CN107909854A - A kind of braking method for early warning and system based on brain wave - Google Patents
A kind of braking method for early warning and system based on brain wave Download PDFInfo
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- CN107909854A CN107909854A CN201711329412.XA CN201711329412A CN107909854A CN 107909854 A CN107909854 A CN 107909854A CN 201711329412 A CN201711329412 A CN 201711329412A CN 107909854 A CN107909854 A CN 107909854A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/369—Electroencephalography [EEG]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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Abstract
The present invention provides a kind of braking method for early warning and system based on brain wave, the described method includes the second time that the first vehicle reaches the first time at target crossing and the second vehicle reaches target crossing is received, the absolute value of the difference of first time and the second time is calculated；Wherein, the first vehicle and the second vehicle are the different vehicle that same intersection is driven towards on different roads；When judging to know that first time and the absolute value of the difference of the second time are less than predetermined threshold value, the eeg signal of the driver of the first vehicle is received；Judged to meet early-warning conditions according to the eeg signal of the driver of the first vehicle, anti-collision warning is sent to the driver of the first vehicle.Method provided by the invention, calculated by the vehicle arrival time moved towards the intersection from different directions, the EEG signals of driver are acquired and judged at the same time, remind driver to be slowed down and evaded, improve driver on the run by the security without control intersection.
Description
Technical field
The present invention relates to field of traffic safety, more particularly, to a kind of braking method for early warning based on brain wave and is
System.
Background technology
Universal with car, the possibility that traffic accident occurs is also higher and higher, especially in No-shell culture.By
Lack the scheduling and control of signal lamp in No-shell culture, mixed traffic is serious, and interference of passing through is big, and accident rate is also higher.Vehicle
Driver tends not to notice in advance conflict vehicle occurs in intersection when driving over without control intersection, etc.
Find to be difficult to brake the generation for avoiding traffic accident in time during danger to close to crossing.
There is research team in the country using eeg signal control automobile at present, realizes " idea control " driving behavior.With
The operation principle of other brain-computer interface systems is the same, and driver catches the special installation of EEG signals by wearing, so as to adjust
The advance of automobile, retreats, parking, and the operation such as car locking and unlocking, in the near future, unmanned skill is realized with brain control technology
Art is very likely.
But in present research, do not defined significantly for the dangerous scene residing for driver, driver exists
When not recognizing dangerous scene, brain will not produce corresponding dangerous consciousness, and brain control driving technology also can not be timely
Vehicle is controlled, so that the generation of traffic accident is avoided, in the prior art, not according to driver's EEG signals for no letter
The research that is controlled to vehicle under the dangerous scene of number control intersection.
The content of the invention
To solve in the prior art, not define significantly for the dangerous scene residing for driver, intersect without control
Crossing without prior early warning easily because the problem of producing risk of collision, there is provided a kind of braking method for early warning based on brain wave
And system.
According to an aspect of the present invention, there is provided a kind of braking method for early warning based on brain wave, including：S1, receives the
One vehicle reaches the first time at target crossing and the second vehicle reaches second time at target crossing, calculates the first time
With the absolute value of the difference of second time；
Wherein, first vehicle and second vehicle are the different cars that same intersection is driven towards on different roads
；
S2, judge know the first time and second time difference absolute value be less than predetermined threshold value when,
Receive the eeg signal of the driver of first vehicle；
S3, judges to know that first vehicle driver does not have according to the eeg signal of the driver of first vehicle
Produce brake to realize and know that first vehicle does not have brake operating, it is pre- to send braking to the driver of first vehicle
It is alert.
Wherein, further included before the step S1：Receive the travel speed of first vehicle and described with the first vehicle
Distance apart from the target crossing, calculates the first time that first vehicle reaches target crossing；Receive second car
Travel speed and the distance with target crossing described in the second vehicle distances, calculate second vehicle and reach target road
Second time of mouth.
Wherein, the eeg signal for the driver for receiving first vehicle in the step S2 specifically includes：
The brain in the first vehicle driver brain temporal lobe area, occipital region, central sulcus area, frontal lobe area and top area is received respectively
Electrical feature magnitude of voltage, obtains temporal lobe area voltage, occipital region voltage, central sulcus area voltage, frontal lobe area voltage, top area voltage and full brain
Area's voltage；
The conversion of the characteristic voltage value of acquisition is characterized electrical power value, obtain the temporal lobe area power of brain, occipital region power, in
Yang Gou areas power, frontal lobe area power, top area power and full brain area power.Wherein, in the step S3, when knowing described first
When any brain area power of vehicle driver is less than predetermined threshold value, then judge that first vehicle driver does not produce brake
Car is realized.
Wherein, further included after the step S3：Judge that the distance at the vehicle arrival target crossing is less than emergency braking
Distance, while first vehicle is not carried out brake operating, then starts emergency brake operations.
Wherein, further included after the step S3：When vehicle reach the target crossing distance be less than emergency braking away from
From first vehicle takes brake operating, judges that the braking distance of first vehicle is more than stopping for emergency braking needs
Car distance, then start emergency brake operations.
According to the second aspect of the invention, there is provided a kind of braking early warning system based on brain wave, including：
Intersection information receiving unit, for receiving, the first vehicle reaches the first time at target crossing and the second vehicle reaches
Second time at target crossing, calculates the absolute value of the difference of the first time and second time；
Wherein, first vehicle and second vehicle are the different cars that same intersection is driven towards on different roads
；
EEG signals receiving unit, for being less than predetermined threshold value when the difference of the first time and second time
When, the eeg signal of the driver of reception first vehicle；
Prewarning unit, judges to know first vehicle drive according to the eeg signal of the driver of first vehicle
Member sends without producing brake consciousness and knowing that first vehicle does not have brake operating to the driver of first vehicle
Brake early warning.
Wherein, the system also includes intersection information receiving unit, for receive first vehicle travel speed and
The distance with target crossing described in the first vehicle distances, calculates the first time that first vehicle reaches target crossing；
The travel speed of second vehicle and the distance with target crossing described in the second vehicle distances are received, calculates described second
Vehicle reaches second time at target crossing.
Wherein, the system also includes emergency braking unit, the distance for judging the vehicle arrival target crossing is small
In emergency stopping distance, while first vehicle is not carried out brake operation, then starts emergency brake operations；
Wherein, the early warning distance stops for what the driver perception reaction distance and emergency brake of vehicle of first vehicle needed
The sum of car distance.
Wherein, the emergency braking unit is additionally operable to, and the distance that the target crossing is reached when vehicle is less than emergency braking
Distance, first vehicle take brake, judge that the braking distance of first vehicle is more than what emergency braking needed
Stopping distance, then start emergency brake operations.
Method provided by the invention, is calculated by the vehicle arrival time moved towards the intersection from different directions, is sentenced
Determine whether vehicle has conflict possibility, while the EEG signals of driver are acquired and judged, remind driver to slow down
With evade, enhance to without control intersection Traffic monitoring and management, improve driver on the run by no control
The security of intersection.
Brief description of the drawings
Fig. 1 is a kind of flow chart for braking method for early warning based on brain wave that one embodiment of the invention provides；
Fig. 2 is one embodiment of the invention offer without the schematic diagram that danger may be clashed in control intersection；
Fig. 3 is a kind of braking method for early warning driver based on brain wave of one embodiment of the invention offer in urgent collision avoidance
During temporal lobe area electrical energy of brain variation diagram；
Fig. 4 is a kind of braking method for early warning driver based on brain wave of one embodiment of the invention offer in urgent collision avoidance
During occipital region electrical energy of brain variation diagram；
Fig. 5 is a kind of braking method for early warning driver based on brain wave of one embodiment of the invention offer in urgent collision avoidance
During central sulcus area electrical energy of brain variation diagram；
Fig. 6 is a kind of braking method for early warning driver based on brain wave of one embodiment of the invention offer in urgent collision avoidance
During frontal lobe area electrical energy of brain variation diagram；
Fig. 7 is a kind of braking method for early warning driver based on brain wave of one embodiment of the invention offer in urgent collision avoidance
During top area electrical energy of brain variation diagram；
Fig. 8 is a kind of braking method for early warning driver based on brain wave of one embodiment of the invention offer in urgent collision avoidance
During full brain area changed power figure；
Fig. 9 is a kind of flow chart for braking method for early warning based on brain wave that another embodiment of the present invention provides；
Figure 10 is a kind of structure chart for braking early warning system based on brain wave that further embodiment of this invention provides.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
With reference to figure 1, Fig. 1 is a kind of flow for braking method for early warning based on brain wave that one embodiment of the invention provides
Figure, the described method includes：
S1, when the first time at reception the first vehicle arrival target crossing and the second vehicle reach the second of target crossing
Between, calculate the absolute value of the difference of the first time and second time.Wherein, first vehicle and second car
It is that the different vehicle of same intersection is driven towards on different roads.
Specifically, Fig. 2 shows the schematic diagram that danger may be clashed in without control intersection, by obtaining main car
Namely the first vehicle reaches the time Ta of the conflict point of intersection, while obtains conflict vehicle namely the second vehicle and reach
The time Tb of the conflict point at car crossing, calculates Ta and the absolute value TTC of Tb time differences, for example, the first vehicle reaches conflict point
Time be 10 seconds, the time that the second vehicle reaches conflict point is 9 seconds, then by calculating TTC as 1 second, and vehicle pass through it is described
The time of intersection takes around 2 seconds, then can be determined that the second vehicle does not sail out of target friendship also according in the case of present speed
When the conflict point of cross road mouth, the first vehicle can reach the conflict point, then the first vehicle and the second vehicle are in the intersection
The conflict point at crossing has the danger of collision.
By the method, the traffic status without control intersection can be monitored, to determine whether that vehicle can be produced
Conflict provides foundation.
S2, judge know the first time and second time difference absolute value be less than predetermined threshold value when,
Receive the eeg signal of the driver of first vehicle.
Specifically, the detection threshold value of the absolute value TTC by setting the difference of the first time and second time,
When the value for calculating the TTC obtained is less than predetermined threshold value, then vehicle collision danger is determined with, then to the brain electricity of driver
Ripple carries out signal and is received.
Wherein, eeg signal collection is completed using Quik-Cap electrode caps and SynAmps2 Electroencephalo signal amplifiers.
Quick-Cap electrode caps are used for EEG signals (EEG) signal for gathering scalp, there is 64 record scalp discharge scenarios on electrode cap
Electrode.SynAmps2 Electroencephalo signal amplifiers, share 70 leads, including 64 monopoles, 4 it is bipolar and 2 high potentials are defeated
Enter, wherein 64 monopoles are used for eeg signal acquisition, remaining lead is electrocardio, myoelectricity and reference electrode.SynAmps2 connections EEG
Signal picker, while the software utilization gathered is Curry softwares.
EEG signals are acquired by using Quik-Cap electrode caps, by SynAmps2 to the EEG signals that collect
It is amplified, while amplified EEG signals is pre-processed using Curry softwares, processing step includes noise reduction, baseline
Correction, digital filtering, remove eye electricity, remove myoelectricity and remove artefact so that the EEG signals finally obtained can be used for judging
Whether driver is dangerous to colliding consciously in driving procedure.
S3, judges to know that first vehicle driver does not have according to the eeg signal of the driver of first vehicle
Produce brake to realize and know that first vehicle does not have brake operating, it is pre- to send braking to the driver of first vehicle
It is alert.
Specifically, firstly the need of one early warning distance of calculating, in the present embodiment, early warning distance S3It is arranged to the first vehicle
Driver reaction distance S2The stopping distance S needed with emergency brake of vehicle1The sum of.
Wherein, S1=V*V/2g μ.S in formula1The stopping distance needed for emergency braking, V is Vehicle Speed, and g attaches most importance to
Power acceleration, μ is the friction coefficient on ground, in specific implementation, V values can by detecting vehicle actual travel speed obtaining or
The direct value of person is the Maximum speed limit value of present road, and the value range of friction coefficient μ is between 0.5-0.7.
Wherein, S2=V*T2, in formula, S2For the reaction distance of the driver of the first vehicle, V is Vehicle Speed, with logical
The Maximum speed limit value for crossing detection vehicle actual travel speed to obtain or directly value is present road, T2Reacted for driver
Time, usual value are 1-1.5 seconds.
In S2 steps by the eeg signal for the driver for receiving first vehicle after, by the brain wave
Signal is analyzed, and judges whether the driver of the first vehicle recognizes that conflict can be produced at target crossing so as to produce brake meaning
Know, if driver does not reflect driver in eeg signal and there is brake to realize, while judge to know the first vehicle
When not having brake, then first vehicle reaches early warning distance S3Then sent out during position to the driver of the first vehicle
Sending voice early warning, reminds the driver of the first vehicle to carry out brake operating.
By the method, specific definition is made to the conflict danger without control intersection, by driving towards from different directions
The vehicle arrival time of intersection is calculated, and judges whether vehicle has conflict possibility, while to the EEG signals of driver
It is acquired and judges, remind driver to be slowed down and evaded, enhances to Traffic monitoring and management without control intersection,
Driver is improved on the run by the security without control intersection.
On the basis of above-described embodiment, further included before the step S1：
The travel speed of first vehicle and the distance with target crossing described in the first vehicle distances are received, is calculated
First vehicle reaches the first time at target crossing；
The travel speed of second vehicle and the distance with target crossing described in the second vehicle distances are received, is calculated
Second vehicle reaches second time at target crossing.
Specifically, the intersection controller by being arranged on intersection, the car of different directions difference road can be received
The velocity information moved towards the intersection and the range information of vehicle distances intersection.
The range information Sa and speed information Va of intersection conflict point are reached by receiving main car in Fig. 2, so as to
Calculate main car and reach the time Ta=Sa/Va of conflict point, while receive the distance that conflict vehicle reaches intersection conflict point
The speed information Vb of information Sb and conflict vehicle, so as to calculate the time Tb=Sb/Vb that entry/exit conflicts vehicle reaches conflict point.
By the method, using the intersection controller without control intersection is arranged on, can collect will pass by institute
The driving information of the vehicle without control intersection is stated, while calculates the time that each vehicle reaches crossing.
On the basis of the various embodiments described above, the brain wave letter of the driver of first vehicle is received in the step S2
Number specifically include：
Brain temporal lobe area, occipital region, central sulcus area, frontal lobe area and the top area of the driver of first vehicle is received respectively
Brain electrical feature magnitude of voltage, obtain temporal lobe area voltage, occipital region voltage, central sulcus area voltage, frontal lobe area voltage, top area voltage and
Full brain area voltage；
The conversion of the characteristic voltage value of acquisition is characterized electrical power value, obtain the temporal lobe area power of brain, occipital region power, in
Yang Gou areas power, frontal lobe area power, top area power and full brain area power.
Specifically, since each brain area has different functions, temporal lobe represents the sense of hearing；Occipital region represents vision；Central sulcus generation
Table locomitivity；Frontal lobe represents thinking activities and judges decision-making；Top represents tactile, vision and sports coordination ability, is receiving
When eeg signal, Quick-Cap electrode caps receive the eeg signal of Different brain region comprising multiple electrodes, its
In, each part brain area can use multiple electrodes to receive eeg signal, it is necessary to same when eeg signal is received
The brain voltage signal that the multiple electrodes of one brain area receive carries out power conversion, that is, passes through formula P=U2/ R is by each electrode
Magnitude of voltage is converted to power, and wherein R is the average resistance of human body head, and U is the voltage of each brain area of the brain measured, then right
The power of each brain area is averaging processing, and obtains the mean power of each brain area and full brain area.
After conversion, the brain magnitude of voltage of each brain area of human brain can be converted into performance number, so as to obtain the temporo of brain
Leaf area power, occipital region power, central sulcus area power, frontal lobe area power, top area power and full brain area power, then to different brains
The power of area and full brain area averages processing, obtains feature work(of the mean power of five big brain areas and full brain area as brain area
Rate.
Due to energy W=P*t, wherein W is energy value, and P is power, and t is the time, therefore obtains urgent collision avoidance process midbrain
Electric flux changes over time, as shown in figures 3-8.Fig. 3 is driver's temporal lobe during urgent collision avoidance in one embodiment of the invention
The change of area's electrical energy of brain, Fig. 4 are the change of driver's occipital region electrical energy of brain during urgent collision avoidance in one embodiment of the invention
Change, Fig. 5 is the change of driver's central sulcus area electrical energy of brain during urgent collision avoidance in one embodiment of the invention, and Fig. 6 is this
The change of driver's frontal lobe area electrical energy of brain during urgent collision avoidance in an embodiment is invented, Fig. 7 is one embodiment of the invention
The change of middle driver top area electrical energy of brain during urgent collision avoidance, wherein, the black vertical line in figure represents the first vehicle
Driver finding or noticing the time point of the second vehicle., can be with after average computation is carried out to the power of all brain areas
Obtain the energy variation figure of full brain area power as shown in Figure 8.
While judging eeg signal, braking strength curve or gasoline throttle angle can also be added to brain
In electric power curves, more intuitively observe the change for the driver's electroencephalogram power being combined with driving behavior, driven according to every
The person's of sailing characteristic difference EEG signals have different characterizations, as shown in fig. 6, usually driver during the reaction time due to thinking
Acutely, therefore brain wave can be very active in frontal lobe area, and the brain wave of the brain wave of other brain areas and full brain area is finding the car that conflicts
Also more active eeg signal can be produced during reaction time after.
Further, in the step S3, when knowing that the full brain area power is less than predetermined threshold value, then institute is judged
The brain telecommunications ripple signal for stating the driver of the first vehicle meets early-warning conditions.
The brain power signal of all brain areas can be subjected to comprehensive descision in specific judgement, different brain areas is set
Different weights, is calculated EEG signals index, so as to help decide whether driver has had appreciated that conflict vehicle simultaneously
Carried out brake operating, can also have been judged according to the power of full brain area, when full brain area power be less than predetermined threshold value when
Wait, then can be determined that driver does not have found conflict vehicle or without brake operating is carried out, therefore, it is necessary to driver is carried out
Junction ahead is reminded to have risk of collision, the prior-warning device that specific prompting mode can be set with in-car provides voice reminder, also may be used
To carry out word or picture progress early warning by vehicle-mounted multimedia display screen.
On the basis of the various embodiments described above, further included after the step S3：Judge that vehicle reaches the target crossing
Distance be less than emergency stopping distance, while first vehicle is not carried out brake operating, then starts emergency brake operations；Its
In, the early warning distance for first vehicle driver perception reaction distance and emergency brake of vehicle need stopping distance it
With.
When the first vehicle reaches the distance at target crossing already less than early warning distance S3When, driver is not due to noting
Anticipate to conflict vehicle, while also do not notice the warning information that early warning system provides, do not produce brake, and this
After this moment makes early warning to driver again, driver is in reaction time T2Carrying out emergency braking afterwards also has and can collide
Danger, then apart from conflict point S1At the time of need to the first vehicle carry out emergency braking measure, start urgent anti-collision system.
By the method, further improve in the security passed through without control intersection, when driver does not produce rule
When keeping away action, emergency braking is performed by computer control vehicle.
On the basis of above-described embodiment, further included after the step S3：When vehicle reach the target crossing away from
Brake operating is taken from less than emergency stopping distance, first vehicle, judges that the braking distance of first vehicle is more than
The stopping distance that emergency braking needs, then start emergency brake operations.
Specifically, when driver is recognized by early warning and has conflict danger without control intersection in front, take
Brake operating, then when the first vehicle reaches the distance and position that emergency braking needs, calculate the braking distance S of the first vehiclea,
As braking distance SaMore than emergency stopping distance S1When, then judge that braking strength is inadequate at this time, can still produce conflict danger
Danger, the first vehicle launch emergency brake operations.
By the method, the service condition of vehicle is further monitored, automatic emergency brake is taken to the situation for judging dangerous
Operation, improves drive safety.
In another embodiment of the invention, with reference to figure 9, Fig. 9 is that one kind that another embodiment of the present invention provides is based on brain
The flow chart of the braking method for early warning of electric wave.
The positional information of main car and the vehicle that conflicts is received first, while judges main car and conflict vehicle whether in close conflict
Point, when two cars all reach target in the first time and conflict vehicle that main car arrival target crossing when driving, is calculated toward conflict point
Second time at crossing, the absolute value TTC of the difference by calculating the first time and second time, detects whether full
Sufficient early-warning conditions, when TTC is less than predetermined threshold value, receive the EEG signals of main car driver, while receive main car and drive
The braking strength and current vehicle speed of member, for judging the brake of main car away from logical when judging brake away from more than emergency stopping distance
Cross brain wave and judge whether main car driver the brain electrical characteristics before emergency braking occurs, do not occur brain electrical characteristics when
Wait, while when vehicle does not have brake operating, start phonetic warning system yet, phonetic warning is carried out to driver, prompting is driven
The person of sailing carries out emergency braking.
If spacing is reached within emergency stopping distance at the same time, when driver does not have brake, or
Person's braking distance is long, when meeting emergency braking condition, then starts emergency braking system, and automatic emergency system is taken to the first vehicle
Dynamic operation.
In another embodiment of the present invention, with reference to figure 10, Figure 10 is that one kind that further embodiment of this invention provides is based on
The structure chart of the braking early warning system of brain wave, the system comprises：Intersection information receiving unit 101, EEG signals receive single
Member 102, prewarning unit 103.
Wherein, intersection information receiving unit 101 is used to receive the first time and second that the first vehicle reaches target crossing
Vehicle reaches second time at target crossing, calculates the absolute value of the difference of the first time and second time.Wherein,
First vehicle and second vehicle are the different vehicle that same intersection is driven towards on different roads.
Specifically, Fig. 2 shows the schematic diagram that danger may be clashed in without control intersection, by obtaining main car
Namely the first vehicle reaches the time Ta of the conflict point of intersection, while obtains conflict vehicle namely the second vehicle and reach
The time Tb of the conflict point at car crossing, calculates Ta and the absolute value TTC of Tb time differences, for example, the first vehicle reaches conflict point
Time be 6.5 seconds, the time that the second vehicle reaches conflict point is 6.2 seconds, then by calculating TTC as 0.3 second, and vehicle passes through
The average used time of the intersection is about 2 seconds, then shows that the first vehicle and the second vehicle have described without control intersection
Risk of collision.
By this system, the traffic status without control intersection can be monitored, to determine whether that vehicle can be produced
Conflict provides foundation.
Wherein, EEG signals receiving unit 102 is used to judge the difference for knowing the first time and second time
During less than predetermined threshold value, the eeg signal of the driver of first vehicle is received.
Specifically, the detection threshold value of the absolute value TTC by setting the difference of the first time and second time,
When the value for calculating the TTC obtained is less than predetermined threshold value, then vehicle collision danger is determined with, then to the brain electricity of driver
Ripple carries out signal and is received.
Wherein, eeg signal collection is completed using Quik-Cap electrode caps and SynAmps2 Electroencephalo signal amplifiers.
Quick-Cap electrode caps are used for EEG signals (EEG) signal for gathering scalp, there is 64 record scalp discharge scenarios on electrode cap
Electrode.SynAmps2 Electroencephalo signal amplifiers, share 70 leads, including 64 monopoles, 4 it is bipolar and 2 high potentials are defeated
Enter, wherein 64 lead for eeg signal acquisition, remaining lead is electrocardio, myoelectricity and reference electrode.SynAmps2 connection EEG signals
Collector, while the software utilization gathered is Curry softwares.
EEG signals are acquired by using Quik-Cap electrode caps, by SynAmps2 to the EEG signals that collect
It is amplified, while amplified EEG signals is pre-processed using Curry softwares, processing step includes noise reduction, baseline
Correction, digital filtering, remove eye electricity, remove myoelectricity and remove artefact so that the EEG signals finally obtained can be used for judging
Whether driver is dangerous to colliding consciously in driving procedure.
Wherein, prewarning unit 103 is used for according to the eeg signal of the driver of first vehicle judges to know
First vehicle driver does not produce brake and realizes and know that first vehicle does not have brake operating, to first vehicle
Driver send braking early warning.
Specifically, firstly the need of one early warning distance of calculating, in the present embodiment, early warning distance S3It is arranged to the first vehicle
Driver reaction distance S2The stopping distance S needed with emergency brake of vehicle1The sum of.
Wherein, S1=V*V/2g μ.S in formula1The stopping distance needed for emergency braking, V is Vehicle Speed, and g attaches most importance to
Power acceleration, μ is the friction coefficient on ground, in specific implementation, V values can by detecting vehicle actual travel speed obtaining or
The direct value of person is the Maximum speed limit value of present road, and the value range of friction coefficient μ is between 0.5-0.7.
Wherein, S2=V*T2, in formula, S2For the reaction distance of the driver of the first vehicle, V is Vehicle Speed, with logical
The Maximum speed limit value for crossing detection vehicle actual travel speed to obtain or directly value is present road, T2Reacted for driver
Time, usual value are 1-1.5 seconds.
In EEG signals receiving unit by the eeg signal for the driver for receiving first vehicle after, by right
The eeg signal is analyzed, judge the first vehicle driver whether recognize can target crossing produce conflict so as to
Brake consciousness is produced, if driver does not reflect driver in eeg signal and has brake consciousness and the first vehicle
There is no any brake operating, then when first vehicle reaches early warning distance S3Position when, to the first vehicle driver send out
Sending voice early warning, reminds the driver of the first vehicle to carry out brake operating.
By this system, specific definition is made to the conflict danger without control intersection, judgement is driven towards from different directions
The vehicle arrival time of intersection is calculated, and judges whether vehicle has conflict possibility, while to the EEG signals of driver
It is acquired and judges, remind driver to be slowed down and evaded, enhances to Traffic monitoring and management without control intersection,
Driver is improved on the run by the security without control intersection.
On the basis of above-described embodiment, the system also includes intersection information receiving unit, for receiving described first
The travel speed of vehicle and the distance with target crossing described in the first vehicle distances, calculate first vehicle and reach target
The first time at crossing；
At the same time for receiving the travel speed of second vehicle and described with target crossing described in the second vehicle distances
Distance, calculates the second time that second vehicle reaches target crossing.
Specifically, the intersection controller by being arranged on intersection, the car of different directions difference road can be received
The velocity information moved towards the intersection and the range information of vehicle distances intersection.
The range information Sa and speed information Va of intersection conflict point are reached by receiving main car in Fig. 2, so as to
Calculate main car and reach the time Ta=Sa/Va of conflict point, while receive the distance that conflict vehicle reaches intersection conflict point
The speed information Vb of information Sb and conflict vehicle, so as to calculate the time Tb=Sb/Vb that entry/exit conflicts vehicle reaches conflict point.
By this system, using the intersection controller without control intersection is arranged on, can collect will pass by institute
The driving information of the vehicle without control intersection is stated, while calculates the time that each vehicle reaches crossing.
On the basis of the various embodiments described above, the system also includes emergency braking unit, for judging that vehicle reaches institute
The distance for stating target crossing is less than emergency stopping distance, while first vehicle is not carried out brake operation, then starts urgent
Brake operating；Wherein, the early warning distance needs for the driver perception reaction distance and emergency brake of vehicle of first vehicle
The sum of stopping distance.
When the first vehicle reaches the distance at target crossing already less than early warning distance S3When, driver is not due to noting
Anticipate to conflict vehicle, while also do not notice the warning information that early warning system provides, do not produce brake, and this
After this moment makes early warning to driver again, driver is in reaction time T2Carrying out emergency braking afterwards also has and can collide
Danger, then apart from conflict point S1At the time of need to the first vehicle carry out emergency braking measure, start urgent anti-collision system.
By this system, further improve in the security passed through without control intersection, when driver does not produce rule
When keeping away action, emergency braking is performed by computer control vehicle.
On the basis of above-described embodiment, the emergency braking unit is additionally operable to, when vehicle reaches the target crossing
Distance is less than emergency stopping distance, and first vehicle takes brake, judges that the braking distance of first vehicle is big
In the stopping distance that emergency braking needs, then start emergency brake operations.
Specifically, when driver is recognized by early warning and has conflict danger without control intersection in front, take
Brake operating, then when the first vehicle reach that emergency braking needs be open to traffic distance and position when, calculate the brake of first vehicle away from
From Sa, as braking distance SaMore than emergency stopping distance S1When, then judge that braking strength is inadequate at this time, can still produce punching
Prominent danger, the first vehicle launch emergency brake operations.
By this system, the service condition of vehicle is further monitored, automatic emergency brake is taken to the situation for judging dangerous
Operation, improves drive safety.
Finally, the present processes are only preferable embodiment, are not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on, should be included in the protection of the present invention
Within the scope of.
Claims (10)
- A kind of 1. braking method for early warning based on brain wave, it is characterised in that including：S1, receives the second time that the first vehicle reaches the first time at target crossing and the second vehicle reaches target crossing, meter Calculate the absolute value of the difference of the first time and second time；Wherein, first vehicle and second vehicle are the different vehicle that same intersection is driven towards on different roads；S2, when judgement knows that the absolute value of the difference of the first time and second time is less than predetermined threshold value, receives institute State the eeg signal of the driver of the first vehicle；S3, judges to know that first vehicle driver does not produce according to the eeg signal of the driver of first vehicle Brake is realized and knows that first vehicle does not have brake operating, and braking early warning is sent to the driver of first vehicle.
- 2. according to the method described in claim 1, it is characterized in that, further included before the step S1：The travel speed of first vehicle and the distance with target crossing described in the first vehicle distances are received, described in calculating First vehicle reaches the first time at target crossing；The travel speed of second vehicle and the distance with target crossing described in the second vehicle distances are received, described in calculating Second vehicle reaches second time at target crossing.
- 3. according to the method described in claim 1, it is characterized in that, the driver of first vehicle is received in the step S2 Eeg signal specifically include：The brain electricity for receiving the first vehicle driver brain temporal lobe area, occipital region, central sulcus area, frontal lobe area and top area respectively is special Magnitude of voltage is levied, obtains temporal lobe area voltage, occipital region voltage, central sulcus area voltage, frontal lobe area voltage, top area voltage and full brain area electricity Pressure；The characteristic voltage value conversion of acquisition is characterized electrical power value, obtains the temporal lobe area power, occipital region power, central sulcus of brain Area's power, frontal lobe area power, top area power and full brain area power.
- 4. according to the method described in claim 3, it is characterized in that, in the step S3, when knowing first vehicle drive When any brain area power of member is less than predetermined threshold value, then judge that first vehicle driver does not produce brake consciousness.
- 5. according to the method described in claim 1, it is characterized in that, further included after the step S3：Judge that vehicle reaches institute The distance for stating target crossing is less than emergency stopping distance, and first vehicle is not carried out brake operating, then starts urgent Brake operating.
- 6. according to the method described in claim 5, it is characterized in that, further included after the step S3：Described in being reached when vehicle The distance at target crossing is less than emergency stopping distance, and first vehicle takes brake operating, judges first vehicle Braking distance is more than the stopping distance that emergency braking needs, then starts emergency brake operations.
- A kind of 7. braking early warning system based on brain wave, it is characterised in that including：Intersection information receiving unit, for receiving, the first vehicle reaches the first time at target crossing and the second vehicle reaches target Second time at crossing, calculates the absolute value of the difference of the first time and second time；Wherein, first vehicle and second vehicle are the different vehicle that same intersection is driven towards on different roads；EEG signals receiving unit, for when the difference of the first time and second time are less than predetermined threshold value, connecing Receive the eeg signal of the driver of first vehicle；Prewarning unit, the eeg signal for the driver according to first vehicle judge to know first vehicle drive Member sends without producing brake consciousness and knowing that first vehicle does not have brake operating to the driver of first vehicle Brake early warning.
- 8. system according to claim 7, it is characterised in that the system also includes intersection information receiving unit, be used for The travel speed of first vehicle and the distance with target crossing described in the first vehicle distances are received, calculates described first Vehicle reaches the first time at target crossing；Receive the travel speed of second vehicle and described with described in the second vehicle distances The distance at target crossing, calculates the second time that second vehicle reaches target crossing.
- 9. system according to claim 7, it is characterised in that the system also includes emergency braking unit, for judging The distance that vehicle reaches the target crossing is less than emergency stopping distance, while first vehicle is not carried out brake operation, Then start emergency brake operations.
- 10. system according to claim 9, it is characterised in that the emergency braking unit is additionally operable to, when vehicle reaches institute The distance for stating target crossing is less than emergency stopping distance, and first vehicle takes brake, judges first vehicle Braking distance be more than emergency braking need stopping distance, then start emergency brake operations.
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Application publication date: 20180413 |