CN108128241A - A kind of fatigue driving control system for identifying applied in intelligent vehicle - Google Patents
A kind of fatigue driving control system for identifying applied in intelligent vehicle Download PDFInfo
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- CN108128241A CN108128241A CN201711418820.2A CN201711418820A CN108128241A CN 108128241 A CN108128241 A CN 108128241A CN 201711418820 A CN201711418820 A CN 201711418820A CN 108128241 A CN108128241 A CN 108128241A
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- 238000001514 detection method Methods 0.000 claims abstract description 44
- 230000008859 change Effects 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims description 13
- 230000007613 environmental effect Effects 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 9
- 230000000979 retarding effect Effects 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims description 7
- 238000003786 synthesis reaction Methods 0.000 claims description 7
- 230000008921 facial expression Effects 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 5
- 230000002265 prevention Effects 0.000 abstract description 3
- 238000012937 correction Methods 0.000 abstract description 2
- 230000006855 networking Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 16
- 206010039203 Road traffic accident Diseases 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 210000001367 artery Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 3
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- 230000001133 acceleration Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 230000002618 waking effect Effects 0.000 description 2
- 230000002929 anti-fatigue Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
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- 238000000465 moulding Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 230000037152 sensory function Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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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
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
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- Automation & Control Theory (AREA)
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
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Abstract
The present invention provides a kind of fatigue driving control system for identifying applied in intelligent vehicle, including fatigue driving detection system 1, fatigue driving identifying system 2, fatigue driving control system 3, fatigue driving output system 4 and auxiliary examination system 6, the fatigue driving detection system 1 and fatigue driving output system 4 are connect respectively with the fatigue driving control system 3；The fatigue driving identifying system 2 is built in fatigue driving control system 3, and is connect with fatigue driving control system 3；The fatigue driving control system 3 is connect with vehicle central control module 5；The auxiliary examination system 6 is connected with the fatigue driving control system.Identification is checked by the intersection of multiple spot position image change, it can be mutually authenticated and error correction, effectively prevention false command is implemented, the accuracy of intelligent sound input is substantially increased, and is laid a good foundation to the accurate command reception that interconnects of other the interior vehicles between attachment and car networking, vehicle and family etc..
Description
Technical field
The invention belongs to automobile intelligent trip industry control system manufacturing technology field and control method technical field, specifically
Ground is said, is related to a kind of fatigue driving control system for identifying and control method applied in intelligent vehicle.
Background technology
It improves with the continuous development of society, intelligent travel increasingly attracts attention, while also receives each intelligence and grind
Study carefully the extensive concern of mechanism and automobile industry." Chinese moment " rate of being expected to of global intelligent travel arrives first.December 20 in 2017
Day, first council of Apollo smoothly holds in Xiong Anxinqu.The council is made of internet and vehicle enterprise, entire by formulating
The general orientation of Apollo ecology overall strategies, and development, the management of discussion city unmanned vehicle jointly, push relevant laws and regulations, political affairs
Reproducible, propagable unmanned pattern model is sought in the formulation of plan.
" intelligent vehicle " of the prior art, exactly increased on the basis of common vehicle advanced sensor (radar,
Camera shooting), controller, the devices such as actuator, pass through vehicle-mounted sensor-based system and information terminal realize that the intelligence with people, vehicle, road etc. is believed
Breath exchanges, and vehicle is made to have intelligent environment sensing ability, can automatically analyze the safety and precarious position of vehicle traveling, and makes
Vehicle is arrived at according to the wish of people, final to realize the purpose for substituting people to operate.By to Vehicular intelligent technology
Research and development, can improve control and the driving ability of vehicle, and support vehicles travel safe and smooth, efficient.To intelligence
Vehicle control system constantly study and improve, be equivalent to extension and extend control, vision and the sensory function of driver, can pole
The earth promotes the safety of road traffic.
The vehicle of intelligent travel of the prior art is realized people's vehicle interaction intercommunication, is reached mostly by the way of phonetic entry
The purpose and effect of intelligent travel.But in the prior art, in the driving procedure for occurring especially in intelligent vehicle, due to
Vehicular intelligent degree be continuously improved so that it is manually-operated action it is fewer and fewer, driver under comfortable driving environment easily
Cause fatigue driving, and have no control system and controlling party that effectively prevention and control fatigue driving occur in the prior art
Method carries out vehicle drive when driver is in fatigue state, occurs traffic accident again and again, cause the generation of tragedy.
Invention content
The present invention is solves in the prior art since Vehicular intelligent degree is continuously improved so that manually-operated action is more next
Fewer, driver easily causes fatigue driving under comfortable driving environment, and has no effective anti-fatigue in the prior art
Ride Control System and control method so that driver is in fatigue state and carries out vehicle drive, occurs traffic accident again and again, causes
The generation of tragedy.The present invention is to overcome the technical solution of above-mentioned technical problem, is provided a kind of applied to tired in intelligent vehicle
Please control system for identifying and control method are sailed, technical solution of the present invention is capable of providing except the fatigue driving for being effectively directed to driver
State is identified, judges, sends out alarm or output and driver's interactive information in time or takes the compulsory enforcement measures in time, makes
It obtains in environment of the driver always in waking state and safety.Effectively remind and prevent continuation of the driver after fatigue driving
Drive driving.
The technical concept of the present invention is that the present invention is directed in the prior art since Vehicular intelligent degree is continuous
It improving so that manually-operated action is fewer and fewer, and driver easily causes fatigue driving under comfortable driving environment, and
Effective anti-fatigue-driving control system and control method are had no in the prior art so that driver is in fatigue state and carries out vehicle
It drives, occurs traffic accident again and again, cause the technical problems such as the generation of tragedy, provide a set of can be identified with fatigue driving and control
System passes through fatigue driving detection system, fatigue driving identifying system, fatigue driving control system, fatigue driving output system
Deng interaction, it is ensured that driver is in waking state or in security context.When fatigue driving control system for identifying detects
To during driver's fatigue driving, the first step exports alarm signal；Second step implements voice prompt and interaction；Third walks, and starts
Enforcement procedure identifies road vehicle passage situation, and in the case where confirming safety, gradually slow down pulling over observing automatically.Together
When, this hair increases the auxiliary system of preventing fatigue driving, and the information that auxiliary system obtains and fatigue driving control system are obtained
Information mutually check verification, greatly improve accuracy.
Technical solution provided by the invention is a kind of fatigue driving control system for identifying applied in intelligent vehicle, packet
Include fatigue driving detection system, fatigue driving identifying system, fatigue driving control system, fatigue driving output system and auxiliary
Check system, the fatigue driving detection system and fatigue driving output system connect respectively with the fatigue driving control system
It connects；The fatigue driving identifying system is built in fatigue driving control system, and is connect with fatigue driving control system；It is described
Fatigue driving control system is connect with vehicle central control module, the auxiliary examination system and the fatigue driving control system
It is connected.
The fatigue driving control system receives the fatigue driving identifying system and the auxiliary examination system simultaneously
Signal, and the fatigue driving identifying system output signal with the auxiliary examination system output signal mutually check and is tested
Card, the fatigue driving control system carry out output execution signal after logic judgment.
The auxiliary examination system passes respectively with the accelerator pedal sensor, brake pedal sensor, steering wheel angle
Sensor, wheel speed sensors be connected it is connected, the auxiliary examination system receive respectively from the accelerator pedal sensor, braking steps on
The signal intensity that plate sensor, steering wheel angle sensor, wheel speed sensors are connected.
When the fatigue driving control system receives the throttle accelerator pedal signal that auxiliary examination system transmits, braking is stepped on
When partitioned signal, hand-wheel angle signal, wheel speed sensors signal are all higher than preset value, then it is judged as not up to fatigue driving shape
State；Conversely, the fatigue driving control system will also carry out comprehensive descision with reference to the signal of the fatigue driving identifying system.
The fatigue driving detection system includes high definition camera or image identification detection system, the fatigue driving are visited
Examining system captures simultaneously to be separated by two more than or equal to 10 centimetres or changes at two with epigraph.
The action variable signal of acquisition is converted into image change by the high definition camera or image identification detection system
Pulse signal, the high definition camera or image identification detection system pass to described image change pulse signal described tired
Please identifying system is sailed.
The image change arteries and veins changed at the fatigue driving identifying system while two to receiving or at two with epigraph
It rushes signal and does logic judgment, and the information that will determine that passes to fatigue driving control system.
The fatigue driving identifying system can carry out figure to the eyes of driver, face, facial expression, driving posture simultaneously
As crawl and comparison, the fatigue driving identifying system carries out logic judgment to the image change signal at above-mentioned each position simultaneously.
The fatigue driving control system receives the signal from the fatigue driving identifying system and auxiliary examination system
Afterwards, preferably control signal is exported to the fatigue driving output system.
The fatigue driving output system includes alarm device and voice device, and the voice device is filled including voice output
It puts and speech input device, the fatigue driving output system is arranged on the middle and upper part of Auto Instrument desk, the fatigue driving is defeated
Go out system and warning information or interactive information are exported to driver.
After fatigue driving output system output information, fatigue driving control system is according to fatigue driving identifying system and auxiliary
The input signal of check system is helped, secondary select to the vehicle central control module exports control signal.
The central control module includes vehicle-state induction system, vehicle environmental detection system and performs system, described
After central control module receives the signal from the fatigue driving control system, logic synthesis judges vehicle-state and vehicle
Residing environmental information.
Whether the central control module judges vehicle in high-speed travel state simultaneously, and the ambient enviroment residing for vehicle is
No suitable pulling over observing, whether driver is in fatigue driving state, if so, central control module is sent out to the execution module
Go out to enforce instruction, force vehicle automatic retarding and lane change pulling over observing.
A kind of fatigue driving identification control method applied in intelligent vehicle, including fatigue driving detection system, fatigue
Drive identifying system, fatigue driving control system, fatigue driving output system and the auxiliary examination system, the fatigue driving
Detection system and fatigue driving output system are connect respectively with the fatigue driving control system；The fatigue driving identifying system
It is built in fatigue driving control system, and is connect with fatigue driving control system；The fatigue driving control system and vehicle
Central control module connects, and the auxiliary examination system is connected with the fatigue driving control system；Control method is as follows：
Whether the first step judges driver on steering position；
Second step detects the driving condition of driver by fatigue driving detection system, and knows to fatigue driving
Other system carries out signal transmission；
Third walks, and fatigue driving identifying system carries out logic synthesis judgement to receiving driving condition information, and to fatigue
Ride Control System carries out signal transmission；
4th step, the reception simultaneously of fatigue driving control system receive described tired simultaneously from the fatigue driving control system
Please sail the signal of identifying system and the auxiliary examination system, and by the fatigue driving identifying system output signal with it is described
Auxiliary examination system output signal carries out mutually checking verification, exports and holds after the fatigue driving control system progress logic judgment
Row signal；
5th step, fatigue driving control system is preferably transmitted to fatigue driving output system and performs signal, secondary to select to vehicle
Central control module, which transmits, performs signal.
The auxiliary examination system passes respectively with the accelerator pedal sensor, brake pedal sensor, steering wheel angle
Sensor, wheel speed sensors be connected it is connected, the auxiliary examination system receive respectively from the accelerator pedal sensor, braking steps on
The signal intensity that plate sensor, steering wheel angle sensor, wheel speed sensors are connected.
When the fatigue driving control system receives the throttle accelerator pedal signal that auxiliary examination system transmits, braking is stepped on
When partitioned signal, hand-wheel angle signal, wheel speed sensors signal are all higher than preset value, then it is judged as not up to fatigue driving shape
State；Conversely, the fatigue driving control system will also carry out comprehensive descision with reference to the signal of the fatigue driving identifying system.
When vehicle launch 30 minutes or more, the fatigue driving detection system starts working condition automatically, to driver
State carries out continuing scanning, and the scan frequency is 1-3 minute/time, and the fatigue driving detection system is imaged including high definition
Head or image identification detection system, the fatigue driving detection system captures simultaneously to be separated by two more than or equal to 10 centimetres or two
Sentence epigraph variation.
The action variable signal of acquisition is converted into image change by the high definition camera or image identification detection system
Pulse signal, the high definition camera or image identification detection system pass to described image change pulse signal described tired
Please identifying system is sailed.
The image change arteries and veins changed at the fatigue driving identifying system while two to receiving or at two with epigraph
It rushes signal and does logic judgment, and the information that will determine that passes to fatigue driving control system；The fatigue driving identifying system can
Image-capture and comparison, the fatigue driving identification are carried out to the eyes of driver, face, facial expression, driving posture simultaneously
System carries out logic judgment to the image change signal at above-mentioned each position simultaneously.
The fatigue driving output system includes alarm device and voice device, and the voice device is filled including voice output
It puts and speech input device, the fatigue driving output system is arranged on the middle and upper part of Auto Instrument desk, the fatigue driving is defeated
Go out system and warning information or interactive information are exported to driver.
When the fatigue driving control system is received from the fatigue driving identifying system and the auxiliary examination system
Signal after, preferably to the fatigue driving output system export control signal；It is secondary select it is defeated to the vehicle central control module
Go out to control signal, be as follows：
The first step sends out alarm command to fatigue driving output system, and the fatigue driving output system sends out driver
Go out alarm, if if driver changes driving posture or active pulling over observing, all clear, otherwise into second step in 30 seconds；
Second step exports voice interface information to fatigue driving, inquiry driver whether in fatigue driving state or
No to need pulling over observing, if if driver changes driving posture or active pulling over observing in 30 seconds, interaction action terminates, no
Then enter third to walk；
Third walks, and is exported to vehicle central control module and enforces signal, the vehicle central control module is by holding
Row system under the premise of vehicle running state and vehicle environment state is judged, forces vehicle automatic retarding and pulling over observing.
The execution system is connected with vehicle acceleration device, Vehicular brake device, vehicle steering device.
The central control module includes vehicle-state induction system, vehicle environmental detection system and performs system, described
After central control module receives the signal from the fatigue driving control system, logic synthesis judges vehicle-state and vehicle
Residing environmental information；Whether the central control module judges vehicle in high-speed travel state simultaneously, the week residing for vehicle
Collarette border is if appropriate for pulling over observing, and whether driver is in fatigue driving state, if so, central control module is held to described
Row module sends out compulsory execution instruction, forces vehicle automatic retarding and lane change pulling over observing.
Using technical solution provided by the present invention, the following technique effect better than the prior art can be brought：
1st, technical scheme of the present invention is overcome in the prior art since Vehicular intelligent degree is continuously improved so that artificial behaviour
The action of work is fewer and fewer, and driver easily causes fatigue driving under comfortable driving environment, and has no in the prior art
Effective anti-fatigue-driving control system and control method so that driver is in fatigue state and carries out vehicle drive, occurs again and again
The technical problems such as traffic accident.It is of the invention effectively to remind and prevent driver from continuing driving driving after fatigue driving, when tired
When please sailing control system for identifying and having detected fatigue driving signal：Alarm signal is exported by main speech output system first；
Secondly, whether output and the interactive information of driver ask whether as fatigue driving state or parking are needed to rest；Finally, lead to
It crosses central control module and exports compulsory execution order to executing agency, vehicle automatic retarding is forced, in the feelings for judging road condition safety
Under condition, it is gradually decelerated to curb parking.
2nd, using technical solution provided by the invention, driver can be promoted to form good driving habit.
3rd, using technical solution provided by the invention, the maintenance cost that the use cost of vehicle and accident are brought can be reduced
With, also with stability it is good, be quick on the draw,.
4th, technical solution provided by the invention can effectively prevent fatigue driving, to long-duration driving or facial expression fatigue or
The driver having little expression gives timely alarm and reminding, can also take automatic reduction of speed, until road side of slowly keeping right is at a stop
Automatic running instruction, greatly reduce traffic accident.
5th, using technical solution provided by the invention, the image change of different location is quickly and effectively synchronized into analysis
Comparison, while the two is interacted into check, verification, it is ensured that system is safe and stable, accurate operation.
6th, technical solution provided by the present invention has simple directly voice operating mechanism and implementation mechanism, without reading
The user's operation guide of very complicated can be operated, especially convenient that interior electric elements such as navigator etc. is passed through without operation
The passenger tested；Driver, which need not disperse driving demand power, to be operated, only can be operated or transfer to sound passenger into
Row operation.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Wherein, 1 it is fatigue driving detection system, 2 be fatigue driving identifying system, 3 be fatigue driving control system, 4 is
Fatigue driving output system, 5 are vehicle central control module, and 6 be auxiliary check system.
Specific embodiment
As described in attached drawing, technical solution provided by the invention is a kind of fatigue driving identification applied in intelligent vehicle
Control system, it is defeated including fatigue driving detection system 1, fatigue driving identifying system 2, fatigue driving control system 3, fatigue driving
Go out system 4 and auxiliary examination system 6, the fatigue driving detection system 1 and fatigue driving output system 4 respectively with the fatigue
Ride Control System 3 connects；The fatigue driving identifying system 2 is built in fatigue driving control system 3, and and fatigue driving
Control system 3 connects；The fatigue driving control system 3 is connect with vehicle central control module 5；The auxiliary examination system 6
It is connected with the fatigue driving control system.
Identification is checked by the intersection of multiple spot position image change, can be mutually authenticated and error correction, effectively prevention mistake refer to
It enables and implementing, substantially increase the accuracy of intelligent sound input, and to other interior vehicles in attachment and car networking, vehicle and family etc.
Between the accurate command reception to interconnect lay a good foundation.The present invention adds interactive check fatigue driving identification control system
System effectively reminds and prevents driver from continuing driving driving after fatigue driving, when fatigue driving control system for identifying detects
To when having fatigue driving signal：Alarm signal is exported by main speech output system first；If reactionless, into second step,
Whether output and the interactive information of driver ask whether as fatigue driving state or parking are needed to rest；If reactionless, into
Enter third step and compulsory execution order is exported to executing agency by central control module, force vehicle automatic retarding, judging road
In the case of condition safety, it is gradually decelerated to curb parking.
The fatigue driving control system receives the fatigue driving identifying system and the auxiliary examination system simultaneously
Signal, and the fatigue driving identifying system output signal with the auxiliary examination system output signal mutually check and is tested
Card, the fatigue driving control system carry out output execution signal after logic judgment.
The auxiliary examination system passes respectively with the accelerator pedal sensor, brake pedal sensor, steering wheel angle
Sensor, wheel speed sensors be connected it is connected, the auxiliary examination system receive respectively from the accelerator pedal sensor, braking steps on
The signal intensity that plate sensor, steering wheel angle sensor, wheel speed sensors are connected.
When the fatigue driving control system receives the throttle accelerator pedal signal that auxiliary examination system transmits, braking is stepped on
When partitioned signal, hand-wheel angle signal, wheel speed sensors signal are all higher than preset value, then it is judged as not up to fatigue driving shape
State, the preset value are no more than 10% up and down for amplitude of variation in front and rear 20 seconds；Conversely, the fatigue driving control system will also
Comprehensive descision is carried out with reference to the signal of the fatigue driving identifying system.
The fatigue driving detection system 1 includes high definition camera or image identification detection system, the fatigue driving
Detection system 1 captures simultaneously to be separated by two more than or equal to 10 centimetres or changes at two with epigraph.
The action variable signal of acquisition is converted into image change by the high definition camera or image identification detection system
Pulse signal, the high definition camera or image identification detection system pass to described image change pulse signal described tired
Please identifying system 2 is sailed.
The image change arteries and veins changed at the fatigue driving identifying system 2 while two to receiving or at two with epigraph
It rushes signal and does logic judgment, and the information that will determine that passes to fatigue driving control system 3.
The fatigue driving identifying system 2 can simultaneously carry out the eyes of driver, face, facial expression, driving posture
Image-capture and comparison, the fatigue driving identifying system 2 carry out logic to the image change signal at above-mentioned each position simultaneously and sentence
It is disconnected.
The fatigue driving control system 3 receives the letter from the fatigue driving identifying system 2 and auxiliary examination system 6
After number, preferably control signal is exported to the fatigue driving output system 4.
The fatigue driving output system 4 includes alarm device and voice device, and the voice device includes voice output
Device and speech input device, the fatigue driving output system 4 are arranged on the middle and upper part of Auto Instrument desk, the fatigue driving
Output system 4 exports warning information or interactive information to driver.
After fatigue driving 4 output information of output system, fatigue driving control system 3 is according to fatigue driving identifying system 2
Input signal, it is secondary select to the vehicle central control module 5 export control signal.
The central control module includes vehicle-state induction system, vehicle environmental detection system and performs system, described
After central control module receives the signal from the fatigue driving control system 3, logic synthesis judges vehicle-state and vehicle
Environmental information residing for.
Whether the central control module judges vehicle in high-speed travel state simultaneously, and the ambient enviroment residing for vehicle is
No suitable pulling over observing, whether driver is in fatigue driving state, if so, central control module is sent out to the execution module
Go out to enforce instruction, force vehicle automatic retarding and lane change pulling over observing.
A kind of fatigue driving identification control method applied in intelligent vehicle of embodiment 2, system is detected including fatigue driving
System 1, fatigue driving identifying system 2, fatigue driving control system 3, fatigue driving output system 4 and auxiliary examination system 6, it is described
Fatigue driving detection system 1 and fatigue driving output system 4 are connect respectively with the fatigue driving control system 3；The fatigue
Identifying system 2 is driven to be built in fatigue driving control system 3, and connect with fatigue driving control system 3；The fatigue driving
Control system 3 is connect with vehicle central control module 5, the auxiliary examination system 6 and 3 phase of fatigue driving control system
Even；Control method is as follows：
Whether the first step judges driver on steering position；
Second step detects the driving condition of driver by fatigue driving detection system 1, and knows to fatigue driving
Other system 2 carries out signal transmission；
Third walks, and fatigue driving identifying system 2 carries out logic synthesis judgement to receiving driving condition information, and to fatigue
Ride Control System 3 carries out signal transmission；
4th step, the fatigue driving control system 3 receive the fatigue driving identifying system 2 and the auxiliary school simultaneously
The signal of check system 6, and by 2 output signal of fatigue driving identifying system and 6 output signal of auxiliary examination system into
Row is mutual to check verification, and the fatigue driving control system 3 carries out output execution signal after logic judgment；
5th step, fatigue driving control system 3 is preferably transmitted to fatigue driving output system 4 and performs signal, secondary to select to vehicle
Central control module 5, which transmits, performs signal.
The auxiliary examination system 6 passes respectively with the accelerator pedal sensor, brake pedal sensor, steering wheel angle
Sensor, wheel speed sensors be connected it is connected, the auxiliary examination system receive respectively from the accelerator pedal sensor, braking steps on
The signal intensity that plate sensor, steering wheel angle sensor, wheel speed sensors are connected.
When the fatigue driving control system 3 receives throttle accelerator pedal signal, the braking that auxiliary examination system 6 transmits
When pedal signal, hand-wheel angle signal, wheel speed sensors signal are all higher than preset value, then it is judged as not up to fatigue driving shape
State；Conversely, the fatigue driving control system will also carry out comprehensive descision with reference to the signal of the fatigue driving identifying system.
When vehicle launch 30 minutes or more, the fatigue driving detection system 1 starts working condition automatically, to driver
State carries out continuing scanning, and the scan frequency is 1-3 minute/time, and the fatigue driving detection system 1 is imaged including high definition
Head or image identification detection system, the fatigue driving detection system 1 simultaneously capture be separated by two more than or equal to 10 centimetres or
Changed at two with epigraph.
The action variable signal of acquisition is converted into image change by the high definition camera or image identification detection system
Pulse signal, the high definition camera or image identification detection system pass to described image change pulse signal described tired
Please identifying system 2 is sailed.
The image change arteries and veins changed at the fatigue driving identifying system 2 while two to receiving or at two with epigraph
It rushes signal and does logic judgment, and the information that will determine that passes to fatigue driving control system 3；The fatigue driving identifying system 2
Can image-capture and comparison be carried out to the eyes of driver, face, facial expression, driving posture simultaneously, the fatigue driving is known
Other system 2 carries out logic judgment to the image change signal at above-mentioned each position simultaneously.
The fatigue driving output system 4 includes alarm device and voice device, and the voice device includes voice output
Device and speech input device, the fatigue driving output system 4 are arranged on the middle and upper part of Auto Instrument desk, the fatigue driving
Output system 4 exports warning information or interactive information to driver.
When the fatigue driving control system 3 is received from the fatigue driving identifying system 2 and auxiliary examination system 6
After signal, preferably control signal is exported to the fatigue driving output system 4；It is secondary select it is defeated to the vehicle central control module 5
Go out to control signal, be as follows：
The first step sends out alarm command to fatigue driving output system 4, and the fatigue driving output system 4 is to driver
Alarm is sent out, if if driver changes driving posture or active pulling over observing, all clear, otherwise into second in 30 seconds
Step；
Second step exports voice interface information to fatigue driving, inquiry driver whether in fatigue driving state or
No to need pulling over observing, if if driver changes driving posture or active pulling over observing in 30 seconds, interaction action terminates, no
Then enter third to walk；
Third walks, and is exported to vehicle central control module 5 and enforces signal, and the vehicle central control module 5 passes through
Execution system under the premise of vehicle running state and vehicle environment state is judged, forces vehicle automatic retarding and pulling over observing.
The execution system is connected with vehicle acceleration device, Vehicular brake device, vehicle steering device.
The central control module 5 includes vehicle-state induction system, vehicle environmental detection system and performs system, described
After central control module receives the signal from the fatigue driving control system 3, logic synthesis judges vehicle-state and vehicle
Environmental information residing for；Whether the central control module judges vehicle in high-speed travel state simultaneously, residing for vehicle
Ambient enviroment is if appropriate for pulling over observing, and whether driver is in fatigue driving state, if so, central control module is to described
Execution module sends out compulsory execution instruction, forces vehicle automatic retarding and lane change pulling over observing.
Embodiment 3
Technical solution provided by the present invention is a kind of to further include intelligence for the vehicle audio input control system of intelligent travel
Wherein, the intelligent navigation module includes display device, GPS signal reception device, reservoir and electronic map to energy navigation module,
Electronic map is stored in reservoir.Wherein, voice input module includes microphone array, and microphone array includes multiple Mikes
Wind.Wherein, sound identification module includes speech database and phonetic order mapping table, and phonetic order mapping table includes multiple and language
The processor-executable instruction of the corresponding control module of sound order, the wherein executable instruction include navigation module enabled instruction.
Wherein, the voice command of the microphones capture automobile passenger in microphone array, speech database are voice command matching
Corresponding Text Command, phonetic order mapping table text command mapping to corresponding processor-executable instruction, and by controlling
Molding block control navigation module performs corresponding navigation feature.
The present invention includes but not limited to following technical advantage and effect：Intelligent automobile has a set of navigation information data first
Library, have national highway, common road, urban road and various service facilities (food and drink, hotel, gas station, sight spot,
Parking lot) information material；Secondly GPS positioning system, the position where vehicle is accurately positioned using this system, with road
Data in data bank compare, and determine later travel direction；Road condition information system is provided real by traffic control center
When road ahead condition information, such as traffic congestion, accident, when necessary in time change travel route；Preventing collision of vehicles system, including visiting
Radar, information processing system, Ride Control System, control and the distance of other vehicles are surveyed, is subtracted in time when detecting barrier
Speed or brake, and information is transmitted to command centre and other vehicles；Emergency warning system, if had an accident, automatic report refers to
It is rescued at the center of waving；Wireless communication system, for the contact of automobile and command centre；Automated driving system, for controlling vapour
The igniting of vehicle changes speed and steering etc..Usually the operation of vehicle substantially can be considered to a multi input, multi output, defeated
Enter the control process of the Complex Nonlinear System of complicated and changeable, the uncertain multi-jamming sources of output relation.
Technical solution provided by the present invention, can be with being capable of effective the following technical problem or to people in the prior art
The inconvenience that brings, driver should environment of accepting such as road, crowded, direction, pedestrian etc. information, also to experience automobile such as vehicle
The information of speed, laterally offset, yaw velocity etc., then by judgement and analysis and decision, and compared with the driving experience of oneself
Compared with, determine the control action that do, finally by body, hand, foot etc. come complete manipulate vehicle action.Therefore it is entirely driving
During sailing, the human factor of driver accounts for very big proportion.Once occur driver for a long time drive, fatigue is driven, is sentenced
The situation of disconnected error, it is easy to cause traffic accident.The present invention can effectively solve the problem that above-mentioned driver's fatigue driving problem.
The above, only presently preferred embodiments of the present invention, the invention is not limited in the above embodiment, as long as
It reaches the technique effect of the present invention with identical means, should all belong to the scope of protection of the present invention.
Claims (10)
1. a kind of fatigue driving control system for identifying applied in intelligent vehicle, which is characterized in that detected including fatigue driving
System (1), fatigue driving identifying system (2), fatigue driving control system (3), fatigue driving output system (4) and auxiliary examination
System (6), the fatigue driving detection system (1) and fatigue driving output system (4) control respectively with the fatigue driving
System (3) connection；The fatigue driving identifying system (2) is built in fatigue driving control system (3), and is controlled with fatigue driving
System (3) connects；The fatigue driving control system (3) connect with vehicle central control module (5), the auxiliary examination system
(6) it is connected with the fatigue driving control system (3).
2. a kind of fatigue driving control system for identifying applied in intelligent vehicle as described in claim 1, which is characterized in that
The fatigue driving control system (3) while receive the fatigue driving identifying system (2) and the auxiliary examination system (6)
Signal, and fatigue driving identifying system (2) output signal and auxiliary examination system (6) output signal are carried out mutually
Verification is checked, the fatigue driving control system (3) carries out output execution signal after logic judgment.
3. a kind of fatigue driving control system for identifying applied in intelligent vehicle as claimed in claim 1 or 2, feature exist
In the auxiliary examination system (6) senses respectively with the accelerator pedal sensor, brake pedal sensor, steering wheel angle
Device, wheel speed sensors are connected connected, and the auxiliary examination system is received respectively from the accelerator pedal sensor, brake pedal
The signal intensity that sensor, steering wheel angle sensor, wheel speed sensors are connected；When the fatigue driving control system receives
Throttle accelerator pedal signal that auxiliary examination system transmits, brake pedal signal, hand-wheel angle signal, wheel speed sensors signal
When being all higher than preset value, then it is judged as not up to fatigue driving state；Conversely, the fatigue driving control system will also combine institute
The signal for stating fatigue driving identifying system carries out comprehensive descision.
4. a kind of fatigue driving control system for identifying applied in intelligent vehicle of any one as described in claim 1-3,
It is characterized in that, the fatigue driving detection system (1) includes high definition camera or image identification detection system, the fatigue
Driving test system (1) at the same crawl be separated by two more than or equal to 10 centimetres or change at two with epigraph；The high definition
The action variable signal of acquisition is converted into image change pulse signal, the high definition by camera or image identification detection system
Described image change pulse signal is passed to the fatigue driving identifying system (2) by camera or image identification detection system；
The image change pulse signal changed at the fatigue driving identifying system (2) while two to receiving or at two with epigraph
Logic judgment is done, and the information that will determine that passes to fatigue driving control system (3).
5. a kind of fatigue driving control system for identifying applied in intelligent vehicle of any one as described in claim 1-4,
It is characterized in that, the fatigue driving identifying system (2) can be simultaneously to the eyes of driver, face, facial expression, driving posture
Progress image-capture is carried out with comparison, the fatigue driving identifying system (2) while to the image change signal at above-mentioned each position
Logic judgment.
6. a kind of fatigue driving control system for identifying applied in intelligent vehicle of any one as described in claim 1-5,
It is characterized in that, the fatigue driving control system (3) is received from the fatigue driving identifying system (2) and auxiliary examination system
It unites after the signal of (6), preferably exports control signal to the fatigue driving output system (4).
7. a kind of fatigue driving control system for identifying applied in intelligent vehicle of any one as described in claim 1-6,
It is characterized in that, the fatigue driving output system (4) includes alarm device and voice device, the voice device includes voice
Output device and speech input device, the fatigue driving output system (4) is arranged on the middle and upper part of Auto Instrument desk, described tired
Please it sails output system (4) and warning information or interactive information is exported to driver.
8. a kind of fatigue driving control system for identifying applied in intelligent vehicle of any one as described in claim 1-7,
It is characterized in that, after fatigue driving output system (4) output information, fatigue driving control system (3) is known according to fatigue driving
Other system (2) and the input signal of auxiliary examination system (6), secondary select to the vehicle central control module (5) export control letter
Number.
9. a kind of fatigue driving control system for identifying applied in intelligent vehicle of any one as described in claim 1-3,
It is characterized in that, the central control module includes vehicle-state induction system, vehicle environmental detection system and performs system, institute
It states after central control module receives the signal from the fatigue driving control system (3), logic synthesis judges vehicle-state
And the environmental information residing for vehicle.
10. a kind of fatigue driving control system for identifying applied in intelligent vehicle of any one as described in claim 1-9,
It is characterized in that, whether the central control module judges vehicle in high-speed travel state simultaneously, surrounding's ring residing for vehicle
Border is if appropriate for pulling over observing, and whether driver is in fatigue driving state, if so, central control module is to the execution mould
Block sends out compulsory execution instruction, forces vehicle automatic retarding and lane change pulling over observing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418820.2A CN108128241A (en) | 2017-12-25 | 2017-12-25 | A kind of fatigue driving control system for identifying applied in intelligent vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418820.2A CN108128241A (en) | 2017-12-25 | 2017-12-25 | A kind of fatigue driving control system for identifying applied in intelligent vehicle |
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| CN108128241A true CN108128241A (en) | 2018-06-08 |
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| CN201711418820.2A Withdrawn CN108128241A (en) | 2017-12-25 | 2017-12-25 | A kind of fatigue driving control system for identifying applied in intelligent vehicle |
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| CN109649361A (en) * | 2019-01-18 | 2019-04-19 | 爱驰汽车有限公司 | Vehicle Electronic Control brake gain adjusting method, system, equipment and storage medium |
| US11300446B2 (en) | 2019-03-29 | 2022-04-12 | Beijing Boe Optoelectronics Technology Co., Ltd. | Optical detection method and optical detection apparatus for fatigue state, and optical detection device |
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Application publication date: 20180608 |