CN113421458A - Method for detecting dynamic blind area of driver of heavy commercial vehicle - Google Patents
Method for detecting dynamic blind area of driver of heavy commercial vehicle Download PDFInfo
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- CN113421458A CN113421458A CN202110667142.3A CN202110667142A CN113421458A CN 113421458 A CN113421458 A CN 113421458A CN 202110667142 A CN202110667142 A CN 202110667142A CN 113421458 A CN113421458 A CN 113421458A
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The invention belongs to the technical field of automobile blind area detection, in particular to a method for detecting a dynamic blind area of a driver of a heavy commercial vehicle, wherein an aerial photographing device and an eye tracker are used as dynamic detection equipment, the motion track of the eyeball of the driver is tracked in real time while the surrounding environment of the detected vehicle is photographed, and the aerial photographing device with a hotspot tracking function is utilized to realize the real-time photographing of the surrounding environment in the driving process of the detected vehicle; the method comprises the steps of recording the visual field range of a driver by using an eye tracker capable of tracking the eyeballs of the driver in real time, overlapping collected vehicle external scene videos and the eye movement videos of the driver according to a synchronous principle, and carrying out simple calculation, arrangement and collection to obtain the dynamic blind area range of the driver of the heavy commercial vehicle under different working conditions. The experimental result shows that the design scheme is feasible, the expected purpose is achieved, and the dynamic blind area range of the heavy commercial vehicle driver under different working conditions can be detected.
Description
Technical Field
The invention relates to the technical field of automobile blind area detection, in particular to a method for detecting a dynamic blind area of a driver of a heavy commercial vehicle.
Background
Because the automobile has a large volume, a rearview mirror can generate a visual blind area in the driving process, so that vehicles in the blind area cannot be seen in the processes of changing lanes and turning, and if overtaking vehicles exist in the blind area, the accidents of scratching and colliding can occur in the changing lanes. Under the bad weather such as rainy day, fog day and the dim night condition of light, can be harder to see the rear vehicle clearly, the lane change just will face bigger danger this moment.
Aiming at the problems, a blind spot monitoring system (parallel auxiliary system) is configured on a plurality of high-power car models, the English is called BSM or BLIS for short, the high-tech configuration is a safe type high-tech configuration on an automobile, and the main function is to clear the blind area of a rearview mirror. The principle of the blind spot monitoring system is that two 24GHz radar sensors are mounted in a rear bumper of an automobile, the system is automatically started when the driving speed of the automobile is greater than 10km/h, and sends detection microwave signals to the range of 3 meters left and right and 8 meters rear in real time, the system analyzes and processes the reflected microwave signals, information such as the distance, speed and moving direction of the rear automobile can be known, when the automobile approaches the blind area, an indicator lamp flickers, the driver cannot see the automobile in the blind area at the moment, but can know that the automobile drives from the rear through the indicator lamp, the lane change has the collision danger, if the driver does not notice the flickering of the indicator lamp at the moment, a steering lamp is turned on, and the lane change is prepared, the system can send out a voice alarm sound of 'beep', reminds the driver that the lane change is dangerous at the moment again, and the driver is not suitable for lane change. Through whole driving in-process, uninterruptedly survey and remind, prevent to drive in-process because of bad weather, driver's carelessness, rear-view mirror blind area and new hand go on the road etc. latent danger and cause the traffic safety accident.
Except the blind spot monitoring system, most of the blind spot monitoring methods which are put into use on cars and buses at present use the state of the surrounding environment by collecting signals by using radar, but the detection range of the radar is limited, and the feedback of the signals detected by the radar is not visual enough. The heavy commercial vehicle has larger visual field blind area in the driving process due to large volume, and many traffic accidents occur in China every year due to the blind area of a driver of the heavy commercial vehicle.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method for detecting a dynamic blind area of a driver of a heavy commercial vehicle, which solves the problems that the detection range of the dynamic blind area of the existing vehicle, particularly the heavy commercial vehicle, is limited and the driving safety of the commercial heavy vehicle is low.
The second technical proposal.
The invention specifically adopts the following technical scheme for realizing the purpose:
a method for detecting a dynamic blind area of a driver of a heavy commercial vehicle takes an aerial photography device and an eye tracker as dynamic detection equipment, shoots the surrounding environment of the detected vehicle and tracks the motion track of eyeballs of the driver in real time.
The key of the dynamic test is provided with an aerial camera and an eye tracker, the aerial camera has a hotspot tracking function, can track the path of a target vehicle in real time and record the surrounding environment of the vehicle under different working conditions at an overlooking angle; the eye tracker can track the eyeballs of the driver, and the eye tracker has the function of collecting the eye movement law of the driver under different driving conditions, so that objective key attention areas of the driver are obtained.
Under the same working condition, overlapping two parts of videos together according to a time synchronization principle through video editing software according to the outdoor scene video data of the heavy commercial vehicle recorded by the aerial photography device and the driver eye movement video data acquired by the eye movement instrument, and sorting and summarizing the videos; calibrating the static visual field range of the heavy commercial vehicle in the summarized video to serve as a basic blind area; and then, according to the relation between the vehicle speed and the visual field, marking the dynamic blind area range under each working condition in the video, and finally obtaining the simulation video of the heavy commercial vehicle driver dynamic blind area under different working conditions.
(III) advantageous effects
Compared with the prior art, the invention provides a method for detecting the dynamic blind area of the driver of the heavy commercial vehicle, which has the following beneficial effects:
1. the invention relates to a method for detecting a dynamic blind area of a driver of a heavy commercial vehicle, which utilizes an aerial photography device and an eye tracker with a hotspot tracking function to realize real-time photography of the surrounding environment of the vehicle and real-time tracking of eyeballs of the driver, thereby obtaining an external scene video of the vehicle and an eye movement rule of the driver.
2. According to the method for detecting the dynamic blind area of the heavy commercial vehicle driver, the dynamic driving blind area simulation video of the heavy commercial vehicle is established by using the outdoor scene video data which are collected by the aerial photography device and can reflect the driving state of the vehicle and the driver eye movement data collected by the eye tracker, and the aerial photography device shoots by adopting the overlooking angle, so that the change characteristics of the dynamic vision blind area of the heavy commercial vehicle driver under different working conditions can be visually shown.
3. The method for detecting the dynamic blind area of the driver of the heavy commercial vehicle has the advantages of reasonable design, simple operation and data analysis, easy realization and good popularization value, can establish a blind area database for the whole vehicle development, particularly provides a dynamic blind area basis for the driver, and provides a reference for perfecting the total arrangement of a vehicle body.
Drawings
FIG. 1 is a schematic view showing the distribution of the main blind areas of the commercial heavy vehicle according to the present invention;
fig. 2 is a schematic view of the line of sight of a driver of a commercial heavy vehicle according to the invention;
FIG. 3 is a video screenshot of a dynamic blind area recorded under a straight-ahead driving condition;
FIG. 4 is a driver's blind spot range in straight-ahead operation;
FIG. 5 is a video screenshot of a dynamic blind area recorded under a turning condition;
FIG. 6 is a driver's blind spot range under cornering conditions;
FIG. 7 is a video screenshot of a dynamic blind area recorded when a driver looks straight under a doubling condition;
FIG. 8 is a range of blind zones when the driver looks straight on under the doubling condition;
FIG. 9 is a video screenshot of a dynamic blind area recorded when a driver observes a left-hand mirror under a doubling condition;
FIG. 10 is a range of blind zones when the driver views the left rear view mirror under the doubling condition;
FIG. 11 is a video screenshot of a dynamic blind area recorded under a u-turn condition;
fig. 12 is a range of blind areas of the driver in the u-turn condition.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Examples
As shown in fig. 1 to 12, in the method for detecting a dynamic blind area of a driver of a heavy commercial vehicle according to an embodiment of the present invention, real-time video data of a vehicle surrounding environment and eye movement data of the driver are collected by using a dynamic monitoring device based on an aerial photography device and an eye movement instrument, the two videos are superimposed together in a synchronization principle, and a process of a blind area change of the heavy commercial vehicle in driving under several typical working conditions is obtained by analyzing a key attention area and an eye movement law of the driver.
The automobile blind area is a part of area which cannot be directly observed because the sight line of a driver is shielded by an automobile body when the driver is positioned at a normal driving seat position. In general, the blind areas are divided into an in-vehicle blind area and an out-vehicle blind area. The blind area in the vehicle is formed by the vehicle structure and human factors; the dead zone outside the automobile is caused by fixed or moving objects and light problems, and the range of the dead zone formed by different automobile types is also different.
The blind areas in the vehicle mainly comprise four visual blind areas and artificial blind areas. Namely a front blind area, a rear blind area, a rearview mirror blind area, an AB column blind area and an artificial blind area.
Because the whole vehicle volume and the tire size of the heavy commercial vehicle are far larger than those of a common car, the view blind area range of the heavy commercial vehicle is larger than that of the car, and the heavy commercial vehicle is continuously improved and perfected aiming at the characteristics of the heavy commercial vehicle on the basis of referring to the view blind area range of the car.
The visual field blind areas of the heavy commercial vehicle are divided into a vehicle head blind area, a front wheel blind area, a vehicle tail blind area, a rearview mirror blind area, an A column blind area, an inner wheel difference blind area and the like; the main blind area distribution is shown in figure 1. The A column blind area and the inner wheel differential blind area have large influence on the running safety of the heavy commercial vehicle. The A column blind area refers to an area outside a view shielded by the A column; the inner wheel difference blind area is a blind area formed by the difference between the turning radius of the front inner wheel and the turning radius of the rear inner wheel when the vehicle turns.
The vision of the driver is gradually weakened along with the increase of the vehicle speed, the vision is more weakened when the vehicle speed is increased, and the vision is more blurred. High speed driving also results in a reduced spatial awareness of the driver, i.e. it takes longer for the driver to be able to perceive and see an object; therefore, it is difficult for the driver to accurately determine the occurrence of the situation while traveling at high speed, and even if the determination is possible, there is not enough time to take emergency measures.
Therefore, although the human eye has the ability to see at high speed, the delay of the human body response with vehicle speed causes a short blind area of consciousness, and the delay is related to the vehicle speed.
When the driver drives the vehicle at high speed, the field of view may also be narrowed. Research shows that when the automobile runs for 40km/h, the fixation point is 180m in front of the automobile, and the visual field range can reach 90-100 degrees; when the vehicle speed is increased to 60km/h, the visual field is reduced to 75 degrees; when the vehicle speed is increased to 70km/h, the fixation point is moved to the position 360m in front of the vehicle, and the view range is only 65 degrees; when the speed is increased to 100km/h again, the fixation point is 600m in front of the vehicle, and the visual field range is only 40 degrees; it follows that the driving speed is inversely proportional to the driver's field of view, i.e. the faster the driver's driving speed, the narrower the driver's field of view. This phenomenon is called "tunnel vision" or "cave vision"; if the driver drives at a high speed in the driving process, the visual field is narrowed, the marks, objects and the like on the roadside can be difficult to see clearly, the condition of an accident can not be found in time, correct judgment can not be made in time, and traffic accidents are easy to happen.
The reduction of the height of the lower edge of the front windshield glass of the commercial heavy vehicle is beneficial to the expansion of the front view, but the lower edge is too low, so that a driver can feel panic and dizzy when driving at high speed, mainly because of the overlarge viewing angle speed; as shown in fig. 2, the visual angle speed of the driver observing a certain point on the ground in front of the vehicle head is calculated according to the visual angle speed:
in the formula, omega is the angular velocity; theta is an included angle between the sight line of the driver and the horizontal plane; phi is an included angle between a vertical plane where the sight of the driver is located and a longitudinal reference plane of the automobile; the component of the viewing angle speed in the driving direction of the vehicle is the main cause of the driver's panic, and is related to the height h from the driver's eyepoint to the ground, the longitudinal horizontal distance x from the ground observation point to the eyepoint, and the vehicle speed v, as shown in fig. 2, when the viewing angle speed is:
as can be seen from the above equation, the higher the vehicle speed, the greater the viewing angle speed. When other conditions are unchanged, if the ground closest to the vehicle head is observed, the lower edge of the front windshield glass is, the smaller the distance x is, and the higher the visual angle speed is. Therefore, for a vehicle with a high chassis, the lower edge of the front windshield cannot be too low, otherwise the viewing angle speed is too high. Generally speaking, the viewing angle speed omega is less than 2rad/s, which is more comfortable; discomfort is experienced when 2rad/s < ω < 4 rad/s; panic is caused when ω > 4 rad/s.
The test vehicle is free J6; the dynamic detection equipment selects a Xinjiang spirit 4 aerial photography device and a Tobiiiglasses 2 eye tracker; according to the driving characteristics of the heavy commercial vehicle, the following four different working conditions are designed:
1. a straight-going stage (the design speed per hour is 40 km/h);
2. turning stage (the designed speed per hour is 20 km/h);
3. a doubling stage (design speed per hour is 40 km/h);
4. and a turning-around stage (the designed speed per hour is 20 km/h).
The invention provides a method for detecting a dynamic blind area of a driver of a heavy commercial vehicle, which comprises the following specific steps:
and S1, driving the test vehicle to a test site, and informing a driver of the upcoming working condition and driving route. And the vehicle position is righted to prepare for running;
s2, an operator of the eye tracker installs various instruments and equipment, and adjusts parameters such as the position, the focal length and the aperture of the eye tracker according to the habitual sitting posture of a driver;
s3, the operator of the eye tracker corrects the eyepoint of the eye tracker for the driver and tests the precision to prepare for recording the eye tracker;
s4, checking the electric quantity and the surrounding environment of the aerial photographing device by an aerial photographing device operator, checking whether obstacles exist around a driving route, and taking off the aerial photographing device on the premise of no potential safety hazard;
s5, enabling an aerial photography device operator to fly to a preset position, starting a hot spot tracking function of the aerial photography device, setting a cockpit of a test vehicle as a tracking hot spot, and preparing to record;
s5, commanding the eye tracker operator and the driver through the interphone by the aerial photography device operator, simultaneously recording the aerial photography device and the eye tracker, and starting driving according to the driving habit in the natural state by the driver in the preset route;
s7, repeating the steps to record once according to four designed working conditions of straight running, turning, merging and turning around;
and S8, storing and backing up the recorded result, and arranging and overlapping the videos recorded by the aerial photography device and the eye tracker together according to a synchronous principle to manufacture a complete dynamic blind area video of the driver of the commercial heavy vehicle.
The dynamic blind area video of the commercial heavy vehicle driver is mainly divided into two parts. Firstly, an external scene video of the vehicle is acquired by an aerial photography device, and the external scene video mainly reflects the driving state and the surrounding environment of the vehicle; the small window part at the lower right corner is a driver eye movement video collected by an eye movement instrument, and mainly reflects the visual field range observed by the driver; the orange ring range occupying the largest video range represents a dynamic view blind area, the red part is a fixed static view blind area, the blue part is a dynamic visual area, and the light yellow part is a dynamic view range.
The test results are as follows:
1. straight-running working condition (test speed per hour 40km/h)
The driver is taken as the origin of coordinates, the measured visible area is 90 degrees, and the dynamic view blind area at the moment is 270 degrees, as shown in fig. 3 and 4. Various parameters of the straight line working condition obtained by the test are shown in the following table.
Parameters of straight line working condition
2. Turning condition (20 km/h speed test)
With the driver as the origin of coordinates, the visual area is measured to be 130 °, and the dynamic blind area at this time is 230 °, as shown in fig. 5 and 6. Various parameters of the turning working condition obtained by the test are shown in the following table.
Parameter table for turning condition
3. Doubling working condition (40 km/h speed test)
(1) In the direct-view state of the parallel lines, the driver is taken as the origin of coordinates, the measured visible area is 90 °, and the dynamic view blind area at this time is 270 °, as shown in fig. 7 and 8. The parameters of the doubling working condition obtained by the test are shown in the following table.
Various parameter tables of doubling working condition
(2) In the state of parallel observation of the left side rearview mirror, the driver is used as the origin of coordinates, and the measured visible area is 30 degrees, then the dynamic view blind area at this time is 330 degrees, as shown in fig. 9 and 10. The parameters of the doubling working condition obtained by the test are shown in the following table.
Various parameter tables of doubling working condition
4. Working condition of U-turn (20 km/h speed test)
With the driver as the origin of coordinates, the visual area is measured to be 130 °, and the dynamic blind area at this time is 230 °, as shown in fig. 11 and 12. The parameters of the doubling working condition obtained by the test are shown in the following table.
All-parameter table for turning-around working condition
The invention relates to a method for detecting dynamic blind areas of a driver of a heavy commercial vehicle, which utilizes an aerial photographing device and an eye tracker as dynamic detection equipment, wherein the aerial photographing device has a hot spot tracking function which can fix the video photographing range, and the eye tracker can track the eyeball track of the driver in real time, so that an external scene video of the vehicle and the eye movement rule of the driver are obtained, and the external scene video and the eye movement rule of the driver are superposed, so that the dynamic blind area range of the driver of the heavy commercial vehicle under different working conditions can be obtained. Technical verification is carried out through experiments, and the design scheme is proved to achieve the expected purpose, and the dynamic blind area range of the driver of the heavy commercial vehicle under different working conditions can be detected.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a heavy commercial car driver developments blind area's detection method to taking photo by plane ware and eye tracker as dynamic detection equipment, when shooing the detection vehicle surrounding environment, track the motion trail of driver's eyeball in real time, its characterized in that: the method comprises the following steps of utilizing an aerial photographing device with a hotspot tracking function to realize real-time photographing of the surrounding environment in the driving process of a detected vehicle; the method comprises the steps of recording the visual field range of a driver by using an eye tracker capable of tracking the eyeballs of the driver in real time, overlapping collected vehicle external scene videos and the eye movement videos of the driver according to a synchronous principle, and carrying out simple calculation, arrangement and collection to obtain the dynamic blind area range of the driver of the heavy commercial vehicle under different working conditions.
2. The method for detecting the dynamic blind area of the driver of the heavy commercial vehicle according to claim 1, is characterized in that: before the aerial photographing device starts formal recording, a vehicle to be detected is set as a tracking hot spot, and then the controller is operated to enable the aerial photographing device to conduct real-time tracking shooting on the running detection vehicle at a certain height in a overlooking angle, so that the environment and the running state around the detection vehicle can be reflected more intuitively and in a larger range.
3. The method for detecting the dynamic blind area of the driver of the heavy commercial vehicle according to claim 1, is characterized in that: in the driving process of a driver, the eye movement track characteristics of the driver in the process of processing visual information are recorded through an eye movement instrument, the eye movement law of the driver under different driving conditions is collected, specific parameters comprise the fixation point and the fixation time of the driver, and therefore the objective key attention area range of the driver is obtained, and the visual field blind area range of the driver of the heavy commercial vehicle under the actual driving condition is obtained.
4. The method for detecting the dynamic blind area of the driver of the heavy commercial vehicle according to claim 1, is characterized in that: according to the driving characteristics of the heavy commercial vehicle, four typical working conditions of straight running, turning, merging and turning around are designed, the video data of the external scene of the detected vehicle and the video data of the eye movement of the driver recorded under the same working condition are overlapped together through video editing software according to the time synchronization principle, the static view range of the detected vehicle is marked out in the video to be used as a basic blind area, the dynamic blind area range under each working condition is marked in the video according to the relation between the vehicle speed and the view, and finally the simulation video of the dynamic blind area of the driver of the heavy commercial vehicle under different working conditions is obtained.
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Application publication date: 20210921 |