heartbeat cycle change can be used to determine a heartbeat disparity signal in a short interval and compare it with a heartbeat disparity reference value to accurately determine a physical condition of a person to be measured.

However, the conventional drowsiness determination method using the heartbeat cycle change has a problem that the accuracy of determining the drowsiness of a specific person is very low because it is impossible to generalize the heartbeat disparity characteristics for each person.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a system and method for measuring a driver's state of a torque applying method which can determine a driver's drowsiness relatively accurately using a relatively simple structure.

The object is achieved according to the present invention by providing a torque applying unit for applying a torque to a steering wheel of a vehicle; A measuring unit for measuring data of the steering wheel operated by a driver; And a determination unit for determining a driver's state using data measured from the measurement unit.

The sensing unit may further include a sensing unit that senses driving information or road information of the vehicle, and the torque applying unit may calculate an applied torque value applied to the steering wheel based on information measured from the sensing unit.

In addition, the information sensed by the sensing unit may be at least one of a position of a vehicle, a width of a vehicle, a deviation of a lane, a lane width, a lane interval, and a curvature of a road.

The determination unit compares the reference torque value measured from the steering wheel operated by the driver in the steady state with the operation torque value specified from the steering wheel operated by the current driver acquired from the measurement unit, Can be determined.

In addition, the torque applying unit may calculate an applied torque value applied to the steering wheel by the following equation.

[Equation]

τ = asin (b (t - c)) + d

(Where t is an applied torque value applied to the steering wheel, t is time, a, b, c, and d are constants determined by information obtained from the sensing unit)

Further, the object is achieved according to the present invention by a torque applying method comprising: applying a torque to a steering wheel of a vehicle; A measuring step of measuring an operating torque value which is a torque value generated from a steering wheel operated by a current driver of the vehicle; And a judging step of judging a state of the current driver by comparing an operation torque value measured in the measuring step with a reference torque value which is a torque value measured from a steering wheel operated by a normal driver, This is accomplished by the driver state measurement method.

In the determining step, if the difference between the operating torque value and the reference torque value is greater than a preset value, it can be determined that the current driver's state is abnormal.

In addition, the torque application step may include sensing a driving information or road information of the vehicle; And a calculation step of calculating an applied torque value applied to the steering wheel based on the information obtained in the sensing step.

In addition, the information sensed in the sensing step may be at least one of the position of the vehicle, the width of the vehicle, the deviation of the lane, the lane width, the lane interval, and the curvature of the road.

The determining may further include: a reference torque value obtaining step of obtaining the reference torque value; And a comparison step of comparing the reference torque value with the operation torque value, wherein the reference torque value acquisition step is a step of acquiring the reference torque value from the straight road running torque data, which is the torque value obtained from the steering wheel when the normal driver drives the vehicle on the straight road, A first step of acquiring the first step; And a second step of finally obtaining the reference torque value by correcting the straight road data so that curvature information of the road on which the current vehicle is traveling is reflected.

According to the present invention, there is provided a system and method for estimating a driver's state of a torque applying method for determining whether a driver is driving a vehicle in a normal state with a simple structure.

In addition, it is possible to artificially apply torque to the steering wheel, and more precisely measure the state of the driver through the driver's corresponding data on the applied torque.

In addition, since the torque applied to the steering wheel is determined by sensing the conditions such as the running state of the vehicle, the road information, and the like in real time, torque can be applied to the steering wheel within a range that does not compromise driving safety.

FIG. 1 is a conceptual diagram of a torque application type driver condition measuring system according to an embodiment of the present invention,
2 is a schematic flowchart of a method of measuring a driver's state of a torque applying method according to an embodiment of the present invention,
FIG. 3 is a view for explaining an example of various information sensed in the sensing step of the driver state measuring method of the torque applying method of FIG. 2,
FIG. 4 is a graph showing a general shape of a torque value applied to the steering wheel in the torque applying step of the method of measuring a driver's state of the torque applying method of FIG. 2,
FIG. 5 is a graph showing torque values measured when there is no driver in the measuring step of the method of measuring the driver's state of the torque applying method of FIG. 2,
FIG. 6 is a graph showing a torque value measured when the driver operates normally in the measuring step of the method of measuring the driver's state of the torque applying method of FIG. 2,
FIG. 7 is a view for explaining the first step of the reference torque value obtaining step of the method of measuring the driver's state of the torque applying method of FIG. 2,
FIG. 8 is a view for explaining the second step of the reference torque value obtaining step of the method of measuring the driver's state of the torque applying method of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a torque-applied driver's condition measuring system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a conceptual diagram of a torque application type driver condition measurement system according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 1, a torque-applied driver's condition measuring system 100 according to an embodiment of the present invention controls a steering wheel W, which is responsible for steering control of a vehicle C, The torque applying unit 110, the sensing unit 120, the measuring unit 130, and the measuring unit 130. The torque applying unit 110, the sensing unit 120, the measuring unit 130, And a determination unit 140.

For the sake of convenience of explanation, the vehicle C is generally a vehicle having four wheels and is driven by receiving a rotational force from a power source such as an engine or a motor. However, (E.g., a motorcycle, an electric bicycle, etc.) in which the steering is controlled in a manner that manipulates the steering wheel.

The torque application unit 110 is for artificially applying a torque to the steering wheel W of the running vehicle C. [

Generally, the steering wheel W, which is a steering device of a vehicle, is operated only by a driver, so that a torque is applied, and no external force is applied due to factors other than the driver. However, according to the present invention, a fine torque is applied to the steering wheel W, and it is determined whether the driver is operating the vehicle in a normal state by determining whether the driver appropriately reacts to the torque.

The applied torque value applied to the steering wheel W by the torque applying unit 110 is determined according to the following equation based on various information measured by the sensing unit 120 described later. A method of determining the applied torque value? Will be described later.

[Equation]

τ = asin (b (t - c)) + d

(Where t is an applied torque value applied to the steering wheel, t is time, a, b, c, and d are constants determined by information obtained from the sensing unit)

The sensing unit 120 is for acquiring information required to determine an applied torque value? Applied to the steering wheel W by the torque applying unit 110. [

That is, in the present embodiment, the sensing unit is provided with a device for measuring and sensing information such as the position of the vehicle, the width of the vehicle, the deviation of the lane, the lane width, the lane interval, and the curvature of the road, A vision sensor, a radar, or the like may be used as the sensing unit 120.

The measuring unit 130 is for measuring the torque value generated from the steering wheel W, that is, the operating torque value? _Drv , by being operated by the driver. That is, the measuring unit 130 measures a final torque value generated after the driver operates the steering wheel W in a state in which the predetermined torque is applied by the torque applying unit 110.

The determination unit 140 determines and predicts the state of the current driver by comparing the measured operation torque value? _Drv with the reference torque value? _Act , which is the torque value of the steering wheel operated by the driver in the normal state .

Hereinafter, a method (S100) for measuring the driver's condition using the torque-applying driver's condition measurement system 100 according to an embodiment of the present invention will be described in detail.

2 is a schematic flowchart of a method of measuring a driver's state of a torque applying method according to an embodiment of the present invention.

As shown in FIG. 2, a method of measuring a driver's state of a torque applying method (S100) according to an embodiment of the present invention is a method for determining a driver's state in real time to prevent an accident from occurring, A torque applying step S110, a measuring step S120, and a determining step S130.

The torque applying step S110 is a step of artificially applying a torque to the steering wheel W of the vehicle C and includes a sensing step S111 and a calculating step S112.

FIG. 3 is a view for explaining an example of various information sensed in the sensing step of the driver state measuring method of the torque applying method of FIG.

The sensing step S111 is a step of sensing and acquiring information required to calculate the applied torque value?. That is, in this step, necessary information is obtained in order to calculate a value within a range that does not disturb the operation of the vehicle.

As shown in Fig. 3, in this step, basic information of the vehicle C, driving information of the vehicle, road information, and the like are collected. More specifically, although not limited, width information (w) of the vehicle is collected as basic information of the vehicle, the traveling speed of the vehicle and the position information (e) of the vehicle are collected as the running information of the vehicle, The lane width information (l) may be collected from the road information.

In the calculation step S112, the appropriate torque to be applied to the steering wheel W of the vehicle C in operation is calculated using various information collected in the sensing step S111.

The final calculated applied torque value? In this embodiment is determined by the following equation.

[Equation]

τ = asin (b (t - c)) + d

Here, τ is a calculated applied torque value, t is time, and a, b, c, and d are constants determined by information obtained from the sensing unit.

4 is a graph showing a general form of a torque value applied to the steering wheel in the torque applying step of the method of measuring the driver's state of the torque applying method of FIG.

More specifically, the graph of τ can be shown in the form shown in FIG. 4, and the value a is a value for determining the absolute magnitude (amplitude) of the applied torque value, and is determined in consideration of the stability of the vehicle operation . For example, the value of a is decreased when the vehicle C is traveling at a high speed, and the value of a is relatively increased when traveling at a low speed.

The b value is a value that determines the period of the applied torque value?, and is determined in consideration of the stability of the vehicle. For example, when the vehicle C is traveling at a high speed, the value b is increased. When the vehicle C is traveling at a low speed, the value B is relatively decreased.

The c value and the d value are values for determining the direction (sign) of the applied torque value tau. Considering the current position of the vehicle C, when the vehicle runs in one direction in the lane, Value to minimize the possibility of lane departure of the vehicle.

However, the equation for determining the applied torque value? And the method for determining the constant are not necessarily limited to the above-described contents and equations, and can be determined in consideration of various factors.

Therefore, the applied torque value? Determined from this step is forcibly applied to the steering wheel W of the running vehicle C.

FIG. 5 is a graph showing the torque values measured when there is no driver in the measuring step of the torque applying method of FIG. 2, and FIG. 6 is a graph showing the measurement of the torque The torque value measured when the driver normally runs is shown in the graph.

The measuring step S120 is a step of measuring an operating torque value? _Drv , which is torque data generated by the driver operating the steering wheel W to which the torque? Is applied. In other words, when the operating torque value (delta _drv ) data information measured in this step indicates that the driver is driving the vehicle C in an abnormal state as shown in the graph shown in Fig. 5, Or whether the vehicle is traveling in a normal state as shown in FIG.

The determination step S130 is a step of determining the current state of the user by using the manipulated torque value? _Drv information measured in the measuring step S120. The reference torque value obtaining step S131 and the comparing step S134, .

The reference torque value obtaining step S131 is a step of obtaining a reference torque value? _Ref for comparing the operating torque value? _Drv with the torque of the steering wheel W of the vehicle C Value data, which includes a first step (S132) and a second step (S133).

7 is a view for explaining the first step of the reference torque value obtaining step of the method of measuring the driver's state of the torque applying method of FIG.

7, in the first step S132, it is assumed that the hybrid vehicle C being operated is operated on a straight road, and a virtual driver of the vehicle is instructed to operate the steering wheel w Is a normal state in which there is no problem (for example, a sleeping state, not a sleeping state), and acquiring the torque value measured from the steering wheel W of the vehicle.

The torque data acquired in this step is defined as "straight road running torque data ". That is, the straight road running torque data delta _L is a value obtained by subtracting the steering wheel W from the steering wheel W when the normal driver operates the straight road by operating the steering wheel W in a state where the applied torque value? ) Is the data obtained by collecting the torque according to the time flow.

In this embodiment, such straight road running torque? _L data may be calculated in real time based on the applied torque value? Information applied to the steering wheel W based on various information, May be obtained by a method of extracting an appropriate applied torque value from the data stored in advance.

8, in the second step S133, the reference torque value? _Ref is finally obtained by reflecting the curvature of the road that the current driver is actually traveling on the straight road driving torque data? _L .

That is, when the current road running by the driver is a straight line, the straight road running torque data? _L obtained in the first step S132 is determined as the reference torque value? _Ref without any additional correction process.

On the other hand, the torque value? _L of the steering wheel W obtained when the driver runs on a straight line, which is the same as the torque value? _B of the steering wheel W obtained when the road on which the driver is currently traveling is a curve, There is no difference in amplitude and cycle.

However, the driver finely adjusts the steering wheel W in a state in which the driver rotates the steering wheel W at an angle corresponding to the curvature of the running path at the time of traveling with a curve. That is, the driver performs steering wheel W manipulation in a state of being rotated at an angle corresponding to the curvature of the curved line and additionally required for straight traveling.

Therefore, to briefly explain this, it is assumed that δ _B Value behavior The graph shows the behavior of the δ _L value with time as a sum of the correction value (δ _α ) corresponding to the curvature of the road. That is, these relations can be expressed in the form of the following formulas.

[Equation]

δ _B = δ _L + δ _α

Summarizing this, by the present step to obtain a curvature value information of the driving road, calculating the correction value (δ _α), and combining the correction value (δ _α) calculated on the straight road driving torque data (δ _L), The corrected data? _B , i.e., the reference torque value? _Ref , can be finally obtained.

The comparison step S134 compares the reference torque value? _Ref obtained in each step with the operation torque value? _Drv to predict and determine the current driver's state.

That is, in this step, when the difference between the reference torque value? _Ref and the operating torque value? _Drv is larger than the predetermined allowable value, the driver is not in the abnormal state (for example, in the drowsy state, It is determined that the steering wheel W is operated. If the difference between the values is smaller than the predetermined allowable value, the driver can determine that the steering wheel W is operated in the normal state.

At this time, the reference torque value? _Ref and the operating torque value? _Drv can be compared in real time, average values within a predetermined time can be compared, and various types can be formed.

On the other hand, by adjusting the magnitude of the allowable value as a criterion in this step, it is possible to change the steady state reference of the driver judged in the present invention.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

110: Torque applying unit 120:
130: measuring unit 140:

Claims (10)

A torque applying portion for applying a torque to a steering wheel of the vehicle;
A measuring unit for measuring data of the steering wheel operated by a driver;
And a determination unit determining a state of the driver using data measured by the measurement unit. The method according to claim 1,
Further comprising a sensing unit for sensing driving information or road information of the vehicle,
Wherein the torque applying unit calculates an applied torque value applied to the steering wheel based on information measured from the sensing unit. The method of claim 2,
Wherein the information sensed by the sensing unit is at least one of a position of a vehicle, a width of a vehicle, a deviation of a lane, a lane width, a lane interval, and a curvature of a road. The method according to any one of claims 1 to 3,
The determination unit compares the reference torque value measured from the steering wheel operated by the driver in the steady state with the operation torque value specified from the steering wheel operated by the current driver acquired from the measurement unit, Wherein the torque sensor is a torque sensor. The method of claim 4,
Wherein the torque applying unit calculates an applied torque value applied to the steering wheel by the following equation.
[Equation]
τ = asin (b (t - c)) + d
(Where t is an applied torque value applied to the steering wheel, t is time, a, b, c, and d are constants determined by information obtained from the sensing unit) A torque applying step of applying a torque to a steering wheel of the vehicle;
A measuring step of measuring an operating torque value which is a torque value generated from a steering wheel operated by a current driver of the vehicle;
And a judging step of judging a state of the current driver by comparing an operation torque value measured in the measuring step with a reference torque value which is a torque value measured from a steering wheel operated by a normal driver, How to measure driver condition. The method of claim 6,
If the difference between the operating torque value and the reference torque value is greater than a predetermined value, the current driver's state is determined to be abnormal. The method according to claim 6 or 7,
The torque applying step includes:
A sensing step of sensing driving information or road information of the vehicle;
And a calculating step of calculating an applied torque value to be applied to the steering wheel based on the information obtained in the sensing step. The method of claim 8,
Wherein the information sensed in the sensing step is at least one of a position of a vehicle, a width of a vehicle, a deviation of a lane, a lane width, a lane interval, and a curvature of a road. The method of claim 9,
Wherein,
A reference torque value obtaining step of obtaining the reference torque value; And a comparison step of comparing the reference torque value and the operating torque value,
The reference torque value obtaining step may include:
A first step of obtaining straight road running torque data which is a torque value obtained from a steering wheel when a normal driver drives the vehicle on a straight road; And a second step of finally obtaining a reference torque value by correcting the straight road data so that curvature information of the road on which the current vehicle is traveling is reflected.

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