CN113525391B - Illegal driving identification method and system based on artificial intelligence - Google Patents

Illegal driving identification method and system based on artificial intelligence Download PDF

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CN113525391B
CN113525391B CN202111088570.7A CN202111088570A CN113525391B CN 113525391 B CN113525391 B CN 113525391B CN 202111088570 A CN202111088570 A CN 202111088570A CN 113525391 B CN113525391 B CN 113525391B
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vehicle
information
time
speed
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CN113525391A (en
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吴亚斌
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Jiangsu Juheng Intelligent Technology Co ltd
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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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4043—Lateral speed

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an artificial intelligence-based illegal driving identification method and system, which comprises the following steps: obtaining speed, position information and vehicle type information of vehicles in the current road section and surrounding vehicles at the current moment, and obtaining curvature information of the road through edge processing; obtaining an environmental influence value at the current moment by using speed information, position information, vehicle type information and curvature information of a road of the vehicle and surrounding vehicles at the current moment; predicting speed information, position information and curvature information of vehicles and surrounding vehicles at the next moment, and obtaining an environmental influence value at the next moment; calculating the change quantity of the environmental influence values at the next moment and the current moment, and determining the threshold value of the attention dispersion ratio; and comparing the actual attention distraction ratio of the driver with the attention distraction ratio threshold value to obtain the judgment result of the illegal behavior of the driver. The influence of surrounding vehicles and road conditions on the required attention is considered, so that the detection standard for violation of driver attention is more reasonable, and violation records and warnings are made in time.

Description

Illegal driving identification method and system based on artificial intelligence
Technical Field
The application relates to the field of artificial intelligence, in particular to an illegal driving identification method and system based on artificial intelligence.
Background
In the driving process of the vehicle, a vehicle driver is easy to cause inattention due to external factors, great potential safety hazards are brought to driving safety and personal safety of drivers and passengers, the attention of the driver is detected, and the driver is reminded when the attention of the driver is inattention, so that the accident rate can be effectively reduced, and the driving safety and the personal safety of the drivers and passengers are guaranteed to the maximum extent.
The existing driver attention detection methods mostly adopt fixed attention violation judgment standards, and do not consider the influence of real-time road conditions and other surrounding vehicles on driving attention requirements, so that the detection result cannot adapt to the road conditions, the surrounding vehicles and other environments.
Disclosure of Invention
Aiming at the technical problems, the invention provides an illegal driving identification method and system based on artificial intelligence.
In a first aspect, a method for identifying offending driving based on artificial intelligence is provided, including:
obtaining the current time
Figure 100002_DEST_PATH_IMAGE002
The speed, position information and vehicle type information of the vehicle in the current road section and surrounding vehicles are obtained, and the curvature information of the road is obtained through edge processing;
using the acquired current time
Figure 296788DEST_PATH_IMAGE002
Speed of self and surrounding vehiclesDegree information, position information, vehicle type information and curvature information of the road are obtained to obtain the current time
Figure 190794DEST_PATH_IMAGE002
An environmental impact value;
according to the current time
Figure 492463DEST_PATH_IMAGE002
Predicting the next time by the speed information, position information, vehicle type information and curvature information of the road
Figure 100002_DEST_PATH_IMAGE004
Speed information, position information, and curvature information of the road of the vehicle and the surrounding vehicle, and obtaining the next time based on the predicted information
Figure 321879DEST_PATH_IMAGE004
An environmental impact value;
according to the next moment
Figure 974577DEST_PATH_IMAGE004
Environmental impact value and current time
Figure 344378DEST_PATH_IMAGE002
The environmental impact value is obtained at
Figure 100002_DEST_PATH_IMAGE006
Determining the change amount of the environmental influence value in the time period, and determining the attention dispersion ratio threshold value corresponding to different change amounts;
get driver at
Figure 326984DEST_PATH_IMAGE006
And comparing the actual attention dispersion ratio with an attention dispersion ratio threshold value in the time period, and judging whether the driver violates the rules according to the comparison result.
Further, the influencing factors of the environmental influence value include: the area occupation ratio of other surrounding vehicles; the distance between the own vehicle and other surrounding vehicles; the bearing weights of other surrounding vehicles.
Further, the method for calculating the environmental impact value comprises the following steps:
Figure 100002_DEST_PATH_IMAGE008
wherein for the first
Figure 100002_DEST_PATH_IMAGE010
The vehicle is driven by the electric motor,
Figure 100002_DEST_PATH_IMAGE012
in order to be able to control the speed of travel,
Figure 100002_DEST_PATH_IMAGE014
in order to make the area of the film occupy the track ratio,
Figure 100002_DEST_PATH_IMAGE016
in order for its orientation to affect the weights,
Figure 100002_DEST_PATH_IMAGE018
in order for it to be distant from the own vehicle,
Figure 100002_DEST_PATH_IMAGE020
for the curvature data of the current road segment,
Figure 100002_DEST_PATH_IMAGE022
the number of other vehicles around the current section.
Further, the next time point
Figure 248673DEST_PATH_IMAGE004
The method for acquiring the speed and position information of the vehicle and surrounding vehicles comprises the following steps:
vehicle is at
Figure 60771DEST_PATH_IMAGE006
The average speed deviation range in the time range is
Figure 100002_DEST_PATH_IMAGE024
Then around
Figure 499843DEST_PATH_IMAGE022
The average speed of the vehicle is taken as
Figure 100002_DEST_PATH_IMAGE026
Wherein
Figure 100002_DEST_PATH_IMAGE028
，
Figure 307262DEST_PATH_IMAGE006
The course of the period is
Figure 100002_DEST_PATH_IMAGE030
Wherein
Figure 100002_DEST_PATH_IMAGE032
Is the current time
Figure 370158DEST_PATH_IMAGE010
Vehicle speed;
translating the center line of the road to the position of each vehicle at the current moment, and intercepting the length of the translated curve as
Figure 100002_DEST_PATH_IMAGE034
Arc length of (a) cut length of
Figure 100002_DEST_PATH_IMAGE036
The node obtained after the arc length of (1) is the first time of the next moment
Figure 200711DEST_PATH_IMAGE010
Position of vehicle
Figure 100002_DEST_PATH_IMAGE038
Further obtain the surroundings
Figure 240211DEST_PATH_IMAGE022
Position of vehicle
Figure 100002_DEST_PATH_IMAGE040
；
For the own vehicle
Figure 100002_DEST_PATH_IMAGE042
The travel distance is
Figure 100002_DEST_PATH_IMAGE044
In conjunction with the current time of day
Figure 167715DEST_PATH_IMAGE002
The position of the vehicle can be determined
Figure 306573DEST_PATH_IMAGE004
Position of time of day
Figure 100002_DEST_PATH_IMAGE046
。
Further, since the vehicle is in
Figure 358842DEST_PATH_IMAGE006
The average speed deviation range in the time range is
Figure 874137DEST_PATH_IMAGE024
Then around
Figure 187307DEST_PATH_IMAGE022
Vehicle presence
Figure 100002_DEST_PATH_IMAGE048
And (4) a speed combination is selected, and the environment influence value with the largest environment influence value in all the speed combinations is used as the environment influence value at the next moment.
Further, the method for calculating the change in the environmental influence value includes:
Figure 762645DEST_PATH_IMAGE006
variation of influence value of ambient environment within time period
Figure 100002_DEST_PATH_IMAGE050
Wherein
Figure 100002_DEST_PATH_IMAGE052
Is composed of
Figure 302211DEST_PATH_IMAGE004
The ambient influence value at the moment of time,
Figure 100002_DEST_PATH_IMAGE054
is composed of
Figure 447628DEST_PATH_IMAGE002
The ambient influence value at the moment of time,
Figure 100002_DEST_PATH_IMAGE056
to normalize the tuning parameters.
Further, the driver is obtained
Figure 756249DEST_PATH_IMAGE006
The actual rate of distraction over the time period is determined by:
obtained by means of video monitoring equipment
Figure 236909DEST_PATH_IMAGE006
Monitoring video images of the driver during the time period; obtaining
Figure 857246DEST_PATH_IMAGE006
The time length of the face of the driver facing other front directions in the time period is utilized to account for the face of the driver facing other directions
Figure 979923DEST_PATH_IMAGE006
The proportion of the time period is obtained
Figure 877472DEST_PATH_IMAGE006
Actual rate of distraction over time;
and when the actual attention dispersion ratio is larger than the attention dispersion ratio threshold corresponding to the environment influence value variation, judging that the driver has the attention dispersion violation behavior.
In a second aspect, the present invention provides an artificial intelligence-based illegal driving recognition system, including:
an information acquisition unit for acquiring the current time
Figure 794613DEST_PATH_IMAGE002
The speed, position information and vehicle type information of the vehicle in the current road section and surrounding vehicles are obtained, and the curvature information of the road is obtained through edge processing;
a first calculating unit for using the obtained current time
Figure 839929DEST_PATH_IMAGE002
Obtaining speed information, position information, vehicle type information and curvature information of the road of the self vehicle and the surrounding vehicles to obtain the current time
Figure 563034DEST_PATH_IMAGE002
An environmental impact value;
a second calculation unit for calculating a current time
Figure 377407DEST_PATH_IMAGE002
Predicting the next time by the speed information, position information, vehicle type information and curvature information of the road
Figure 668711DEST_PATH_IMAGE004
Speed information, position information, and curvature information of the road of the vehicle and the surrounding vehicle, and obtaining the next time based on the predicted information
Figure 201323DEST_PATH_IMAGE004
An environmental impact value;
a third calculating unit for calculating a time point according to the next time
Figure 400223DEST_PATH_IMAGE004
Environmental impact value and current time
Figure 131419DEST_PATH_IMAGE002
The environmental impact value is obtained at
Figure 655941DEST_PATH_IMAGE006
Determining the change amount of the environmental influence value in the time period, and determining the attention dispersion ratio threshold value corresponding to different change amounts;
an attention judging unit for acquiring driver presence
Figure 613533DEST_PATH_IMAGE006
And comparing the actual attention dispersion ratio with an attention dispersion ratio threshold value in the time period, and judging whether the driver violates the rules according to the comparison result.
Compared with the traditional technical scheme, the invention has the beneficial effects that:
1. the influence of surrounding vehicles and roads is comprehensively considered, and violation judgment boundaries of driver attention detection are given, so that the judgment standard is more reasonable and scientific;
2. the method can prevent the judgment condition from being given mechanically, and avoid the condition that the violation judgment standard does not meet the actual requirement.
Drawings
Embodiments herein will be described in more detail, by way of example only, with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram of an artificial intelligence based illegal driving identification method of the present invention.
FIG. 2 is a block diagram of the environmental impact value calculation step in artificial intelligence based violation driving recognition of the present invention.
FIG. 3 is a block diagram of an artificial intelligence based violation driving recognition system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the present embodiment, "a plurality" means two or more unless otherwise specified.
Fig. 1 is a block diagram of an artificial intelligence-based illegal driving identification method according to the present embodiment, and as shown in fig. 1, the artificial intelligence-based illegal driving identification method includes the following steps:
step S101: obtaining the current time
Figure 350545DEST_PATH_IMAGE002
The speed, position information and vehicle type information of the vehicle in the current road section and surrounding vehicles are obtained, and the curvature information of the road is obtained through edge processing;
first, two-dimensional position location information of the speed V, GPS of the own vehicle (own vehicle) at the present time is obtained by the sensor.
And secondly, extracting the position information of the vehicles around the current moment, wherein the position information comprises the current road section division and the surrounding vehicle information extraction:
(1) current road section division: will centerThe curve is translated to the position of the vehicle and respectively intercepted in front of and behind the position of the vehicle
Figure 139509DEST_PATH_IMAGE020
Obtaining nodes from curve segments of rice
Figure 100002_DEST_PATH_IMAGE058
Respectively through the node
Figure 664294DEST_PATH_IMAGE058
Making a perpendicular line to the road boundary to obtain an area boundary;
(2) method for acquiring running speed of other vehicles around own vehicle on current road section in vehicle networking mode
Figure 100002_DEST_PATH_IMAGE060
Position, position
Figure 100002_DEST_PATH_IMAGE062
And vehicle type information.
And finally, acquiring curvature information of the current road section, wherein the specific implementation method comprises the following steps:
(1) the vertical line is drawn from the position of the vehicle to the center line of the road at the current moment to obtain the foot
Figure 100002_DEST_PATH_IMAGE064
；
(2) Sober operator is used for processing the road center line to obtain the edge characteristics of the road center line, and the derivation method is used for processing the edge characteristics of the road center line to obtain the drop foot point
Figure 437078DEST_PATH_IMAGE064
Curvature data of
Figure DEST_PATH_IMAGE066
。
Step S102: using the acquired current time
Figure 446622DEST_PATH_IMAGE002
Obtaining speed information, position information, vehicle type information and curvature information of the road of the self vehicle and the surrounding vehicles to obtain the current time
Figure 90093DEST_PATH_IMAGE002
An environmental impact value;
since the vehicle is moving continuously, and the tightness degree of the attention detection system cannot be adjusted and detected in real time due to the real-time change of the environment around the vehicle, the change of the environmental influence value at different times is used as the tightness degree judgment threshold of the attention detection system in this embodiment.
In this embodiment, if the difference between the next time and the current time is large, a new situation will occur, and the necessity of paying attention to the front at the current time is high, and if the difference between the next time and the current time is zero, that is, the own vehicle and the surrounding vehicles move in a rigid body in an abstract manner as a whole, the necessity of paying attention to the front will not be high.
The following is to calculate the environmental impact value at the current time in this embodiment with reference to fig. 2, fig. 2 shows a block diagram of the step of calculating the environmental impact value in the artificial intelligence based illegal driving recognition method, and the calculation of the environmental impact value shown in fig. 2 includes the following contents:
step S201, calculating the area ratio of each vehicle around:
the vehicle type information of surrounding vehicles acquired by the Internet of vehicles can be used for determining the length and width value data of vehicle bodies of different vehicle types
Figure DEST_PATH_IMAGE068
And further the projected area of the bounding box of the surrounding vehicle is:
Figure DEST_PATH_IMAGE070
then the area of all surrounding vehicles is
Figure DEST_PATH_IMAGE072
。
Calculating the road area of the current road section
Figure DEST_PATH_IMAGE074
: the area of the area enclosed by the boundary line of the two areas and the boundary of the two roads is the area of the road section where the vehicle is located at the current moment and is recorded as the area of the road section where the vehicle is located
Figure DEST_PATH_IMAGE076
The area can be approximately calculated by a sector calculation formula, so that the first road section in the current road section
Figure 753155DEST_PATH_IMAGE010
The area occupation ratio of the vehicle is as follows:
Figure DEST_PATH_IMAGE078
。
further obtaining the area per lane ratio of each vehicle around
Figure DEST_PATH_IMAGE080
。
Step S202, calculating the distance between the vehicle and other vehicles around;
suppose that
Figure 75552DEST_PATH_IMAGE010
The position of the vehicle is
Figure DEST_PATH_IMAGE082
Position information of own vehicle
Figure DEST_PATH_IMAGE084
Whereby the distance between the vehicles is
Figure DEST_PATH_IMAGE086
。
Further obtaining the distance between the vehicle and all the vehicles around the road section
Figure DEST_PATH_IMAGE088
Step S203, calculating the orientation weight of each vehicle around:
because its influence effect of the vehicle in different position is different, and the influence in the vehicle dead ahead is great, and the influence in rear is less relatively, and there is the possibility of overtaking in the left vehicle, therefore this embodiment gives different position weights to the car in different positions, and the concrete mode is:
firstly, the azimuth angle of the vehicle is calculated:
Figure DEST_PATH_IMAGE090
then, calculating the azimuth weight:
Figure DEST_PATH_IMAGE092
。
step S204, calculating the ambient environment influence value: the influence value of the surrounding vehicle is mainly influenced by the distance between the own vehicle and the surrounding vehicle, the vehicle speed, the vehicle area ratio, and the front and rear vehicle weights.
First, the influence value of each vehicle is calculated
Figure DEST_PATH_IMAGE094
Wherein
Figure DEST_PATH_IMAGE096
Is the current time
Figure 777536DEST_PATH_IMAGE010
The speed of travel of the vehicle is,
Figure DEST_PATH_IMAGE098
is the current time
Figure 478775DEST_PATH_IMAGE010
The area of the vehicle is the ratio of the road,
Figure DEST_PATH_IMAGE100
is the current time
Figure 578318DEST_PATH_IMAGE010
The vehicle orientation of the vehicle affects the weight,
Figure DEST_PATH_IMAGE102
is the current time
Figure 263378DEST_PATH_IMAGE010
Distance of the vehicle.
Secondly, calculating the influence value of all vehicles on the road section at the current moment as
Figure DEST_PATH_IMAGE104
Finally taking into account the road curvature
Figure 411462DEST_PATH_IMAGE066
The influence of (2), the current time (
Figure 91842DEST_PATH_IMAGE002
Time of day) environmental impact value
Figure 299970DEST_PATH_IMAGE054
Comprises the following steps:
Figure DEST_PATH_IMAGE106
。
step S103: according to the current time
Figure 941167DEST_PATH_IMAGE002
Predicting the next time by the speed information, position information, vehicle type information and curvature information of the road
Figure 627363DEST_PATH_IMAGE004
Speed information, position information, and curvature information of the road of the vehicle and the surrounding vehicle, and obtaining the next time based on the predicted information
Figure 929294DEST_PATH_IMAGE004
The environmental impact value specifically includes:
analyzing the distribution of the vehicles around the next moment, and predicting the vehicles according to the speed information of the current vehicles
Figure DEST_PATH_IMAGE108
The method includes the steps that the vehicle travels in a time interval, the speed of the vehicle changes in real time during the traveling process, in order to reflect speed change information of the vehicle in the time interval, a speed change range is introduced to speed change of the vehicle during prediction, a plurality of vehicle distribution conditions are obtained by utilizing the speed change range, and in order to guarantee driving safety to the maximum degree, the distribution with the highest requirement on driving energy is selected from all possible vehicle distributions to serve as vehicle parameters for determining environmental influence values.
In the embodiment, the speed change range is provided, the prediction is performed in a traversal mode within the range, the result with the largest difference compared with the current moment is predicted, and the situation that the attention of a driver exceeds a threshold value but is not prompted is avoided.
First, the next time is predicted (
Figure 246005DEST_PATH_IMAGE004
Time of day) vehicle position: using position information of vehicles around the current time
Figure 171236DEST_PATH_IMAGE062
And velocity
Figure 661123DEST_PATH_IMAGE060
Information, in order to achieve as real-time as possible the attention detection system, the time interval needs to be as short as possible, i.e. the time interval is as short as possible
Figure 316096DEST_PATH_IMAGE108
The value is as small as possible. If the vehicle speed is limited to a fixed variation interval with a small time interval, the range deviation of the speed can be determined empirically from the time interval
Figure 866026DEST_PATH_IMAGE024
To a first order
Figure 481815DEST_PATH_IMAGE010
The vehicle is exemplified by
Figure 244234DEST_PATH_IMAGE006
The average speed in the time range is in the range of
Figure DEST_PATH_IMAGE110
。
Speed and in this embodiment
Figure 19292DEST_PATH_IMAGE024
Are all integers, so that each vehicle exists in the speed range
Figure DEST_PATH_IMAGE112
The speed is taken and all vehicles have
Figure 740124DEST_PATH_IMAGE048
And (4) speed combination.
The way of solving the influence value of the vehicle at the next moment is illustrated by taking a speed combination as an example, and the surrounding is assumed
Figure 843209DEST_PATH_IMAGE022
The speed of the vehicle being taken as
Figure 674899DEST_PATH_IMAGE026
Wherein
Figure DEST_PATH_IMAGE114
Knowing the speed, the distance can be determined
Figure 304463DEST_PATH_IMAGE030
。
Assuming that all the surrounding vehicle driving tracks are parallel to the road center line, the road center line can be translated to the position of each vehicle at the current moment, and the length of the curve is cut into
Figure 930616DEST_PATH_IMAGE034
The arc length of (a) at the node is the first time of the next moment
Figure 520998DEST_PATH_IMAGE010
Position of vehicle
Figure 890799DEST_PATH_IMAGE038
. Class the method to find surroundings
Figure 885124DEST_PATH_IMAGE022
Position of vehicle
Figure 947758DEST_PATH_IMAGE040
。
Since the greater the traveling speed of the vehicle, the more effort is required, the maximum value of the speed range, i.e., the maximum value of the speed range, is taken by the own vehicle in the present embodiment
Figure 556594DEST_PATH_IMAGE042
Whereby the travel distance of the vehicle is
Figure DEST_PATH_IMAGE116
。
Determine that the own vehicle is
Figure 198928DEST_PATH_IMAGE004
Position of time of day
Figure 537505DEST_PATH_IMAGE046
Then the way of dividing the road section area is carried out, and the vehicle can be obtained
Figure 505461DEST_PATH_IMAGE004
Section of road in which the moment is located
Figure DEST_PATH_IMAGE118
Then select out the Chinese characters belonging to
Figure 70435DEST_PATH_IMAGE118
Vehicles in the road section, i.e.
Figure DEST_PATH_IMAGE120
To obtain
Figure DEST_PATH_IMAGE122
The vehicle belongs to the vehicle in the area.
Then, the method described in step S102 can be used to find
Figure 109935DEST_PATH_IMAGE010
Area ratio of vehicle
Figure DEST_PATH_IMAGE124
Distance, distance
Figure DEST_PATH_IMAGE126
Azimuth weight
Figure DEST_PATH_IMAGE128
And then get the first
Figure 303019DEST_PATH_IMAGE010
The influence value of the vehicle is
Figure DEST_PATH_IMAGE130
Then all vehicles have an influence value of
Figure DEST_PATH_IMAGE132
。
Further obtain
Figure 910718DEST_PATH_IMAGE048
The maximum value of the vehicle influence values in all the speed combinations is used as the vehicle influence value at the next moment
Figure DEST_PATH_IMAGE134
Then, the method of step S101 is used to obtain the curvature of the road at the current moment
Figure DEST_PATH_IMAGE136
Finally, calculate to obtain
Figure 589086DEST_PATH_IMAGE004
Time of day environmental impact value
Figure DEST_PATH_IMAGE138
。
Step S104: according to the next moment
Figure 307643DEST_PATH_IMAGE004
Environmental impact value and current time
Figure 558496DEST_PATH_IMAGE002
The environmental impact value is obtained at
Figure 868255DEST_PATH_IMAGE006
The method includes the following steps that the change amount of the environmental influence value in the time period determines the time distraction ratio threshold value corresponding to different change amounts, and specifically includes:
the driving effort may be required differently for different changes in the surrounding environment, for example, the surrounding vehicles may become more crowded within a certain period of time, and thus more effort may be required to cope with the environmental changes, and the driver's effort may be required differently due to the change in the curvature of the road, so that the driving effort may be determined by comparing the changes in the influence values of the surrounding environment within a certain period of time.
Computing
Figure 266875DEST_PATH_IMAGE006
Variation of influence value of ambient environment within time period
Figure 585861DEST_PATH_IMAGE050
Wherein
Figure 628903DEST_PATH_IMAGE052
Is composed of
Figure 109563DEST_PATH_IMAGE004
The ambient influence value at the moment of time,
Figure 667584DEST_PATH_IMAGE054
is composed of
Figure 852577DEST_PATH_IMAGE002
The ambient influence value at the moment of time,
Figure 812443DEST_PATH_IMAGE056
for normalizing the regulation parameter, the parameter is used for limiting the ambient influence value at two time points
Figure DEST_PATH_IMAGE140
Is used to adjust the driver distraction ratio given a suitable threshold. The two parameters need to be adjusted in time according to the values of the two ambient environment influence values.
Determining a driver distraction ratio threshold
Figure DEST_PATH_IMAGE142
Figure DEST_PATH_IMAGE144
，
In this example
Figure DEST_PATH_IMAGE146
，
Figure DEST_PATH_IMAGE148
，
Figure DEST_PATH_IMAGE150
And
Figure DEST_PATH_IMAGE152
is an empirical threshold value and is timely adjusted according to the acquired data in the subsequent system operation process.
Step S105: get driver at
Figure 995163DEST_PATH_IMAGE006
Comparing the actual distraction ratio with a distraction ratio threshold value in the actual distraction ratio in the time period, and judging whether the driver violates rules according to the comparison result, wherein the method specifically comprises the following steps:
firstly, utilizing video monitoring equipment to obtain a monitoring video image of the position of a driver in the driving process of a vehicle; taking the acquired video image as a data set, marking the image of the face of the driver facing to the front driving window as 1, and marking the image of the face facing to other directions as 0 to obtain the label data of the video image;
inputting video images and label data into a DNN network for training, wherein the DNN network is of an Encoder-FC structure, the Encoder extracts face orientation features, and the FC outputs whether the face faces towards a front driving window or not, wherein the training set accounts for 80%, the verification set accounts for 20%, and a trained network is obtained; the trained network can obtain the time length of the face of the driver facing to other front directions in a certain time period, in the embodiment, the driver is in a distraction state when the face of the driver faces to other directions, and the proportion of the face of the driver facing to other directions in the time period is the distraction ratio;
and when the actual attention dispersion ratio is larger than the attention dispersion ratio threshold corresponding to the environment influence value variation, judging that the driver has the attention dispersion violation behavior.
The system of an embodiment of the present disclosure is described below with reference to fig. 3, where fig. 3 shows a block diagram of an artificial intelligence based offending drive recognition system, which as shown includes the following:
an information acquisition unit 301 for obtaining the current time
Figure 866910DEST_PATH_IMAGE002
The speed, position information and vehicle type information of the vehicle in the current road section and surrounding vehicles are obtained, and the curvature information of the road is obtained through edge processing;
a first calculating unit 302, configured to utilize the obtained current time
Figure 527699DEST_PATH_IMAGE002
Obtaining speed information, position information, vehicle type information and curvature information of the road of the self vehicle and the surrounding vehicles to obtain the current time
Figure 76492DEST_PATH_IMAGE002
An environmental impact value;
a second calculating unit 303 for calculating a current time
Figure 367796DEST_PATH_IMAGE002
Predicting the next time by the speed information, position information, vehicle type information and curvature information of the road
Figure 900408DEST_PATH_IMAGE004
Speed information, position information, and curvature information of the road of the vehicle and the surrounding vehicle, and obtaining the next time based on the predicted information
Figure 161625DEST_PATH_IMAGE004
An environmental impact value;
a third calculating unit 304 for calculating according to the next time
Figure 96083DEST_PATH_IMAGE004
Environmental impact value and current time
Figure 355026DEST_PATH_IMAGE002
The environmental impact value is obtained at
Figure 47039DEST_PATH_IMAGE006
Determining the variation of the environmental influence value in the time period, and determining the time distraction ratio threshold value corresponding to different variation;
attention judging unit 305 for acquiring the presence of the driver
Figure 315209DEST_PATH_IMAGE006
And comparing the actual attention dispersion ratio with an attention dispersion ratio threshold value in the time period, and judging whether the driver violates the rules according to the comparison result.
Compared with the traditional technical scheme, the method comprehensively considers the influences of surrounding vehicles and roads, and provides the violation judgment boundary for the driver attention detection, so that the judgment standard is more reasonable and scientific; the method can prevent the judgment condition from being given mechanically, and avoid the condition that the violation judgment standard does not meet the actual requirement.
The use of words such as "including," "comprising," "having," and the like in this disclosure is an open-ended term that means "including, but not limited to," and is used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that the various components or steps may be broken down and/or re-combined in the methods and systems of the present invention. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.
The above-mentioned embodiments are merely examples for clearly illustrating the present invention and do not limit the scope of the present invention. It will be apparent to those skilled in the art that other variations and modifications may be made in the foregoing description, and it is not necessary or necessary to exhaustively enumerate all embodiments herein. All designs identical or similar to the present invention are within the scope of the present invention.

Claims (8)

1. An illegal driving identification method based on artificial intelligence is characterized by comprising the following steps:
obtaining the current time
Figure DEST_PATH_IMAGE002
The speed, position information and vehicle type information of the vehicle in the current road section and surrounding vehicles are obtained, and the curvature information of the road is obtained through edge processing;
using the acquired current time
Figure 543789DEST_PATH_IMAGE002
Obtaining speed information, position information, vehicle type information and curvature information of the road of the self vehicle and the surrounding vehicles to obtain the current time
Figure 664192DEST_PATH_IMAGE002
An environmental impact value;
according to the current time
Figure 709508DEST_PATH_IMAGE002
Predicting the next time by the speed information, position information, vehicle type information and curvature information of the road
Figure DEST_PATH_IMAGE004
Speed information, position information, and curvature information of the road of the vehicle and the surrounding vehicle, and obtaining the next time based on the predicted information
Figure 698193DEST_PATH_IMAGE004
An environmental impact value;
according to the next moment
Figure 715827DEST_PATH_IMAGE004
Environmental impact value and current time
Figure 803869DEST_PATH_IMAGE002
The environmental impact value is obtained at
Figure DEST_PATH_IMAGE006
Determining the change amount of the environmental influence value in the time period, and determining the attention dispersion ratio threshold value corresponding to different change amounts;
get driver at
Figure DEST_PATH_IMAGE008
And comparing the actual attention dispersion ratio with an attention dispersion ratio threshold value in the time period, and judging whether the driver violates the rules according to the comparison result.
2. The artificial intelligence based illegal driving identification method according to claim 1, characterized in that the influencing factors of the environmental influence value include: the area occupation ratio of other surrounding vehicles; the distance between the own vehicle and other surrounding vehicles; the bearing weights of other surrounding vehicles.
3. The artificial intelligence-based illegal driving recognition method according to claim 2, characterized in that the environmental impact value calculation method is as follows:
Figure DEST_PATH_IMAGE010
wherein for the first
Figure DEST_PATH_IMAGE012
The vehicle is driven by the electric motor,
Figure DEST_PATH_IMAGE014
in order to be able to control the speed of travel,
Figure DEST_PATH_IMAGE016
in order to make the area of the film occupy the track ratio,
Figure DEST_PATH_IMAGE018
in order for its orientation to affect the weights,
Figure DEST_PATH_IMAGE020
in order for it to be distant from the own vehicle,
Figure DEST_PATH_IMAGE022
for the curvature data of the current road segment,
Figure DEST_PATH_IMAGE024
the number of other vehicles around the current section.
4. The artificial intelligence-based illegal driving identification method according to claim 2, characterized in that the next moment in time
Figure 490809DEST_PATH_IMAGE004
The method for acquiring the speed and position information of the vehicle and surrounding vehicles comprises the following steps:
vehicle is at
Figure 689709DEST_PATH_IMAGE006
The average speed deviation range in the time range is
Figure DEST_PATH_IMAGE026
Then around
Figure 952063DEST_PATH_IMAGE024
The average speed of the vehicle is taken as
Figure DEST_PATH_IMAGE028
Wherein
Figure DEST_PATH_IMAGE030
，
Figure 679848DEST_PATH_IMAGE006
The course of the period is
Figure DEST_PATH_IMAGE032
Wherein
Figure DEST_PATH_IMAGE034
Is the current time
Figure 27653DEST_PATH_IMAGE012
The speed of the vehicle is set to be,
Figure DEST_PATH_IMAGE036
is the next moment
Figure 233506DEST_PATH_IMAGE012
Vehicle speed;
Figure DEST_PATH_IMAGE038
the average speed deviation value is obtained;
translating the center line of the road to the position of each vehicle at the current moment, and intercepting the length of the translated curve as
Figure DEST_PATH_IMAGE040
Arc length of (a) cut length of
Figure 350367DEST_PATH_IMAGE040
The node obtained after the arc length of (1) is the first time of the next moment
Figure 983473DEST_PATH_IMAGE012
Position of vehicle
Figure DEST_PATH_IMAGE042
Further obtain the surroundings
Figure 320039DEST_PATH_IMAGE024
Position of vehicle
Figure DEST_PATH_IMAGE044
；
For the own vehicle
Figure DEST_PATH_IMAGE046
The travel distance is
Figure DEST_PATH_IMAGE048
In conjunction with the current time of day
Figure 657479DEST_PATH_IMAGE002
The position of the vehicle can be determined
Figure 300950DEST_PATH_IMAGE004
Position of time of day
Figure DEST_PATH_IMAGE050
，
Figure DEST_PATH_IMAGE052
As the speed of the own vehicle at the present time,
Figure DEST_PATH_IMAGE054
the speed of the own vehicle at the next time.
5. The artificial intelligence based illegal driving identification method according to claim 4, characterized in that vehicle is in
Figure 698434DEST_PATH_IMAGE006
The average speed deviation range in the time range is
Figure 692934DEST_PATH_IMAGE026
Then around
Figure 771749DEST_PATH_IMAGE024
Vehicle presence
Figure DEST_PATH_IMAGE056
And (4) a speed combination is selected, and the environment influence value with the largest environment influence value in all the speed combinations is used as the environment influence value at the next moment.
6. The method for identifying illegal driving based on artificial intelligence of claim 1, wherein the method for calculating the change of the environmental influence value is as follows:
Figure 738568DEST_PATH_IMAGE006
variation of influence value of ambient environment within time period
Figure DEST_PATH_IMAGE058
Wherein
Figure DEST_PATH_IMAGE060
Is composed of
Figure 306952DEST_PATH_IMAGE004
The ambient influence value at the moment of time,
Figure DEST_PATH_IMAGE062
is composed of
Figure 349601DEST_PATH_IMAGE002
The ambient influence value at the moment of time,
Figure DEST_PATH_IMAGE064
to normalize the tuning parameters.
7. The method for identifying illegal driving based on artificial intelligence of claim 1, characterized in that the driver is obtained
Figure 497686DEST_PATH_IMAGE006
The actual rate of distraction over the time period is determined by:
obtained by means of video monitoring equipment
Figure 53432DEST_PATH_IMAGE006
Monitoring video images of the driver during the time period; obtaining
Figure 261560DEST_PATH_IMAGE006
The duration that the face of the driver faces to other directions in the time period is utilized to account for the duration that the face of the driver faces to other directions
Figure 27390DEST_PATH_IMAGE006
The proportion of the time period is obtained
Figure 713587DEST_PATH_IMAGE006
Actual rate of distraction over time;
and when the actual attention dispersion ratio is larger than the attention dispersion ratio threshold corresponding to the environment influence value variation, judging that the driver has the attention dispersion violation behavior.
8. An artificial intelligence based illegal driving recognition system, comprising:
an information acquisition unit for acquiring the current time
Figure 389419DEST_PATH_IMAGE002
The speed, position information and vehicle type information of the vehicle in the current road section and surrounding vehicles are obtained, and the curvature information of the road is obtained through edge processing;
a first calculating unit for using the obtained current time
Figure 768447DEST_PATH_IMAGE002
Obtaining speed information, position information, vehicle type information and curvature information of the road of the self vehicle and the surrounding vehicles to obtain the current time
Figure 21574DEST_PATH_IMAGE002
An environmental impact value;
a second calculation unit for calculating a current time
Figure 245882DEST_PATH_IMAGE002
Predicting the next time by the speed information, position information, vehicle type information and curvature information of the road
Figure 572958DEST_PATH_IMAGE004
Speed information, position information, and curvature information of the road of the vehicle and the surrounding vehicle, and obtaining the next time based on the predicted information
Figure 60571DEST_PATH_IMAGE004
An environmental impact value;
a third calculating unit for calculating a time point according to the next time
Figure 738677DEST_PATH_IMAGE004
Environmental impact value and current time
Figure 94572DEST_PATH_IMAGE002
The environmental impact value is obtained at
Figure 541734DEST_PATH_IMAGE006
Determining the change amount of the environmental influence value in the time period, and determining the attention dispersion ratio threshold value corresponding to different change amounts;
an attention judging unit for acquiring driver presence
Figure 934669DEST_PATH_IMAGE006
And comparing the actual attention dispersion ratio with an attention dispersion ratio threshold value in the time period, and judging whether the driver violates the rules according to the comparison result.
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