TWI471240B - Vehicle driving condition monitoring system and method - Google Patents

Description

Vehicle driving state monitoring system and method

The invention relates to a monitoring system, in particular to a vehicle driving state monitoring system and method.

An existing vehicle driving state system captures a representative image of a driver through an image unit, and uses a control unit electrically connected to the image unit to determine whether the driver is dozing based on the image, such as determining that the driver's eyes are closed. Or the abnormal movement state of the head, etc. However, this system is liable to be misjudged by the driver's body movement.

Therefore, another vehicle driving state system measures the physical quantity of the vehicle movement through a body signal module, such as the lateral offset or the steering angle of the vehicle, and uses a control unit electrically connected to the body signal module. The motion physics quantity calculates a transfer function corresponding to the driving mode, and finally compares the transfer function of the driving mode with the preset driving comparison function, and determines whether the current driving state may be generated by the dozing driver. However, this system will also be misjudged by the driver's sudden change of operational behavior.

Accordingly, it is an object of the present invention to provide a vehicle driving condition monitoring system and method for ensuring driving safety by double confirmation of video and driving signals.

Therefore, the vehicle driving state monitoring system of the present invention is applied to a vehicle, the vehicle includes a vehicle body and a steering wheel module, and the monitoring system includes a The image unit, an acceleration sensing unit, a corner sensing unit, a sustaining torque sensing unit, a warning unit, and a processing unit.

The image unit includes a driving image module that is photographed by the driver to generate a driver image signal, and the acceleration sensing unit measures and generates a lateral acceleration signal corresponding to the lateral acceleration of the vehicle body, and the corner sensing unit Measure and generate a steering angle signal corresponding to the steering angle of the vehicle body, the maintenance torque sensing unit is disposed on the steering wheel module, and measures and generates a sustaining torque signal corresponding to the maintaining torque of the steering wheel module The maintenance torque refers to a moment that maintains the yaw of the vehicle when it is driven, and is not swayed by the friction of the road surface. The warning unit is disposed in the vehicle body, and the processing unit is electrically connected to the image unit, the acceleration sensing unit, and the a corner sensing unit, the maintaining torque sensing unit and the warning unit, and respectively calculating an image danger degree value and a row vehicle danger degree value, and calculating a final danger according to the image danger degree value and the driving danger degree value a degree value that drives the warning ticket when the final risk value is greater than a predetermined risk level Generating a warning, the image value is the degree of risk based on the calculated video signal driver, the driving values are based on the risk level of the lateral acceleration signal, the steering angle signal and torque signal derived calculated maintained.

Therefore, the vehicle driving state monitoring method of the present invention is applied to the vehicle driving state monitoring system, wherein the monitoring unit calculates the image danger degree value according to the driver image signal generated by the driving image module, and When the image danger degree value is greater than a preset value, the current lateral acceleration, steering angle and maintenance torque are respectively stored to one electric power Connected to the database unit of the processing unit, and respectively represented by a side acceleration threshold parameter, a steering angular velocity threshold parameter and a maintenance torque threshold parameter, and then the processing unit receives the maintenance from the maintenance torque sensing unit After the torque signal is calculated, the maintenance torque threshold parameter is calculated to obtain a set of maintenance torque parameters, and the processing unit receives the steering angle signal from the corner sensing unit, and operates with the steering angular velocity threshold parameter to Deriving a set of steering angular velocity parameters, and then the processing unit receives the lateral acceleration signal from the acceleration sensing unit, and performs operation on the lateral acceleration threshold parameter to obtain a lateral acceleration parameter set, and then the processing The unit calculates the driving danger degree value according to the set of the maintaining torque parameter, the steering angular velocity parameter set and the lateral acceleration parameter set, and then the processing unit receives the driver image signal from the driving image module, and then calculates the image. Danger degree value, finally the root of the processing unit The degree of risk value and driving the image risk level of the final value of the calculated value of the degree of danger and risk to the final value is greater than drive the warning unit generates a warning when the predetermined value of the degree of risk.

The invention has the effect of monitoring and ensuring driving safety by synchronous confirmation of the driver image signal, the lateral acceleration signal, the steering angle signal and the maintenance torque signal.

The above and other technical contents, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments.

Referring to FIG. 1 and FIG. 2, the comparison of the vehicle driving state monitoring system of the present invention The preferred embodiment is applied to a vehicle 9 and is operable by a vehicle driving state monitoring method. The vehicle 9 includes a body 91 and a steering wheel module 92. The monitoring system includes an image unit 2 and an acceleration sensing unit 31. A corner sensing unit 32, a sustaining torque sensing unit 33, a warning unit 4, a processing unit 5, and a database unit 6.

The image unit 2 includes a driving image module 21 that is photographed by the driver to generate a driver image signal, a lane image module 22 that is disposed in the vehicle 9 to capture and generate a lane image signal, and a The vehicle 9 captures and produces a head image module 23 of a head image signal.

The acceleration sensing unit 31 is disposed in the vehicle 9 and measures and generates a lateral acceleration signal corresponding to the lateral acceleration of the vehicle body 91. In the embodiment, the acceleration sensing unit 31 is an acceleration sensor, and the measured lateral acceleration range is between 0 and 0.4 meters per square second (m/sec ² ), and The form of voltage output is expressed.

The corner sensing unit 32 is disposed in the vehicle 9 to measure and generate a steering angle signal corresponding to the steering angle of the vehicle body 91. In the embodiment, the angle sensing unit 32 is an angle sensor and is disposed on the steering wheel module 92 to measure the rotation angle of the steering wheel module 92. The rotation angle of the steering wheel module 92 can be relatively The steering angle of the body 91 should be such that the measured range of rotation is between 0 and 600 degrees and is expressed as a voltage output.

The maintaining torque sensing unit 33 is disposed on the steering wheel module 92 and measures and generates a sustaining torque signal corresponding to the maintaining torque applied to the steering wheel module 92. In the present embodiment, the stated maintenance torque refers to maintaining the vehicle. The torque of the yaw that is not affected by the friction of the road when driving. In the present embodiment, the sustain torque sensing unit 33 is a torsion sensor, and the measured torque is expressed in the form of a voltage output, and the voltage range is between 0 and 4 volts (V).

The warning unit 4 is disposed in the vehicle body 91. In this embodiment, the alert unit 4 is a buzzer.

The processing unit 5 is electrically connected to the image unit 2, the acceleration sensing unit 31, the corner sensing unit 32, the sustaining torque sensing unit 33, and the warning unit 4, and can be based on the driver image signal and the lane. The image signal and the image of the vehicle head image calculate an image danger level value, and calculate a line of vehicle danger degree value according to the lateral acceleration signal, the steering angle signal and the sustaining torque signal, and according to the image danger degree value and The driving hazard level value calculates a final hazard level value and drives the warning unit 4 to generate an alert when the final hazard value is greater than a predetermined hazard level value.

The database unit 6 is electrically connected to the processing unit 5.

Referring to FIG. 3, the vehicle driving state monitoring method is applied to the vehicle driving state monitoring system, and the monitoring method includes the following steps 71-77.

In step 71, the processing unit 5 calculates the image danger level value based on the driver image signal generated by the driving image module 21, the lane image signal of the lane image module 22, and the head image signal of the head image module 23. And when the image danger degree value is greater than a preset value, the current lateral acceleration, the steering angle and the maintenance torque are respectively stored in the database unit 6, and the operation is followed by the lateral acceleration threshold parameter, A steering angular velocity threshold parameter and a maintenance torque threshold parameter are indicated. In this embodiment, the steering angular velocity represented by the steering angular velocity threshold parameter is calculated by the steering angle and the sampling time, and the lateral acceleration threshold parameter, the steering angular velocity threshold parameter, and the maintenance torque threshold parameter are respectively matched. The fuzzy function is used by the subsequent fuzzy logic calculation, but the lateral acceleration threshold parameter, the steering angular velocity threshold parameter, and the maintenance torque threshold parameter may also be a single value used in conjunction with the non-fuzzy calculation.

In step 72, after receiving the sustain torque signal from the sustain torque sensing unit 33, the processing unit 5 operates with the maintenance torque threshold parameter to obtain a set of maintenance torque parameters. In this embodiment, the set of the maintaining torque parameters is a set of parameters that have undergone fuzzy logic operation based on the threshold of the maintaining torque threshold. Since the fuzzy logic operation is an existing calculation method, the calculation is no longer performed in the present specification. The way to explain.

In step 73, after receiving the steering angle signal from the corner sensing unit 32, the processing unit 5 performs an operation according to the steering angle signal, the steering angular velocity threshold parameter, and a directional light state parameter corresponding to the directional light state. To derive a set of steering angular velocity parameters. In this embodiment, the steering angular velocity parameter set is a parameter set after the fuzzy angular operation is performed based on the steering angular velocity threshold parameter and the directional light state parameter is matched, and the fuzzy logic operation is an existing calculation mode. Therefore, the calculation method will not be described in this specification.

In step 74, after the processing unit 5 receives the lateral acceleration signal from the acceleration sensing unit 31, according to the lateral acceleration signal, The lateral acceleration threshold parameter and the direction lamp state parameter are calculated to obtain a set of lateral acceleration parameters. In this embodiment, the set of lateral acceleration parameters is a set of parameters that are subjected to fuzzy logic operations after the lateral acceleration threshold parameter is used as a reference, and the fuzzy logic operation is used as an existing The calculation method is not described in this specification.

In step 75, the processing unit 5 calculates the driving danger level value according to the set of the maintaining torque parameters, the set of steering angular velocity parameters, and the set of lateral acceleration parameters. In this embodiment, the risk degree corresponding to the driving danger degree value is 0 to 100%.

In step 76, the processing unit 5 receives the driver image signal from the driving image module 21, the lane image signal from the lane image module 22, and the head image signal from the head image module 23. Calculating a corresponding driver risk parameter, a lane risk parameter and a vehicle head image risk parameter according to the driver image signal, the lane image signal and the head image signal, and according to the driver risk parameter, the lane The hazard parameter and the image risk parameter of the vehicle head are used to calculate the image danger degree value. In this embodiment, the driver's risk parameter, the lane risk parameter, and the head image risk parameter respectively correspond to a hazard ratio of 0 to 100%, and the image hazard level is equal to the driver's risk parameter, the lane. The one of the hazard parameters and the most dangerous value of the image of the vehicle head image indicates that the driver's risk parameter is equivalent to the result of an existing driver condition monitoring system (DSM), which is equivalent to the risk parameter. Results of an existing lane departure warning system (LDW) The vehicle image danger parameter is equivalent to the existing forward collision warning system (FCW). Since the driver condition monitoring system, the lane departure warning system and the front collision warning system are all prior art, it is no longer These systems are described.

In step 77, the processing unit 5 calculates the final dangerous degree value according to the product of the driving danger degree value and a first proportional parameter and the product of the image dangerous degree value and a second proportional parameter, and The warning unit is caused to generate an alarm when the final dangerous value is greater than the preset risk level. In this embodiment, the first proportional parameter and the second proportional parameter are adjusted according to a ratio of the driving danger degree value and the image danger degree value respectively, and the total value of the two is 1.

When the driver relaxes the steering wheel due to dozing, the maintaining torque will decrease at the same time, and the vehicle 9 will be deflected by the friction of the road surface when traveling, thereby causing the steering angular velocity and lateral acceleration of the vehicle 9 to occur. An abnormality, because the directional light does not operate at this time, the processing unit 5 can integrate the driving signal and the image signal of the image unit to calculate that the final dangerous value is greater than the preset dangerous level value, thereby driving the warning unit. 4 Generate a warning to remind the driver.

In summary, the processing unit 5 can calculate the corresponding driver risk parameter, the lane risk parameter and the image of the vehicle head image according to the driver image signal, the lane image signal and the head image signal generated immediately. And calculating the image danger degree value, and simultaneously calculating the lateral acceleration signal, the steering angle signal and the maintaining torque signal, and the pre-stored lateral acceleration threshold parameter, The driving angle threshold parameter and the maintaining torque threshold parameter calculate the driving danger degree value, and then the final dangerous degree value is calculated according to the image dangerous degree value and the driving danger degree value, and the final dangerous value is greater than the pre- When the risk level value is set, that is, when the driver may doze off and release the steering wheel to make the lane deflected, the warning unit is driven by the processing unit 5 to generate a warning, and the driving is confirmed by the double confirmation of the image and the driving signal. The pedestrian condition can be monitored and the driving safety can be ensured, so that the object of the present invention can be achieved.

The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent.

2‧‧‧Image unit

21‧‧‧ driving image module

22‧‧‧ Lane Image Module

23‧‧‧ head image module

31‧‧‧Acceleration sensing unit

32‧‧‧ Corner Sensor Unit

33‧‧‧Maintenance torque sensing unit

4‧‧‧Warning unit

5‧‧‧Processing unit

6‧‧‧Database unit

71~77‧‧‧Steps for monitoring vehicle driving status

9‧‧‧ Vehicles

91‧‧‧ body

92‧‧‧Steering wheel module

1 is a block diagram of a preferred embodiment of a vehicle driving state monitoring system of the present invention; FIG. 2 is a schematic view of the preferred embodiment applied to a vehicle; and FIG. 3 is a preferred embodiment of the vehicle driving state Flow chart of the monitoring method.

2‧‧‧Image unit

21‧‧‧ driving image module

22‧‧‧ Lane Image Module

23‧‧‧ head image module

31‧‧‧Acceleration sensing unit

32‧‧‧ Corner Sensor Unit

33‧‧‧Maintenance torque sensing unit

4‧‧‧Warning unit

5‧‧‧Processing unit

6‧‧‧Database unit

Claims (7)

A vehicle driving state monitoring method is applied to a vehicle driving state monitoring system. The vehicle driving state monitoring system is applied to a vehicle. The vehicle includes a vehicle body and a steering wheel module. The monitoring system includes an image unit and an acceleration sensing. a unit, a corner sensing unit, a sustaining torque sensing unit, a warning unit and a processing unit, the image unit including a driving image module that is captured by the driver to generate a driver image signal, the acceleration sensing unit Measure and generate a lateral acceleration signal corresponding to the lateral acceleration of the vehicle body, the rotation sensing unit measures and generates a steering angle signal corresponding to the steering angle of the vehicle body, and the maintenance torque sensing unit is disposed in the steering wheel mode And measuring and generating a sustaining torque signal corresponding to a maintaining torque applied to the steering wheel module, wherein the maintaining torque is a torque that is yawed while maintaining the vehicle without being affected by road friction, the warning unit Provided in the vehicle body, the processing unit is electrically connected to the image unit, the acceleration sensing list The angle sensing unit, the maintaining torque sensing unit and the warning unit respectively calculate an image danger degree value and a row vehicle danger degree value, and calculate a value according to the image danger degree value and the driving danger degree value. a final risk level value, and when the final danger value is greater than a predetermined risk level value, the warning unit is caused to generate a warning, and the image danger level value is calculated according to the driver image signal, and the driving danger degree value is based on the The lateral acceleration signal, the steering angle signal and the sustaining torque signal are calculated, and the monitoring method comprises the following steps: (A) the processing unit calculates the image danger level value based on the driver image signal generated by the driving image module, and when the image danger level value is greater than a preset value, the current lateral acceleration, the steering angle, and the maintenance are maintained. The torques are respectively stored in a database unit electrically connected to the processing unit, and are respectively represented by a side acceleration threshold parameter, a steering angular velocity threshold parameter and a maintenance torque threshold parameter; (B) the processing unit receives the After the sustain torque signal of the torque sensing unit is maintained, the maintenance torque threshold parameter is calculated to obtain a set of the maintaining torque parameter; (C) the processing unit receives the steering angle signal from the corner sensing unit, Calculating with the steering angular velocity threshold parameter to obtain a steering angular velocity parameter set; (D) the processing unit receives the lateral acceleration signal from the acceleration sensing unit, and performs operation on the lateral acceleration threshold parameter to Deriving a set of lateral acceleration parameters; (E) the processing unit according to the set of maintenance torque parameters, the steering The speed parameter set and the set of lateral acceleration parameters are used to calculate the driving danger level value; (F) the processing unit receives the driver image signal from the driving image module, and calculates the image danger degree value; (G) The processing unit calculates the final dangerous degree value according to the driving danger degree value and the image dangerous degree value, and drives the warning unit to generate a warning when the final dangerous value is greater than the preset dangerous degree value. The vehicle driving state monitoring method according to claim 1, wherein in the step (C), the processing unit receives the steering angle signal from the corner sensing unit, and according to the steering angle signal, the steering The angular velocity threshold parameter and a directional light state parameter corresponding to the directional light state are calculated to obtain the steering angular velocity parameter set. The vehicle driving state monitoring method according to claim 1, wherein in the step (D), the processing unit receives the lateral acceleration signal from the acceleration sensing unit, according to the lateral acceleration signal, The lateral acceleration threshold parameter and a directional light state parameter corresponding to the directional light state are calculated to obtain the set of lateral acceleration parameters. The vehicle driving state monitoring method according to claim 1, wherein in the step (G), the processing unit is based on a product of the driving danger level value and a first proportional parameter and the image danger degree value and a The product of the second proportional parameter is calculated and summed to calculate the final risk level value, and the warning unit is prompted to generate a warning when the final dangerous value is greater than the preset risk level value. The vehicle driving state monitoring method according to claim 1, wherein the processing unit receives the driver image signal from the driving image module, the lane image signal from the lane image module, and a vehicle head After the image signal of a front image of the image module, the image danger degree value is calculated. The vehicle driving state monitoring method according to claim 5, wherein in the step (F), the processing unit is based on the driver's shadow The signal, the lane image signal and the head image signal respectively calculate a corresponding driver risk parameter, a lane risk parameter and a front image danger parameter, and according to the driver risk parameter, the lane risk parameter and the front of the vehicle The image risk parameter calculates the image risk level value. According to the vehicle driving state monitoring method of claim 6, wherein in the step (F), the image danger level value is equal to the driver risk parameter, the lane risk parameter, and the vehicle head image risk parameter. One of the largest values.