TR2021014295A1

TR2021014295A1 - DRIVER FATIGUE DETECTION AND CONTROL SYSTEM IN COMMERCIAL VEHICLES

Info

Publication number: TR2021014295A1
Application number: TR2021/014295
Authority: TR
Inventors: Ayhan Rencuzo Ullari Ender
Original assignee: Bmc Otomoti̇v Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇
Filing date: 2021-09-13
Publication date: 2023-03-21

Abstract

Buluş, başta ticari olmak üzere tüm araçlarda (200) sürücünün (300) yorgunluk ve dikkat dağınıklığı durumunu tespit eden ve bu tespit doğrultusunda aracın (200) seyir halindeyken daha güvenli bir sürüş deneyimi gözetilerek araç (200) kontrolünü düzenleyen kontrol sistemi (100) olup, özelliği; akıllı sensör (110) tarafından sürücünün (300) gözlerinin kapalı olduğunun tespit edilmesi halinde ve/veya radardan (140) alınan verileri de değerlendirerek fren kontrolcüsüne (130) frenleme komutunu gönderen ve emniyet kemerini (150) kontrol eden elektronik kontrol ünitesinden (120) gelen bilgi ile elektronik frenleme sistemini (131) devreye alan frenleme kontrolcüsü (130) içermesidir. Buluş konusu kontrol yöntemi, kameradan (111) 5 saniyede bir çıktı olarak sağlanan kapalı göz tespit sinyalinin (kgts) elektronik kontrol ünitesine (120) iletilmesi; kontrol ünitesinde (120) çalışan araç uygulama yazılımının kapalı göz tespit sinyali (kgts) bilgisiyle mantıksal karşılaştırmalar yapması; her bir kapalı göz tespit sinyali (kgts) ve kapalı göz tespit sinyalinin (kgts) elektronik kontrol ünitesinden (120) çekilen o andaki sistem zamanı olan kapalı göz tespit sinyal zamanı (kgtsz) mührünün 8 saniye boyunca özel bir değişken ismi atanarak hafızada tutulması; ardından bir kapalı göz tespit sinyali (kgts) daha geldiğinde, ilk kapalı göz tespit sinyali (kgts) ile sonradan gelen kapalı göz tespit sinyali (kgts) arasındaki zaman farkına bakılması ve bu zaman farkının 5 saniye olması durumunda sürücünün (300) 10 saniye boyunca gözleri kapalı ve uykuya dalmış olduğunun kabul edilmesi; emniyet kemerinin (150) sıkılaştırılması; fren ön yüklemesinin yapılması; radardan (140) 100 milisaniye çevrimle akan verilere göre arkadan yaklaşmakta olan dinamik nesnelerin aracın (200) sürüş koridoru içinde olup olmadığı ve bu koridor içinde yaklaşan en yakın nesnenin seçilip TTC?nin hesaplanması; TTC?ye bağlı olarak tam frenleme veya daha düşük seviyeli frenleme yapılmasının kararının verilmesiyle fren kontrolcüsüne (130) gerekli frenleme ivme sinyalinin gönderilmesi; frenleme ivme sinyali gönderildiğinde aracın (200) frenleme yapması için elektronik frenleme sisteminin (131) devreye alınması işlem adımlarını içermektedir.The invention is a control system (100) that detects the fatigue and distraction of the driver (300) in all vehicles (200), especially commercial ones, and regulates the control of the vehicle (200) while driving, considering a safer driving experience. , feature; If the smart sensor (110) detects that the driver's (300) eyes are closed and/or evaluates the data received from the radar (140), the signal from the electronic control unit (120) sends the braking command to the brake controller (130) and controls the seat belt (150). It contains a braking controller (130) that activates the electronic braking system (131) with information. The control method of the invention is to transmit the closed eye detection signal (kgts), which is output from the camera (111) every 5 seconds, to the electronic control unit (120); the vehicle application software running in the control unit (120) makes logical comparisons with the closed eye detection signal (kgts) information; keeping the closed eye detection signal time (kgtsz) stamp, which is the current system time of each closed eye detection signal (kgts) and closed eye detection signal (kgts) from the electronic control unit (120), in memory for 8 seconds by assigning a special variable name; When another closed eye detection signal (kgts) arrives, the time difference between the first closed eye detection signal (kgts) and the subsequent closed eye detection signal (kgts) is examined and if this time difference is 5 seconds, the driver (300) will be blindfolded for 10 seconds. acceptance of being closed and asleep; tightening the seat belt (150); brake preloading; According to the data flowing from the radar (140) in a 100 millisecond cycle, whether the dynamic objects approaching from behind are within the driving corridor of the vehicle (200) and selecting the nearest object approaching within this corridor and calculating the TTC; Sending the necessary braking acceleration signal to the brake controller (130) upon deciding whether to perform full braking or lower level braking depending on the TTC; It includes the steps of activating the electronic braking system (131) to brake the vehicle (200) when the braking acceleration signal is sent.

Description

TARIFNAME TICARI ARAçLARDA SURUCU YORGUNLUK TESPITI VE KONTROL SISTEMI TEKNIK ALAN Bulus, basta ticari olmak üzere tüm araçlarda yerlestirilen kamera sayesinde konvansiyonel görüntü isleme ve/veya yenilikçi makine ögrenmesi teknikleriyle sürücünün yorgunluk ve dikkat daginikligi durumunu tespit eden sürücü izleme sisteminin çiktisina ve radar çiktisina göre aracin seyir halindeyken daha güvenli bir sürüs deneyimi gözetilerek araç kontrolünün düzenlenmesi için gelistirilmis kontrol sistemi ve kontrol yöntemi ile ilgilidir. TEKNIGIN BILINEN DURUMU Günümüzde serit degistirme, uyarlanabilir hiz kontrolü ve benzeri Ileri sürüs asistanlarinin gelismesi ve sagladigi kolayliklardan dolayi, sürüs asistanlarinin yaninda sürücü Izleme sistemleri de gelismekte ve her geçen gün talep artmaktadir. Sürücü Izleme sistemleri, genellikle kamera veya benzeri metotlar sayesinde sürücünün yorgunluk ve dikkat daginikligini siniflandirarak tespit etmektedir. Bu tespit edilen davranislarla birlikte, sürücünün dikkatini toplamasi gerektigi ve gerekiyorsa araci durdurarak dinlenmesi gerektigi sürücüye sesli ve/veya görsel bir sekilde bildirilmektedir. Bu sayede yorgunluktan veya dikkat daginikligindan dolayi olasi kazalarin önüne geçilmesi hedeflenmektedir. Avrupa parlamentosu ve ilgili otomotiv otoritelerinin çalismalarina istinaden, dikkat daginikligini engelleme ve yorgunluk uyari sistemleri regülatit olarak otomotiv sektöründeki M1, M2, M3, N1, N2 ve NS tip araçlar için zorunlu hale gelmesi söz konusu oldugundan araç üreticileri (OEM) bu sistemi gelistirmeye ve araçlarina uyarlamaya baslamislardir. Mevcut sürücü izleme sistemlerinde yorgunluk ve dikkat daginikliginin tespit edilmesiyle sürücü genellikle uyarilmaktadir ve bazi sistemlerde aracin kontrolüne de müdahale edilmektedir. Diger bir Ifade ile ses velveya g'orsel yollarla uyarilan sürücünün ayilmasi vei'veya dikkatini toplayarak aracin kontrolünü sürdürülebilir bir sekilde devam ettirmesi beklenmektedir. Sadece uyari veren sistemler her ne kadar belirli bir seviyeye kadar muhtemel kazalari 'önleyecek yetenekte olsa da kazalarin 'Önlenmesi noktasinda kontrolün yine sürücü inisiyatifine birakilmis olmasi sürüs güvenliginin yeterli derecede saglanamamasina neden olmaktadir. Bunun yaninda, kontrole müdahale eden sistemler ise daha güvenli bir sürüs saglamaktadir. Gelisen otonom sürüs teknolojileri göz 'Önüne alindiginda, araçlarin kontrol görevi günden güne sürücünün inisiyatifinden alinip, daha hizli ve güvenli bir sekilde tepki verebilen yazilimlara verilmesi gerekliligi ortaya çikmistir. Bu sebepten, sürücü izleme sistemleri sürücüyü uyarmaya çalisarak kaza etkenini ortadan kaldirmaya çalissa da mikro- uyku evresinde bulunan bir insanin refleksleri araci güvenli bir sekilde kontrol etmeye yetmemektedir. Sonuç olarak, sürücü izleme sistemlerinin sadece uyari vermesi önemli bir güvenlik açigi olusturmakta ve kazalarin engellenmesi noktasinda yetersiz kalmaktadir. Bu sebepten bazi sistemler sürücünün durumuna göre hem acil durumlarda frenleme yaparak hem de ilgili saglik kuruluslarina gsm üzerinden acil durum bildirimi göndererek kaza veya yasanilan bir rahatsizliktan dolayi ihtiyaç duyulabilecek saglik destegi çagirma avantajini ortaya koymustur. Günümüzde sürücü izleme sistemlerinin etkinliginin artirilmasi ve trafik kazalarinin önlenmesi amaciyla çesitli çalismalar gerçeklestirilerek yeni izleme sistemleri gelistirilmistir. Bu çalismalardan biri, TR 2019/0175? numarali patent basvurusuna konu olan bulustur. Bulus 5G iletisim teknolojisi, IoT, NB-IoT ve Uw band radar teknolojilerinin gelisimi ile sensörler, kameralar, gelismis görüntü isleme, yapay zeka alt yapisi, gps, gsm, bluetooth iletisim teknolojilerini kullanarak gelistirilen cihaz ve mobil-web yazilimi, platformdan olusan entegre çözümdür. Bulusun amacini her segment araçta kullanilabilen, nispeten düsük maliyetli, yüksek teknoloji (5G,IoT,NB-IOT,UWBAND RADAR, görüntü isleme, yapay zeka, gsm, gps) alt yapilari kullanilarak sürücü yüz tanima sistemi ile sürücü araç eslesmesini saglamak biyometrik güvenlik ve yeterlik dogrulama yapmak, sürücünün araç kullanma ve dinlenme sürelerini takip etmek, Iokasyon bazli hiz Iimitlerini takip etmek, sürücü uyku ve yorgunluk tespitini yapmak, sürüs temel ihlalleri olan sürüs sirasinda telefon ile görüsmelerini algilamak, sürüs esnasinda sigara içilmesini algilamak, yaya geçitlerinde 'Öncelikli yaya geçisini algilamak, araç içi sicaklik ve duman algilamasi, çarpisma, darbe, hirsizlik, takla atma gibi acil durum süreçlerini algilamak takip etmek, üzerindeki acil çagri butonuna basildiginda ve tüm takip ve algilama islemlerinde ihlal olustugunda gsm alt yapisi kullanilarak gerekli kisi ve kurumlara gerçek zamanli Iokasyon bilgisi ve ihbar-ihlal gerekçelerini bildirmek, acil durum süreçlerini baslatmak, insan hayati risklerini azaltmak, sürüs güvenlik ve kalitesini arttirmak, sürüs konforunu artirmaktir. Diger bir çalisma, TR 2018/18943 numarali patent basvurusuna konu olan bulustur. Bu bulus, araç kullanan bir kisinin sürüs bilgilerini, yorgunluk derecesini tespit eden ve tespit edilen sürüs bilgileri ile araç deposunda bulunan yakit miktarini kullanarak analiz yapan ve sürücünün mola vermesi ve/veya yakit almasi gerektigi zaman ve bölgenin belirlenerek sürücüye uyarida bulunulmasini saglayan bir yol yardim sistemi ile ilgilidir. Sürücü izleme sistemleri konusunda yapilan çalismalar daha etkin uyari verilmesi konusuna yogunlasmakta ve yine sürücünün bu uyari dogrultusunda hareket etmesi beklentisiyle çalismaktadir. Aracin kontrolüne (frenleme) müdahalede bulunan sistemler ise sadece bu sistemi barindiran aracin seyir güvenligini göz önünde bulundurmaktadir. Sürücü uyku evresindeyken yapilmasi muhtemel acil durum freni, arkadan yaklasmakta olan bir aracin frenleme mesafesini hesaba katmadigindan dolayi, zincirleme trafik kazalarinin gerçeklesme potansiyeli de ortaya çikmaktadir. Sonuç olarak mevcut sistemler sürücünün dalgin veya yorgun oldugu durumlarda reflekslerinin yavaslamasi nedeni ile uyariya geç tepki vermesi, aracin etrafindaki nesneleri de degerlendirilmeden frenleme yapilmasi; zincirleme kazalarin da engellenmesi ihtiyacini dogurmustur. BULUSUN KISA AÇIKLAMASI Mevcut bulus, basta ticari olmak üzere tüm araçlarda yerlestirilen kamera sayesinde konvansiyonel görüntü isleme vei'veya yenilikçi makine ögrenmesi teknikleriyle sürücünün yorgunluk ve dikkat daginikligi durumunu tespit eden sürücü izleme sisteminin çiktisina ve aracin arkasina yerlestirilen radara göre aracin seyir halindeyken daha güvenli bir sürüs deneyimi gözetilerek araç kontrolünün düzenlenmesi için gelistirilmis kontrol sistemidir. Bulusun amaci, gelistirilen kontrol sisteminde yorgunluk tespitinin çiktisinin araç kontrolünde kullanilmasi sayesinde sürücünün refleksleri yavaslamis olsa dahi ihtiyaç duyuldugunda otomatik olarak fren sisteminin devreye girerek uyku kaynakli potansiyel kazalarin engellenmesinin saglanmasidir. Bulusun bir diger amaci, kontrol sisteminde aracin arkasina yerlestirilen radarin saglamis oldugu nesne bilgilerinin degerlendirilerek, gerektiginde tam frenleme yerine düsük seviyede frenleme yapilmasi sayesinde sadece sürücünün uykusundan kaynakli gerçeklesebilecek güzergahtan istemsiz çikma, rampadan yuvarlanma gibi durumlar degil; ayni zamanda arkadan yaklasan dinamik nesnelerle de yasanabilecek kazalardan kaçinilmasi veya çarpisma etkisinin azaltilmasinin saglanmasidir. Bulusun bir diger amaci, kontrol sisteminde kullanilan kamera sayesinde anlik yorgunluk ve dikkat daginikligi durumunun tespit edilmesinin ve bu tespit dogrultusunda sürücünün davranislarinin tehlikeli oldugu konusunda uyarilmasinin saglanmasidir. Bulusun diger bir amaci, kontrol sisteminde elde edilen yorgunluk tespitinin ve aracin arkasindaki nesnelerinin mantiksal hesaplamalar yapilarak degerlendirilmesi sonucu aracin otomatik frenleme yapmasina karar verilmesi sayesinde olasi kazalarin engellenmesinin saglanmasidir. Bulusun diger bir amaci, kontrol sisteminde sürücünün gözlerinin tercihen 5 saniye kapali oldugunun tespit edilmesi durumunda sürücünün uyudugunun varsayilmasi sayesinde gözün kasinmasi, göze toz kaçmasi, ovusturma veya yanlis tespit durumlarinda yasanabilecek istenmeyen frenlemenin önlenmesinin saglanmasidir. Bulusun diger bir amaci, sürücünün sürüs esnasinda uyudugunun tespit edilmesi halinde aracin frenlerinin otomatik olarak devreye girmesi sayesinde öndeki araçlara, gidilen güzergahtan çikarak yol kenarindaki ve önündeki nesnelere çarpmasi veya uçurumdan yuvarlanmasi gibi riskli durumlarin engellenmesinin saglanmasidir. Bulusun bir diger amaci, araç, motosiklet gibi aracin arkasindan yaklasan nesnelerin degerlendirilerek durum analizine göre frenleme ivmesinin hesaplanmasi sayesinde arkadan yasanilabilecek daha tehlikeli durumlardan da kaçinilmasinin saglanmasidir. Bulusun bir diger amaci, sürücünün uyudugunun tespit edilmesi durumunda, emniyet kemeri ve fren özelinde ön hazirligin yapilmasi ve böylece emniyet kemerinin belirli miktarda sikistirilmasi sayesinde hem sürücünün hissedebilecegi fiziksel bir uyari verilmesinin hem de kazaya hazirlik yapilmasinin; frene yapilan ön yükleme sayesinde frenleme süresinin ve mesafesinin kisaltarak olasi kazanin engellenmesinin veya son çare olarak etkilerinin düsürülmesinin saglanmasidir. Yukarida belirtilen ve detayli anlatimdan çikabilecek tüm amaçlari yerine getirebilmek üzere bulus; basta ticari olmak üzere tüm araçlarda sürücünün yorgunluk ve dikkat daginikligi durumunu tespit eden ve bu tespit dogrultusunda aracin seyir halindeyken daha güvenli bir sürüs deneyimi gözetilerek araç kontrolünü düzenleyen kontrol sistemi olup, - akilli sensörler tarafindan, sürücünün gözlerinin kapali oldugunun tespit edilmesi halinde ve arkadan yaklasan nesne ile çarpismaya kalan sürenin hesaplanmasi (TTC - time to collision) sayesinde fren kontrolcüsüne frenleme komutunu gönderen ve emniyet kemerini kontrol eden elektronik kontrol ünitesi; - elektronik kontrol ünitesinden gelen bilgi ile elektronik frenleme sistemini devreye alan frenleme kontrolcüsü içermektedir. Ayrica bulus, yukarida belirtilen ve detayli anlatimdan çikarilabilecek tüm amaçlari yerine getirebilmek üzere basta ticari olmak üzere tüm araçlarda sürücünün yorgunluk ve dikkat daginikligi durumunu tespit eden ve bu tespit dogrultusunda aracin seyir halindeyken daha güvenli bir sürüs deneyimi gözetilerek araç kontrolünü düzenleyen kontrol yöntemi olup, kameradan 5 saniyede bir çikti olarak saglanan kapali göz tespit sinyalinin (kgts) elektronik kontrol ünitesine iletilmesi; kontrol ünitesinde çalisan araç uygulama yaziliminin kapali göz tespit sinyali (kgts) bilgisiyle mantiksal karsilastirmalar yapmasi; her bir kapali göz tespit sinyali (kgts) ve kapali göz tespit sinyalinin (kgts) elektronik kontrol ünitesinden çekilen 0 andaki sistem zamani olan kapali göz tespit sinyal zamani (kgtsz) mührünün 8 saniye boyunca özel bir degisken ismi atanarak hafizada tutulmasi; aracin arka uç kismindan baslayarak arkaya dogru 50 metrelik mesafe için sürüs koridorunun hesaplanmasi; ardindan bir kapali göz tespit sinyali (kgts) daha geldiginde, ilk kapali göz tespit sinyali (kgts) ile sonradan gelen kapali göz tespit sinyali (kgts) arasindaki zaman farkina bakilmasi ve bu zaman farkinin 5 saniye olmasi durumunda sürücünün 10 saniye boyunca gözleri kapali ve uykuya dalmis oldugunun kabul edilmesi; emniyet kemerinin sikilastirilmasi; fren ön yüklemesinin yapilmasi; radardan 100 milisaniye çevrimle akan verilere göre arkadan yaklasmakta olan dinamik nesnelerin aracin sürüs koridoru içinde olup olmadigi ve bu koridor içinde yaklasan en yakin nesnenin seçilip TTC'nin hesaplanmasi; TTC?ye bagli olarak tam frenleme veya daha düsük seviyeli frenleme yapilmasinin kararinin verilmesiyle fren kontrolcüsüne gerekli frenleme ivme sinyalinin gönderilmesi; frenleme ivme sinyali gönderildiginde aracin frenleme yapmasi için elektronik frenleme sisteminin devreye alinmasi islem adimlarini içermektedir. SEKILLERIN KISA AÇIKLAMASI Sekil 1'de bulus konusu kontrol sisteminin ve radarin araca monte halinin sematik genel görünümü verilmistir. Sekil 2'de araç içerisinde kamera, sürücü ve radar yerlesiminin yandan genel görünümü verilmistir. Sekil Site araç içerisinde kamera, sürücü ve emniyet kemerinin yerlesimin Önden genel görünümü verilmistir, Sekil 45te kontrol sisteminin genel yapisi verilmistir, Sekil 5*te kontrol sistemine ait is akis semasi verilmistir. TR TR TR TR DRIVER FATIGUE DETECTION AND CONTROL SYSTEM IN COMMERCIAL VEHICLES TECHNICAL FIELD The invention is based on the output of the driver monitoring system and radar output, which detects the fatigue and distraction of the driver with conventional image processing and/or innovative machine learning techniques, thanks to the camera installed in all vehicles, especially commercial ones. It is about the control system and control method developed to regulate vehicle control by considering a safer driving experience while driving. KNOWN STATE OF THE TECHNOLOGY Today, due to the development of advanced driving assistants such as lane changing, adaptive speed control and the conveniences they provide, driver monitoring systems are also developing along with driving assistants and the demand is increasing day by day. Driver Monitoring systems generally detect driver fatigue and distraction by classifying them using cameras or similar methods. With these detected behaviors, the driver is notified audibly and/or visually that he needs to focus his attention and, if necessary, stop the vehicle and rest. In this way, it is aimed to prevent possible accidents due to fatigue or distraction. Based on the studies of the European Parliament and the relevant automotive authorities, it is possible that distraction prevention and fatigue warning systems will become mandatory for M1, M2, M3, N1, N2 and NS type vehicles in the automotive industry, and vehicle manufacturers (OEMs) are trying to develop this system and install it in their vehicles. They have started to adapt it. In existing driver monitoring systems, the driver is usually warned by detecting fatigue and distraction, and in some systems, the control of the vehicle is also intervened. In other words, it is expected that the driver, who is warned by audio or visual means, will wake up and focus and maintain control of the vehicle in a sustainable way. Although systems that only give warnings are capable of preventing possible accidents to a certain level, the fact that control is left to the driver's initiative at the point of preventing accidents causes driving safety to not be sufficiently ensured. In addition, systems that intervene in control provide safer driving. Considering the developing autonomous driving technologies, it has become clear that the control task of vehicles should be taken from the driver's initiative day by day and given to software that can react faster and safer. For this reason, although driver monitoring systems try to eliminate the cause of the accident by trying to warn the driver, the reflexes of a person in the micro-sleep phase are not sufficient to control the vehicle safely. As a result, driver monitoring systems only providing warnings creates a significant security vulnerability and is insufficient to prevent accidents. For this reason, some systems have demonstrated the advantage of calling for medical support that may be needed due to an accident or illness by both braking in emergencies and sending emergency notifications via GSM to the relevant healthcare institutions, depending on the driver's condition. Today, various studies have been carried out and new monitoring systems have been developed in order to increase the effectiveness of driver monitoring systems and prevent traffic accidents. One of these studies, TR 2019/0175? It is the invention that is the subject of patent application no. The invention is an integrated solution consisting of a device and mobile-web software and platform developed using 5G communication technology, IoT, NB-IoT and Uw band radar technologies, sensors, cameras, advanced image processing, artificial intelligence infrastructure, GPS, GSM and Bluetooth communication technologies. . The purpose of the invention is to provide biometric security and driver-vehicle matching with the driver face recognition system by using relatively low-cost, high-technology (5G, IoT, NB-IOT, UWBAND RADAR, image processing, artificial intelligence, GSM, GPS) infrastructures that can be used in every segment of vehicle. to verify competence, to monitor the driver's driving and rest periods, to follow location-based speed limits, to detect driver sleep and fatigue, to detect phone calls while driving, which are basic driving violations, to detect smoking while driving, to indicate 'Priority pedestrian crossing' at pedestrian crossings. detecting, detecting and tracking emergency processes such as interior temperature and smoke detection, collision, impact, theft, rollover, real-time location information to the necessary people and institutions using the GSM infrastructure when the emergency call button on the vehicle is pressed and when a violation occurs in all tracking and detection processes. and notification-violation reasons, initiating emergency processes, reducing the risks to human life, increasing driving safety and quality, and increasing driving comfort. Another study is the invention that is the subject of the patent application numbered TR 2018/18943. This invention is a roadside assistance system that detects the driving information and fatigue level of a person driving a vehicle, analyzes it using the detected driving information and the amount of fuel in the vehicle tank, and provides a warning to the driver by determining the time and area when the driver needs to take a break and/or refuel. It is related to. Studies on driver monitoring systems focus on providing more effective warnings and work with the expectation that the driver will act in accordance with this warning. Systems that intervene in the control (braking) of the vehicle only take into account the navigational safety of the vehicle that includes this system. Since the emergency braking that may be applied while the driver is asleep does not take into account the braking distance of a vehicle approaching from behind, the potential for chain traffic accidents also arises. As a result, current systems react late to the warning when the driver is distracted or tired, due to the slowing down of his reflexes, and braking is applied without evaluating the objects around the vehicle; It has created the need to prevent chain accidents. BRIEF DESCRIPTION OF THE INVENTION The current invention provides a safer driving experience while driving, according to the output of the driver monitoring system, which detects the fatigue and distraction of the driver through conventional image processing and innovative machine learning techniques, thanks to the camera installed in all vehicles, especially commercial ones, and the radar placed at the back of the vehicle. It is a control system developed to regulate vehicle control, taking into account experience. The purpose of the invention is to prevent potential sleep-related accidents by automatically activating the brake system when needed, even if the driver's reflexes have slowed down, by using the fatigue detection output in the vehicle control in the developed control system. Another purpose of the invention is to evaluate the object information provided by the radar placed at the back of the vehicle in the control system, and to apply low level braking instead of full braking when necessary, to prevent situations such as unintentional leaving the route or rolling down the ramp, which may only occur due to the driver's sleep; It is also to avoid accidents that may occur with dynamic objects approaching from behind or to reduce the impact of collision. Another purpose of the invention is to detect instantaneous fatigue and distraction, thanks to the camera used in the control system, and to warn the driver that his behavior is dangerous based on this detection. Another purpose of the invention is to prevent possible accidents by deciding to automatically brake the vehicle as a result of the fatigue detection obtained in the control system and the evaluation of the objects behind the vehicle by making logical calculations. Another purpose of the invention is to prevent unwanted braking that may occur in cases of eye itching, dust getting into the eyes, rubbing or incorrect detection, by assuming that the driver is asleep if the control system detects that the driver's eyes are closed, preferably for 5 seconds. Another purpose of the invention is to prevent risky situations such as vehicles in front, veering off the route and hitting objects on the roadside and in front of it, or rolling off a cliff, by automatically activating the brakes of the vehicle if it is detected that the driver is asleep while driving. Another purpose of the invention is to avoid more dangerous situations that may occur from behind by evaluating objects approaching from behind the vehicle, such as a vehicle or motorcycle, and calculating the braking acceleration according to the situation analysis. Another purpose of the invention is to provide a physical warning that the driver can feel and to prepare for an accident by making preliminary preparations for the seat belt and brakes in case it is detected that the driver is asleep, and thus by tightening the seat belt a certain amount. By preloading the brake, braking time and distance are shortened, thus preventing a possible accident or, as a last resort, reducing its effects. The invention is designed to fulfill all the purposes stated above and that can be derived from the detailed explanation; It is a control system that detects the fatigue and distraction of the driver in all vehicles, especially commercial ones, and accordingly regulates the vehicle control while the vehicle is in motion, taking into account a safer driving experience. - If it is detected by smart sensors that the driver's eyes are closed and an object approaching from behind The electronic control unit that sends the braking command to the brake controller and controls the seat belt by calculating the time to collision (TTC); - It includes a braking controller that activates the electronic braking system with the information coming from the electronic control unit. In addition, the invention is a control method that detects the fatigue and distraction of the driver in all vehicles, especially commercial ones, in order to fulfill all the purposes stated above and that can be derived from the detailed explanation, and regulates the vehicle control by considering a safer driving experience while the vehicle is driving in line with this detection. transmitting the closed eye detection signal (kgts), which is provided as an output once per second, to the electronic control unit; The vehicle application software running in the control unit makes logical comparisons with the closed eye detection signal (kgts) information; keeping each closed eye detection signal (kgts) and closed eye detection signal time (kgtsz) seal, which is the system time at 0, taken from the electronic control unit of the closed eye detection signal (kgts), in memory for 8 seconds by assigning a special variable name; calculation of the driving corridor for a distance of 50 meters from the rear end of the vehicle to the rear; Then, when another closed eye detection signal (kgts) comes, if the time difference between the first closed eye detection signal (kgts) and the subsequent closed eye detection signal (kgts) is checked and this time difference is 5 seconds, the driver should close his eyes and fall asleep for 10 seconds. acknowledgment of being engrossed; tightening the seat belt; brake preloading; According to the data flowing from the radar in a 100 millisecond cycle, determining whether the dynamic objects approaching from behind are within the driving corridor of the vehicle and selecting the closest object approaching within this corridor and calculating the TTC; Sending the necessary braking acceleration signal to the brake controller by deciding whether to perform full braking or lower level braking depending on the TTC; It includes the process steps of activating the electronic braking system so that the vehicle brakes when the braking acceleration signal is sent. BRIEF DESCRIPTION OF THE FIGURES In Figure 1, a schematic general view of the control system and radar mounted on the vehicle is given. Figure 2 shows the general side view of the camera, driver and radar placement in the vehicle. In Figure 45, the general structure of the control system is given, and in Figure 5, the workflow diagram of the control system is given. TR TR TR TR

Claims

1. CLAIMS Control system (100) that detects the fatigue and distraction of the driver (300) in all vehicles (200), especially commercial ones, and regulates the control of the vehicle (200) while the vehicle (200) is in motion, taking into account a safer driving experience. and its feature is; - at least one smart sensor (110) that detects whether the driver's (300) eyes are closed and, if so, the duration of the driver's (300) eyes closed, - not situations such as involuntary departure from the route or rolling down the ramp, which may only occur due to the driver's (300's) sleep. ; At the same time, in order to avoid accidents that may occur with other vehicles, motorcycles and similar dynamic objects approaching the vehicle (200) from behind or to reduce the impact of collision, the radar (140) placed behind the vehicle (200) detects that the driver's (300) eyes are closed by the smart sensor (110). The electronic control unit (120), which sends the braking command to the brake controller (130) and controls the seat belt (150) by evaluating the data received from the radar (140) and/or the electronic braking system, with the information coming from the electronic control unit (120). It contains a braking controller (130) that activates the (131). It is a control system (100) in accordance with claim 1, and its feature is; The smart sensor (110) is the Driver Monitoring System (DMS) camera (111) positioned at a distance of 60 cm to see the driver (300) and detect fatigue and distraction. It is a control system (100) in accordance with claim 1, and its feature is; It contains the emergency sleep braking system (121), which is the vehicle application software that runs on the electronic control unit (120) and makes logical comparisons with the closed eye detection signal (kgts) information. It is a control method that detects the fatigue and distraction of the driver (300) in all vehicles (200), especially commercial ones, and regulates the control of the vehicle (200) while driving, considering a safer driving experience. - transmitting the closed eye detection signal (kgts) provided as output from the camera (111) every 5 seconds to the electronic control unit (120); - the vehicle application software running in the control unit (120) makes logical comparisons with the closed eye detection signal (kgts) information; - keeping the closed eye detection signal time (kgtsz) stamp, which is the current system time of each closed eye detection signal (kgts) and the closed eye detection signal (kgts) from the electronic control unit (120), in memory for 8 seconds by assigning a special variable name; - When another closed eye detection signal (kgts) comes, if the time difference between the first closed eye detection signal (kgts) and the subsequent closed eye detection signal (kgts) is checked and this time difference is 5 seconds, the driver (300) will wait for 10 seconds. recognition that his eyes were closed and he was asleep; - tightening the seat belt (150); - brake preloading; - According to the data flowing from the radar (140) with a cycle of 100 milliseconds, determining whether the dynamic objects approaching from behind are within the driving corridor of the vehicle (200) and selecting the closest object approaching within this corridor and calculating its TTC; - Sending the necessary braking acceleration signal to the brake controller (130) by deciding whether to perform full braking or lower level braking depending on the TTC; - It includes the process steps of activating the electronic braking system (131) to brake the vehicle (200) when the braking acceleration signal is sent. It is a control method in accordance with claim 4, and its feature is; If the time difference is 10 seconds or more, the process includes the step of not taking any action and continuing to make calculations every 10 milliseconds as a passive listener, relying only on the warning signals given by the smart sensor (110). It is a control method in accordance with claim 4, and its feature is; If it is detected by the smart sensors (110) that the driver's (300) eyes are closed, the process step includes calculating the time remaining to collide with the object approaching from behind (TTC - time to collision). It is a control method in accordance with claim 4, and its feature is; In case it is detected that the driver (300) is sleeping, it includes the process step of pre-loading the brake and tightening the seat belt (150) in order to give a physical warning that the driver (300) can feel. TR TR TR TR