CN103183029B - Vehicle driving state monitored control system and method - Google Patents
Vehicle driving state monitored control system and method Download PDFInfo
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Abstract
A kind of vehicle driving state monitored control system, be applied to the vehicle that comprises a vehicle body and a steering wheel assembly, this monitored control system comprises one and comprises the image unit that produces the driving image module of driver's signal of video signal, measure and produce the acceleration sensing unit of the lateral acceleration signal of this vehicle body corresponding for one, measure and produce the corner sensing cell of the steering angle signal of this vehicle body corresponding for one, measure and produce the maintenance moment sensing cell that corresponding of putting on the maintenance moment of this steering wheel assembly maintains torque signals for one, an alarm unit be arranged in this vehicle body, and one produces the processing unit warned when the final hazard level numerical value calculated is greater than a default hazard level numerical value in this alarm unit, by the double acknowledge of image and train signal, to guarantee traffic safety.
Description
Technical field
The present invention relates to a kind of monitored control system, particularly relate to a kind of vehicle driving state monitored control system and method.
Background technology
Existing a kind of vehicle driving state system, be through the sign image of an image unit shooting driver, and utilize a control unit being electrically connected this image unit to judge whether driver dozes off according to image, as judged the eyes closed state of driver or the abnormal mobile status of head etc., but this system easily produces erroneous judgement because of the body action of driver.
Therefore, existing another kind of vehicle driving state system is through a vehicle body signaling module measuring vehicle motion physical quantity, as the transversal displacement or steering angle etc. of vehicle, and utilize the control unit of this vehicle body signaling module of electrical connection to calculate the transfer function of a corresponding driving model according to described motion physics gauge, finally the transfer function of this driving model and the driving comparison function preset are compared, and show whether current driving condition may be produced by the driver dozed off, but, this system also can produce erroneous judgement because of the flip-flop operation behavior of driver.
Summary of the invention
The object of the invention is providing a kind of double acknowledge by image and train signal to guarantee vehicle driving state monitored control system and the method for traffic safety.
Vehicle driving state monitored control system of the present invention, be applied to a vehicle, this vehicle comprises a vehicle body and a steering wheel assembly, this monitored control system comprises an image unit, an acceleration sensing unit, a corner sensing cell, maintenance moment sensing cell, an alarm unit, and a processing unit.
This image unit comprises one towards driver's shooting with the driving image module producing driver's signal of video signal, this acceleration sensing unit is measured and is produced a lateral acceleration signal of the lateral acceleration of this vehicle body corresponding, this corner sensing cell is measured and is produced a steering angle signal of the steering angle of this vehicle body corresponding, this maintenance moment sensing cell is arranged at this steering wheel assembly, and measure and produce the corresponding maintenance torque signals putting on the maintenance moment of this steering wheel assembly, indication maintains moment and refers to and to maintain when this vehicle travels the not moment of beat by road surface friction force affects, this alarm unit is arranged in this vehicle body, this processing unit is electrically connected this image unit respectively, this acceleration sensing unit, this corner sensing cell, this maintenance moment sensing cell and this alarm unit, and calculate an image hazard level numerical value and a driving hazard level numerical value respectively, and go out a final hazard level numerical value according to this image hazard level numerical value and this driving hazard level numerical calculation, and when this final hazard level numerical value is greater than a default hazard level numerical value, order about this alarm unit generation warning, this image hazard level numerical value calculates according to this driver's signal of video signal, this driving hazard level numerical value is according to this lateral acceleration signal, this steering angle signal and this maintenance moment calculated signals draw.
Vehicle driving state monitored control system of the present invention, this image unit also comprises one and is arranged at this vehicle to take and to produce the track image module of a track signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal and this track signal of video signal.
Vehicle driving state monitored control system of the present invention, this image unit also comprises one and is arranged at this vehicle to take and to produce the headstock image module of a headstock signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal.
Vehicle driving state method for supervising of the present invention, be applied to described vehicle driving state monitored control system, this method for supervising calculates this image hazard level numerical value by this processing unit according to driver's signal of video signal that this driving image module produces, and when this image hazard level numerical value is greater than a default value, by current lateral acceleration, steering angle and maintenance moment are stored in the Database Unit of this processing unit of electrical connection respectively, and respectively with a lateral acceleration critical parameter after computing, a steering angular velocity critical parameter and a maintenance moment critical parameter represent, then this processing unit receives from after this maintenance torque signals of this maintenance moment sensing cell, computing is carried out with this maintenance moment critical parameter, to show that maintains a moment parameter sets, and this processing unit receives from after this steering angle signal of this corner sensing cell, computing is carried out with this steering angular velocity critical parameter, to draw a steering angular velocity parameter sets, then this processing unit receives from after this lateral acceleration signal of this acceleration sensing unit, computing is carried out with this lateral acceleration critical parameter, to draw a lateral acceleration parameter sets, then this processing unit is according to this maintenance moment parameter sets, this steering angular velocity parameter sets and this lateral acceleration parameter sets, calculate this driving hazard level numerical value, then this processing unit receives from after this driver's signal of video signal of this driving image module, calculate this image hazard level numerical value, finally this processing unit goes out this final hazard level numerical value according to this driving hazard level numerical value and this image hazard level numerical calculation, and when this final hazard level numerical value is greater than this default hazard level numerical value, order about this alarm unit generation warning.
Vehicle driving state method for supervising of the present invention, in step 3, this processing unit receives from after this steering angle signal of this corner sensing cell, turn signal status parameter according to this steering angle signal, this steering angular velocity critical parameter and a corresponding turn signal status carries out computing, to draw this steering angular velocity parameter sets.
Vehicle driving state method for supervising of the present invention, in step 4, this processing unit receives from after this lateral acceleration signal of this acceleration sensing unit, turn signal status parameter according to this lateral acceleration signal, this lateral acceleration critical parameter and a corresponding turn signal status carries out computing, to draw this lateral acceleration parameter sets.
Vehicle driving state method for supervising of the present invention, in step 7, this processing unit is according to this driving hazard level numerical value and the product of first scale parameter and the product of this image hazard level numerical value and second scale parameter, add the General Logistics Department and calculate this final hazard level numerical value, and when this final hazard level numerical value is greater than this default hazard level numerical value, order about this alarm unit generation warning.
Vehicle driving state method for supervising of the present invention, this processing unit receives this driver's signal of video signal from this driving image module, this track signal of video signal from this track image module and from after a headstock signal of video signal of a headstock image module, calculates this image hazard level numerical value.
Vehicle driving state method for supervising of the present invention, in this step 6, this processing unit calculates corresponding driver's risk parameters, a track risk parameters and a headstock image risk parameters respectively according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal, and calculates this image hazard level numerical value according to this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
Vehicle driving state method for supervising of the present invention, in this step 6, this image hazard level numerical value is equal to maximum one of wherein numerical value in this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
Beneficial effect of the present invention is: by the confirmation of synchronization of this driver's signal of video signal, this lateral acceleration signal, this steering angle signal and this maintenance torque signals, to monitor and to guarantee traffic safety.
Accompanying drawing explanation
Fig. 1 is the diagram of block of the vehicle driving state monitored control system of a preferred embodiment of the present invention.
Fig. 2 is the schematic diagram that this preferred embodiment is applied to a vehicle.
Fig. 3 is the diagram of circuit that this preferred embodiment is applied to a vehicle driving state method for supervising.
Detailed description of the invention
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.First it should be noted that, the present invention is not limited to following detailed description of the invention, and the spirit that those skilled in the art should embody from following embodiment is to understand the present invention, and each technical term can do the most wide in range understanding based on Spirit Essence of the present invention.In figure, same or analogous component uses the same reference numerals to represent.
Consult Fig. 1 and Fig. 2, this preferred embodiment of vehicle driving state monitored control system of the present invention is applied to a vehicle 9, and can through a vehicle driving state method for supervising running, this vehicle 9 comprises a vehicle body 91 and a steering wheel assembly 92, this monitored control system comprises an image unit 2, acceleration sensing unit 31, corner sensing cell 32, and maintains moment sensing cell 33, alarm unit 4, processing unit 5, and a Database Unit 6.
This image unit 2 comprises one and is arranged at this vehicle 9 to take and to produce the track image module 22 of a track signal of video signal towards driver's shooting with the driving image module 21, producing driver's signal of video signal, and one is arranged at this vehicle 9 to take and to produce the headstock image module 23 of a headstock signal of video signal.
This acceleration sensing unit 31 is arranged at this vehicle 9, and measures and produce a lateral acceleration signal of the lateral acceleration of this vehicle body 91 corresponding.In the present embodiment, this acceleration sensing unit 31 is a kind of acceleration sensors, and measured lateral acceleration scope be between 0 ~ 0.4 meter/every square second (m/sec
2) between, and show with voltage output form.
This corner sensing cell 32 is arranged at this vehicle 9, measures and produces a steering angle signal of the steering angle of this vehicle body 91 corresponding.In the present embodiment, this corner sensing cell 32 is a kind of optical encoders, angle sensors, and be arranged at this steering wheel assembly 92 to measure the anglec of rotation of this steering wheel assembly 92, the anglec of rotation of this steering wheel assembly 92 just can the steering angle of this vehicle body 91 corresponding, and measured rotation angle range is between 0 ~ 600 degree (degree), and show with voltage output form.
This maintenance moment sensing cell 33 is arranged at this steering wheel assembly 92, and measures and produce the corresponding maintenance torque signals putting on the maintenance moment of this steering wheel assembly 92.In the present embodiment, indication maintains moment and refers to and maintain this vehicle 9 not moment of beat by road surface friction force affects when travelling.In the present embodiment, this maintenance moment sensing cell 33 is a kind of torsion sensors, and measured torsion is with the performance of voltage output form, and voltage range is between 0 ~ 4 volt (V).
This alarm unit 4 is arranged in this vehicle body 91.In the present embodiment, this alarm unit 4 is buzzer phone.
This processing unit 5 is electrically connected this image unit 2 respectively, this acceleration sensing unit 31, this corner sensing cell 32, this maintenance moment sensing cell 33 and this alarm unit 4, and can according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal calculate an image hazard level numerical value, and according to this lateral acceleration signal, this steering angle signal and this maintenance moment calculated signals draw a driving hazard level numerical value, and a final hazard level numerical value can be gone out according to this image hazard level numerical value and this driving hazard level numerical calculation, and when this final hazard level numerical value is greater than a default hazard level numerical value, order about this alarm unit 4 generation warning.
This Database Unit 6 is electrically connected this processing unit 5.
Coordinate and consult Fig. 3, this vehicle driving state method for supervising is applied to described vehicle driving state monitored control system, and this method for supervising comprises the following step 71 ~ 77.
In step 71, driver's signal of video signal that this processing unit 5 produces according to this driving image module 21, the track signal of video signal of this track image module 22 and the headstock signal of video signal of this headstock image module 23 calculate this image hazard level numerical value, and when this image hazard level numerical value is greater than a default value, current lateral acceleration, steering angle and maintenance moment are stored in this Database Unit 6 respectively, and represent with a lateral acceleration critical parameter, a steering angular velocity critical parameter and a maintenance moment critical parameter respectively after computing.In the present embodiment, this steering angular velocity representated by steering angular velocity critical parameter coordinates sample time by this steering angle and calculates, this lateral acceleration critical parameter, this steering angular velocity critical parameter and this maintenance moment critical parameter are respectively and coordinate follow-up fuzzy logic to calculate and the ambiguity function of use, but this lateral acceleration critical parameter, this steering angular velocity critical parameter and this maintenance moment critical parameter also can be single the numerical value coordinating non-fuzzy to calculate and use respectively.
In step 72, after this processing unit 5 receives this maintenance torque signals from this maintenance moment sensing cell 33, carry out computing with this maintenance moment critical parameter, to show that maintains a moment parameter sets.In the present embodiment, this maintenance moment parameter sets is a kind of with the parameter sets of this maintenance moment critical parameter for benchmark and after fuzzy logic operation, because fuzzy logic operation is existing account form, so be no longer described account form in this specification sheets.
In step 73, after this processing unit 5 receives this steering angle signal from this corner sensing cell 32, turn signal status parameter according to this steering angle signal, this steering angular velocity critical parameter and a corresponding turn signal status carries out computing, to draw a steering angular velocity parameter sets.In the present embodiment, this steering angular velocity parameter sets be a kind of with this steering angular velocity critical parameter for benchmark, and after this indicator state parameter of arranging in pairs or groups, and the parameter sets after fuzzy logic operation, because fuzzy logic operation is existing account form, so be no longer described account form in this specification sheets.
In step 74, after this processing unit 5 receives this lateral acceleration signal from this acceleration sensing unit 31, computing is carried out, to draw a lateral acceleration parameter sets according to this lateral acceleration signal, this lateral acceleration critical parameter and this indicator state parameter.In the present embodiment, this lateral acceleration parameter sets be a kind of with this lateral acceleration critical parameter for benchmark, and after this indicator state parameter of arranging in pairs or groups, and the parameter sets after fuzzy logic operation, because fuzzy logic operation is existing account form, so be no longer described account form in this specification sheets.
In step 75, this processing unit 5, according to this maintenance moment parameter sets, this steering angular velocity parameter sets and this lateral acceleration parameter sets, calculates this driving hazard level numerical value.In the present embodiment, this hazard level ratio corresponding to driving hazard level numerical value is 0 ~ 100%.
In step 76, this processing unit 5 receives this driver's signal of video signal from this driving image module 21, after this track signal of video signal from this track image module 22 and this headstock signal of video signal from this headstock image module 23, according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal calculate corresponding driver's risk parameters respectively, a track risk parameters and a headstock image risk parameters, and according to this driver's risk parameters, this track risk parameters and this headstock image risk parameters calculate this image hazard level numerical value.In the present embodiment, this driver's risk parameters, the corresponding respectively hazard level ratio of this track risk parameters and this headstock image risk parameters is 0 ~ 100%, this image hazard level numerical value is equal to this driver's risk parameters, maximum one of wherein numerical value in this track risk parameters and this headstock image risk parameters, be noted that, this driver's risk parameters is the result being equivalent to existing a kind of driver condition's monitoring system (DSM), this track risk parameters is the result being equivalent to existing a kind of lane departure warning system (LDW), this headstock image risk parameters is the result being equivalent to existing a kind of front anti-collision warning system (FCW), due to this driver condition's monitoring system, lane departure warning system and this front anti-collision warning system are all prior art, therefore no longer described system is described.
In step 77, this processing unit 5 is according to this driving hazard level numerical value and the product of first scale parameter and the product of this image hazard level numerical value and second scale parameter, add the General Logistics Department and calculate this final hazard level numerical value, and when this final hazard level numerical value is greater than this default hazard level numerical value, order about this alarm unit generation warning.In the present embodiment, this first scale parameter and this second scale parameter be can according to this driving hazard level numerical value and this image hazard level numerical value respectively the wish ratio of distributing and adjusting, both summed values are 1.
When driver loosens bearing circle because of doze, now maintain moment can and then decline, and be subject to road surface friction force impact when this vehicle 9 is travelled and produce beat, and then it is abnormal to make the steering angular velocity of this vehicle 9 and lateral acceleration occur, because now indicator can't produce running, this processing unit 5 just can comprehensive aforementioned train signal and this image unit signal of video signal and to calculate this final hazard level numerical value be greater than this default hazard level numerical value, and then order about this alarm unit 4 and produce warning to remind driver.
In sum, this processing unit 5 can according to instant this driver's signal of video signal produced, this track signal of video signal and this headstock signal of video signal calculate this corresponding driver's risk parameters respectively, this track risk parameters and this headstock image risk parameters, and then calculate this image hazard level numerical value, and simultaneously can according to instant this lateral acceleration signal produced, this steering angle signal and this maintenance torque signals and this lateral acceleration critical parameter stored in advance, this steering angular velocity critical parameter and this maintenance moment critical parameter calculate this driving hazard level numerical value, and then go out this final hazard level numerical value with this image hazard level numerical value and this driving hazard level numerical calculation, and can when this final hazard level numerical value is greater than this default hazard level numerical value, namely driver may doze off and unclamp bearing circle make track deflection situation occur time, order about this alarm unit through this processing unit 5 and produce warning, by the double acknowledge of image and train signal, driver's driving conditions is monitored, and traffic safety can be guaranteed, so really object of the present invention can be reached.
Should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after having read above-mentioned instruction content of the present invention.
Claims (10)
1. a vehicle driving state monitored control system, be applied to a vehicle, this vehicle comprises a vehicle body and a steering wheel assembly, it is characterized in that: this vehicle driving state monitored control system comprises an image unit, an acceleration sensing unit, a corner sensing cell, one maintains moment sensing cell, an alarm unit and a processing unit, this image unit comprises one towards driver's shooting with the driving image module producing driver's signal of video signal, this acceleration sensing unit is measured and is produced a lateral acceleration signal of the lateral acceleration of this vehicle body corresponding, this corner sensing cell is measured and is produced a steering angle signal of the steering angle of this vehicle body corresponding, this maintenance moment sensing cell is arranged at this steering wheel assembly, and measure and produce the corresponding maintenance torque signals putting on the maintenance moment of this steering wheel assembly, indication maintains moment and refers to and to maintain when this vehicle travels the not moment of beat by road surface friction force affects, this alarm unit is arranged in this vehicle body, this processing unit is electrically connected this image unit respectively, this acceleration sensing unit, this corner sensing cell, this maintenance moment sensing cell and this alarm unit, and calculate an image hazard level numerical value and a driving hazard level numerical value respectively, and go out a final hazard level numerical value according to this image hazard level numerical value and this driving hazard level numerical calculation, and when this final hazard level numerical value is greater than a default hazard level numerical value, order about this alarm unit generation warning, this image hazard level numerical value calculates according to this driver's signal of video signal, this driving hazard level numerical value is according to this lateral acceleration signal, this steering angle signal and this maintenance moment calculated signals draw.
2. vehicle driving state monitored control system as claimed in claim 1, it is characterized in that: this image unit also comprises one and is arranged at this vehicle to take and to produce the track image module of a track signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal and this track signal of video signal.
3. vehicle driving state monitored control system as claimed in claim 2, it is characterized in that: this image unit also comprises one and is arranged at this vehicle to take and to produce the headstock image module of a headstock signal of video signal, and this image hazard level numerical value is that this processing unit calculates according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal.
4. a vehicle driving state method for supervising, is applied to vehicle driving state monitored control system according to claim 1, it is characterized in that: this method for supervising comprises the following step:
Step one, this processing unit calculate this image hazard level numerical value according to driver's signal of video signal that this driving image module produces, and when this image hazard level numerical value is greater than a default value, current lateral acceleration, steering angle and maintenance moment are stored in the Database Unit of this processing unit of electrical connection respectively, and represent with a lateral acceleration critical parameter, a steering angular velocity critical parameter and a maintenance moment critical parameter respectively after computing;
Step 2, this processing unit receive from after this maintenance torque signals of this maintenance moment sensing cell, carry out computing with this maintenance moment critical parameter, to show that maintains a moment parameter sets;
Step 3, this processing unit receive from after this steering angle signal of this corner sensing cell, carry out computing, to draw a steering angular velocity parameter sets with this steering angular velocity critical parameter;
Step 4, this processing unit receive from after this lateral acceleration signal of this acceleration sensing unit, carry out computing, to show that side is to acceleration parameter set with this lateral acceleration critical parameter;
Step 5, this processing unit, according to this maintenance moment parameter sets, this steering angular velocity parameter sets and this lateral acceleration parameter sets, calculate this driving hazard level numerical value;
Step 6, this processing unit receive from after this driver's signal of video signal of this driving image module, calculate this image hazard level numerical value;
Step 7, this processing unit go out this final hazard level numerical value according to this driving hazard level numerical value and this image hazard level numerical calculation, and when this final hazard level numerical value is greater than this default hazard level numerical value, order about this alarm unit generation warning.
5. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: in step 3, this processing unit receives from after this steering angle signal of this corner sensing cell, turn signal status parameter according to this steering angle signal, this steering angular velocity critical parameter and a corresponding turn signal status carries out computing, to draw this steering angular velocity parameter sets.
6. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: in step 4, this processing unit receives from after this lateral acceleration signal of this acceleration sensing unit, turn signal status parameter according to this lateral acceleration signal, this lateral acceleration critical parameter and a corresponding turn signal status carries out computing, to draw this lateral acceleration parameter sets.
7. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: in step 7, this processing unit is according to this driving hazard level numerical value and the product of first scale parameter and the product of this image hazard level numerical value and second scale parameter, add the General Logistics Department and calculate this final hazard level numerical value, and when this final hazard level numerical value is greater than this default hazard level numerical value, order about this alarm unit generation warning.
8. vehicle driving state method for supervising as claimed in claim 4, it is characterized in that: this processing unit receives this driver's signal of video signal from this driving image module, this track signal of video signal from this track image module and from after a headstock signal of video signal of a headstock image module, calculates this image hazard level numerical value.
9. vehicle driving state method for supervising as claimed in claim 8, it is characterized in that: in this step 6, this processing unit calculates corresponding driver's risk parameters, a track risk parameters and a headstock image risk parameters respectively according to this driver's signal of video signal, this track signal of video signal and this headstock signal of video signal, and calculates this image hazard level numerical value according to this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
10. vehicle driving state method for supervising as claimed in claim 9, it is characterized in that: in this step 6, this image hazard level numerical value is equal to maximum one of wherein numerical value in this driver's risk parameters, this track risk parameters and this headstock image risk parameters.
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| CN103754156B (en) * | 2013-12-25 | 2016-05-25 | 浙江吉利控股集团有限公司 | The autocontrol method of vehicle turn signal and system |
| CN104108394A (en) * | 2014-08-01 | 2014-10-22 | 王薪溟 | Device and method for detecting driving status and vehicle |
| CN104616436B (en) * | 2014-12-25 | 2017-04-12 | 财团法人车辆研究测试中心 | Fatigue driving determining system and method |
| CN105946860B (en) * | 2016-05-20 | 2017-12-29 | 武汉理工大学 | A kind of bend speed prediction method for considering driving style |
| CN106864461A (en) * | 2017-02-15 | 2017-06-20 | 武汉极目智能技术有限公司 | A kind of method that vehicle movement behavior is judged based on acceleration transducer |
| CN110949370A (en) * | 2019-03-18 | 2020-04-03 | 长城汽车股份有限公司 | Safety monitoring method and system for automatic driving vehicle and motion control system |
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| JP2007245955A (en) * | 2006-03-16 | 2007-09-27 | Honda Motor Co Ltd | Driver's condition decision device and traveling safety device for vehicle |
| CN201633551U (en) * | 2008-12-31 | 2010-11-17 | 广州市品壹电器科技有限公司 | Intelligent doze-monitoring system and doze interferer for driver |
| CN101612940B (en) * | 2009-06-03 | 2012-05-23 | 上海全路通铁道科技发展有限公司 | Control system for preventing drivers from dozing |
| CN101704367A (en) * | 2009-11-03 | 2010-05-12 | 奇瑞汽车股份有限公司 | Lane departure prewarning device and prewarning method |
| TWI478835B (en) * | 2010-02-08 | 2015-04-01 | Hon Hai Prec Ind Co Ltd | System and method for preventing vehicle collision |
| JP2011210095A (en) * | 2010-03-30 | 2011-10-20 | Toyota Motor Corp | Driving assistance system |
| CN201824950U (en) * | 2010-10-22 | 2011-05-11 | 深圳市东运科技有限公司 | Automobile safe running anti-collision system |
| CN202025333U (en) * | 2010-12-16 | 2011-11-02 | 上海博泰悦臻电子设备制造有限公司 | Vehicle-mounted terminal |
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