CN108846308A - A kind of method for detecting fatigue driving and device - Google Patents
A kind of method for detecting fatigue driving and device Download PDFInfo
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- CN108846308A CN108846308A CN201810374208.8A CN201810374208A CN108846308A CN 108846308 A CN108846308 A CN 108846308A CN 201810374208 A CN201810374208 A CN 201810374208A CN 108846308 A CN108846308 A CN 108846308A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- G—PHYSICS
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- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/168—Feature extraction; Face representation
- G06V40/171—Local features and components; Facial parts ; Occluding parts, e.g. glasses; Geometrical relationships
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Abstract
A kind of method for detecting fatigue driving and device provided in an embodiment of the present invention, are related to tired identification technology field.This method and device are by obtaining the human face image information detected, and based on the human face image information calculate driver head barycentre offset and effective eye closing number in driver's unit time, the driving condition of the driver is then determined according to the head barycentre offset, effective eye closing number；It by comprehensive head barycentre offset and effective eye closing number, can more precisely judge whether driver is in fatigue driving state, the case where to reduce erroneous judgement, ensure the safety of driver and passenger to a greater extent.
Description
Technical field
The present invention relates to tired identification technology fields, in particular to a kind of method for detecting fatigue driving and device.
Background technique
Fatigue driving is to cause a major reason of traffic accident, how effectively to monitor and prevent driver fatigue from driving
It sails, for reducing traffic accident and mortality, there is highly important realistic meaning.
And existing market vehicle only judges whether driver is in fatigue driving shape by driving duration in navigation
State, degree of intelligence is relatively low, is unable to the driving condition of accurate judgement driver, and there are biggish security risks.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of method for detecting fatigue driving and device, to solve above-mentioned ask
Topic.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, the embodiment of the invention provides a kind of method for detecting fatigue driving, the method for detecting fatigue driving
Including：
Obtain the human face image information detected；
The head barycentre offset of driver is calculated based on the human face image information；
Effective eye closing number in driver's unit time is calculated based on the human face image information；
The driving condition of the driver is determined according to the head barycentre offset, effective eye closing number.
Further, described to determine the driver's according to the head barycentre offset, effective eye closing number
The step of driving condition includes：
It is greater than or equal to the when the head barycentre offset is greater than or equal to first threshold and effective eye closing number
When two threshold values, determine that the driver is in fatigue driving state.
Further, the driver is determined according to the head barycentre offset, effective eye closing number described
Driving condition the step of after, the method for detecting fatigue driving further includes：
When the driver is in fatigue driving state, alarm signal is generated.
Further, described to correct the initial eye closing number according to the eye-closing period with the effective eye closing number of determination
Step includes：
Eye-closing period is less than or equal to the eye closing number of third threshold value as invalid eye closing number；
Effective eye closing number is determined based on the initial eye closing number and the invalid eye closing number.
Further, the effective eye closing number calculated based on the human face image information in driver's unit time
Step includes：
Initial eye closing number and the eye closing pair every time in driver's unit time are obtained based on the human face image information
The eye-closing period answered；
The initial eye closing number is corrected according to the eye-closing period with the effective eye closing number of determination.
Second aspect, the embodiment of the invention also provides a kind of fatigue driving detection device, the fatigue driving detection dress
Set including：
Image information acquisition unit, for obtaining the human face image information detected；
Computing unit, for calculating the head barycentre offset of driver based on the human face image information；
The computing unit is also used to calculate effective eye closing in driver's unit time based on the human face image information
Number；
Driving condition determination unit, described in being determined according to the head barycentre offset, effective eye closing number
The driving condition of driver.
Further, the driving condition determination unit is used to be greater than or equal to the first threshold when the head barycentre offset
Value and effective eye closing number be greater than or equal to second threshold when, determine that the driver is in fatigue driving state.
Further, the fatigue driving detection device further includes：
Alarm signal generation unit, for generating alarm signal when the driver is in fatigue driving state.
Further, the amending unit is used to eye-closing period being less than or equal to the eye closing number of third threshold value as nothing
Imitate eye closing number；
The amending unit is had described in being also used to be determined based on the initial eye closing number and the invalid eye closing number
Imitate eye closing number.
Further, the computing unit includes：
Eye closing acquisition of information subelement, it is initial in driver's unit time for being obtained based on the human face image information
Eye closing number and corresponding eye-closing period of closing one's eyes every time；
Revise subelemen, for correcting the initial eye closing number according to the eye-closing period to determine effectively eye closing time
Number.
A kind of method for detecting fatigue driving and device provided in an embodiment of the present invention, by obtaining the facial image detected
Information, and the head barycentre offset of driver and having in driver's unit time are calculated based on the human face image information
Eye closing number is imitated, the driving shape of the driver is then determined according to the head barycentre offset, effective eye closing number
State；By comprehensive head barycentre offset and effective eye closing number, it can more precisely judge whether driver is in fatigue
Driving condition the case where to reduce erroneous judgement, has ensured the safety of driver and passenger to a greater extent.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the functional block diagram of driving condition detection system provided in an embodiment of the present invention.
Fig. 2 shows the flow charts of method for detecting fatigue driving provided in an embodiment of the present invention.
Fig. 3 shows the specific flow chart of step S203 in Fig. 2.
Fig. 4 shows the functional block diagram of fatigue driving detection device provided in an embodiment of the present invention.
Fig. 5 shows the specific functional modules figure of computing unit in Fig. 4.
Icon：100- driving condition detection system；101- memory；102- storage control；103- processor；Outside 104-
If interface；105- image capture module；200- fatigue driving detection device；210- image information acquisition unit；220- calculates single
Member；221- eye closing acquisition of information subelement；222- revise subelemen；230- driving condition determination unit；240- judging unit；
250- alarm signal generation unit.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Referring to Fig. 1, Fig. 1 shows a kind of driving condition detection system 100 that can be applied in the embodiment of the present invention
Functional block diagram.As shown in Figure 1, driving condition detection system 100 includes fatigue driving detection device 200, memory 101, storage
Controller 102, one or more (one is only shown in figure) processors 103, image capture module 105 etc..These components pass through
One or more communication bus/signal wire mutually communicates.The fatigue driving detection device 200 includes at least one can be with software
Or the form of firmware (firmware) is stored in the memory 101 or is solidificated in the driving condition detection system 100
SFU software functional unit in operating system (operating system, OS).
Memory 101 can be used for storing software program and unit, as in the embodiment of the present invention software testing device and
Program instruction/unit corresponding to method, the software program and list that processor 103 is stored in memory 101 by operation
Member, thereby executing various function application and data processing, such as web page resources acquisition methods provided in an embodiment of the present invention.Storage
Device 101 may include high speed random access memory 101, may also include nonvolatile memory 101, such as one or more magnetic storage
Device, flash memory or other non-volatile solid state memories 101.Processor 103 and other possible components are to memory
101 access can carry out under the control of storage control 102.
Various input/output devices are couple processor 103 and memory 101 by Peripheral Interface 104.In some implementations
In example, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.In some other reality
In example, they can be realized by independent chip respectively.
Image capture module 105 is used to acquire the image of driver, and by image transmitting to processor 103.
It is appreciated that structure shown in FIG. 1 is only to illustrate, driving condition detection system 100 may also include than shown in Fig. 1
More perhaps less component or with the configuration different from shown in Fig. 1.Each component shown in Fig. 1 can using hardware,
Software or combinations thereof is realized.
The software testing device and method that the embodiment of the present invention proposes provide a kind of new method for testing software.This is tired
Please detection device 200 is sailed, method is applicable to Android operation system, iOS operating system, Windows Phone operation system
The platforms such as system.Specifically, the software testing device and method that the embodiment of the present invention proposes can be applied to driving condition detection system
100 various application programs.
First embodiment
The embodiment of the invention provides a kind of method for detecting fatigue driving, for detecting whether driver is in fatigue driving
State corresponding prompt is made, to ensure the safety of driver and passenger and when driver is in fatigue driving state.Please
Referring to Fig.2, being the flow chart of method for detecting fatigue driving provided in an embodiment of the present invention.The method for detecting fatigue driving includes：
Step S201：Obtain the human face image information detected.
It is to be appreciated that image information is transmitted to place after image capture module 105 collects the image information of driver
Device 103 is managed, processor 103 can pass through the human face image information of presetting recognition of face mode detection to driver.
Step S202：The head barycentre offset of driver is calculated based on human face image information.
It should be noted that the head barycentre offset is the offset of head center of gravity on vertical direction.It is understood that
Ground, when driver is in fatigue driving state, it will usually generation such as is bowed at the movement, then at this time the head of driver in vertical side
It is upward then generate displacement.
In addition, processor 103 can traverse the face images that human face image information includes, and each face is settled accounts respectively
The position of driver head's center of gravity in image, so that the head barycentre offset of driver can be calculated.
Step S203：Effective eye closing number in driver's unit time is calculated based on the human face image information.
Referring to Fig. 3, being the specific flow chart of step S203.Step S203 includes：
Sub-step S2031：Based on the human face image information obtain driver's unit time in initial eye closing number with
And corresponding eye-closing period of closing one's eyes every time.
It is to be appreciated that processor 103 can determine of driver's eyes by pre-established eyes opening and closing classifier
Two states are closed in open and close.To after having distinguished driver's eyes opening and closing state, when can relatively easily obtain unit
Interior initial eye closing number, and corresponding eye-closing period of closing one's eyes every time.
It should be noted that the initial eye closing number is the number that driver closes one's eyes in the unit time, no matter close every time
The corresponding eye-closing period of eye be it is how many, can charge in initial eye closing number.
Sub-step S2032：The initial eye closing number is corrected according to the eye-closing period with the effective eye closing number of determination.
Specifically, in the eye closing situation taken, the eye closing situation that eye-closing period is greater than or equal to third threshold value is tired out
Meter gets up, and just can determine that effective eye closing number.
It is to be appreciated that when the unexpected eyes of driver are uncomfortable, it is possible that fast frequency but single eye-closing period is very
Short situation.There are many eye closing number detected at this time, but the time that driver closes one's eyes every time is all very short, if directly to examine at this time
The eye closing number measured judges whether driver is in fatigue driving state as effective eye closing number, then is likely to cause to miss
Difference, thus using eye-closing period be greater than or equal to third threshold value eye closing number as effective eye closing number, can be largely
Reduce error.
Step S204：The driving condition of driver is determined according to head barycentre offset, effective eye closing number.
Specifically, when head barycentre offset is greater than or equal to first threshold and effective eye closing number is greater than or equal to second
When threshold value, determine that driver is in fatigue driving state.
By comprehensive head barycentre offset and effective eye closing number, it can more precisely judge whether driver is in
Fatigue driving state, the case where to reduce erroneous judgement.
Step S205：Judge whether driver is in fatigue driving state, if so, thening follow the steps S206；If not,
Then it re-execute the steps S201.
Step S206：Generate alarm signal.
When driver is in fatigue driving state, alarm signal is generated, driver and passenger can be reminded, pays attention to peace
Entirely.
Second embodiment
Referring to Fig. 4, being the functional block diagram of fatigue driving detection device 200 provided in an embodiment of the present invention.The present invention
A kind of fatigue driving detection device 200 that embodiment provides is applied to fatigue driving detecting system.It should be noted that this reality
Apply fatigue driving detection device 200 provided by example, the technical effect of basic principle and generation is identical with above-described embodiment, is
It briefly describes, the present embodiment part does not refer to place, can refer to corresponding contents in the above embodiments.The fatigue driving detection
Device 200 includes：Image information acquisition unit 210, computing unit 220, driving condition determination unit 230, judging unit 240 with
And alarm signal generation unit 250.
Wherein, image information acquisition unit 210 is for obtaining the human face image information detected.
It is to be appreciated that image information is transmitted to place after image capture module 105 collects the image information of driver
Device 103 is managed, processor 103 can pass through the human face image information of presetting recognition of face mode detection to driver.
It is to be appreciated that image information acquisition unit 210 can be used for executing step in a kind of preferred embodiment
S201。
Computing unit 220 is used to calculate the head barycentre offset of driver based on human face image information.
It should be noted that the head barycentre offset is the offset of head center of gravity on vertical direction.It is understood that
Ground, when driver is in fatigue driving state, it will usually generation such as is bowed at the movement, then at this time the head of driver in vertical side
It is upward then generate displacement.
In addition, processor 103 can traverse the face images that human face image information includes, and each face is settled accounts respectively
The position of driver head's center of gravity in image, so that the head barycentre offset of driver can be calculated.
It is to be appreciated that computing unit 220 can be used for executing step S202 in a kind of preferred embodiment.
Computing unit 220 is also used to calculate effective eye closing time in driver's unit time based on the human face image information
Number.
It is to be appreciated that computing unit 220 can be used for executing step S203 in a kind of preferred embodiment.
Referring to Fig. 5, being the specific functional modules figure of computing unit 220.Computing unit 220 includes eye closing acquisition of information
Unit 221 and revise subelemen 222.
Eye closing acquisition of information subelement 221 is used to obtain based on the human face image information first in driver's unit time
Beginning eye closing number and corresponding eye-closing period of closing one's eyes every time.
It is to be appreciated that processor 103 can determine of driver's eyes by pre-established eyes opening and closing classifier
Two states are closed in open and close.To after having distinguished driver's eyes opening and closing state, when can relatively easily obtain unit
Interior initial eye closing number, and corresponding eye-closing period of closing one's eyes every time.
It should be noted that the initial eye closing number is the number that driver closes one's eyes in the unit time, no matter close every time
The corresponding eye-closing period of eye be it is how many, can charge in initial eye closing number.
It is to be appreciated that eye closing acquisition of information subelement 221 can be used for executing step in a kind of preferred embodiment
S2031。
Revise subelemen 222 is used to correct the initial eye closing number according to the eye-closing period to determine effectively eye closing time
Number.
Specifically, in the eye closing situation taken, the eye closing situation that eye-closing period is greater than or equal to third threshold value is tired out
Meter gets up, and just can determine that effective eye closing number.
It is to be appreciated that when the unexpected eyes of driver are uncomfortable, it is possible that fast frequency but single eye-closing period is very
Short situation.There are many eye closing number detected at this time, but the time that driver closes one's eyes every time is all very short, if directly to examine at this time
The eye closing number measured judges whether driver is in fatigue driving state as effective eye closing number, then is likely to cause to miss
Difference, thus using eye-closing period be greater than or equal to third threshold value eye closing number as effective eye closing number, can be largely
Reduce error.
It is to be appreciated that revise subelemen 222 can be used for executing step S2032 in a kind of preferred embodiment.
Driving condition determination unit 230 is used to determine driving for driver according to head barycentre offset, effective eye closing number
Sail state.
Specifically, when head barycentre offset is greater than or equal to first threshold and effective eye closing number is greater than or equal to second
When threshold value, determine that driver is in fatigue driving state.
By comprehensive head barycentre offset and effective eye closing number, it can more precisely judge whether driver is in
Fatigue driving state, the case where to reduce erroneous judgement.
It is to be appreciated that driving condition determination unit 230 can be used for executing step in a kind of preferred embodiment
S2034。
Judging unit 240 is for judging whether driver is in fatigue driving state.
It is to be appreciated that judging unit 240 can be used for executing step S2035 in a kind of preferred embodiment.
Alarm signal generation unit 250 is used for when driver is in fatigue driving state, generates alarm signal.
It is to be appreciated that alarm signal generation unit 250 can be used for executing step in a kind of preferred embodiment
S2036。
In conclusion a kind of method for detecting fatigue driving provided in an embodiment of the present invention and device, are detected by obtaining
Human face image information, and based on the human face image information calculate driver head barycentre offset and driver's unit
Effective eye closing number in time then determines the driving according to the head barycentre offset, effective eye closing number
The driving condition of member；By comprehensive head barycentre offset and effective eye closing number, it can more precisely judge that driver is
It is no to be in fatigue driving state, the case where to reduce erroneous judgement, the safety of driver and passenger have been ensured to a greater extent.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a unit, program segment or code
Part, a part of the unit, program segment or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional unit in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to each unit individualism, an independent part can also be integrated to form with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. a kind of method for detecting fatigue driving, which is characterized in that the method for detecting fatigue driving includes：
Obtain the human face image information detected；
The head barycentre offset of driver is calculated based on the human face image information；
Effective eye closing number in driver's unit time is calculated based on the human face image information；
The driving condition of the driver is determined according to the head barycentre offset, effective eye closing number.
2. method for detecting fatigue driving as described in claim 1, which is characterized in that described according to the head centre-of gravity shift
Amount, effective eye closing number the step of determining the driving condition of the driver include：
When the head barycentre offset is more than or equal to first threshold and effective eye closing number is greater than or equal to the second threshold
When value, determine that the driver is in fatigue driving state.
3. method for detecting fatigue driving as claimed in claim 2, which is characterized in that described according to the head centre-of gravity shift
After the step of amount, effective eye closing number determine the driving condition of the driver, the method for detecting fatigue driving is also
Including：
When the driver is in fatigue driving state, alarm signal is generated.
4. method for detecting fatigue driving as described in claim 1, which is characterized in that described to correct institute according to the eye-closing period
The step of stating initial eye closing number effective with determination eye closing number include：
Eye-closing period is less than or equal to the eye closing number of third threshold value as invalid eye closing number；
Effective eye closing number is determined based on the initial eye closing number and the invalid eye closing number.
5. method for detecting fatigue driving as described in claim 1, which is characterized in that described based on the human face image information
Calculate driver's unit time in effective eye closing number the step of include：
Based on the human face image information obtain driver's unit time in initial eye closing number and every time close one's eyes it is corresponding
Eye-closing period；
The initial eye closing number is corrected according to the eye-closing period with the effective eye closing number of determination.
6. a kind of fatigue driving detection device, which is characterized in that the fatigue driving detection device includes：
Image information acquisition unit, for obtaining the human face image information detected；
Computing unit, for calculating the head barycentre offset of driver based on the human face image information；
The computing unit is also used to calculate effective eye closing number in driver's unit time based on the human face image information；
Driving condition determination unit, for determining the driving according to the head barycentre offset, effective eye closing number
The driving condition of member.
7. fatigue driving detection device as claimed in claim 6, which is characterized in that the driving condition determination unit is for working as
The head barycentre offset is more than or equal to first threshold and when effective eye closing number is greater than or equal to second threshold, really
The fixed driver is in fatigue driving state.
8. fatigue driving detection device as claimed in claim 7, which is characterized in that the fatigue driving detection device also wraps
It includes：
Alarm signal generation unit, for generating alarm signal when the driver is in fatigue driving state.
9. fatigue driving detection device as claimed in claim 6, which is characterized in that the amending unit is used for eye-closing period
Less than or equal to the eye closing number of third threshold value as invalid eye closing number；
The amending unit, which is also used to determine based on the initial eye closing number and the invalid eye closing number, described effectively to be closed
Eye number.
10. fatigue driving detection device as claimed in claim 6, which is characterized in that the computing unit includes：
Eye closing acquisition of information subelement, for obtaining the initial eye closing in driver's unit time based on the human face image information
Number and corresponding eye-closing period of closing one's eyes every time；
Revise subelemen, for correcting the initial eye closing number according to the eye-closing period with the effective eye closing number of determination.
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| CN109646024A (en) * | 2019-01-09 | 2019-04-19 | 浙江强脑科技有限公司 | Method for detecting fatigue driving, device and computer readable storage medium |
| CN111209833A (en) * | 2019-12-31 | 2020-05-29 | 广东科学技术职业学院 | Fatigue driving detection method and unmanned driving equipment |
| CN112017327A (en) * | 2019-05-30 | 2020-12-01 | 国际商业机器公司 | Detection of operational trends based on anomaly detection |
| CN112699807A (en) * | 2020-12-31 | 2021-04-23 | 车主邦（北京）科技有限公司 | Driver state information monitoring method and device |
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