CN110182211B - Vehicle intelligent danger avoiding control method based on driver state monitoring system - Google Patents
Vehicle intelligent danger avoiding control method based on driver state monitoring system Download PDFInfo
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- CN110182211B CN110182211B CN201910433733.7A CN201910433733A CN110182211B CN 110182211 B CN110182211 B CN 110182211B CN 201910433733 A CN201910433733 A CN 201910433733A CN 110182211 B CN110182211 B CN 110182211B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000002159 abnormal effect Effects 0.000 claims abstract description 4
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims 3
- 230000008447 perception Effects 0.000 description 2
- 206010010071 Coma Diseases 0.000 description 1
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229910052705 radium Inorganic materials 0.000 description 1
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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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
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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
- 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
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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
- 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
- B60W30/18—Propelling the vehicle
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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
- B60W40/02—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 ambient conditions
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle intelligent danger avoiding control method based on a driver state monitoring system, which comprises the following steps: the driver state monitoring system monitors the driving state of a driver, a high-risk driving state alarm is started after abnormal conditions are monitored, if the monitoring is wrong, the driver presses a physical button, the system returns to the driver state monitoring system again for monitoring, if the monitoring is not wrong, the intelligent danger avoiding input is waited for when the system enters the intelligent danger avoiding input without interference or the driver directly triggers a double-flash warning lamp and then enters the intelligent danger avoiding input, and then self-adaptive cruise, lane keeping or automatic emergency braking measures are taken according to sensed road condition information to finally realize automatic parking. The invention can monitor the driving state of the driver and operate the vehicle to be separated from the high-risk state through complete judgment logic when the situation that the driver cannot control the vehicle continuously is monitored, thereby avoiding the vehicle from being out of control, improving the driving safety and having great practical significance.
Description
Technical Field
The invention relates to the technical field of vehicle intelligent danger avoidance, in particular to a vehicle intelligent danger avoidance control method based on a driver state monitoring system.
Background
At present, intelligent driving is taken as a main direction of future automobile development, and both enterprises and technical levels have on-road carrying capacity, but the intelligent driving still has limitations and cannot be commercialized and applied on a large scale.
In the actual vehicle driving process, if a driver suffers from sudden diseases or foreign object injuries, personnel are injured, and other sudden conditions, when the vehicle control capability is directly lost, the vehicle is completely out of control, under the special scene, when the driver cannot control the vehicle continuously due to external factors, the vehicle is required to be operated by intelligent driving through complete judgment logic to be separated from the high-risk condition, the vehicle is prevented from being out of control, the driving safety is further improved, and the method has great practical significance.
Disclosure of Invention
The invention aims to provide a vehicle intelligent risk avoiding control method based on a driver state monitoring system, which can judge the driving state of a driver and enable the vehicle to carry out intelligent risk avoiding after the driver loses the vehicle control capability so as to avoid the vehicle from being out of control.
The technical scheme adopted by the invention comprises the following steps:
step 1, monitoring the driving state of a driver by using a driver state monitoring system, and judging whether the driver is in a high-risk driving state;
step 2, after the driver state monitoring system observes that the body position and the action of a driver are abnormal, the driver state monitoring system triggers a high-risk driving state to alarm, if the driver is not in the high-risk driving state, the step 3 is carried out, and if the driver is in the high-risk driving state, the step 4 is carried out;
step 3, the driver cancels the strategy process through the physical key, and the system returns to the driver state monitoring system again for monitoring;
step 4, if the driver still has consciousness, the driver has the ability of triggering the warning lamp switch, step 5 is entered, if the driver loses consciousness, the driver automatically enters step 6 after the system outputs the intelligent danger avoiding signal without interference;
step 5, the driver triggers the double-flash switch of the warning lamp and outputs an intelligent danger avoiding signal, and then the step 6 is carried out;
step 6, after receiving the intelligent danger avoiding signal, starting a light control module;
and 7, starting a road condition information sensing module to detect the road condition information of the surrounding vehicles and the lane lines, and then starting an automatic driving module.
The automatic driving module comprises a self-adaptive cruise system, a lane keeping system, an automatic lane changing system and an automatic parking system, wherein the input ends of the self-adaptive cruise system, the lane keeping system and the automatic lane changing system are all connected with the output end of the road condition information sensing module, the output ends of the self-adaptive cruise system and the lane keeping system are all connected with the input end of the automatic lane changing system, the output end of the automatic lane changing system is connected with the input end of the automatic parking system, and the automatic driving module comprises the following operation steps:
a. if the road condition sensing module cannot sense the road condition information, entering the step c, and if the information of vehicles around the road condition sensing module can be sensed, entering the step b;
b. c, the vehicle starts the self-adaptive cruise system and the lane keeping system, and enters the step c when no vehicle information is detected around the lane line and the vehicle;
c. starting an automatic lane changing system;
d. and starting the automatic parking system.
Preferably, in order to accurately monitor the driver and judge whether the driver is in a high-risk driving state, the driver state monitoring system captures the trunk position state, the head position state and the arm position state of the driver through a visual camera, wherein the model of the visual camera is DS-2CD3326 WD-I.
Preferably, in order to enable the information perception of the lane lines and the surrounding vehicles to be more accurate, the road condition information perception module is realized through a vehicle-mounted sensor, and the vehicle-mounted sensor adopts a radium C16 three-dimensional laser radar.
Preferably, in order to play the effect of warning and indicating to peripheral vehicle, increase the security of traveling, light control module including braking light control and warning light control.
The invention evaluates and judges the action characteristics of the trunk position state, the head position state, the arm position state and the like of the driver through the driver state monitoring system, when the incapability of continuously driving the vehicle by the driver is correctly detected, an intelligent danger avoiding method is implemented, after the road condition information sensing is carried out, the vehicle is automatically driven and controlled to carry out a series of vehicle negative excitation operations of automatic emergency braking or self-adaptive cruise, lane keeping, automatic lane changing and automatic parking according to the sensed road condition information, so that the vehicle is driven from dynamic state to static state and is driven from a driving lane to a parking lane to be separated from a high-risk state.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention comprises the steps of:
step 1, monitoring the driving state of a driver by using a driver state monitoring system, and judging whether the driver is in a high-risk driving state;
step 2, after the driver state monitoring system observes that the body position and the action of a driver are abnormal, the driver state monitoring system triggers a high-risk driving state to alarm, if the driver is not in the high-risk driving state, the step 3 is carried out, and if the driver is in the high-risk driving state, the step 4 is carried out;
step 3, the driver cancels the strategy process through the physical key, and the system returns to the driver state monitoring system again for monitoring;
step 4, if the driver still has consciousness, the driver has the ability of triggering the warning lamp switch, step 5 is entered, if the driver loses consciousness, the driver automatically enters step 6 after the system outputs the intelligent danger avoiding signal without interference;
step 5, the driver triggers the double-flash switch of the warning lamp and outputs an intelligent danger avoiding signal, and then the step 6 is carried out;
step 6, after receiving the intelligent danger avoiding signal, starting a light control module to ensure that a warning light is turned on in a double-flashing manner so as to play a role in early warning and indicating surrounding vehicles;
and 7, starting a road condition information sensing module to detect the road condition information of the surrounding vehicles and the lane lines, and then starting an automatic driving module.
The automatic driving module comprises a self-adaptive cruise system, a lane keeping system, an automatic lane changing system and an automatic parking system, wherein the input ends of the self-adaptive cruise system, the lane keeping system and the automatic lane changing system are all connected with the output end of the road condition information sensing module, the output ends of the self-adaptive cruise system and the lane keeping system are all connected with the input end of the automatic lane changing system, the output end of the automatic lane changing system is connected with the input end of the automatic parking system, and the automatic driving module comprises the following operation steps:
a. if the road condition sensing module cannot sense the lane line and the road condition information of the surrounding vehicles, entering the step c, and if the road condition sensing module can sense the information of the surrounding vehicles, entering the step b;
b. the vehicle starts the self-adaptive cruise system and the lane keeping system, the surrounding road conditions are monitored and controlled more carefully under the condition that the vehicle information is known to exist at the periphery, when the self-adaptive cruise system detects that the vehicle information exists in front of the vehicle, the distance between the self-adaptive cruise system and the front vehicle is automatically kept, when the lane keeping system monitors a lane line, the lane keeping driving is carried out, and when the road condition information cannot be detected, the step c is carried out;
c. starting an automatic lane changing system;
d. and starting the automatic parking system.
The driver state monitoring system captures the trunk position state, the head position state and the arm position state of a driver through a visual camera, and the driver state can be accurately captured through the visual camera with the model of DS-2CD3326 WD-I.
The road condition information sensing module is realized through a vehicle-mounted sensor, the vehicle-mounted sensor adopts a radium-Shen C16 three-dimensional laser radar, and the radar of the type is more accurate and farther compared with a popular visible light camera and is not influenced by light.
The light control module comprises brake light control and warning light control and is used for turning on vehicle light and ensuring turning on of double flashing of the warning light, and the function of early warning and indicating of surrounding vehicles is achieved.
When in use, the driver state monitoring system captures the characteristics of the trunk position state, the head position state, the arm position state and the like of a driver through body position identification, facial identification and limb identification, judges whether the driver is in a high-risk state or not, namely whether the driver has the capacity of controlling the vehicle or not, when the driver is in the high-risk state, the driver state monitoring system can start the high-risk driving state alarm, if the monitoring error is not in the high-risk state, the driver can manually press a physical key to cancel the strategy process, the system returns to the driver state monitoring system again to continue monitoring, when the monitoring is accurate, two conditions exist, the first condition is that when the driver is in an unconscious state, the quiet system automatically enters the information input of intelligent risk avoidance, the second condition is that the driver still has consciousness, the capacity of triggering a warning lamp double-flash switch is realized, but the capacity of normally driving the vehicle is not realized, the driver can manually trigger the double flashing of the warning lamp to enable the system to directly enter the information input of intelligent risk avoidance, or wait for the system to automatically enter the information input of intelligent risk avoidance.
After the information of intelligent danger avoiding is input, the intelligent danger avoiding method is output, firstly, a double-flash warning lamp control module is started to ensure the triggering of double-flash warning lamps, because the danger avoiding information input is generated under two conditions, namely, the intelligent danger avoiding information input is directly carried out by a system after a person is in a coma, the other condition is that a driver triggers a warning lamp switch, when the first condition is met, the double-flash warning lamps are in a closed state, therefore, the double-flash warning lamp control module is started to ensure the double-flash warning lamps to trigger, when the second condition is met, the double-flash warning lamp control module does not need other operations, then, a road condition information sensing module is started, the vehicle-mounted sensor is adopted to sense the road conditions around the vehicle, if the information without a lane line and the information of surrounding vehicles is sensed, an automatic braking system is directly started, the vehicle is automatically parked, if the information with the vehicles and the lane line around can be sensed, starting the self-adaptive cruise system to accurately record and detect whether a vehicle is in front of the vehicle or not and automatically keep the distance between the vehicle and the front vehicle, can automatically brake in emergency, belongs to one of intelligent driving auxiliary systems, when it recognizes the marking lines on both sides of the vehicle lane, the system is in a standby state, and when the system is in the standby state, if the turn signal is turned on before the marking line is passed, the warning signal is masked, the driver is determined to be consciously changing the lane, and when it is recognized that the vehicle approaches the marking line and may leave the driving lane, the system can keep the lane of the vehicle, after the automatic lane changing system carries out safety detection, namely after detecting that no vehicle information exists around, can lead the steering indicating lamp to send a lane changing instruction to the vehicle, the steering wheel automatically guides the vehicle to change lanes, when the vehicle is detected to be driven to the parking lane, the automatic parking system enables the vehicle to be parked close to the side so as to be separated from a high-risk state.
Claims (4)
1. The vehicle intelligent danger avoiding control method based on the driver state monitoring system is characterized by comprising the following steps of:
step 1, monitoring the driving state of a driver by using a driver state monitoring system (DSM), and judging whether the driver is in a high-risk driving state;
step 2, after the driver state monitoring system observes that the body position and the action of a driver are abnormal, the driver state monitoring system triggers a high-risk driving state to alarm, if the driver is not in the high-risk driving state, the step 3 is carried out, and if the driver is in the high-risk driving state, the step 4 is carried out;
step 3, the driver cancels the strategy process through the physical key, and the system returns to the driver state monitoring system again for monitoring;
step 4, if the driver still has consciousness, the driver has the ability of triggering the warning lamp switch, step 5 is entered, if the driver loses consciousness, the driver automatically enters step 6 after the system outputs the intelligent danger avoiding signal without interference;
step 5, the driver triggers the double-flash switch of the warning lamp and outputs an intelligent danger avoiding signal, and then the step 6 is carried out;
step 6, after receiving the intelligent danger avoiding signal, starting a light control module;
step 7, starting a road condition information sensing module to detect the road condition information of surrounding vehicles and lane lines, and then starting an automatic driving module; the automatic driving module comprises an adaptive cruise system (ACC), a lane keeping system (LDW), an automatic lane changing system (ALC) and an automatic parking system (AP), wherein the input ends of the adaptive cruise system, the lane keeping system and the automatic lane changing system are all connected with the output end of a road condition information sensing module, the output ends of the adaptive cruise system and the lane keeping system are all connected with the input end of the automatic lane changing system, the output end of the automatic lane changing system is connected with the input end of the automatic parking system, and the automatic driving module comprises the following operation steps:
a. if the road condition sensing module senses that the surrounding road condition information without the vehicles and the lane lines does not exist, the step c is carried out, and if the surrounding road condition information with the vehicles and the lane lines can be sensed, the step b is carried out;
b. c, the vehicle starts the self-adaptive cruise system and the lane keeping system, and enters the step c when no vehicle information is detected around the lane line and the vehicle;
c. starting an automatic lane changing system;
d. and starting the automatic parking system.
2. The vehicle intelligent risk avoiding control method based on the driver state monitoring system according to claim 1, characterized in that: the driver state monitoring system captures the trunk position state, the head position state and the arm position state of a driver through a visual camera, wherein the model of the visual camera is DS-2CD3326 WD-I.
3. The vehicle intelligent risk avoiding control method based on the driver state monitoring system according to claim 1, characterized in that: the road condition information sensing module is realized through a vehicle-mounted sensor, and the vehicle-mounted sensor adopts a radium-god C16 three-dimensional laser radar.
4. The vehicle intelligent risk avoiding control method based on the driver state monitoring system according to claim 1, characterized in that: the light control module comprises brake light control and warning light control.
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| CN201910433733.7A CN110182211B (en) | 2019-05-23 | 2019-05-23 | Vehicle intelligent danger avoiding control method based on driver state monitoring system |
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| CN114212079B (en) * | 2022-02-18 | 2022-05-20 | 国汽智控(北京)科技有限公司 | ACC-based vehicle control method, device and system |
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| US9751534B2 (en) * | 2013-03-15 | 2017-09-05 | Honda Motor Co., Ltd. | System and method for responding to driver state |
| CN103395391B (en) * | 2013-07-03 | 2015-08-05 | 北京航空航天大学 | A kind of vehicle lane-changing alarming device and change state identification method |
| CN105719431A (en) * | 2016-03-09 | 2016-06-29 | 深圳市中天安驰有限责任公司 | Fatigue driving detection system |
| CN107284438A (en) * | 2016-03-31 | 2017-10-24 | 比亚迪股份有限公司 | For the control method of safe driving of vehicle, controller and vehicle |
| CN108989653A (en) * | 2017-05-31 | 2018-12-11 | 上海大学 | The fatigue driving early-warning device of vehicular adaptive environment light and head pose |
| CN108229345A (en) * | 2017-12-15 | 2018-06-29 | 吉利汽车研究院（宁波）有限公司 | A kind of driver's detecting system |
| CN109606377B (en) * | 2018-12-29 | 2020-06-23 | 安徽中科美络信息技术有限公司 | Emergency driving behavior defense prompting method and system |
| CN109774684A (en) * | 2019-01-17 | 2019-05-21 | 江苏徐工信息技术股份有限公司 | A kind of automobile driver sudden death emergency braking system and method |
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