CN111376909A - Indirect fatigue monitoring method - Google Patents
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- CN111376909A CN111376909A CN202010204065.3A CN202010204065A CN111376909A CN 111376909 A CN111376909 A CN 111376909A CN 202010204065 A CN202010204065 A CN 202010204065A CN 111376909 A CN111376909 A CN 111376909A
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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
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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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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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- 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
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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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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Abstract
The invention relates to the technical field of automobile control, in particular to an indirect fatigue monitoring method. Establishing a model for evaluating a fatigue event, acquiring signals of an angle, an angular velocity and a moment in an EPS steering sensor and signals of acceleration in each direction in an inertia sensor module in an ESC (electronic stability control) in the driving process of a vehicle, analyzing the acquired signals based on the model, judging whether the behavior of a driver belongs to fatigue driving, judging that a fatigue driving event occurs once if the behavior of the driver accords with the signals, increasing the fatigue level of the driver, and sending a prompt to the driver when the fatigue level of the driver exceeds a preset value. The indirect fatigue monitoring method can monitor the driving condition of the driver through the existing equipment of the vehicle, accurately judge whether the driver is in a fatigue driving state, has extremely low cost, does not cause the discomfort of the driver, and has great popularization value.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to an indirect fatigue monitoring method.
Background
The traditional fatigue monitoring systems in the market at present have the following types 1) track monitoring types: the system realizes track monitoring by being provided with the multifunctional camera with the ADAS function, the German system is generally adopted, but the vehicle type with the ADAS function only has low equipment rate in high-end product matching; 2) infrared face identification formula: because the hardware cost of arranging a camera and an infrared light source is high, and the irritation of the infrared light source to human eyes is high, a bus system driver generally reflects that eyes have a burning sensation in 2019, and feeds back a strong time to boil ocean in news; 3) eyeball-based tracking identification: the hardware cost is higher, and the method can be used for high-end vehicle models in the future in the scientific research stage, and is not beneficial to popularization; 4) push button (pedal) or feedback answer: high-speed rail, tank trucks or hazardous chemical vehicles are widely used, but obviously, such a system is not accepted by passenger vehicle customers. It can be seen that the existing fatigue monitoring systems have various problems, either high cost or cause discomfort to the occupants, and therefore there is a strong need for a low cost fatigue monitoring method that does not cause discomfort to the occupants.
Disclosure of Invention
The present invention is directed to solve the above mentioned problems in the background art, and to provide an indirect fatigue monitoring method.
The technical scheme of the invention is as follows: an indirect fatigue monitoring method, characterized in that: establishing a model for evaluating a fatigue event, acquiring signals of an angle, an angular velocity and a moment in an EPS steering sensor and signals of acceleration in each direction in an inertia sensor module in an ESC (electronic stability control) in the driving process of a vehicle, analyzing the acquired signals based on the model, judging whether the behavior of a driver belongs to fatigue driving, judging that a fatigue driving event occurs once if the behavior of the driver accords with the signals, increasing the fatigue level of the driver, and sending a prompt to the driver when the fatigue level of the driver exceeds a preset value.
And further, by acquiring signals in the running process of the vehicle, recording information of the angular speed of the steering wheel, the change rate of the angular speed of the steering wheel, the moment of the driver end, the change rate of the opening of the accelerator, the travel of a brake pedal and the time from the last fatigue event, and judging whether the fatigue event occurs or not according to the information.
Further, when the vehicle has the steering wheel angular speed not less than 25 degrees/s and the steering wheel angular speed change rate not less than 40 degrees/s2And when the duration time that the moment of the driver end is greater than 7N.M and the moment change rate of the driver end is greater than 7N.M/s exceeds 800ms, the change rate of the throttle opening is not less than 20%, the travel of the brake pedal is not less than 2%, and the three do not occur within 10s of the last fatigue event, judging that the driver has common fatigue driving, and increasing the fatigue level of the driver by 1 level.
Further, when the vehicle has the steering wheel angular speed not less than 45 degrees/s and the steering wheel angular speed change rate not less than 50 degrees/s2When the average value of the driver end moment is more than 9N.M, the driver end moment change rate is more than 10N.M/s, the average value of the driver end moment front 3s is not more than 1.5N.M, the duration time exceeds 800ms, the throttle opening change rate is not less than 20%, the brake pedal stroke is not less than 2%, and the average value is not more than 10s away from the last fatigue event, the occurrence of severe fatigue driving of the driver is judged, and 2 grades are added to the fatigue grade of the driver.
Further, when the fatigue level of the driver is less than 6, no prompt is sent to the driver; when the fatigue level of the driver reaches 6, sending a preliminary prompt to the driver; when the fatigue level of the driver exceeds 6 but is less than 8 and the duration time exceeds 10min, sending a moderate prompt to the driver; when the fatigue level of the driver exceeds 8, a strong prompt is sent to the driver.
And further, when the fatigue level of the driver reaches 6, sending a first primary prompt to the driver, starting timing, and if the fatigue level of the driver is still 6 after 10min, sending a second primary prompt.
Further, when the time from the last fatigue event exceeds 60s and the fatigue event does not occur again, the fatigue level of the driver is reduced by 1 level.
Further, the fatigue grade is 10 grade at the highest and 0 grade at the lowest.
Further the fatigue level is reset to 0 when the door is opened and the vehicle is restarted.
Further, when the vehicle speed exceeds 60km/h and the duration time exceeds 2h, a reminder of 'please pay attention to rest' is sent to the driver; and when the vehicle speed exceeds 60km/h and the duration time exceeds 3h, sending a reminder of 'please stop and rest' to the driver.
The invention has the advantages that: 1. according to the invention, signals of an angle, an angular velocity and a moment in the EPS steering sensor and signals of acceleration in each direction in the inertia sensor module in the ESC are collected, whether a driver is in a fatigue driving state is judged according to the driving behavior of the driver, no new equipment is required to be added in the vehicle, the vehicle cost is not increased, and the driving behavior of the driver is indirectly monitored, so that the discomfort of the driver is not caused, and the EPS steering system is favorable for large-scale popularization and use;
2. the driving state of the driver is judged by recording the information of the angular speed of the steering wheel, the change rate of the angular speed of the steering wheel, the moment of the driver end, the change rate of the opening of the accelerator, the travel of the brake pedal and the time from the occurrence of the last fatigue event, so that whether the driver is in the fatigue driving state or not can be accurately reflected;
3. the invention determines the fatigue driving degree of the driver in the fatigue driving event by limiting the information of the steering wheel angular speed, the steering wheel angular speed change rate, the driver end moment change rate, the accelerator opening change rate, the brake pedal travel and the time from the occurrence of the last fatigue event, and reflects the driving degree into the fatigue driving grade to quantize the fatigue state of the driver so as to further take action;
4. according to the invention, different specific measures are taken for the driver aiming at different levels of fatigue, so that the fatigue condition of the driver can be prevented from being misreported, the driver can be accurately and appropriately reminded according to the current driving condition of the driver, the adaptability is better, and the driving experience and the safety of the driver are improved;
5. in order to avoid misjudgment, after a single fatigue event occurs, if a second fatigue event does not occur within 60s, the fatigue event is determined as misjudgment, the fatigue grade is reduced by one grade, and the misjudgment is avoided;
6. the fatigue grade of the invention is reset to 0 after the door is opened or the vehicle is restarted, namely, the fatigue grade of the vehicle returns to zero every time the door of the vehicle is opened or the vehicle is restarted, because the door is opened or the vehicle is restarted is considered as the beginning of a new judgment;
7. the invention sets a reminding mode aiming at long-term high-speed driving, sets different reminding modes at different time aiming at the problem that a driver is easy to fatigue in the high-speed driving process, and avoids fatigue driving of the driver.
The indirect fatigue monitoring method can monitor the driving condition of the driver through the existing equipment of the vehicle, accurately judge whether the driver is in a fatigue driving state, has extremely low cost, does not cause the discomfort of the driver, and has great popularization value.
Drawings
FIG. 1: the invention is a schematic diagram for judging general fatigue behaviors;
FIG. 2: the invention is a schematic diagram for judging severe fatigue behavior;
FIG. 3: the invention relates to a fatigue grade increase, decrease and reset flow chart;
FIG. 4: the invention discloses a fatigue prompt triggering flow chart;
FIG. 5: the invention relates to a long-time driving fatigue reminding flow chart.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The fatigue monitoring method of the embodiment is characterized in that a fatigue monitoring module is integrated in a vehicle control system, a model for judging fatigue time is preset in the module, and then the collected signals are analyzed based on the model by collecting signals of angle, angular velocity and moment in an EPS steering sensor and signals of acceleration in each direction in an inertial sensor module in an ESC in the driving process of the vehicle, so as to judge whether the behavior of a driver belongs to fatigue driving.
The present embodiment mainly determines the fatigue event based on the steering wheel angular velocity, the rate of change of the steering wheel angular velocity, the driver end torque, the rate of change of the accelerator opening, the brake pedal stroke, and the information from the time when the previous fatigue event occurred. The present embodiment classifies the fatigue events into different levels for different degrees of fatigue driving.
As shown in FIGS. 1 and 3, when the vehicle is present, the angular velocity of the steering wheel is not less than 25 DEG/s and the rate of change of the angular velocity of the steering wheel is not less than 40 DEG/s2And when the duration time that the moment of the driver end is greater than 7N.M and the moment change rate of the driver end is greater than 7N.M/s exceeds 800ms, the change rate of the throttle opening is not less than 20%, the travel of the brake pedal is not less than 2%, and the three do not occur within 10s of the last fatigue event, judging that the driver has common fatigue driving, and increasing the fatigue level of the driver by 1 level.
As shown in FIGS. 2 and 3, when the vehicle is present, the angular velocity of the steering wheel is not less than 45 DEG/s and the rate of change of the angular velocity of the steering wheel is not less than 50 DEG/s2When the average value of the driver end moment is more than 9N.M, the driver end moment change rate is more than 10N.M/s, the average value of the driver end moment front 3s is not more than 1.5N.M, the duration time exceeds 800ms, the throttle opening change rate is not less than 20%, the brake pedal stroke is not less than 2%, and the average value is not more than 10s away from the last fatigue event, the occurrence of severe fatigue driving of the driver is judged, and 2 grades are added to the fatigue grade of the driver.
As shown in fig. 4, the fatigue level of the driver is monitored, and different degrees of treatment are performed for different levels. When the fatigue level of the driver is less than 6, no prompt is sent to the driver; when the fatigue level of the driver reaches 6, sending a first primary prompt to the driver, starting timing, and if the fatigue level of the driver is still 6 after 10min, sending a second primary prompt, avoiding continuous popup prompt and reducing the driving experience of the driver; when the fatigue grade of the driver exceeds 6 but is less than 8 and the duration time exceeds 10min, sending a middle prompt to the driver, and similarly, after the first middle prompt is sent for 10min, if the fatigue grade still exceeds 6 but is less than 8, sending a second middle prompt; when the fatigue level of the driver exceeds 8, a strong prompt is sent to the driver.
The current primary reminder is that the instrument pops the window to prompt the user to be careful; the middle prompt is a red frame pop window prompt of 'please pay attention to rest' and a single sound prompt tone is added; the strong reminding is that a red frame pops the window to remind that the user wants to have a rest immediately and adds continuous sound prompt tones, and the vibration reminding is added by considering the vibration function of a steering wheel hand force sensor.
In order to avoid false alarm or the driver being wakeful halfway, the fatigue level of the driver is reduced by 1 level when the time from the last fatigue event exceeds 60s and the fatigue event does not occur again, and the highest fatigue level of the embodiment is 10 levels and the lowest fatigue level is 0 level. The fatigue level is reset to 0 when the door is opened and the vehicle is restarted, as shown in fig. 3.
In addition, driving fatigue is easy to occur in long-distance driving, and in order to cope with the situation, as shown in fig. 5, the embodiment is set to give a reminder of "please take a rest" to the driver when the vehicle speed exceeds 60km/h and the duration time exceeds 2 h; and when the vehicle speed exceeds 60km/h and the duration time exceeds 3h, sending a reminder of 'please stop and rest' to the driver.
The present embodiment is specifically analyzed at best according to specific situations, a person drives a certain vehicle from wuhan to yichang, the vehicle is provided with the system for monitoring fatigue of the driver, and the monitoring system of the present embodiment judges whether the driver is in a fatigue driving state by acquiring signals of an angle, an angular velocity and a moment in an EPS steering sensor during driving of the vehicle and signals of acceleration in each direction in an inertial sensor module in an ESC.
When the vehicle runs to high speed, the fatigue condition occurs due to long-time driving, the control system acquires signals of angle, angular speed and moment in the EPS steering sensor and signals of all-directional acceleration in the inertial sensor module in the ESC, after the acquired signals are analyzed by the modules, the fatigue grade of the driver reaches 6, a primary prompt is sent to the driver, at the moment, the driver does not break away from the fatigue driving state and lasts for 10min, the fatigue grade of the driver is still 6, a secondary primary prompt is sent to the driver, the driver still does not break away from the fatigue driving, the fatigue grade is increased to 7, the duration exceeds 10min, a medium prompt is sent to the driver, but the driver still feels tired, and the fatigue grade is increased to 8, the vehicle control system immediately sends a strong prompt to the driver, and the driver breaks away from the fatigue driving state, and starting to control the vehicle to run, gradually reducing the fatigue level of the driver along with the gradual waking of the driver, and stopping sending a reminding notice to the driver by the vehicle after the fatigue level is reduced to 6.
When the driver continues to run at high speed along the Shanghai, the running speed is 87km/h, and the duration time exceeds 2h, the vehicle gives a notice of asking the driver to rest, but the driver does not stop and continues to run, but after the running time exceeds 3h, the vehicle gives a notice of asking the driver to stop and rest, the driver stops the vehicle in a service area, the vehicle stops and rests, and at the moment, the fatigue grades are all reset to 0 because the vehicle opens the door.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An indirect fatigue monitoring method, characterized in that: establishing a model for evaluating a fatigue event, acquiring signals of an angle, an angular velocity and a moment in an EPS steering sensor and signals of acceleration in each direction in an inertia sensor module in an ESC (electronic stability control) in the driving process of a vehicle, analyzing the acquired signals based on the model, judging whether the behavior of a driver belongs to fatigue driving, judging that a fatigue driving event occurs once if the behavior of the driver accords with the signals, increasing the fatigue level of the driver, and sending a prompt to the driver when the fatigue level of the driver exceeds a preset value.
2. An indirect fatigue monitoring method as claimed in claim 1, wherein: the method comprises the steps of recording information of steering wheel angular speed, steering wheel angular speed change rate, driver end torque change rate, accelerator opening change rate, brake pedal travel and time of occurrence of a previous fatigue event by collecting signals in the running process of a vehicle, and judging whether the fatigue event occurs or not according to the information.
3. An indirect fatigue monitoring method as claimed in claim 2, wherein: when the angular speed of the steering wheel is not less than 25 degrees/s and the change rate of the angular speed of the steering wheel is not less than 40 degrees/s when the vehicle appears2And when the duration time that the moment of the driver end is greater than 7N.M and the moment change rate of the driver end is greater than 7N.M/s exceeds 800ms, the change rate of the throttle opening is not less than 20%, the travel of the brake pedal is not less than 2%, and the three do not occur within 10s of the last fatigue event, judging that the driver has common fatigue driving, and increasing the fatigue level of the driver by 1 level.
4. An indirect fatigue monitoring method as claimed in claim 2 or 3, wherein: when the angular speed of the steering wheel is not less than 45 degrees/s and the change rate of the angular speed of the steering wheel is not less than 50 degrees/s2The duration of the driver end moment is more than 9N.M, the change rate of the driver end moment is more than 10N.M/s, the average value of the front 3s of the driver end moment is not more than 1.5N.M and exceeds 800ms, the change rate of the throttle opening is not less than 20 percent, and the travel of the brake pedal is not less than 2 percentAnd when the three do not occur within 10s from the last fatigue event, judging that the driver has serious fatigue driving, and increasing the fatigue grade of the driver by 2 grades.
5. An indirect fatigue monitoring method as claimed in claim 1, wherein: when the fatigue level of the driver is less than 6, no prompt is sent to the driver; when the fatigue level of the driver reaches 6, sending a preliminary prompt to the driver; when the fatigue level of the driver exceeds 6 but is less than 8 and the duration time exceeds 10min, sending a moderate prompt to the driver; when the fatigue level of the driver exceeds 8, a strong prompt is sent to the driver.
6. An indirect fatigue monitoring method as claimed in claim 5, wherein: when the fatigue level of the driver reaches 6, a first primary prompt is sent to the driver, timing is started, and if the fatigue level of the driver is still 6 after 10min, a second primary prompt is sent.
7. An indirect fatigue monitoring method as claimed in claim 1, 5 or 6, wherein: when the time for a single fatigue event to occur exceeds 60s and no fatigue event occurs again, the driver's fatigue level is reduced by 1 level.
8. An indirect fatigue monitoring method as claimed in claim 1, wherein: the highest fatigue grade is 10 grades, and the lowest fatigue grade is 0 grade.
9. An indirect fatigue monitoring method as claimed in claim 1, wherein: the fatigue level is reset to 0 when the door is opened and the vehicle is restarted.
10. An indirect fatigue monitoring method as claimed in claim 1, wherein: when the vehicle speed exceeds 60km/h and the duration time exceeds 2h, a reminder of 'please take a rest' is sent to the driver; and when the vehicle speed exceeds 60km/h and the duration time exceeds 3h, sending a reminder of 'please stop and rest' to the driver.
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Cited By (9)
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| CN111942150A (en) * | 2020-07-31 | 2020-11-17 | 东风汽车集团有限公司 | Intelligent control system and control method for safe driving of vehicle |
| CN111976724A (en) * | 2020-07-08 | 2020-11-24 | 北汽福田汽车股份有限公司 | Automatic cruise control method and device, medium, equipment and vehicle |
| CN112758094A (en) * | 2021-01-04 | 2021-05-07 | 重庆长安汽车股份有限公司 | Safe parking device and method for driving assistance system |
| CN113071512A (en) * | 2021-04-25 | 2021-07-06 | 东风柳州汽车有限公司 | Safe driving reminding method, device, equipment and storage medium |
| CN113335295A (en) * | 2021-05-04 | 2021-09-03 | 东风汽车集团股份有限公司 | Fatigue driving early warning method and device |
| CN114132331A (en) * | 2021-12-31 | 2022-03-04 | 阿维塔科技(重庆)有限公司 | Driver state information confirmation method, driver state information confirmation device and computer-readable storage medium |
| CN114596688A (en) * | 2022-02-11 | 2022-06-07 | 山东临工工程机械有限公司 | Fatigue driving prevention device for loader and fatigue early warning method thereof |
| CN114987502A (en) * | 2022-06-27 | 2022-09-02 | 中国第一汽车股份有限公司 | Driving state monitoring method and device, computer equipment and storage medium |
| CN115366909A (en) * | 2022-10-21 | 2022-11-22 | 四川省公路规划勘察设计研究院有限公司 | Dynamic early warning method and device for driver accidents in long and large longitudinal slope section and electronic equipment |
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