WO2020078465A1 - 驾驶状态分析方法和装置、驾驶员监控***、车辆 - Google Patents
驾驶状态分析方法和装置、驾驶员监控***、车辆 Download PDFInfo
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Definitions
- the present disclosure relates to computer vision technology, and in particular, to a driving state analysis method and device, a driver monitoring system, and a vehicle.
- the embodiments of the present disclosure provide a technical solution for driving state analysis.
- a driving state analysis method includes:
- a driving state analysis device includes:
- the driving state detection module is used to detect the driver's fatigue state and the distraction state on the driver image, and obtain the fatigue state detection result and the distraction state detection result;
- An alarm module configured to respond to one of the fatigue state detection result and the distraction state detection result satisfying a predetermined alarm condition, outputting alarm information of a corresponding detection result satisfying the predetermined alarm condition; and / or in response to Both the fatigue state detection result and the distraction state detection result both satisfy a predetermined alarm condition, and output alarm information of the fatigue state detection result satisfying the predetermined alarm condition.
- a driver monitoring system includes:
- Driving state analysis device used to perform driver's fatigue state detection and distraction state detection on the driver's image; in response to one of the fatigue state detection result and the distraction state detection result satisfying a predetermined alarm condition, outputting a predetermined alarm Alarm information of the corresponding detection result of the condition; and / or, in response to both the fatigue state detection result and the distraction state detection result satisfying the predetermined alarm condition, outputting the alarm information of the fatigue state detection result satisfying the predetermined alarm condition.
- an electronic device includes:
- Memory used to store computer programs
- the processor is configured to execute a computer program stored in the memory, and when the computer program is executed, implement the method described in any one of the above embodiments of the present disclosure.
- a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, the computer program can be implemented as described in any of the above embodiments of the present disclosure Methods.
- a vehicle including a central control system, and further comprising: a driving state analysis device according to any of the above embodiments of the present disclosure, or any of the above embodiments of the present disclosure Driver monitoring system.
- the driver monitoring system Based on the driving state analysis method and device, the driver monitoring system, the vehicle, the electronic equipment, and the media provided by the above embodiments of the present disclosure, it is possible to realize the common detection of the driver's fatigue state and the driver's distraction state on the driver image.
- the alarm information of the corresponding detection result meeting the predetermined alarm condition is output; and / or both the fatigue state detection result and the distraction state detection result
- the alarm information of the fatigue state detection results that meet the predetermined alarm conditions is output to remind the driver to improve driving safety and reduce the incidence of road traffic accidents; and, the fatigue state detection results and points
- both of the heart state detection results meet the predetermined alarm condition, only the alarm information of the fatigue state detection result satisfying the predetermined alarm condition is output, which can avoid the distraction and disgust of the driver caused by too many or too frequent alarms.
- Alarm strategy improves driving safety And user experience.
- FIG. 1 is a flowchart of an embodiment of a driving state analysis method of the present disclosure.
- FIG. 2 is a flowchart of another embodiment of a driving state analysis method of the present disclosure.
- FIG. 3 is a flowchart of an embodiment of performing predetermined distraction detection on a driver image in an embodiment of the present disclosure.
- FIG. 4 is a schematic structural diagram of an embodiment of a driving state analysis device of the present disclosure.
- FIG. 5 is a schematic structural diagram of another embodiment of a driving state analysis device of the present disclosure.
- FIG. 6 is a schematic structural diagram of an embodiment of a driver monitoring system of the present disclosure.
- FIG. 7 is a schematic structural diagram of an application embodiment of an electronic device of the present disclosure.
- FIG. 8 is a schematic structural diagram of an embodiment of the disclosed vehicle.
- a plurality may refer to two or more, and “at least one” may refer to one, two, or more than two.
- the term "and / or” in the disclosure is just an association relationship that describes the related objects, indicating that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist at the same time, There are three cases of B alone.
- the character “/” in the present disclosure generally indicates that the related objects before and after are in an “or” relationship.
- Embodiments of the present disclosure can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general-purpose or special-purpose computing system environments or configurations.
- Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with terminal devices, computer systems, servers, and other electronic devices include, but are not limited to: in-vehicle devices, personal computer systems, server computer systems, thin clients , Thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above, and many more.
- Electronic devices such as terminal devices, computer systems, and servers may be described in the general context of computer system executable instructions (such as program modules) executed by the computer system.
- program modules may include routines, programs, target programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types.
- the computer system / server can be implemented in a distributed cloud computing environment. In a distributed cloud computing environment, tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules may be located on local or remote computing system storage media including storage devices.
- the neural network in each embodiment of the present disclosure may be a multi-layer neural network (ie, deep neural network), wherein the neural network may be a multi-layer convolutional neural network, such as LeNet, AlexNet, GoogLeNet, VGG , ResNet and other arbitrary neural network models.
- Each neural network may use a neural network of the same type and structure, or a neural network of a different type and / or structure. The embodiments of the present disclosure do not limit this.
- FIG. 1 is a flowchart of an embodiment of a driving state analysis method of the present disclosure. As shown in FIG. 1, the driving state analysis method of this embodiment includes:
- the operation 102 may be executed by the processor invoking the corresponding instruction stored in the memory, or by the driving state detection module executed by the processor.
- the fatigue state detection result and the distraction state detection result satisfying the predetermined alarm condition In response to one of the fatigue state detection result and the distraction state detection result satisfying the predetermined alarm condition, output alarm information corresponding to the detection result satisfying the predetermined alarm condition, for example, by sound (such as voice or ringing, etc.) / Light (such as lighting or flashing lights) / vibration to alarm; and / or, in response to both the fatigue state detection result and the distraction state detection result satisfying the predetermined alarm condition, output the fatigue state detection meeting the predetermined alarm condition
- the resulting alarm information for example, sound (such as voice or ringing, etc.) / light (such as lighting or flashing lights) / vibration and other ways to alarm.
- outputting alarm information of a corresponding detection result satisfying the predetermined alarm condition may include: When the fatigue state detection result is the fatigue state, a prompt / alarm message corresponding to the fatigue state detection result is output; and / or, when the distraction state detection result is the distraction state, a prompt corresponding to the distraction state detection result is output / Alarm information.
- the operation 104 may be executed by the processor invoking the corresponding instruction stored in the memory, or may be executed by the alarm module executed by the processor.
- One of the results of the fatigue state detection and the distraction state detection is When the predetermined alarm condition is satisfied, output the alarm information of the corresponding detection result that meets the predetermined alarm condition; and / or, when both the fatigue state detection result and the distraction state detection result satisfy the predetermined alarm condition, output the fatigue that meets the predetermined alarm condition.
- the alarm information of the state detection result in order to remind the driver to improve driving safety and reduce the incidence of road traffic accidents; and, when both the fatigue state detection result and the distraction state detection result meet the predetermined alarm condition, only Outputting the alarm information of the fatigue state detection result that satisfies the predetermined alarm condition can prevent the driver from being distracted and disgusted by too many or too frequent alarms.
- the present disclosure improves the safety of assisted driving and the user experience by optimizing the alarm strategy.
- it may further include:
- the alarm information corresponding to the fatigue state detection result Within a preset time after outputting the alarm information corresponding to the fatigue state detection result, suppress the alarm information corresponding to other detection results (such as the distraction state detection result) that meet the predetermined alarm condition; and / or, output the Within a preset time after the alarm information corresponding to the detection result of the distraction state, the alarm information corresponding to other detection results (such as the fatigue state detection result) satisfying the predetermined alarm condition is suppressed.
- This embodiment can further avoid distracting and disgusting of the driver caused by excessive or too frequent alarms. By further optimizing the alarm strategy, the safety and user experience of assisted driving are further improved.
- FIG. 2 is a flowchart of another embodiment of a driving state analysis method of the present disclosure. As shown in FIG. 2, the driving state analysis method of this embodiment includes:
- operation 204 If the deviation angle of the driver's head position exceeds the preset range, operation 204 is performed. Otherwise, if the deviation angle of the driver's head position does not exceed the preset range, operation 206 is performed.
- the operation 202 may be executed by the processor invoking the corresponding instruction stored in the memory, or may be executed by the first determination module executed by the processor.
- performing the driver's distraction state detection on the driver image may include: performing a head posture detection and / or eye state detection on the driver image to obtain head posture information and / or eye Status information; based on head posture information and / or eye status information, determine the driver's distraction status detection result, for example, based on head posture information and / or eye status information, determine the distraction used to characterize the driver
- the parameter value of the state index determines the driver's distraction state detection result based on the parameter value of the index used to characterize the driver's distraction state.
- performing the driver's fatigue state detection and the distraction state detection on the driver image may include: performing head posture detection, eye state detection, and / or mouth state detection on the driver image to obtain Head posture information, eye state information and / or mouth state information; based on head posture information, eye state information and / or mouth state information, determine the driver's fatigue state detection results and distraction state detection results, For example, based on the head posture information, eye state information, and / or mouth state information, the parameter values of the index used to characterize the fatigue state of the driver and the parameter values of the index used to characterize the driver's distraction state are determined, The driver's fatigue state detection result is determined based on the parameter value of the index characterizing the driver's fatigue state, and the driver's distraction state detection result is determined based on the parameter value of the index characterizing the driver's distraction state .
- the parameter value of the index used to characterize the fatigue state of the driver is determined according to the head posture information, eye state information, and mouth state information.
- the operations 204-206 may be executed by the processor invoking the corresponding instruction stored in the memory, or by the driving state detection module executed by the processor.
- the operation 208 may be executed by the processor by calling a corresponding instruction stored in the memory, or by an alarm module executed by the processor.
- the driver when the deviation angle of the head position exceeds the preset range, the driver may be in a distracted state, so only the detection of the driver's distracted state, not the detection of fatigue, can be achieved
- the effect of driving state monitoring can save the computing resources required for fatigue state detection and improve the efficiency of driving state analysis.
- the driver When the deviation angle of the head position does not exceed the preset range, the driver may be in a distracted state or a fatigue state. Therefore, the driver is simultaneously tested for the distraction state and the fatigue state to realize the common monitoring of the driving state. To ensure the safety of driving.
- performing head posture detection, eye state detection, and / or mouth state detection on the driver image to obtain head posture information, eye state information, and / or mouth state information may include:
- the head pose information when the head pose information is obtained according to the detected face key points, the head pose information may be obtained based on the face key points via the first neural network.
- the head pose information when the head pose information is obtained according to the detected face key points, for example, the head pose information may be obtained based on the face key points via the first neural network.
- the head posture can be represented by the head posture angle / Eulerian angle in the normalized spherical coordinate system (that is, the camera coordinate system where the camera is located) under normal driving conditions, where the posture angle / Eulerian Angles include: pitch angle ⁇ (pitch), yaw angle ⁇ (yaw), roll angle ⁇ (roll), and head attitude information includes: (pitch, yaw, roll).
- the pitch angle is used to indicate the angle of the face down or head up in the vertical direction
- the yaw angle is used to indicate the angle of the side of the face in the horizontal direction (that is, turning the head)
- the roll angle is used to indicate the vertical direction The angle of the face tilting its head (ie leaning against the shoulder).
- the detection result of the distraction state may be determined to be a distraction state (ie, inattentiveness).
- the pitch angle changes from 0 degrees to a certain angle within a preset short period of time and then returns to 0 degrees (corresponding to the nodding movement of the head from the normal position to lower the head suddenly, and then return to the normal position to doze) can Determine the fatigue state test result as fatigue state (ie fatigue driving level).
- the head posture information can be determined based on the angle between the camera and the camera when the camera is directly in front of the driver's position and facing the driver's position as the reference head posture.
- the specific implementation can be known based on the records of the embodiments of the present disclosure, which will not be repeated here.
- the first neural network can be pre-trained based on deep learning technology.
- using the first neural network to obtain head posture information based on key points of the face can improve the accuracy of the obtained head posture information, thereby improving the accuracy of the driver state detection result.
- face key point detection can also be performed through a pre-trained neural network, thereby improving the accuracy of face key point detection results, further improving the accuracy of head posture information, and thus improving the driver state detection results accuracy.
- obtaining the eye state information according to the detected key points of the face may include: determining the eye area image in the driver image according to the face key points; based on the second neural network, the eye area The image is used to detect the upper eyelid line and the lower eyelid line; according to the interval between the upper eyelid line and the lower eyelid line, the driver's eye closure state information is determined.
- the closed eye state includes an open eye state, a semi-closed eye state, or an closed eye state
- the above eye state information includes the closed eye state information.
- the eye key points in the face key points may be used to locate the eyes in the driver image to obtain an eye area image , And use the eye area image to obtain the upper eyelid line and the lower eyelid line, and calculate the interval between the upper eyelid line and the lower eyelid line to obtain the eye closure state information.
- face key points of the driver image can also be detected, and the key points of the eyes in the detected face key points can be directly used to calculate, so as to obtain the closed eye state according to the calculation result information.
- the closed-eye state information can be used to detect the driver ’s closed eyes, such as whether the driver is half-closed (“half” indicates a state of incompletely closed eyes, such as squinting in a drowsy state, etc.) , Eye closure times, eye closure range, etc.
- the eye-opening state information may be information after normalizing the height of the eye-opening.
- the second neural network can be pre-trained based on deep learning technology.
- using the second neural network to detect the upper and lower eyelid lines can accurately detect the positions of the upper and lower eyelid lines, thereby improving the accuracy of the eye closure state information to improve the driver The accuracy of the state's test results.
- obtaining eye state information according to the detected face key points may include: determining the eye area image in the driver image according to the face key points; based on the third neural network pair The eye area image is subjected to the classification process of opening and closing eyes to obtain a classification result of opening or closing eyes, corresponding to indicating that the eyes are in an open or closed state, and the above eye state information includes the classification of the open or closed eyes The eye-open state or eye-closed state corresponding to the result.
- the third neural network can perform feature extraction and classification of closed eyes for the input eye area image, and output the open eyes probability (value range can be 0 to 1) or the closed eyes probability (value range can be 0 ⁇ 1)
- This classification result based on the open-eye probability or closed-eye probability, it can be determined that the eyes are in the open-eye state or closed-eye state, thereby obtaining the driver's eye state.
- the third neural network can be based on deep learning technology, directly trained with the open-eye sample image and the closed-eye sample image, and the trained third neural network can directly obtain the classification results of open-eye or closed-eye for the input image, and There is no need to calculate the degree of eye closure.
- obtaining the driver's eye state in the eye area image based on the third neural network can improve the accuracy and detection efficiency of the eye state information, thereby improving the accuracy and detection efficiency of the driver state detection result .
- acquiring the mouth state information according to the detected face key points may include: determining the mouth area image in the driver image according to the face key points; based on the fourth neural network, the mouth area The image detects the upper and lower lip lines; the driver's mouth opening and closing state information is determined according to the interval between the upper and lower lip lines.
- the mouth opening and closing state may include an open state of the mouth (ie, open mouth state), a closed state (ie, closed mouth state), a semi-closed state (ie, half open mouth state), and the like.
- the mouth state information includes the mouth opening and closing state information.
- the mouth key points in the face key points may be used to locate the mouth in the driver image by cutting, etc.
- an image of the mouth area can be obtained, and the upper lip line and the lower lip line can be obtained by using the image of the mouth area.
- the mouth opening and closing state information can be obtained.
- the mouth key points in the face key points can be directly used for calculation, so as to obtain mouth opening and closing state information according to the calculation result.
- the above mouth opening and closing state information may be used to detect a driver's yawning, for example, to detect whether the driver yawns and the number of yawnings.
- the mouth opening and closing state information may be information after the mouth opening height is normalized.
- the fourth neural network can be pre-trained based on deep learning technology.
- the fourth neural network is used to detect the upper lip line and the lower lip line, which can accurately detect the position of the upper lip line and the lower lip line, thereby improving the accuracy of the mouth opening and closing state information to improve the driver's state. The accuracy of the test results.
- acquiring the state information of the mouth according to the detected key points of the face may include: determining the mouth area image in the driver image according to the key points of the face; based on the fifth neural network The partial region image is subjected to the classification process of opening and closing the mouth to obtain a classification result of opening or closing the mouth, which corresponds to indicating that the mouth is in the open or closed state; wherein, the above-mentioned mouth state information includes the open or closed state.
- the fifth neural network can perform feature extraction and classification processing on the input mouth area image, and output the probability of opening the mouth (that is, the mouth is open) (value range can be 0 to 1) or closing the mouth (that is, the mouth Closed state) probability (value range can be 0 to 1), based on the open mouth probability or closed mouth probability, it can be determined that the mouth is in the open state or closed state, so as to obtain the driver's mouth state information.
- the fifth neural network can be based on deep learning technology, directly pre-trained with open mouth sample images and closed mouth sample images, and the trained fifth neural network can directly obtain the classification results of open mouth or closed mouth for the input image without the need The detection of the upper lip line and the lower lip line and the calculation of the interval between them are performed.
- obtaining the mouth state information of the driver in the mouth area image based on the fifth neural network can improve the accuracy and detection efficiency of the mouth state information, thereby improving the accuracy and detection of the driver state detection results effectiveness.
- the indicators used to characterize the fatigue state of the driver may include, for example, but not limited to: the degree of doze, the degree of eye closure, the degree of blinking, the degree of yawning, etc .; and / or
- the indicators of the member's distraction status may include, for example, but not limited to: the degree of head position deviation, the degree of face orientation deviation, the degree of sight line deviation, the degree of daze, and so on.
- determining the parameter value of the index used to characterize the driver's distraction state based on head posture information and / or eye state information may include:
- the parameter value of the degree of head position deviation may include, but is not limited to, any one or more of the following: head position deviation state, head position deviation direction, head position deviation angle in the head position deviation direction, Duration of head position deviation, frequency of head position deviation; and / or,
- the face orientation information may include, for example, the direction and angle of rotation of the face, and the direction of rotation here may be to the left , Turn to the right, turn down and / or turn up, etc.
- the parameter value of the degree of deviation of the face orientation may include, but is not limited to, any one or more of the following: the number of times of turning the head, the duration of turning the head, the frequency of turning the head, etc .; and / or,
- the parameter value of the degree of sight line deviation may include, but is not limited to, any one or more of the following: the angle of sight line deviation, the length of sight line deviation, the frequency of sight line deviation, etc .; and / or,
- the parameter value of the degree of daze is obtained.
- the parameter value of the degree of daze may include, but is not limited to, any one or more of the following: the degree of eye opening, the duration of eye opening, the ratio of the cumulative time of eye opening to the statistical time window, and so on.
- determining the parameter value of the index used to characterize the fatigue state of the driver based on the head posture information, eye state information, and / or mouth state information may include:
- the parameter value of the snooze degree may include, but is not limited to, any one or more of the following: the state of nodding, the width of the nodding, the number of nodding, the frequency of the nodding, the frequency of the nodding, the duration of the nodding, etc .; and / or,
- the parameter value of the degree of closed eyes is obtained.
- the parameter value of the degree of closed eyes may include, but is not limited to, any one or more of the following: the number of closed eyes, the frequency of closed eyes, the duration of closed eyes, the amplitude of closed eyes, the number of semi-closed eyes, the frequency of semi-closed eyes, the closed eyes The ratio of the accumulated eye duration to the statistical time window, etc .; and / or,
- the parameter value of the degree of blinking is acquired.
- the process of the eyes from the open state, to the closed state, and then to the open state can be considered to complete a blinking action, and the time required for a blinking action can be, for example, 0.2s ⁇ Around 1s.
- the parameter value of the degree of blinking may include, but is not limited to, any one or more of the following: the number of blinks, the frequency of blinking, the duration of blinking, the ratio of the cumulative duration of blinking to the statistical time window, etc .; and / or,
- the parameter value of the yawn degree may include, but is not limited to, any one or more of the following: yawning status, yawning frequency, yawning duration, yawning frequency, and so on.
- the head posture information can be obtained based on the deep learning technology, and the driver's head position, face orientation, and line of sight in the driver image can be determined based on the head posture information, which improves the head position information, person
- the accuracy of face orientation information and line-of-sight information makes the parameter value of the indicator used to characterize the driver's state determined based on the head posture information more accurate, thereby helping to improve the accuracy of the detection result of the driver's state.
- the head position information can be used to determine whether the driver's head position is normal, such as determining whether the driver is looking down, tilting his head, tilting his head, or turning his head.
- the head position information can be optionally determined by the pitch angle, yaw angle and roll angle of the head.
- Face orientation information can be used to determine whether the driver's face orientation is normal, such as determining whether the driver is looking sideways or turning back.
- the face orientation information may optionally be an angle between the front of the driver's face and the front of the vehicle driven by the driver.
- the above-mentioned line-of-sight information can be used to determine whether the driver's line-of-sight direction is normal, such as determining whether the driver looks forward, etc.
- the line-of-sight direction information can be used to determine whether the driver's line of sight has deviated.
- the line-of-sight direction information may optionally be an angle between the driver's line of sight and the front of the vehicle driven by the driver.
- N1 frames for example, 9 frames or 10 frames, etc.
- N1 frames for example, 9 frames or 10 frames, etc.
- the driver appears After a long-time large-angle head turn, you can record a long-time large-angle head turn, or you can record the duration of the current head turn; after judging that the face orientation information is not greater than the first orientation, greater than the second orientation, and in The phenomenon that is not greater than the first orientation and greater than the second orientation continues for N1 frames (N1 is an integer greater than 0, for example, lasts 9 frames or 10 frames, etc.), then it is determined that the driver has experienced a long-term small-angle turn Head phenomenon, you can record the deviation of the head at a small angle, or you can record the duration of the head.
- the angle between the line-of-sight direction information and the front of the vehicle is determined to be greater than the first angle, and the phenomenon that is greater than the first angle continues for N2 frames (for example, 8 frames or 9 frames, etc.), it is determined that the driver has experienced a serious line of sight deviation, and can record the serious line of sight deviation or the duration of the current line of sight deviation; when judging the angle between the line of sight information and the front of the vehicle
- the phenomenon is not greater than the first included angle and greater than the second included angle, and the phenomenon of not greater than the first included angle and greater than the second included angle lasts N2 frames (N2 is an integer greater than 0, for example, lasts 9 frames or 10 frames, etc.), it is determined that the driver has a line of sight deviation phenomenon, which can record the line of sight deviation once, or the duration of the current line of sight deviation.
- the values of the first orientation, the second orientation, the first included angle, the second included angle, N1, and N2 may be set according to actual conditions, and the present disclosure does not limit the value.
- the eye state information can be obtained based on the deep learning technology, and the parameter value of the degree of closed eyes, the parameter value of the degree of daze and the parameter value of the degree of blinking can be determined according to the eye state information, and the parameter of the degree of closed eyes is improved
- the accuracy of the parameter value, the parameter value of the degree of daze and the parameter value of the degree of blinking make the parameter value of the indicator used to characterize the driver's state determined based on the eye state information more accurate, thereby helping to improve the detection result of the driver's state Accuracy.
- the mouth state information can be obtained based on the deep learning technology, and the parameter value used to characterize the yawning degree can be determined according to the mouth state information, which improves the accuracy of the parameter value of the yawning degree so that the mouth-based
- the parameter value of the indicator used to characterize the driver state determined by the state information is more accurate, thereby helping to improve the accuracy of the detection result of the driver state.
- the sixth neural network can be obtained by pre-training with sample images based on deep learning technology. After training, the sixth neural network can directly output line-of-sight direction information to the input image to improve the accuracy of line-of-sight direction information. Therefore, the accuracy of the detection result of the driver state is improved.
- the sixth neural network can be trained in various ways, which is not limited in the present disclosure.
- the first line of sight direction may be determined according to the camera that captures the sample image and the pupils in the sample image, the sample image includes at least the eye image; the line of sight direction of the sample image is detected via the sixth neural network, Obtain the first detected sight line direction; train the sixth neural network according to the first sight line direction and the first detected sight line direction.
- the first coordinate of the pupil reference point in the sample image in the first camera coordinate system is determined, and the second coordinate of the cornea reference point in the sample image in the first camera coordinate system is determined .
- the sample image includes at least the eye image; determine the second line-of-sight direction of the sample image according to the first and second coordinates; perform line-of-sight detection on the sample image via the sixth neural network to obtain the second detected line-of-sight direction; Train the sixth neural network in the second line of sight direction and the second detected line of sight direction.
- determining the driver's line of sight direction in the driver image according to the head posture information to obtain the line of sight direction information may include: determining the pupil edge according to the eye image located at the eye key point in the face key point Position, and calculate the pupil center position according to the pupil edge position; obtain the head posture information corresponding to the head posture information according to the pupil center position and the eye center position; the eye corner information under the head posture; determine the driver's line of sight according to the head posture information and the eye corner information To get line of sight information.
- determining the position of the pupil edge according to the eye image located at the eye key point in the face key point may include: detecting the pupil edge position of the eye image in the image segmented according to the face key point based on the seventh neural network And obtain the pupil edge position according to the information output by the seventh neural network.
- the eye image can be cut and enlarged from the driver image, and the cut and enlarged eye image can be provided to the seventh neural network for pupil positioning for pupil key point detection and output detection
- the key point of the pupil is obtained according to the key point of the pupil output by the seventh neural network, and the center position of the pupil can be obtained by calculating the position of the edge of the pupil (for example, calculating the position of the center of the circle).
- the center position of the eye can be obtained based on the above upper and lower eyelid lines, for example, the coordinate information of all key points of the upper and lower eyelid lines are added, and the upper and lower eyelid lines are subtracted For the number of all key points of the eyelid line, the coordinate information obtained after division is taken as the center position of the eye.
- the eye center position can also be obtained in other ways, for example, the eye key points in the detected face key points are calculated to obtain the eye center position; the disclosure does not limit the implementation manner of obtaining the eye center position.
- a more accurate pupil center position can be obtained; by obtaining the eye center position based on the positioning of the eyelid line, a more accurate eye center can be obtained Position, so that when using the center position of the pupil and the center position of the eye to determine the line-of-sight direction, more accurate line-of-sight direction information can be obtained.
- the realization of the direction of the line of sight is accurate and easy to achieve .
- the present disclosure may adopt an existing neural network to implement the detection of the position of the pupil edge and the detection of the center position of the eye.
- the seventh neural network can be pre-trained based on deep learning technology.
- using the seventh neural network to detect the position of the pupil edge can accurately detect the position of the pupil edge, thereby improving the accuracy of line-of-sight direction information.
- the parameter of the degree of deviation of the line-of-sight direction when the parameter value of the degree of deviation of the line-of-sight direction is obtained based on the line-of-sight direction information over a period of time, the parameter of the degree of deviation of the line-of-sight direction may be obtained according to the deviation angle of the line-of-sight direction information relative to the reference line-of-sight direction within a period of time value.
- the reference sight line direction may be preset; or, the average sight line direction determined based on the first N frames of the driver image in the video where the driver image is located may be used as the reference sight line direction.
- N is an integer greater than 1.
- obtaining the parameter value of the degree of daze based on eye state information over a period of time may include: according to the above eye state information, when the driver's eyes are in the open state and continue to reach the preset daze time When it is determined that the driver is in a daze state; according to the eye state information for a period of time, the parameter value of the daze degree is obtained.
- the period of time includes the above-mentioned preset daze time.
- the head suddenly lowers its head downward from the normal head position, and then returns to the normal head position (that is, the pitch angle in the head attitude information is changed from 0 degrees during normal driving to a preset
- the process of changing to a certain angle in a short time and then returning to 0 degrees) can be regarded as a nod.
- obtaining the parameter value of the doze level according to the head position information within a period of time may include: according to the head position information, the deviation of the driver's head position from the preset reference head position When the degree reaches the preset deviation range within the first preset time and returns to the preset reference head position within the second preset time, it is determined that the driver is in a nap state; according to the head position information within a period of time, obtain The parameter value of the doze level; where a period of time includes a first preset time and a second preset time.
- the process of the mouth from the closed state, to the open state, and then to the closed state can be considered to complete one yawning action, and the time required for one yawning action is usually greater than 400 ms.
- obtaining the parameter value of the yawn degree according to the mouth state information over a period of time may include: according to the mouth state information, the driver ’s mouth changes from the closed state to the open state, and then resumes When the time to the closed state is within the preset time range, it is determined that the driver has completed a yawning action; according to the mouth state information within a period of time, the parameter value of the yawning degree is obtained.
- the period of time includes the time when the driver's mouth changes from the closed state to the open state, and then returns to the closed state.
- determining the detection result of the fatigue state according to the parameter value of the index used to characterize the fatigue state of the driver may include: in any one or more of the parameter values of the index used to characterize the fatigue state of the driver satisfy When the fatigue condition is predetermined, the fatigue state test result is determined to be the fatigue state; and / or, when all the parameter values used to characterize the driver's fatigue state do not satisfy the predetermined fatigue condition, the fatigue state test result is determined to be the non-fatigue state.
- the predetermined fatigue condition may include multiple fatigue level conditions.
- the determination of the fatigue state detection result as the fatigue state includes: according to the indicators used to characterize the driver's fatigue state The fatigue level condition satisfied by the parameter value of is to determine the fatigue state level; the determined fatigue state level is used as the fatigue state detection result.
- the fatigue state detection result is expressed as a degree of fatigue driving.
- the degree of fatigue driving may include, for example, a normal driving level (that is, a non-fatigue state) and a fatigue driving level (that is, a fatigue state level); where the fatigue driving level may be
- a fatigue state level can also be divided into a number of different fatigue state levels.
- the above fatigue driving level can be divided into: prompt fatigue level (also called mild fatigue level) and warning fatigue level (also called Is a severe fatigue level).
- the degree of fatigue driving can also be divided into more levels, for example, a mild fatigue level, a moderate fatigue level, and a severe fatigue level.
- the present disclosure does not limit the different fatigue state levels included in the degree of fatigue driving.
- each fatigue state level included in the fatigue driving degree corresponds to a fatigue level condition
- the non-fatigue state where the parameter value of the index used to characterize the fatigue state of the driver does not satisfy all the fatigue level conditions is determined as the degree of fatigue driving.
- the preset condition corresponding to the normal driving level (that is, the non-fatigue state) (that is, not meeting the predetermined fatigue condition) may include:
- the fatigue level condition corresponding to the fatigue level may include:
- the fatigue level conditions corresponding to the warning fatigue level may include:
- Condition 20d there is an eye-closing phenomenon or the number of closed eyes within a period of time reaches a preset number of times or the period of closed eyes within a period of time reaches a preset time;
- condition 20d and condition 20e If any of the above condition 20d and condition 20e is satisfied, the driver is currently in the warning fatigue level.
- determining the detection result of the distraction state based on the parameter value of the indicator used to characterize the driver's distraction state may include: in any one or more of the indicators used to characterize the driver's distraction state When the parameter value satisfies the predetermined distraction condition, the detection result of the distraction state is determined to be the distraction state; and / or, when all the parameter values of the indicators characterizing the driver's distraction state do not satisfy the predetermined distraction condition, the determination The result of the heart state detection is a non-distracted state.
- the aforementioned predetermined distraction condition may include multiple distraction level conditions.
- the detection result of the distraction state is determined to be the distraction state, including: The distraction level condition satisfied by the parameter value of the index of the distraction state determines the distraction state level; the determined distraction state level is used as the detection result of the distraction state.
- the detection result of the distracted state may be expressed as a degree of distracted driving.
- the degree of distracted driving may include, for example: driver concentration (the driver's attention is not distracted, non-distracted state), driver attention Distracted (distracted state). For example, if the deviation angle of the line of sight direction, the deviation angle of the face orientation, and the deviation angle of the head position are all less than the first preset angle, and the duration of opening the eyes is less than the first preset duration, it is the driver ’s concentration (driver ’s attention) Undispersed, non-distracted state).
- the driver's distraction level may include, for example, a slight distraction of the driver's attention, a moderate distraction of the driver's attention, and a severe distraction of the driver's attention.
- the driver's level of distraction can be determined by the distraction level condition satisfied by the parameter value of the index used to characterize the driver's distraction state.
- the deviation angle of the face towards the deviating angle and the head position is not less than the preset angle, and the duration is not greater than the first preset duration, and is less than the second preset duration, or the eyes continue
- the duration is not greater than the first preset duration and less than the second preset duration, which is a slight distraction of the driver's attention; if the deviation of the line of sight direction and the angle of face orientation is not less than the preset angle, and the duration is not greater than The second preset duration is less than the third preset duration, or the duration of opening the eyes is not greater than the second preset duration and less than the third preset duration, which means that the driver's attention is moderately distracted; Any deviation of the face orientation angle is not less than the preset angle and the duration is not less than the third preset duration, or the duration of opening the eyes is not less than the third preset duration, which is a serious distraction for the driver.
- FIG. 3 is a flowchart of still another embodiment of the driving state detection method of the present disclosure. Relative to the above shown in FIG. 1 or FIG. 2, the driving state detection method of this embodiment further includes operations related to the detection of a predetermined distraction action on the driver image. As shown in FIG. 3, the predetermined distraction on the driver image Examples of motion detection include:
- the predetermined distraction motion in the embodiment of the present disclosure may be any distraction motion that may distract the driver's attention, such as a smoking motion, a water drinking motion, a diet motion, a phone call motion, an entertainment motion, and a makeup motion.
- eating actions such as eating fruits, snacks and other foods
- entertainment actions such as sending messages, playing games, karaoke, etc.
- electronic devices such as mobile phone terminals, PDAs, game consoles, etc.
- the operation 302 may be executed by the processor invoking the corresponding instruction stored in the memory, or may be executed by the second detection module executed by the processor.
- operation 304 is performed. Otherwise, if the predetermined distraction action does not occur, the subsequent process of this embodiment is not executed.
- the parameter value of the degree of distraction may include, but is not limited to, any one or more of the following: the number of predetermined distraction actions, the duration of the predetermined distraction action, the frequency of the predetermined distraction action, and so on. For example, the number, duration, and frequency of smoking actions; the number, duration, and frequency of water drinking actions; the number, duration, and frequency of phone calls; and so on.
- the operation 304 may be executed by the processor invoking the corresponding instruction stored in the memory, or may be executed by the first acquiring module executed by the processor.
- the operation 306 may be executed by the processor invoking the corresponding instruction stored in the memory, or may be executed by the fourth determination module executed by the processor.
- performing a predetermined distraction motion detection on the driver image to determine whether the predetermined distraction motion occurs may include:
- Multiple candidate frames that may include predetermined distraction actions based on feature extraction
- the action target frame is determined based on a plurality of candidate frames, where the action target frame includes a local area of a human face and an action interactant, or may further selectively include a hand area.
- the local area of the human face may include, for example, but not limited to any one or more of the following: mouth area, ear area, eye area, etc .; and / or, the action interactive object may include, for example, but not limited to the following Any one or more: containers, cigarettes, mobile phones, food, tools, beverage bottles, glasses, masks, etc .;
- the classification detection of the predetermined distraction action is performed to determine whether the predetermined distraction action occurs.
- performing a predetermined distraction motion detection on the driver image to determine whether the predetermined distraction motion occurs may include: performing target object detection corresponding to the predetermined distraction motion on the driver image to obtain the target The detection frame of the object; according to the detection frame of the target object, determine whether a predetermined distraction occurs.
- This embodiment provides an implementation solution for detecting a predetermined distraction action for a driver, by detecting a target object corresponding to the predetermined distraction action, and determining whether a predetermined distraction action occurs according to the detection frame of the detected target object, thereby judging the driver Whether it is distracted or not helps to obtain accurate detection results of the driver's predetermined distraction action, thereby helping to improve the accuracy of the detection result of the driving state.
- the above-mentioned predetermined distraction motion detection of the driver image to determine whether the predetermined distraction motion occurs may include: performing face detection on the driver image via the eighth neural network to obtain face detection Frame, and extract the feature information of the face detection frame; determine whether smoking occurs through the eighth neural network according to the feature information of the face detection frame.
- the above Detecting the predetermined distraction action of the driver image to determine whether the predetermined distraction action occurs may include: presetting the eating action / drinking action / calling action / entertainment action / make-up action on the driver image via the ninth neural network Target object detection to obtain a detection frame of a preset target object, where the preset target object includes: hands, mouth, eyes, action interaction objects; action interaction objects may include but are not limited to any one or more of the following types, for example : Container, food, electronic equipment, cosmetics, etc .; determine whether a predetermined distraction occurs according to the detection frame of the preset target object, and the determination result of whether the predetermined distraction occurs may include one of the following: No dietary movement / drinking occurs Water action / phone call action
- the predetermined distracting action is a dieting action / a drinking action / a calling action / entertainment action (ie, a dieting action and / or a drinking action and / or a calling action and / or entertainment action) / make-up action
- determining whether a predetermined distraction occurs according to the detection frame of the preset target object which may include: detecting the detection frame of the hand, the detection frame of the mouth, the detection frame of the eye, and the detection frame of the action interaction object, And according to whether the detection frame of the hand and the detection frame of the action interaction object overlap, the type of the action interaction object, and whether the distance between the detection frame of the action interaction object and the detection frame of the mouth or the eye meets the preset condition To determine whether a predetermined distraction occurs.
- the type of the action interaction object is a container or food, and the detection frame of the action interaction object overlaps with the detection frame of the mouth, it is determined that the eating action, Drinking water action or make-up action; and / or, if the detection frame of the hand overlaps the detection frame of the action interaction object, the type of the action interaction object is an electronic device, and between the detection frame of the action interaction object and the detection frame of the mouth.
- the minimum distance is less than the first preset distance, or the minimum distance between the detection frame of the action interaction object and the detection frame of the eye is less than the second preset distance, and it is determined that an entertainment action or a phone call action occurs.
- the detection frame of the hand, the detection frame of the mouth, and the detection frame of any motion interaction are not simultaneously detected, and the detection frame of the hand, the detection frame of the eye, and the detection of any motion interaction are not simultaneously detected Frame, to determine whether a predetermined distraction action has occurred.
- the result of the determination is that no eating, drinking, calling, entertainment, and makeup actions have been detected; and / or if the detection frame of the hand does not overlap with the detection frame of the action interaction ,
- the result of the determination of whether a distracting action occurs is that no eating action, drinking action, phone call action, entertainment action, and makeup action are detected; and / or, if the type of action interaction is container or food, and the action interaction
- the detection frame of the mouth and the detection frame of the mouth, and / or the type of action interaction object is an electronic device, and the minimum distance between the detection frame of the action interaction object and the detection frame of the mouth is not less than the first Set the distance, or the minimum distance between the detection frame of the action interaction object and the detection frame of the eye to be not less than the second preset distance, and determine whether the determination result of the predetermined distraction action is undetected Action to diet, drink plenty of water action, a call action, action and entertainment make-up action.
- the eighth neural network and the ninth neural network can perform predetermined distraction detection on the driver image, and output the probability of occurrence of various predetermined distraction movements, which can be selected to be greater than the preset probability threshold and the highest probability value As the detection result of the predetermined distraction motion, if the probability of each predetermined distraction motion is lower than the preset probability threshold, it can be considered that the predetermined distraction motion is not detected.
- detecting a predetermined distraction motion on the driver image it may further include: if it is determined that the predetermined distraction motion occurs, prompting the detected distraction motion, for example, when a smoking motion is detected, prompting detection Smoking; when drinking water is detected, it prompts the detection of drinking water; when a call is detected, it prompts the detection of a call to remind the driver to focus on driving.
- the predetermined distraction motion may further include:
- the determined distraction action level is used as the detection result of the driver's predetermined distraction action.
- the detection result of the driver's predetermined distraction action may include: no predetermined distraction action occurs (that is, no predetermined distraction action is detected, which may also be referred to as a concentration driving level), and a predetermined distraction action occurs (that is, detection To the scheduled distraction).
- the detection result of the driver's predetermined distraction action may also be a distraction action level, for example, a prompt distraction level (also referred to as a mild distraction level) and a warning distraction level (also referred to as severe distraction) level).
- the distraction action level can also be divided into more levels, such as: undistracted level, mild distraction level, moderate distraction level, and severe distraction level.
- the distraction action levels of the embodiments of the present disclosure may also be divided according to other situations, and are not limited to the above-mentioned level division situations.
- the level of the distraction action may be determined by the condition of the level of the distraction action that is satisfied by the parameter value of the index used to characterize the degree of distraction. For example, the detection result of the driver's scheduled distraction motion is that the scheduled distraction motion does not occur; if it is determined that the scheduled distraction motion occurs, the duration of detecting the scheduled distraction motion is less than the first preset duration and the frequency is less than the first preset Frequency, the level of distraction action is a mild distraction level; if the duration of a predetermined distraction action is detected to be greater than the first preset duration, and / or the frequency is greater than the first preset frequency, the distraction action level is a severe distraction level .
- it may further include: in response to the detection result of the predetermined distraction action satisfying the predetermined alarm condition, outputting alarm information corresponding to the detection result of the predetermined distraction action satisfying the predetermined alarm condition.
- outputting alarm information of a corresponding detection result satisfying the predetermined alarm condition may include: responding As one of the fatigue state detection result, the distraction state detection result, and the predetermined distraction action detection result meets a predetermined alarm condition, an alarm message that outputs a corresponding detection result that meets the predetermined alarm condition is output.
- outputting alarm information of the fatigue state detection result satisfying the predetermined alarm condition may include: The fatigue state detection result, the distraction state detection result, and the predetermined distraction motion detection result all satisfy the predetermined alarm condition, and output alarm information of the fatigue state detection result satisfying the predetermined alarm condition; and / or, in response to the fatigue state detection result, Two of the detection results of the heart state and the detection results of the predetermined distraction action satisfy the predetermined alarm condition, and the alarm information is output according to the preset alarm strategy.
- the alarm information in response to the fatigue state detection result, the distraction state detection result, and the predetermined distraction action detection result, two of which satisfy the predetermined alarm condition, the alarm information is output according to the preset alarm strategy, include:
- the alarm information corresponding to other detection results that meet the predetermined alarm condition may be suppressed within a preset time after the alarm information corresponding to the detection result of the predetermined distraction action that satisfies the predetermined alarm condition is output, Therefore, the purpose of prompting the driver to drive safely can be achieved, and repeated output of multiple prompt / warning information can be avoided to interfere with the normal driving of the driver, thereby improving driving safety.
- outputting the alarm information of the fatigue state detection result satisfying the predetermined alarm condition may include: outputting a corresponding prompt or warning message according to the fatigue state level; and / or .
- outputting the prompt / alarm information corresponding to the distraction status detection result satisfying the predetermined alarm condition may include: outputting the corresponding prompt or alarm information according to the distraction status level; and /
- outputting the alarm information corresponding to the detection result of the predetermined distraction action satisfying the predetermined alarm condition may include: outputting a corresponding prompt or alarm message according to the distraction action level .
- outputting prompt / warning information corresponding to the detection result of the fatigue state may include:
- the fatigue state detection result is determined to be a fatigue state, and fatigue prompt information is output. If the driver has been dozing and nodding, the driver's fatigue will continue to deepen (that is, the fatigue state level will increase). The fatigue level will be light fatigue level, moderate fatigue level to severe fatigue level, and it will be output every X seconds. A fatigue alarm message until the fatigue state detection result is a non-fatigue state, that is, the driver returns to the normal driving state, where X is a value greater than 0;
- the fatigue state detection result is determined to be a fatigue state, and fatigue prompt information is output. If the duration of the driver ’s closed eyes continues to increase or the blink rate has been too high, the driver ’s fatigue will continue to deepen (that is, the fatigue state level will increase), and the fatigue level will be mild fatigue level, moderate fatigue level, and then severe Fatigue level, fatigue alarm information is output every X seconds until the fatigue state detection result is non-fatigue state, that is, the driver returns to normal driving state;
- the driver is found to be yawning, the fatigue state detection result is determined to be the fatigue state, and the fatigue prompt information is output. If the driver has been yawning, the driver's fatigue level will continue to deepen (that is, the fatigue state level will increase). The fatigue level will be light fatigue level, moderate fatigue level to severe fatigue level, and it will be output every X seconds. A fatigue warning message until the fatigue state detection result is non-fatigue state, that is, the driver returns to normal driving state;
- outputting prompt / alarm information corresponding to the distraction state detection result may include:
- the detection result of the distraction state is determined to be the distraction state, and a distraction prompt message is output, where Y is greater than 0 Value.
- the deviation time of the driver's head position exceeds the preset range, the deviation time will continue to increase, the driver's distraction will continue to deepen (that is, the level of distraction state will increase), and the degree of distraction will be slightly distracting for the driver in turn.
- the driver ’s attention is moderately distracted, the driver ’s attention is severely distracted, etc., and the distraction alarm information is output every X seconds until the detection result of the distraction state is non-distracted, that is, the driver returns to the normal driving state;
- the detection result of the distraction state is determined to be Distraction status, output distraction prompt information.
- the duration of the deviation of the line-of-sight direction exceeds the preset line-of-sight safety range, the driver ’s distraction will continue to deepen (that is, the level of distraction status will increase), and the driver ’s distraction will in turn be slightly distracting. Attention is moderately distracted, driver's attention is severely distracted, etc., and a distraction alarm message is output every X seconds until the detection result of the distraction state is non-distracted, that is, the driver returns to the normal driving state;
- the detection result of the distraction state is determined to be the distraction state, and the distraction prompt information is output.
- the degree of distraction of the driver will continue to deepen (that is, the level of distraction state will increase).
- the degree of distraction will be slightly distracted by the driver, moderately distracted by the driver, severely distracted by the driver, etc., every X
- the distraction alarm information is output once per second until the detection result of the distraction state is a non-distraction state, that is, the driver returns to the normal driving state.
- it may further include: when any one or more of the detection results of the fatigue state detection result, the distraction state detection result, and the detection result of the predetermined distraction action satisfy the predetermined driving mode switching condition, Switch the driving mode to the automatic driving mode.
- the driving mode may be switched to the automatic driving mode to achieve safe driving and avoid occurrence of Road traffic accidents.
- the driving mode is switched to the automatic driving mode, and the safe driving of the vehicle is achieved through the automatic driving mode to avoid road traffic accidents.
- the detection result of the driver state may also be output, for example, the detection result of the driver state is output locally and / or the detection of the driver state is output remotely result.
- the local output of the driver state detection result means that the driver state detection result is output through the driving state detection device or the driver monitoring system, or the driver state detection result is output to the central control system in the vehicle, so that the vehicle is based on the driving
- the detection results of the state of the staff perform intelligent driving control on the vehicle.
- the driver state detection result can be sent to the cloud server or management node, so that the cloud server or management node can collect, analyze, and / or manage the driver state detection result, or The vehicle is remotely controlled based on the detection result of the driver state.
- the detection result of the driving state can also be stored in the user information of the driver in the database, and the detection result of the driving state of the driver can be recorded in order to facilitate the subsequent driving state of the driver Check the test results, or analyze and count the driver's driving habits.
- it may further include: image acquisition through an infrared camera, for example, image acquisition through an infrared camera deployed at at least one location in the vehicle to obtain a driver image.
- the driver image in the embodiment of the present disclosure is generally an image frame in a video captured by an infrared camera (including a near-infrared camera, etc.) for the cab.
- an infrared camera including a near-infrared camera, etc.
- the wavelength of the infrared camera may include 940nm or 850nm.
- the infrared camera can be set in any position where the driver can be photographed in the cab of the vehicle.
- the infrared camera can be deployed in any one or more of the following positions: above or near the instrument panel, above or near the center console, A-pillar or nearby location, rear-view mirror or nearby location.
- the infrared camera can be set above the instrument panel (such as the position directly above), facing the front position; it can be set above the center console (such as the middle position), facing the front position; or It can be installed on the A-pillar (for example, it can be attached to the glass near the A-pillar), facing the driver's face; it can also be installed on the rear-view mirror (for example, it can be attached to the glass above the rear-view mirror) and facing the driver's face.
- the optional position can be determined according to the camera's angle of view and the driver's position.
- the infrared camera when the infrared camera is set above the instrument panel, the infrared camera can be oriented towards the driver To ensure that the camera's angle of view is not blocked by the steering wheel; when it is set above the center console, if the camera's angle of view is large enough, it can be aimed at the rear to ensure that the driver is in the camera's field of view, if the angle of view is not large enough, it can face the driver To ensure that the driver appears in the perspective of the infrared camera.
- the quality of the driver image captured by the infrared camera is often better than that of the driver image captured by the ordinary camera, especially at night In a dark environment such as a cloudy day or a tunnel, the driver image captured by the infrared camera is usually significantly better than the driver image captured by the ordinary camera, which is conducive to improving the detection and distraction of the driver's distraction state
- the accuracy of motion detection is in turn beneficial to improve the accuracy of driving state monitoring.
- an easy-to-deploy and easy-to-use infrared camera is used to obtain driver images in real time, and the camera is installed in a variety of positions.
- the neural network of learning technology realizes the detection of driver fatigue state and distraction state. It has good robustness and a wide range of applications. It can achieve a good driving state detection effect in scenarios such as day, night, strong light, and low light.
- the original image acquired by the camera is often not directly usable due to various conditions and random interference.
- the driver image captured by the infrared camera may be used Grayscale pre-processing, convert the red, green, and blue (RGB) 3-channel images into grayscale images, and then perform driver identity authentication, distraction status detection, and distraction motion detection operations to improve identity authentication and distraction Accuracy of state detection and distraction detection.
- RGB red, green, and blue
- the image can be collected by an infrared camera to obtain the driver image in the following scenarios:
- image acquisition is performed through an infrared camera to obtain an image of the driver; and / or,
- an infrared camera After detecting the ignition of the vehicle, an infrared camera is used for image acquisition to obtain an image of the driver; and / or,
- the infrared camera is used for image acquisition to obtain the driver image; and / or,
- an infrared camera is used for image acquisition to obtain a driver image.
- the infrared camera can be started to collect the driver image for driving state detection.
- an infrared (including near-infrared) camera may be used for image acquisition to obtain a driver image, and then sent to a single-chip microcomputer, FPGA, ARM, CPU, GPU, or microprocessor that can load a neural network. It is realized by electronic devices such as smart mobile phones, notebook computers, tablet computers (PAD), desktop computers, or servers.
- the electronic devices can run computer programs (also called program codes).
- the computer programs can be stored in flash memory, cache, or hard disk. Or in a computer-readable storage medium such as an optical disc.
- any of the driving state analysis methods provided by the embodiments of the present disclosure may be executed by any appropriate device with data processing capabilities, including but not limited to: terminal devices and servers.
- any driving state analysis method provided by an embodiment of the present disclosure may be executed by a processor.
- the processor executes any driving state analysis method mentioned in the embodiment of the present disclosure by calling a corresponding instruction stored in a memory. I will not repeat them below.
- the driving state analysis device of this embodiment may be used to implement the above driving state analysis method embodiments of the present disclosure.
- the driving state analysis device of this embodiment includes: a driving state detection module, which is used to perform driver fatigue state detection and distraction state detection on the driver image to obtain fatigue state detection results and distraction state detection Results; an alarm module for responding to one of the fatigue state detection result and the distraction state detection result satisfying a predetermined alarm condition, outputting alarm information of a corresponding detection result satisfying the predetermined alarm condition; and / or, responding to the fatigue state Both the detection result and the distraction state detection result satisfy the predetermined alarm condition, and output the alarm information of the fatigue state detection result satisfying the predetermined alarm condition.
- the alarm module responds to one of the fatigue state detection result and the distraction state detection result to satisfy the predetermined alarm condition, and outputs the alarm information of the corresponding detection result satisfying the predetermined alarm condition when the alarm state
- a prompt / alarm message corresponding to the fatigue state detection result is output; and / or, when the distraction state detection result is a distraction state, a prompt / alarm information corresponding to the distraction state detection result is output.
- One of the results of the fatigue state detection and the distraction state detection is When the predetermined alarm condition is satisfied, output the alarm information of the corresponding detection result that meets the predetermined alarm condition; and / or, when both the fatigue state detection result and the distraction state detection result satisfy the predetermined alarm condition, output the fatigue that meets the predetermined alarm condition.
- the alarm information of the state detection result in order to remind the driver to improve driving safety and reduce the incidence of road traffic accidents; and, when both the fatigue state detection result and the distraction state detection result meet the predetermined alarm condition, only Outputting the alarm information of the fatigue state detection result that satisfies the predetermined alarm condition can prevent the driver from being distracted and disgusted by too many or too frequent alarms.
- the present disclosure improves the safety of assisted driving and the user experience by optimizing the alarm strategy.
- the alarm module may be further used to: suppress the alarm information corresponding to other detection results that satisfy the predetermined alarm condition within a preset time after the alarm information corresponding to the fatigue state detection result is output; and / or, Within the preset time after outputting the alarm information corresponding to the detection result of the distraction state, the alarm information corresponding to the other detection results satisfying the predetermined alarm condition is suppressed.
- This embodiment can avoid distracting and disgusting of the driver caused by excessive or too frequent alarms, and further improve the safety and user experience of assisted driving
- the driving state analysis device of this embodiment may further include: a first determination module for determining the deviation angle of the driver's head position in the driver image Whether it exceeds the preset range.
- the driving state detection module is used to detect the driver's distraction state on the driver's image when the deviation angle of the driver's head position exceeds a preset range to obtain the distraction state detection result ; And / or, when the deviation angle of the driver's head position does not exceed the preset range, perform the driver's fatigue state detection and distraction state detection operation on the driver image to obtain the fatigue state detection result and the distraction state Test results.
- the driving state detection module may include: a first detection module, configured to perform head posture detection, eye state detection, and / or mouth state detection on the driver image to obtain Head posture information, eye state information and / or mouth state information; second determination module, used to determine the driver's distraction state detection result based on head posture information and / or eye state information; third determination The module is used to determine the driver's fatigue state detection result based on head posture information, eye state information, and / or mouth state information.
- the second determining module may include: a first determining unit, configured to determine the parameter of the indicator used to characterize the driver's distraction state based on the head posture information and / or eye state information
- the second determination unit is used to determine the detection result of the driver's distraction state according to the parameter value of the index used to characterize the driver's distraction state.
- the third determining module may include: a third determining unit, configured to determine the characterization of the fatigue state of the driver based on head posture information, eye state information, and / or mouth state information The parameter value of the index; the fourth determining unit is used to determine the driver's fatigue state detection result based on the parameter value of the index used to characterize the driver's fatigue state.
- the first detection module may include: a key point detection unit for detecting face key points of the driver image; a first acquisition unit for acquiring the head according to the detected face key points Posture information, eye state information, and / or mouth state information.
- the first obtaining unit when the first obtaining unit obtains the head pose information according to the detected face key points, it is used to obtain the head pose information based on the face key points via the first neural network.
- the first acquiring unit when the first acquiring unit acquires eye state information according to the detected key points of the face, it is used to determine the eye area image in the driver image according to the key points of the face; based on the second neural network pair The eye area image is used to detect the upper eyelid line and the lower eyelid line; the driver's eye closure state information is determined according to the interval between the upper eyelid line and the lower eyelid line; wherein, the eye state information includes: eye closed state information .
- the first obtaining unit when the first obtaining unit obtains eye state information according to the detected face key points, it is used to determine the eye area image in the driver image according to the face key points; based on the third neural network pair The eye region image is subjected to the classification process of opening and closing the eyes to obtain the classification result of opening or closing the eyes; wherein, the eye state information includes: an open-eye state or an closed-eye state.
- the first acquiring unit when the first acquiring unit acquires mouth state information according to the detected face key points, it is used to determine the mouth area image in the driver image according to the face key points; based on the fourth neural network pair The mouth area image is used to detect the upper lip line and the lower lip line; the mouth opening and closing state information of the driver is determined according to the interval between the upper lip line and the lower lip line; wherein, the mouth state information includes the mouth opening and closing state information.
- the first acquisition unit when the first acquisition unit acquires mouth state information according to the detected face key points, it is used to determine the mouth area image in the driver image according to the face key points; based on the fifth neural network pair The mouth area image is subjected to the classification process of opening and closing the mouth to obtain the classification result of opening or closing the mouth; wherein, the mouth state information includes the opening or closing state.
- the third determining unit is configured to determine the parameter value of the index used to characterize the fatigue state of the driver based on the head posture information, eye state information, and mouth state information.
- the first determining unit is configured to: determine the head position of the driver in the driver image based on the head posture information to obtain head position information; and obtain the head according to the head position information within a period of time Parameter value of the degree of partial position deviation; and / or, determine the face orientation of the driver in the driver image based on the head posture information to obtain face orientation information; obtain the degree of face orientation deviation based on the face orientation information within a period of time Parameter value of; and / or, determine the driver ’s line of sight direction in the driver image based on the head posture information, obtain line of sight direction information, and obtain the parameter value of the degree of line of sight deviation based on the line of sight direction information over a period of time; or, based on the person Face keypoints determine the eye area image in the driver image, obtain the driver's sight line direction information in the eye area image based on the sixth neural network, and obtain the parameter value of the degree of sight line direction deviation based on the sight line direction information over a period of time; and
- the third determining unit is configured to: determine the driver's head position in the driver image based on the head posture information to obtain head position information; and obtain napping according to the head position information within a period of time The parameter value of the degree; and / or the parameter value of the degree of eye closure based on the eye state information over a period of time; and / or the parameter value of the degree of blinking based on the eye state information over a period of time; and / or or,
- the indicators used to characterize the fatigue state of the driver include any one or more of the following: the degree of doze, the degree of eye closure, the degree of blinking, the degree of yawning; and / or
- the status indicators include any one or more of the following: the degree of head position deviation, the degree of face orientation deviation, the degree of sight direction deviation, and the degree of daze.
- the first determining unit or the third determining unit determines the head position of the driver in the driver image according to the head posture information, and is used to obtain the pitch in the head posture information when the head position information is obtained
- the angle is used as the head position; and / or, the first determining unit determines the face orientation of the driver in the driver image based on the head pose information, and when obtaining face orientation information, it is used to obtain the pitch angle and The yaw angle serves as the face orientation.
- the first determining unit determines the driver's line of sight direction in the driver image based on the head posture information, and when obtaining the line of sight direction information, it is used to locate the eye image based on the eye key point in the face key point Determine the position of the pupil edge and calculate the pupil center position according to the pupil edge position; obtain the head posture information according to the pupil center position and the eye center position corresponding to the eye angle information under the head posture; determine the driver based on the head posture information and the eye angle information Direction of the line of sight to obtain line of sight information.
- the first determining unit determines the edge position of the pupil according to the eye image located at the eye key point in the face key point, it is used to segment the image according to the face key point based on the seventh neural network
- the image of the eye area is used to detect the position of the pupil edge, and the position of the pupil edge is obtained according to the information output by the seventh neural network.
- the first determining unit when the first determining unit obtains the parameter value of the degree of deviation of the line-of-sight direction based on the line-of-sight direction information for a period of time, it is used to obtain the line of sight based on the deviation angle of the line-of-sight direction information with respect to the reference line-of-sight direction for a period of time
- the parameter value of the degree of direction deviation may be set in advance, or may be an average sight line direction determined based on the first N frames of the driver image in the video where the driver image is located; where N is an integer greater than 1.
- the first determining unit when the first determining unit obtains the parameter value of the degree of daze based on the eye state information for a period of time, it is used to, according to the eye state information, when the driver's eyes are in the open state and continue to reach the pre- When setting the daze time, it is determined that the driver is in a daze state; according to the eye state information within a period of time, the parameter value of the daze degree is obtained; wherein, the period of time includes the preset daze time.
- the third determining unit when the third determining unit obtains the parameter value of the doze level according to the head position information within a period of time, it is used to determine the driver's head position relative to the preset reference head according to the head position information When the deviation degree of the part position reaches the preset deviation range within the first preset time and returns to the preset reference head position within the second preset time, it is determined that the driver is in a nap state; according to the head within a period of time Position information to obtain the parameter value of the doze level; wherein, a period of time includes a first preset time and a second preset time.
- the third determining unit when the third determining unit obtains the parameter value of the yawn degree according to the mouth state information within a period of time, it is used to change the mouth of the driver from the closed state to the open mouth according to the mouth state information
- the state and the time to return to the closed state are within the preset time range, determine that the driver has completed a yawning action; according to the mouth state information within a period of time, obtain the parameter value of the yawning degree; The time when the driver's mouth changes from the closed state to the open state, and then returns to the closed state.
- the parameter value of the head position deviation degree includes any one or more of the following: head position deviation state, head position deviation direction, head position deviation angle in the head position deviation direction, Head position deviation duration, head position deviation frequency; and / or, the parameter value of the degree of face orientation deviation includes any one or more of the following: number of rotations, duration of rotation, and frequency of rotation; and / or ,
- the parameter value of the degree of sight direction deviation includes any one or more of the following: the angle of sight direction deviation, the length of sight direction deviation, and the frequency of sight direction deviation; and / or the parameter value of the degree of daze includes any one or more of the following: Eye opening amplitude, duration of eye opening duration, and ratio of eye opening cumulative duration to the statistical time window; and / or the parameter values of the degree of doze include any one or more of the following: the status of nodding, the amplitude of nodding, the number of nodding, the number of nodding, Nodding frequency and duration of nodding; and / or the parameter value of the degree of closed
- the second determining unit is configured to determine the detection of the driver's distraction state when any one or more parameter values of indicators for characterizing the driver's distraction state satisfy a predetermined distraction condition The result is a distracted state; and / or, when all the parameter values of the index used to characterize the driver's distracted state do not satisfy the predetermined distracted condition, it is determined that the driver's distracted state detection result is a non-distracted state.
- the predetermined distraction conditions include multiple distraction level conditions.
- the predetermined distraction condition when any one or more of the parameter values of the index used to characterize the driver's distraction state meets the predetermined distraction condition, when the detection result of the driver's distraction state is determined to be the distraction state, It is used to determine the distraction state level according to the distraction level condition satisfied by the parameter value of the index used to characterize the driver's distraction state; the determined distraction state level is used as the detection result of the driver's distraction state.
- the fourth determining unit is used to determine that the fatigue state detection result of the driver is a fatigue state when any one or more parameter values of the indicators used to characterize the fatigue state of the driver meet predetermined fatigue conditions ; And / or, when all the parameter values of the indicators used to characterize the fatigue state of the driver do not satisfy the predetermined fatigue condition, the fatigue state detection result of the driver is determined to be a non-fatigue state.
- the predetermined fatigue condition includes multiple fatigue level conditions.
- the fatigue state level is determined; the determined fatigue state level is used as the fatigue state detection result of the driver.
- the driving state detection device of the present disclosure may further include: a second detection module, configured to perform a predetermined distraction motion detection on the driver image and determine whether a predetermined distraction motion occurs
- the first obtaining module is used to obtain the parameter value of the index used to characterize the degree of distraction of the driver according to the determination result of whether the predetermined distracting action occurs within a period of time when the predetermined distracting action occurs; the fourth determining module , Used to determine the detection result of the driver's predetermined distraction action according to the parameter value of the index used to characterize the driver's distraction degree.
- the parameter value of the degree of distraction may include any one or more of the following: the number of predetermined distractions, the duration of the predetermined distractions, the frequency of the predetermined distractions, and so on.
- the predetermined distraction action may include any one or more of the following: smoking action, drinking action, eating and drinking action, phone call action, entertainment action, makeup action, and so on.
- the second detection module is used to extract features of the driver image; extract multiple candidate frames that may include predetermined distracting actions based on the feature; determine an action target frame based on the multiple candidate frames, wherein the action target The frame includes the local area of the human face and the action interaction object, or may also include the hand area; based on the action target frame, classification detection of the predetermined distraction action is performed to determine whether the predetermined distraction action occurs.
- the local area of the human face may include any one or more of the following: the mouth area, the ear area, and the eye area; and / or, the action interaction object may include any one or more of the following: container, smoke, Mobile phones, food, tools, beverage bottles, glasses, masks.
- the second detection module is configured to perform face detection on the driver image via the eighth neural network to obtain a face detection frame and extract feature information of the face detection frame;
- the feature information of the face detection frame determines whether smoking occurs.
- the second detection module is configured to detect the preset target object corresponding to the eating action / drinking action / calling action / entertainment action / make-up action on the driver image via the ninth neural network Set the detection frame of the target object.
- the preset target objects include: hands, mouth, eyes, action interaction objects.
- the action interaction objects include any one or more of the following categories: container, food, electronic equipment, cosmetics; according to the preset
- the detection frame of the target object determines whether a predetermined distraction action occurs; where the determination result of whether a predetermined distraction action occurs includes one of the following: no eating action / drinking action / calling action / entertainment action / make-up action; appearing Eating action, drinking action, calling action, entertainment action, makeup action.
- the second detection module determines whether a predetermined distraction motion occurs according to the detection frame of the preset target object, which is used to detect the detection frame of the hand, the detection frame of the mouth, and the eye Frame and motion interaction object detection frame, and according to whether the hand detection frame and the motion interaction object detection frame overlap, the type of the motion interaction object and the motion interaction object detection frame and the mouth detection frame or the eye detection frame Whether the distance between them satisfies the preset condition and determines whether a predetermined distraction occurs.
- the second detection module is based on whether the detection frame of the hand and the detection frame of the action interaction object overlap, and the detection frame of the action interaction object and the detection frame of the mouth or the detection frame of the eye Whether the positional relationship satisfies the preset condition and determines whether a predetermined distraction action occurs, it is used to: if the detection frame of the hand overlaps the detection frame of the action interaction object, the type of action interaction object is container or food, and the detection of the action interaction object The frame overlaps with the detection frame of the mouth to determine the occurrence of eating or drinking movements; and / or if the detection frame of the hand overlaps the detection frame of the action interaction object, the type of action interaction object is an electronic device and the action interaction
- the minimum distance between the detection frame of the object and the detection frame of the mouth is less than the first preset distance, or the minimum distance between the detection frame of the action interaction object and the detection frame of the eye is less than the second preset distance, it is determined that entertainment occurs Action or call action.
- the second detection module is also used to: if the detection frame of the hand, the detection frame of the mouth, and the detection frame of any motion interaction are not simultaneously detected, and the detection of the hand is not simultaneously detected A frame, an eye detection frame, and any motion interaction object detection frame, to determine whether the predetermined distraction motion is determined to be the result of not detecting eating movements, drinking water movements, phone call movements, entertainment movements, and makeup movements; and / or If the detection frame of the hand does not overlap with the detection frame of the action interaction object, it is determined whether the determination result of the predetermined distraction motion is that no eating motion, drinking water motion, phone call motion, entertainment motion, makeup motion is detected; and / or, If the type of action interaction object is a container or food, and there is no overlap between the detection frame of the action interaction object and the detection frame of the mouth, and / or, the type of the action interaction object is an electronic device, and the detection frame of the action interaction object is The minimum distance between the detection frame of the mouth is not less than the first preset distance, or the minimum
- the driving state detection device of the present disclosure may further include: a fifth determination module for distracting action levels satisfied according to the parameter value of the index characterizing the degree of distraction Conditions determine the level of distraction.
- the fourth determination module is used to use the determined distraction action level as the detection result of the driver's predetermined distraction action.
- the driving state detection device of the present disclosure may further include: an alarm module for alarming according to the detection result of the driver state; and / or a driving control module for Based on the detection results of the driver's state, intelligent driving control is performed.
- the detection result of the driver state includes any one or more of the following: the detection result of the fatigue state, the detection result of the distraction state, and the detection result of the predetermined distraction action.
- the alarm module may be further configured to output alarm information corresponding to the detection result of the predetermined distraction action satisfying the predetermined alarm condition in response to the detection result of the predetermined distraction action satisfying the predetermined alarm condition.
- the alarm module responds to fatigue when one of the fatigue state detection result and the distraction state detection result meets a predetermined alarm condition and outputs alarm information of a corresponding detection result satisfying the predetermined alarm condition
- One of the state detection result, the distraction state detection result, and the detection result of the predetermined distraction action satisfies the predetermined alarm condition, and outputs alarm information of the corresponding detection result that meets the predetermined alarm condition.
- the alarm module is responsive to fatigue in response to fatigue state detection results and distraction state detection results both satisfying predetermined alarm conditions and outputting alarm information of fatigue state detection results satisfying predetermined alarm conditions
- the state detection result, the distraction state detection result, and the detection result of the predetermined distraction action all satisfy the predetermined alarm condition, and output alarm information of the fatigue state detection result satisfying the predetermined alarm condition; and / or, in response to the fatigue state detection result, distraction Two of the state detection result and the detection result of the predetermined distraction action satisfy the predetermined alarm condition, and output the alarm information according to the preset alarm strategy.
- the alarm module responds to the fatigue state detection result, the distraction state detection result, and the predetermined distraction action detection result.
- Two of the three meet the predetermined alarm condition and output alarm information according to the preset alarm strategy, which can be used to: respond to fatigue
- the state detection result and the detection result of the predetermined distraction action satisfy the predetermined alarm condition, and output alarm information of the fatigue state detection result satisfying the predetermined alarm condition; and / or, in response to the detection result of the distraction state and the detection result of the predetermined distraction action
- Two of them satisfy the predetermined alarm condition and output the alarm information of the detection result of the distraction state satisfying the predetermined alarm condition, or output the alarm information corresponding to the detection result of the predetermined distraction action that meets the predetermined alarm condition.
- the alarm module may also be used to suppress alarms corresponding to other detection results that satisfy the predetermined alarm condition within a preset time after outputting alarm information corresponding to the detection result of the predetermined distraction action that satisfies the predetermined alarm condition information.
- the alarm module outputs a corresponding prompt or warning message according to the fatigue state level when the fatigue state detection result is the fatigue state level; and / or, when the distraction state detection result is the distraction state level, according to The corresponding prompt or alarm information is output in the distraction state level; and / or, when the detection result of the predetermined distraction motion is the distraction motion level, the corresponding prompt or alarm information is output according to the distraction motion level.
- the driving state detection device of the present disclosure may further include: a driving control module for responding to a fatigue state detection result, a distraction state detection result, and a predetermined distraction action When any one or more of the detection results meet the predetermined driving mode switching condition, the driving mode is switched to the automatic driving mode.
- the driving control module is configured to switch the driving mode to the automatic driving mode when the fatigue state level and / or the distraction state level and / or the distraction action level meet predetermined driving mode switching conditions.
- an infrared camera which is used for image acquisition to obtain a driver image.
- the infrared camera is deployed in at least one location in the vehicle, for example, any one or more of the following locations: above or near the instrument panel, above or near the center console, A-pillar or near location, rearview mirror or near location.
- the infrared camera is used to: collect images when the vehicle is in the driving state to obtain the driver image; and / or, collect images when the driving speed of the vehicle exceeds the preset speed to obtain the driver image ; And / or, after the ignition of the vehicle is detected, image acquisition is performed to obtain the driver image; and / or, when the start command of the vehicle is detected, the image acquisition is performed to obtain the driver image; and / or, the vehicle is detected Or when the control commands of the components or systems in the vehicle are collected, the driver image is obtained.
- the driver monitoring system of this embodiment can be used to implement the embodiments of the above-mentioned driving state detection methods of the present disclosure.
- the driver monitoring system of this embodiment includes: a display device for displaying a driver image; a driving state analysis device for detecting the driver's fatigue state and distraction state of the driver image; In response to one of the fatigue state detection result and the distraction state detection result satisfying a predetermined alarm condition, output alarm information corresponding to the detection result meeting the predetermined alarm condition; and / or, in response to the fatigue state detection result and the distraction state detection As a result, both meet the predetermined alarm condition, and output the alarm information of the fatigue state detection result satisfying the predetermined alarm condition.
- the driver state detection device may be implemented by the driver state detection device of any of the above embodiments of the present disclosure.
- One of the results of the fatigue state detection and the distraction state detection is When the predetermined alarm condition is satisfied, output the alarm information of the corresponding detection result that meets the predetermined alarm condition; and / or, when both the fatigue state detection result and the distraction state detection result satisfy the predetermined alarm condition, output the fatigue that meets the predetermined alarm condition.
- the alarm information of the state detection result in order to remind the driver to improve driving safety and reduce the incidence of road traffic accidents; and, when both the fatigue state detection result and the distraction state detection result meet the predetermined alarm condition, only Outputting the alarm information of the fatigue state detection result that satisfies the predetermined alarm condition can prevent the driver from being distracted and disgusted by too many or too frequent alarms.
- the present disclosure improves the safety of assisted driving and user experience by optimizing the alarm strategy.
- another electronic device provided by an embodiment of the present disclosure includes:
- Memory used to store computer programs
- the processor is used to execute the computer program stored in the memory, and when the computer program is executed, the driving state analysis method of any of the above embodiments of the present disclosure is implemented.
- FIG. 7 is a schematic structural diagram of an application embodiment of an electronic device of the present disclosure.
- the electronic device includes one or more processors, a communication section, etc.
- processors such as one or more central processing units (CPUs), and / or one or more image processors (GPU), etc.
- the processor can perform various appropriate actions and processes according to the executable instructions stored in the read-only memory (ROM) or the executable instructions loaded from the storage section into the random access memory (RAM).
- the communication unit may include, but is not limited to, a network card.
- the network card may include, but is not limited to, an IB (Infiniband) network card.
- the processor may communicate with a read-only memory and / or a random access memory to execute executable instructions. Communicate with other target devices via the communication unit to complete operations corresponding to any of the methods provided in the embodiments of the present disclosure, for example, the driver's fatigue state detection and distraction state detection of the driver image, the fatigue state detection result, the distraction state detection Results; in response to one of the fatigue state detection result and the distraction state detection result satisfying the predetermined alarm condition, outputting alarm information corresponding to the detection result of the predetermined alarm condition; and / or, in response to the fatigue state detection result and distraction Both of the state detection results satisfy the predetermined alarm condition, and output the alarm information of the fatigue state detection result satisfying the predetermined alarm condition.
- IB Intelligent Binary
- various programs and data necessary for the operation of the device can be stored in the RAM.
- the CPU, ROM, and RAM are connected to each other through a bus.
- ROM is an optional module.
- the RAM stores executable instructions, or writes executable instructions to the ROM at runtime, and the executable instructions cause the processor to perform operations corresponding to any of the above methods of the present disclosure.
- the input / output (I / O) interface is also connected to the bus.
- the communication unit may be integrated, or may be configured to have multiple sub-modules (for example, multiple IB network cards), and be on the bus link.
- the following components are connected to the I / O interface: input parts including keyboard, mouse, etc .; output parts such as cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers; storage parts including hard disks;
- the communication part of network interface cards such as LAN cards and modems.
- the communication section performs communication processing via a network such as the Internet.
- the drive is also connected to the I / O interface as needed.
- Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive as needed, so that the computer program read out therefrom is installed into the storage portion as needed.
- FIG. 7 is only an optional implementation method.
- the number and types of the components in FIG. 7 can be selected, deleted, added, or replaced according to actual needs; Separate settings or integrated settings can also be used for the setting of different functional components.
- GPU and CPU can be set separately or the GPU can be integrated on the CPU.
- the communication department can be set separately or integrated on the CPU or GPU. and many more.
- the process described above with reference to the flowchart may be implemented as a computer software program.
- embodiments of the present disclosure include a computer program product including a computer program tangibly contained on a machine-readable medium, the computer program containing program code for performing the method shown in the flowchart, the program code may include a corresponding The instruction corresponding to the method step provided by any embodiment of the present disclosure is executed.
- the computer program may be downloaded and installed from the network through the communication section, and / or installed from a removable medium.
- an embodiment of the present disclosure also provides a computer program, including computer instructions, when the computer instructions run in the processor of the device, to implement the driving state analysis method of any of the embodiments of the present disclosure.
- an embodiment of the present disclosure also provides a computer-readable storage medium on which a computer program is stored.
- the computer program is executed by a processor, the driving state analysis method of any of the foregoing embodiments of the present disclosure is implemented.
- FIG. 8 is a schematic structural diagram of an embodiment of the disclosed vehicle. As shown in FIG. 8, the vehicle of this embodiment includes a central control system, and further includes: the driving state analysis device or the driver monitoring system of any of the above embodiments of the present disclosure.
- the auxiliary driving is improved Driving safety and user experience
- the central control system is used to switch the driving mode to the automatic driving mode when the detection result of the driver state meets the predetermined driving mode switching condition, and perform automatic driving control on the vehicle in the automatic driving mode.
- the central control system may also be used to switch the driving mode to the manual driving mode when receiving a driving instruction to switch to manual driving.
- the vehicle of the above embodiment may further include: an entertainment system for outputting reminder / alarm information corresponding to the predetermined condition of the reminder / alarm according to the control instruction of the central control system; and / or Control instructions to adjust the warning effect of the prompt / alarm information or the playing effect of entertainment items.
- the entertainment system may include speakers, buzzers, lighting equipment, etc., for example.
- the vehicle of the above embodiment may further include: at least one infrared camera for image acquisition.
- the infrared camera in the vehicle may be deployed in at least one location within the vehicle, for example, in any one or more of the following locations: above or near the dashboard, above or near the center console, A Post or nearby location, rearview mirror or nearby location, etc.
- the method, apparatus and device of the present disclosure may be implemented in many ways.
- the method, apparatus, and device of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware.
- the above sequence of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the above-described sequence unless otherwise specifically stated.
- the present disclosure may also be implemented as programs recorded in a recording medium, and these programs include machine-readable instructions for implementing the method according to the present disclosure.
- the present disclosure also covers the recording medium storing the program for executing the method according to the present disclosure.
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Abstract
Description
Claims (120)
- 一种驾驶状态分析方法,其特征在于,包括:对驾驶员图像进行驾驶员的疲劳状态检测和分心状态检测,得到疲劳状态检测结果和分心状态检测结果;响应于所述疲劳状态检测结果和所述分心状态检测结果二者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息;和/或,响应于所述疲劳状态检测结果和所述分心状态检测结果二者均满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息。
- 根据权利要求1所述的方法,其特征在于,所述响应于所述疲劳状态检测结果和所述分心状态检测结果二者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息,包括:在所述疲劳状态检测结果为疲劳状态时,输出与所述疲劳状态检测结果相应的提示/告警信息;和/或,在所述分心状态检测结果为分心状态时,输出与所述分心状态检测结果相应的提示/告警信息。
- 根据权利要求1或2所述的方法,其特征在于,还包括:在输出所述疲劳状态检测结果相应的报警信息后的预设时间内,抑制掉满足预定报警条件的其他检测结果相应的报警信息;和/或,在输出所述分心状态检测结果相应的报警信息后的预设时间内,抑制掉满足预定报警条件的其他检测结果相应的报警信息。
- 根据权利要求1-3任一所述的方法,其特征在于,所述对驾驶员图像进行驾驶员的疲劳状态和分心状态检测之前,还包括:确定所述驾驶员图像中驾驶员的头部位置的偏离角度是否超出预设范围;若所述驾驶员的头部位置的偏离角度超出预设范围,对所述驾驶员图像进行驾驶员的分心状态检测,得到所述分心状态检测结果;和/或,若所述驾驶员的头部位置的偏离角度未超出预设范围,执行所述对驾驶员图像进行驾驶员的疲劳状态检测和分心状态检测的操作,得到所述疲劳状态检测结果和所述分心状态检测结果。
- 根据权利要求4所述的方法,其特征在于,对所述驾驶员图像进行驾驶员的分心状态检测,包括:对驾驶员图像进行头部姿态检测和/或眼部状态检测,得到头部姿态信息和/或眼部状态信息;根据所述头部姿态信息和/或所述眼部状态信息,确定驾驶员的分心状态检测结果。
- 根据权利要求5所述的方法,其特征在于,所述根据所述头部姿态信息和/或所述眼部状态信息,确定驾驶员的分心状态检测结果,包括:根据所述头部姿态信息和/或所述眼部状态信息,确定用于表征驾驶员的分心状态的指标的参数值;根据用于表征驾驶员的分心状态的指标的参数值,确定驾驶员的分心状态检测结果。
- 根据权利要求1-6任一所述的方法,其特征在于,所述对驾驶员图像进行驾驶员的疲劳状态检测和分心状态检测,包括:对驾驶员图像进行头部姿态检测、眼部状态检测和/或嘴部状态检测,得到头部姿态信息、眼部状态信息和/或嘴部状态信息;根据所述头部姿态信息、所述眼部状态信息和/或嘴部状态信息,确定驾驶员的疲劳状态检测结果和分心状态检测结果。
- 根据权利要求7所述的方法,其特征在于,所述根据所述头部姿态信息、所述眼部状态信息和/或嘴部状态信息,确定驾驶员的疲劳状态检测结果和分心状态检测结果,包括:根据所述头部姿态信息、所述眼部状态信息和/或嘴部状态信息,确定用于表征驾驶员的疲劳状态的指标的参数值和用于表征驾驶员的分心状态的指标的参数值;根据所述用于表征驾驶员的疲劳状态的指标的参数值,确定驾驶员的疲劳状态检测结果,以及根据所述用于表征驾驶员的分心状态的指标的参数值,确定驾驶员的分心状态检测结果。
- 根据权利要求5-8任一所述的方法,其特征在于,所述对驾驶员图像进行头部姿态检测、眼部状态检测和/或嘴部状态检测,得到头部姿态信息、眼部状态信息和/或嘴部状态信息,包括:对所述驾驶员图像进行人脸关键点检测;根据检测到的所述人脸关键点获取头部姿态信息、眼部状态信息和/或嘴部状态信息。
- 根据权利要求9所述的方法,其特征在于,所述根据检测到的所述人脸关键点获取头部姿态信息,包括:经第一神经网络基于所述人脸关键点得到所述头部姿态信息。
- 根据权利要求9或10所述的方法,其特征在于,所述根据检测到的所述人脸关键点获取眼部状态信息,包括:根据所述人脸关键点确定所述驾驶员图像中的眼部区域图像;基于第二神经网络对所述眼部区域图像进行上眼睑线和下眼睑线的检测;根据所述上眼睑线和下眼睑线之间的间隔确定所述驾驶员的眼睛睁合状态信息;其中,所述眼部状态信息包括:所述眼睛睁合状态信息。
- 根据权利要求9或10所述的方法,其特征在于,所述根据检测到的所述人脸关键点获取眼部状态信息,包括:根据所述人脸关键点确定所述驾驶员图像中的眼部区域图像;基于第三神经网络对所述眼部区域图像进行睁闭眼的分类处理,得到睁眼或闭眼的分类结果;其中,所述眼部状态信息包括:睁眼状态或闭眼状态。
- 根据权利要求9-12任一所述的方法,其特征在于,所述根据检测到的所述人脸关键点获取嘴部状态信息,包括:根据所述人脸关键点确定所述驾驶员图像中的嘴部区域图像;基于第四神经网络对所述嘴部区域图像进行上唇线和下唇线的检测;根据所述上唇线和下唇线之间的间隔确定所述驾驶员的嘴巴开合状态信息;其中,所述嘴部状态信息包括所述嘴巴开合状态信息。
- 根据权利要求9-12任一所述的方法,其特征在于,所述根据检测到的所述人脸关键点获取嘴部状态信息,包括:根据所述人脸关键点确定所述驾驶员图像中的嘴部区域图像;基于第五神经网络对所述嘴部区域图像进行张闭嘴的分类处理,得到张嘴或闭嘴的分类结果;其中,所述嘴部状态信息包括张嘴状态或闭嘴状态。
- 根据权利要求8-14任一所述的方法,其特征在于,所述根据所述头部姿态信息、所述眼部状态信息和/或嘴部状态信息,确定用于表征驾驶员的疲劳状态的指标的参数值,包括:根据所述头部姿态信息、所述眼部状态信息和所述嘴部状态信息,确定用于表征驾驶员的疲劳状态的指标的参数值。
- 根据权利要求6、8-15任一所述的方法,其特征在于,所述根据所述头部姿态信息和/或所述眼部状态信息,确定用于表征驾驶员的分心状态的指标的参数值,包括:根据所述头部姿态信息确定所述驾驶员图像中驾驶员的头部位置,得到头部位置信息;根据一段时间内的所述头部位置信息,获取头部位置偏离程度的参数值;和/或,根据所述头部姿态信息确定所述驾驶员图像中驾驶员的人脸朝向,得到人脸朝向信息;根据一段时间内的人脸朝向信息获取人脸朝向偏离程度的参数值;和/或,根据所述头部姿态信息确定所述驾驶员图像中驾驶员的视线方向,得到视线方向信息,根据一段时间内的视线方向信息获取视线方向偏离程度的参数值;或者,根据所述人脸关键点确定所述驾驶员图像中的眼部区域图像,基于第六神经网络得到所述眼部区域图像中驾驶员的视线方向信息,根据一段时间内的视线方向信息获取视线方向偏离程度的参数值;和/或,根据一段时间内的所述眼部状态信息,获取发呆程度的参数值。
- 根据权利要求8-16任一所述的方法,其特征在于,所述根据所述头部姿态信息、所述眼部状态信息和/或嘴部状态信息,确定用于表征驾驶员的疲劳状态的指标的参数值和用于表征驾驶员的分心状态的指标的参数值,包括:根据所述头部姿态信息确定所述驾驶员图像中驾驶员的头部位置,得到头部位置信息;根据一段时间内的所述头部位置信息,获取头部位置偏离程度的参数值;和/或,根据所述头部姿态信息确定所述驾驶员图像中驾驶员的人脸朝向,得到人脸朝向信息;根据一段时间内的人脸朝向信息获取人脸朝向偏离程度的参数值;和/或,根据所述头部姿态信息确定所述驾驶员图像中驾驶员的视线方向,得到视线方向信息,根据一段时间内的视线方向信息获取视线方向偏离程度的参数值;或者,根据所述人脸关键点确定所述驾驶员图像中的眼部区域图像,基于第六神经网络得到所述眼部区域图像中驾驶员的视线方向信息,根据一段时间内的视线方向信息获取视线方向偏离程度的参数值;和/或,根据一段时间内的所述眼部状态信息,获取发呆程度的参数值;和/或,根据所述头部姿态信息确定所述驾驶员图像中驾驶员的头部位置,得到头部位置信息;根据一段时间内的所述头部位置信息,获取打盹程度的参数值;和/或,根据一段时间内的所述眼部状态信息,获取闭眼程度的参数值;和/或,根据一段时间内的所述眼部状态信息,获取眨眼程度的参数值;和/或,根据一段时间内的所述嘴部状态信息,获取打哈欠程度的参数值。
- 根据权利要求16或17所述的方法,其特征在于,所述用于表征驾驶员疲劳状态的指标包括以下任意一项或多项:打盹程度、闭眼程度、眨眼程度、打哈欠程度;和/或,所述用于表征驾驶员分心状态的指标包括以下任意一项或多项:头部位置偏离程度、人脸朝向偏离程度、视线方向偏离程度、发呆程度。
- 根据权利要求16-18任一所述的方法,其特征在于,所述根据所述头部姿态信息确定所述驾驶员图像中驾驶员的头部位置,包括:获取所述头部姿态信息中的俯仰角作为所述头部位置;和/或,所述根据所述头部姿态信息确定所述驾驶员图像中驾驶员的人脸朝向,包括:获取所述头部姿态信息中的俯仰角和偏航角作为所述人脸朝向。
- 根据权利要求16-19任一所述的方法,其特征在于,所述根据所述头部姿态信息确定所述驾驶员图像中驾驶员的视线方向,得到视线方向信息,包括:根据所述人脸关键点中的眼睛关键点所定位的眼睛图像确定瞳孔边沿位置,并根据所述瞳孔边沿位置计算瞳孔中心位置;根据所述瞳孔中心位置与眼睛中心位置获取所述头部姿态信息对应头部姿态下的眼珠转角信息;根据所述头部姿态信息和所述眼珠转角信息确定所述驾驶员的视线方向,得到视线方向信息。
- 根据权利要求20所述的方法,其特征在于,所述根据所述人脸关键点中的眼睛关键点所定位的眼睛图像确定瞳孔边沿位置,包括:基于第七神经网络对根据所述人脸关键点分割出的所述图像中的眼睛区域图像进行瞳孔边沿位置的检测,并根据所述第七神经网络输出的信息获取所述瞳孔边沿位置。
- 根据权利要求16-21任一所述的方法,其特征在于,所述根据一段时间内的视线方向信息获取视线方向偏离程度的参数值,包括:根据一段时间内的视线方向信息相对于参考视线方向的偏离角度,获取视线方向偏离程度的参数值。
- 根据权利要求22所述的方法,其特征在于,还包括:预先设定所述参考视线方向;或者,以基于所述驾驶员图像所在视频中的前N帧驾驶员图像确定的平均视线方向作为所述参考视线方向;其中,N为大于1的整数。
- 根据权利要求16-23任一所述的方法,其特征在于,所述根据一段时间内的所述眼部状态信息,获取发呆程度的参数值,包括:根据所述眼部状态信息,在所述驾驶员的眼睛处于睁眼状态且持续达到预设发呆时间时,确定所述驾驶员处于发呆状态;根据一段时间内的眼部状态信息,获取发呆程度的参数值;其中,所述一段时间包括所述预设发呆时间。
- 根据权利要求17-24任一所述的方法,其特征在于,所述根据一段时间内的所述头部位置信息,获取打盹程度的参数值,包括:根据所述头部位置信息,在所述驾驶员的头部位置相对于预设参考头部位置的偏离程度在第一预设时间内达到预设偏离范围、且在第二预设时间内恢复至所述预设参考头部位置时,确定所述驾驶员处于打盹状态;根据一段时间内的所述头部位置信息,获取打盹程度的参数值;其中,所述一段时间包括所述第一预设时间和所述第二预设时间。
- 根据权利要求17-24任一所述的方法,其特征在于,所述根据一段时间内的所述嘴部状态信息,获取打哈欠程度的参数值,包括:根据所述嘴部状态信息,在所述驾驶员的嘴巴由闭嘴状态变化到张嘴状态、再恢复到闭嘴状态的时间在预设时间范围内时,确定所述驾驶员完成一次打哈欠动作;根据一段时间内的嘴部状态信息,获取打哈欠程度的参数值;其中,所述一段时间包括所述驾驶员的嘴巴由闭嘴状态变化到张嘴状态、再恢复到闭嘴状态的时间。
- 根据权利要求16-26任一所述的方法,其特征在于,所述头部位置偏离程度的参数值包括以下任意一项或多项:头部位置偏离状态,头部位置偏离方向,头部位置在所述头部位置偏离方向上的偏离角度,头部位置偏离持续时长,头部位置偏离频率;和/或,所述人脸朝向偏离程度的参数值包括以下任意一项或多项:转头次数、转头持续时长、转头频率;和/或,所述视线方向偏离程度的参数值包括以下任意一项或多项:视线方向偏离角度、视线方向偏离时长、视线方向偏离频率;和/或,所述发呆程度的参数值包括以下任意一项或多项:睁眼幅度、睁眼持续时长、睁眼累计时长占统计时间窗的比值;和/或,所述打盹程度的参数值包括以下任意一项或多项:打盹点头状态、打盹点头幅度、打盹点头次数、打盹点头频率、打盹点头持续时长;和/或,所述闭眼程度的参数值包括以下任意一项或多项:闭眼次数、闭眼频率、闭眼持续时长、闭眼幅度、半闭眼次数、半闭眼频率、闭眼累计时长占统计时间窗的比值;和/或,所述眨眼程度的参数值包括以下任意一项或多项:眨眼次数、眨眼频率、眨眼持续时长、眨眼累计时长占统计时间窗的比值;和/或,所述打哈欠程度的参数值包括以下任意一项或多项:打哈欠状态、打哈欠次数、打哈欠持续时长、打哈欠频率。
- 根据权利要求6、8-27任一所述的方法,其特征在于,根据所述用于表征驾驶员的分心状态的指标的参数值,确定驾驶员的分心状态检测结果,包括:在任意一项或多项所述用于表征驾驶员的分心状态的指标的参数值满足预定分心条件时,确定驾驶员的分心状态检测结果为分心状态;和/或,在所有所述用于表征驾驶员的分心状态的指标的参数值均不满足预定分心条件时,确定驾驶员的分心状态检测结果为非分心状态。
- 根据权利要求28所述的方法,其特征在于,所述预定分心条件包括多个分心等级条件;所述在任意一项或多项所述用于表征驾驶员的分心状态的指标的参数值满足预定分心条件时,确定驾驶员的分心状态检测结果为分心状态,包括:根据所述用于表征驾驶员的分心状态的指标的参数值满足的分心等级条件,确定分心状态等级;将确定的分心状态等级作为驾驶员的分心状态检测结果。
- 根据权利要求8-29任一所述的方法,其特征在于,根据所述用于表征驾驶员的疲劳状态的指标的参数值,确定驾驶员的疲劳状态的检测结果,包括:在任意一项或多项所述用于表征驾驶员的疲劳状态的指标的参数值满足预定疲劳条件时,确定驾驶员的疲劳状态检测结果为疲劳状态;和/或,在所有所述用于表征驾驶员的疲劳状态的指标的参数值均不满足预定疲劳条件时,确定驾驶员的疲劳状态检测结果为非疲劳状态。
- 根据权利要求30所述的方法,其特征在于,所述预定疲劳条件包括多个疲劳等级条件;所述在任意一项或多项所述用于表征驾驶员的疲劳状态的指标的参数值满足预定疲劳条件时,确定驾驶员的疲劳状态检测结果为疲劳状态,包括:根据所述用于表征驾驶员的疲劳状态的指标的参数值满足的疲劳等级条件,确定疲劳状态等级;将确定的疲劳状态等级作为驾驶员的疲劳状态检测结果。
- 根据权利要求1-27任一所述的方法,其特征在于,还包括:对所述驾驶员图像进行预定分心动作检测,确定是否出现预定分心动作;若出现预定分心动作,获取一段时间内是否出现所述预定分心动作的确定结果,获取用于表征驾驶员的分心程度的指标的参数值;根据所述用于表征驾驶员的分心程度的指标的参数值,确定驾驶员预定分心动作的检测结果。
- 根据权利要求32所述的方法,其特征在于,所述预定分心动作包括以下任意一项或多项:抽烟动作,喝水动作,饮食动作,打电话动作,娱乐动作,化妆动作。
- 根据权利要求33所述的方法,其特征在于,所述对驾驶员图像进行预定分心动作检测,确定是否出现预定分心动作,包括:提取所述驾驶员图像的特征;基于所述特征提取可能包括预定分心动作的多个候选框;基于多个所述候选框确定动作目标框,其中,所述动作目标框包括人脸的局部区域和动作交互物;基于所述动作目标框进行预定分心动作的分类检测,确定是否出现所述预定分心动作。
- 根据权利要求34所述的方法,其特征在于,所述人脸的局部区域包括以下任意一项或多项:嘴部区域,耳部区域,眼部区域;和/或,所述动作交互物包括以下任意一项或多项:容器、烟、手机、食物、工具、饮料瓶、眼镜、口罩。
- 根据权利要求34或35所述的方法,其特征在于,所述动作目标框还包括:手部区域。
- 根据权利要求33所述的方法,其特征在于,所述对驾驶员图像进行预定分心动作检测,确定是否出现预定分心动作,包括:经第八神经网络对所述驾驶员图像进行人脸检测,得到人脸检测框,并提取所述人脸检测框的特征信息;经所述第八神经网络根据所述人脸检测框的特征信息确定是否出现抽烟动作。
- 根据权利要求33所述的方法,其特征在于,所述对驾驶员图像进行预定分心动作检测,确定是否出现预定分心动作,包括:经第九神经网络对所述驾驶员图像进行所述饮食动作/喝水动作/打电话动作/娱乐动作/化妆动作相应的预设目标对象检测,得到预设目标对象的检测框;所述预设目标对象包括:手部、嘴部、眼部、动作交互物;所述动作交互物包括以下任意一类或多类:容器、食物、电子设备、化妆品;根据所述预设目标对象的检测框,确定是否出现预定分心动作;其中,是否出现预定分心动作的确定结果包括以下之一:未出现饮食动作/喝水动作/打电话动作/娱乐动作/化妆动作;出现饮食动作,出现喝水动作,出现打电话动作,出现娱乐动作,出现化妆动作。
- 根据权利要求38所述的方法,其特征在于,所述根据所述预设目标对象的检测框,确定是否出现预定分心动作,包括:根据是否检测到手部的检测框、嘴部的检测框、眼部的检测框和动作交互物的检测框,以及根据手部的检测框与动作交互物的检测框是否重叠、所述动作交互物的类型以及动作交互物的检测框与嘴部的检测框或眼部的检测框之间的距离是否满足预设条件,确定是否出现预定分心动作。
- 根据权利要求39所述的方法,其特征在于,所述根据手部的检测框与动作交互物的检测框是否重叠、以及动作交互物的检测框与嘴部的检测框或眼部的检测框之间的位置关系是否满足预设条件,确定是否出现预定分心动作,包括:若所述手部的检测框与所述动作交互物的检测框重叠,所述动作交互物的类型为容器或食物、且所述动作交互物的检测框与嘴部的检测框之间重叠,确定出现饮食动作、喝水动作或化妆动作;和/或,若所述手部的检测框与所述动作交互物的检测框重叠,所述动作交互物的类型为电子设备,且所述动作交互物的检测框与嘴部的检测框之间的最小距离小于第一预设距离、或者所述动作交互物的检测框与眼部的检测框之间的最小距离小于第二预设距离,确定出现娱乐动作或打电话动作。
- 根据权利要求39或40所述的方法,其特征在于,还包括:若未同时检测到手部的检测框、嘴部的检测框和任一所述动作交互物的检测框,且未同时检测到手部的检测框、眼部的检测框和任一所述动作交互物的检测框,确定是否预定分心动作的确定结果为未检测到饮食动作、喝水动作、打电话动作、娱乐动作和化妆动作;和/或,若手部的检测框与所述动作交互物的检测框未重叠,确定是否预定分心动作的确定结果为未检测到饮食动作、喝水动作、打电话动作、娱乐动作、化妆动作;和/或,若所述动作交互物的类型为容器或食物、且所述动作交互物的检测框与嘴部的检测框之间未重叠,和/或,所述动作交互物的类型为电子设备、且所述动作交互物的检测框与嘴部的检测框之间的最小距离不小于第一预设距离、或者所述动作交互物的检测框与眼部的检测框之间的最小距离不小于第二预设距离,确定是否预定分心动作的确定结果为未检测到饮食动作、喝水动作、打电话动作、娱乐动作和化妆动作。
- 根据权利要求32-41任一所述的方法,其特征在于,所述分心程度的参数值包括以下任意一项或多项:预定分心动作的次数、预定分心动作的持续时长、预定分心动作的频率。
- 根据权利要求32-42任一所述的方法,其特征在于,若确定出现预定分心动作,还包括:根据所述用于表征分心程度的指标的参数值满足的分心动作等级条件,确定分心动作等级;将确定的分心动作等级作为驾驶员预定分心动作的检测结果。
- 根据权利要求32-43任一所述的方法,其特征在于,还包括:响应于预定分心动作的检测结果满足预定报警条件,输出满足预定报警条件的预定分心动作的检测结果相应的报警信息。
- 根据权利要求1-44任一所述的方法,其特征在于,所述响应于所述疲劳状态检测结果和所述分心状态检测结果二者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息,包括:响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果三者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息。
- 根据权利要求1-45任一所述的方法,其特征在于,所述响应于所述疲劳状态检测结果和所述分心状态检测结果二者均满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息,包括:响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果均满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息;和/或,响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果三者其中之二满足预定报警条件,按照预设报警策略输出报警信息。
- 根据权利要求46所述的方法,其特征在于,所述响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果三者其中之二满足预定报警条件,按照预设报警策略输出报警信息,包括:响应于所述疲劳状态检测结果和所述预定分心动作的检测结果满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息;和/或,响应于所述分心状态检测结果和所述预定分心动作的检测结果三者其中之二满足预定报警条件,输出满足预定报警条件的所述分心状态检测结果的报警信息,或者,输出满足预定报警条件的所述预定分心动作的检测结果相应的报警信息。
- 根据权利要求44-47任一所述的方法,其特征在于,还包括:在输出满足预定报警条件的所述预定分心动作的检测结果相应的报警信息后的预设时间内,抑制掉满足预定报警条件的其他检测结果相应的报警信息。
- 根据权利要求44-48任一所述的方法,其特征在于,在所述疲劳状态检测结果为疲劳状态等级时,所述输出满足预定报警条件的所述疲劳状态检测结果的报警信息,包括:根据所述疲劳状态等级输出相应的提示或者告警信息;和/或,在所述分心状态检测结果为分心状态等级时,所述输出满足预定报警条件的所述分心状态检测结果相应的提示/告警信息,包括:根据所述分心状态等级输出相应的提示或者告警信息;和/或,在预定分心动作的检测结果为分心动作等级时,所述输出满足预定报警条件的预定分心动作的检测结果相应的报警信息,包括:根据所述分心动作等级输出相应的提示或者告警信息。
- 根据权利要求49所述的方法,其特征在于,还包括:响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果其中任意一项或多项满足预定驾驶模式切换条件时,将驾驶模式切换为自动驾驶模式。
- 根据权利要求50所述的方法,其特征在于,所述响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果其中任意一项或多项满足预定驾驶模式切换条件时,将驾驶模式切换为自动驾驶模式,包括:在所述疲劳状态等级和/或所述分心状态等级和/或所述分心动作等级满足预定驾驶模式切换条件时,将驾驶模式切换为自动驾驶模式。
- 根据权利要求1-51任一所述的方法,其特征在于,还包括:通过红外摄像头进行图像采集,得到所述驾驶员图像。
- 根据权利要求52所述的方法,其特征在于,所述通过红外摄像头进行图像采集,包括:通过车辆内至少一个位置部署的所述红外摄像头进行图像采集。
- 根据权利要求53所述的方法,其特征在于,所述至少一个位置包括以下任意一个或多个位置:仪表盘上方或附近位置,中控台上方或附近位置,A柱或附近位置,后视镜或附近位置。
- 根据权利要求52-54任一所述的方法,其特征在于,所述通过红外摄像头进行图像采集,得到所述驾驶员图像,包括:在所述车辆处于行驶状态时通过红外摄像头进行图像采集,获得所述驾驶员图像;和/或,在所述车辆的行驶速度超过预设车速时通过红外摄像头进行图像采集,获得所述驾驶员图像;和/或,在检测到所述车辆点火后通过红外摄像头进行图像采集,获得所述驾驶员图像;和/或,在检测到所述车辆的启动指令时通过红外摄像头进行图像采集,获得所述驾驶员图像;和/或,在检测到对所述车辆或所述车辆中部件或***的控制指令时通过红外摄像头进行图像采集,获得所述驾驶员图像。
- 一种驾驶状态分析装置,其特征在于,包括:驾驶状态检测模块,用于对驾驶员图像进行驾驶员的疲劳状态检测和分心状态检测,得到疲劳状态检测结果和分心状态检测结果;报警模块,用于响应于所述疲劳状态检测结果和所述分心状态检测结果二者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息;和/或,响应于所述疲劳状态检测结果和所述分心状态检测结果二者均满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息。
- 根据权利要求56所述的装置,其特征在于,所述报警模块响应于疲劳状态检测结果和分心状态检测结果二者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息时,用于在所述疲劳状态检测结果为疲劳状态时,输出与所述疲劳状态检测结果相应的提示/告警信息;和/或,在所述分心状态检测结果为分心状态时,输出与所述分心状态检测结果相应的提示/告警信息。
- 根据权利要求56或57所述的装置,其特征在于,所述报警模块,还用于:在输出所述疲劳状态检测结果相应的报警信息后的预设时间内,抑制掉满足预定报警条件的其他检测结果相应的报警信息;和/或,在输出所述分心状态检测结果相应的报警信息后的预设时间内,抑制掉满足预定报警条件的其他检测结果相应的报警信息。
- 根据权利要求56-58任一所述的装置,其特征在于,还包括:第一确定模块,用于确定所述驾驶员图像中驾驶员的头部位置的偏离角度是否超出预设范围;所述驾驶状态检测模块,用于在所述驾驶员的头部位置的偏离角度超出预设范围时,对所述驾驶员图像进行驾驶员的分心状态检测,得到所述分心状态检测结果;和/或,在所述驾驶员的头部位置的偏离角度未超出预设范围时,对驾驶员图像进行驾驶员的疲劳状态检测和分心状态检测的操作,得到所述疲劳状态检测结果和所述分心状态检测结果。
- 根据权利要求59所述的装置,其特征在于,所述驾驶状态检测模块包括:第一检测模块,用于对驾驶员图像进行头部姿态检测、眼部状态检测和/或嘴部状态检测,得到头部姿态信息、眼部状态信息和/或嘴部状态信息;第二确定模块,用于根据所述头部姿态信息和/或所述眼部状态信息,确定驾驶员的分心状态检测结果;第三确定模块,用于根据所述头部姿态信息、所述眼部状态信息和/或嘴部状态信息,确定驾驶员的疲劳状态检测结果。
- 根据权利要求60所述的装置,其特征在于,所述第二确定模块包括:第一确定单元,用于所述根据所述头部姿态信息和/或所述眼部状态信息,确定用于表征驾驶员的分心状态的指标的参数值;第二确定单元,用于根据用于表征驾驶员的分心状态的指标的参数值,确定驾驶员的分心状态检测结果。
- 根据权利要求60或61所述的装置,其特征在于,所第三确定模块包括:第三确定单元,用于根据所述头部姿态信息、所述眼部状态信息和/或嘴部状态信息,确定用于表征驾驶员的疲劳状态的指标的参数值;第四确定单元,用于根据所述用于表征驾驶员的疲劳状态的指标的参数值,确定驾驶员的疲劳状态检测结果。
- 根据权利要求60-62任一所述的装置,其特征在于,所述第一检测模块包括:关键点检测单元,用于对所述驾驶员图像进行人脸关键点检测;第一获取单元,用于根据检测到的所述人脸关键点获取头部姿态信息、眼部状态信息和/或嘴部状态信息。
- 根据权利要求63所述的装置,其特征在于,所述第一获取单元根据检测到的所述人脸关键点获取头部姿态信息时,用于经第一神经网络基于所述人脸关键点得到所述头部姿态信息。
- 根据权利要求63或64所述的装置,其特征在于,所述第一获取单元根据检测到的所述人脸关键点获取眼部状态信息时,用于根据所述人脸关键点确定所述驾驶员图像中的眼部区域图像;基于第二神经网络对所述眼部区域图像进行上眼睑线和下眼睑线的检测;根据所述上眼睑线和下眼睑线之间的间隔确定所述驾驶员的眼睛睁合状态信息;其中,所述眼部状态信息包括:所述眼睛睁合状态信息。
- 根据权利要求63或64所述的装置,其特征在于,所述第一获取单元根据检测到的所述人脸关键点获取眼部状态信息时,用于根据所述人脸关键点确定所述驾驶员图像中的眼部区域图像;基于第三神经网络对所述眼部区域图像进行睁闭眼的分类处理,得到睁眼或闭眼的分类结果;其中,所述眼部状态信息包括:睁眼状态或闭眼状态。
- 根据权利要求63-66任一所述的装置,其特征在于,所述第一获取单元根据检测到的所述人脸关键点获取嘴部状态信息时,用于根据所述人脸关键点确定所述驾驶员图像中的嘴部区域图像;基于第四神经网络对所述嘴部区域图像进行上唇线和下唇线的检测;根据所述上唇线和下唇线之间的间隔确定所述驾驶员的嘴巴开合状态信息;其中,所述嘴部状态信息包括所述嘴巴开合状态信息。
- 根据权利要求63-66任一所述的装置,其特征在于,所述第一获取单元根据检测到的所述人脸关键点获取嘴部状态信息时,用于根据所述人脸关键点确定所述驾驶员图像中的嘴部区域图像;基于第五神经网络对所述嘴部区域图像进行张闭嘴的分类处理,得到张嘴或闭嘴的分类结果;其中,所述嘴部状态信息包括张嘴状态或闭嘴状态。
- 根据权利要求62-68任一所述的装置,其特征在于,所述第三确定单元,用于所述根据所述头部姿态信息、所述眼部状态信息和所述嘴部状态信息,确定用于表征驾驶员的疲劳状态的指标的参数值。
- 根据权利要求61-69任一所述的装置,其特征在于,所述第一确定单元,用于:根据所述头部姿态信息确定所述驾驶员图像中驾驶员的头部位置,得到头部位置信息;根据一段时间内的所述头部位置信息,获取头部位置偏离程度的参数值;和/或,根据所述头部姿态信息确定所述驾驶员图像中驾驶员的人脸朝向,得到人脸朝向信息;根据一段时间内的人脸朝向信息获取人脸朝向偏离程度的参数值;和/或,根据所述头部姿态信息确定所述驾驶员图像中驾驶员的视线方向,得到视线方向信息,根据一段时间内的视线方向信息获取视线方向偏离程度的参数值;或者,根据所述人脸关键点确定所述驾驶员图像中的眼部区域图像,基于第六神经网络得到所述眼部区域图像中驾驶员的视线方向信息,根据一段时间内的视线方向信息获取视线方向偏离程度的参数值;和/或,根据一段时间内的所述眼部状态信息,获取发呆程度的参数值。
- 根据权利要求62-70任一所述的装置,其特征在于,所述第三确定单元,用于:根据所述头部姿态信息确定所述驾驶员图像中驾驶员的头部位置,得到头部位置信息;根据一段时间内的所述头部位置信息,获取打盹程度的参数值;和/或,根据一段时间内的所述眼部状态信息,获取闭眼程度的参数值;和/或,根据一段时间内的所述眼部状态信息,获取眨眼程度的参数值;和/或,根据一段时间内的所述嘴部状态信息,获取打哈欠程度的参数值。
- 根据权利要求61-71任一所述的装置,其特征在于,所述用于表征驾驶员疲劳状态的指标包括以下任意一项或多项:打盹程度、闭眼程度、眨眼程度、打哈欠程度;和/或,所述用于表征驾驶员分心状态的指标包括以下任意一项或多项:头部位置偏离程度、人脸朝向偏离程度、视线方向偏离程度、发呆程度。
- 根据权利要求70-72任一所述的装置,其特征在于,所述第一确定单元或所述第三确定单元根据所述头部姿态信息确定所述驾驶员图像中驾驶员的头部位置时,用于获取所述头部姿态信息中的俯仰角作为所述头部位置;和/或,所述第一确定单元根据所述头部姿态信息确定所述驾驶员图像中驾驶员的人脸朝向时,用于获取所述头部姿态信息中的俯仰角和偏航角作为所述人脸朝向。
- 根据权利要求70-73任一所述的装置,其特征在于,所述第一确定单元根据所述头部姿态信息确定所述驾驶员图像中驾驶员的视线方向,得到视线方向信息时,用于根据所述人脸关键点中的眼睛关键点所定位的眼睛图像确定瞳孔边沿位置,并根据所述瞳孔边沿位置计算瞳孔中心位置;根据所述瞳孔中心位置与眼睛中心位置获取所述头部姿态信息对应头部姿态下的眼珠转角信息;根据所述头部姿态信息和所述眼珠转角信息确定所述驾驶员的视线方向,得到视线方向信息。
- 根据权利要求74所述的装置,其特征在于,所述第一确定单元根据所述人脸关键点中的眼睛关键点所定位的 眼睛图像确定瞳孔边沿位置时,用于基于第七神经网络对根据所述人脸关键点分割出的所述图像中的眼睛区域图像进行瞳孔边沿位置的检测,并根据所述第七神经网络输出的信息获取瞳孔边沿位置。
- 根据权利要求70-75任一所述的装置,其特征在于,所述第一确定单元根据一段时间内的视线方向信息获取视线方向偏离程度的参数值时,用于根据一段时间内的视线方向信息相对于参考视线方向的偏离角度,获取视线方向偏离程度的参数值。
- 根据权利要求76所述的装置,其特征在于,所述参考视线方向预先设定,或者,所述参考视线方向为基于所述驾驶员图像所在视频中的前N帧驾驶员图像确定的平均视线方向;其中,N为大于1的整数。
- 根据权利要求70-77任一所述的装置,其特征在于,所述第一确定单元根据一段时间内的所述眼部状态信息,获取发呆程度的参数值时,用于根据所述眼部状态信息,在所述驾驶员的眼睛处于睁眼状态且持续达到预设发呆时间时,确定所述驾驶员处于发呆状态;根据一段时间内的眼部状态信息,获取发呆程度的参数值;其中,所述一段时间包括所述预设发呆时间。
- 根据权利要求71-78任一所述的装置,其特征在于,所述第三确定单元根据一段时间内的所述头部位置信息,获取打盹程度的参数值时,用于根据所述头部位置信息,在所述驾驶员的头部位置相对于预设参考头部位置的偏离程度在第一预设时间内达到预设偏离范围、且在第二预设时间内恢复至所述预设参考头部位置时,确定所述驾驶员处于打盹状态;根据一段时间内的所述头部位置信息,获取打盹程度的参数值;其中,所述一段时间包括所述第一预设时间和所述第二预设时间。
- 根据权利要求71-79任一所述的装置,其特征在于,所述第三确定单元根据一段时间内的所述嘴部状态信息,获取打哈欠程度的参数值时,用于根据所述嘴部状态信息,在所述驾驶员的嘴巴由闭嘴状态变化到张嘴状态、再恢复到闭嘴状态的时间在预设时间范围内时,确定所述驾驶员完成一次打哈欠动作;根据一段时间内的嘴部状态信息,获取打哈欠程度的参数值;其中,所述一段时间包括所述驾驶员的嘴巴由闭嘴状态变化到张嘴状态、再恢复到闭嘴状态的时间。
- 根据权利要求70-80任一所述的装置,其特征在于,所述头部位置偏离程度的参数值包括以下任意一项或多项:头部位置偏离状态,头部位置偏离方向,头部位置在所述头部位置偏离方向上的偏离角度,头部位置偏离持续时长,头部位置偏离频率;和/或,所述人脸朝向偏离程度的参数值包括以下任意一项或多项:转头次数、转头持续时长、转头频率;和/或,所述视线方向偏离程度的参数值包括以下任意一项或多项:视线方向偏离角度、视线方向偏离时长、视线方向偏离频率;和/或,所述发呆程度的参数值包括以下任意一项或多项:睁眼幅度、睁眼持续时长、睁眼累计时长占统计时间窗的比值;和/或,所述打盹程度的参数值包括以下任意一项或多项:打盹点头状态、打盹点头幅度、打盹点头次数、打盹点头频率、打盹点头持续时长;和/或,所述闭眼程度的参数值包括以下任意一项或多项:闭眼次数、闭眼频率、闭眼持续时长、闭眼幅度、半闭眼次数、半闭眼频率、闭眼累计时长占统计时间窗的比值;和/或,所述眨眼程度的参数值包括以下任意一项或多项:眨眼次数、眨眼频率、眨眼持续时长、眨眼累计时长占统计时间窗的比值;和/或,所述打哈欠程度的参数值包括以下任意一项或多项:打哈欠状态、打哈欠次数、打哈欠持续时长、打哈欠频率。
- 根据权利要求61-81任一所述的装置,其特征在于,所述第二确定单元,用于在任意一项或多项所述用于表征驾驶员的分心状态的指标的参数值满足预定分心条件时,确定驾驶员的分心状态检测结果为分心状态;和/或,在所有所述用于表征驾驶员的分心状态的指标的参数值均不满足预定分心条件时,确定驾驶员的分心状态检测结果为非分心状态。
- 根据权利要求82所述的装置,其特征在于,所述预定分心条件包括多个分心等级条件;所述第二确定单元在任意一项或多项所述用于表征驾驶员的分心状态的指标的参数值满足预定分心条件时,确定驾驶员的分心状态检测结果为分心状态时,用于根据所述用于表征驾驶员的分心状态的指标的参数值满足的分心等级条件,确定分心状态等级;将确定的分心状态等级作为驾驶员的分心状态检测结果。
- 根据权利要求62-83任一所述的装置,其特征在于,所述第四确定单元用于在任意一项或多项所述用于表征驾驶员的疲劳状态的指标的参数值满足预定疲劳条件时,确定驾驶员的疲劳状态检测结果为疲劳状态;和/或,在所有所述用于表征驾驶员的疲劳状态的指标的参数值均不满足预定疲劳条件时,确定驾驶员的疲劳状态检测结果为非疲劳状态。
- 根据权利要求84所述的装置,其特征在于,所述预定疲劳条件包括多个疲劳等级条件;所述第四确定单元在任意一项或多项所述用于表征驾驶员的疲劳状态的指标的参数值满足预定疲劳条件时,确定驾驶员的疲劳状态检测结果为疲劳状态时,用于根据所述用于表征驾驶员的疲劳状态的指标的参数值满足的疲劳等级条件,确定疲劳状态等级;将确定的疲劳状态等级作为驾驶员的疲劳状态检测结果。
- 根据权利要求56-85任一所述的装置,其特征在于,还包括:第二检测模块,用于对所述驾驶员图像进行预定分心动作检测,确定是否出现预定分心动作;第一获取模块,用于在出现预定分心动作时,根据一段时间内是否出现所述预定分心动作的确定结果,获取用于表征驾驶员的分心程度的指标的参数值;第四确定模块,用于根据所述用于表征驾驶员的分心程度的指标的参数值,确定驾驶员预定分心动作的检测结果。
- 根据权利要求86所述的装置,其特征在于,所述预定分心动作包括以下任意一项或多项:抽烟动作,喝水动作,饮食动作,打电话动作,娱乐动作,化妆动作。
- 根据权利要求87所述的装置,其特征在于,所述第二检测模块,用于提取所述驾驶员图像的特征;基于所述特征提取可能包括预定分心动作的多个候选框;基于多个所述候选框确定动作目标框,其中,所述动作目标框包括人脸的局部区域和动作交互物;基于所述动作目标框进行预定分心动作的分类检测,确定是否出现所述预定分心动作。
- 根据权利要求88所述的装置,其特征在于,所述人脸的局部区域包括以下任意一项或多项:嘴部区域,耳部区域,眼部区域;和/或,所述动作交互物包括以下任意一项或多项:容器、烟、手机、食物、工具、饮料瓶、眼镜、口罩。
- 根据权利要求88或89所述的装置,其特征在于,所述动作目标框还包括:手部区域。
- 根据权利要求87所述的装置,其特征在于,所述第二检测模块,用于经第八神经网络对所述驾驶员图像进行人脸检测,得到人脸检测框,并提取所述人脸检测框的特征信息;经所述第八神经网络根据所述人脸检测框的特征信息确定是否出现抽烟动作。
- 根据权利要求87所述的装置,其特征在于,所述第二检测模块,用于经第九神经网络对所述驾驶员图像进行所述饮食动作/喝水动作/打电话动作/娱乐动作/化妆动作相应的预设目标对象检测,得到预设目标对象的检测框,所述预设目标对象包括:手部、嘴部、眼部、动作交互物,所述动作交互物包括以下任意一类或多类:容器、食物、电子设备、化妆品;根据所述预设目标对象的检测框,确定是否出现预定分心动作;其中,是否出现预定分心动作的确定结果包括以下之一:未出现饮食动作/喝水动作/打电话动作/娱乐动作/化妆动作;出现饮食动作,出现喝水动作,出现打电话动作,出现娱乐动作,出现化妆动作。
- 根据权利要求92所述的装置,其特征在于,所述第二检测模块根据所述预设目标对象的检测框,确定是否出现预定分心动作时,用于根据是否检测到手部的检测框、嘴部的检测框、眼部的检测框和动作交互物的检测框,以及根据手部的检测框与动作交互物的检测框是否重叠、所述动作交互物的类型以及动作交互物的检测框与嘴部的检测框或眼部的检测框之间的距离是否满足预设条件,确定是否出现预定分心动作。
- 根据权利要求93所述的装置,其特征在于,所述第二检测模块根据手部的检测框与动作交互物的检测框是否重叠、以及动作交互物的检测框与嘴部的检测框或眼部的检测框之间的位置关系是否满足预设条件,确定是否出现预定分心动作时,用于:若所述手部的检测框与所述动作交互物的检测框重叠,所述动作交互物的类型为容器或食物、且所述动作交互物的检测框与嘴部的检测框之间重叠,确定出现饮食动作、喝水动作或化妆动作;和/或,若所述手部的检测框与所述动作交互物的检测框重叠,所述动作交互物的类型为电子设备,且所述动作交互物的检测框与嘴部的检测框之间的最小距离小于第一预设距离、或者所述动作交互物的检测框与眼部的检测框之间的最小距离小于第二预设距离,确定出现娱乐动作或打电话动作。
- 根据权利要求93或94所述的装置,其特征在于,所述第二检测模块,还用于:若未同时检测到手部的检测框、嘴部的检测框和任一所述动作交互物的检测框,且未同时检测到手部的检测框、眼部的检测框和任一所述动作交互物的检测框,确定是否预定分心动作的确定结果为未检测到饮食动作、喝水动作、打电话动作、娱乐动作和化妆动作;和/或,若手部的检测框与所述动作交互物的检测框未重叠,确定是否预定分心动作的确定结果为未检测到饮食动作、喝水动作、打电话动作、娱乐动作、化妆动作;和/或,若所述动作交互物的类型为容器或食物、且所述动作交互物的检测框与嘴部的检测框之间未重叠,和/或,所述动作交互物的类型为电子设备、且所述动作交互物的检测框与嘴部的检测框之间的最小距离不小于第一预设距离、或者所述动作交互物的检测框与眼部的检测框之间的最小距离不小于第二预设距离,确定是否预定分心动作的确定结果为未检测到饮食动作、喝水动作、打电话动作、娱乐动作和化妆动作。
- 根据权利要求86-95任一所述的装置,其特征在于,所述分心程度的参数值包括以下任意一项或多项:预定分心动作的次数、预定分心动作的持续时长、预定分心动作的频率。
- 根据权利要求86-96任一所述的装置,其特征在于,还包括:第五确定模块,用于根据所述用于表征分心程度的指标的参数值满足的分心动作等级条件,确定分心动作等级;所述第四确定模块,用于将确定的分心动作等级作为驾驶员预定分心动作的检测结果。
- 根据权利要求86-97任一所述的装置,其特征在于,所述报警模块,还用于响应于预定分心动作的检测结果满足预定报警条件,输出满足预定报警条件的预定分心动作的检测结果相应的报警信息。
- 根据权利要求56-98任一所述的装置,其特征在于,所述报警模块响应于所述疲劳状态检测结果和所述分心状态检测结果二者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息时,用于响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果三者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息。
- 根据权利要求56-99任一所述的装置,其特征在于,所述报警模块响应于疲劳状态检测结果和分心状态检测结果二者均满足预定报警条件,输出满足预定报警条件的疲劳状态检测结果的报警信息时,用于:响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果均满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息;和/或,响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果三者其中之二满足预定报警条件,按照预设报警策略输出报警信息。
- 根据权利要求100所述的装置,其特征在于,所述报警模块响应于疲劳状态检测结果、分心状态检测结果和预定分心动作的检测结果三者其中之二满足预定报警条件,按照预设报警策略输出报警信息时,用于:响应于所述疲劳状态检测结果和所述预定分心动作的检测结果满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息;和/或,响应于所述分心状态检测结果和所述预定分心动作的检测结果三者其中之二满足预定报警条件,输出满足预定报警条件的所述分心状态检测结果的报警信息,或者,输出满足预定报警条件的所述预定分心动作的检测结果相应的报警信息。
- 根据权利要求98-101任一所述的装置,其特征在于,所述报警模块,还用于在输出满足预定报警条件的预定分心动作的检测结果相应的报警信息后的预设时间内,抑制掉满足预定报警条件的其他检测结果相应的报警信息。
- 根据权利要求98-102任一所述的装置,其特征在于,所述报警模块在所述疲劳状态检测结果为疲劳状态等级时,根据所述疲劳状态等级输出相应的提示或者告警信息;和/或,在所述分心状态检测结果为分心状态等级时,根据所述分心状态等级输出相应的提示或者告警信息;和/或,在所述预定分心动作的检测结果为分心动作等级时,根据所述分心动作等级输出相应的提示或者告警信息。
- 根据权利要求103所述的装置,其特征在于,还包括:驾驶控制模块,用于响应于所述疲劳状态检测结果、所述分心状态检测结果和所述预定分心动作的检测结果其中任意一项或多项满足预定驾驶模式切换条件时,将驾驶模式切换为自动驾驶模式。
- 根据权利要求104所述的装置,其特征在于,所述驾驶控制模块,用于在所述疲劳状态等级和/或所述分心状态等级和/或所述分心动作等级满足预定驾驶模式切换条件时,将驾驶模式切换为自动驾驶模式。
- 根据权利要求56-105任一所述的装置,其特征在于,还包括:红外摄像头,用于进行图像采集,得到所述驾驶员图像。
- 根据权利要求106所述的装置,其特征在于,所述红外摄像头部署于车辆内的至少一个位置。
- 根据权利要求107所述的装置,其特征在于,所述至少一个位置包括以下任意一个或多个位置:仪表盘上方或附近位置,中控台上方或附近位置,A柱或附近位置,后视镜或附近位置。
- 根据权利要求106-108任一所述的装置,其特征在于,所述红外摄像头,用于:在所述车辆处于行驶状态时进行图像采集,获得所述驾驶员图像;和/或,在所述车辆的行驶速度超过预设车速时进行图像采集,获得所述驾驶员图像;和/或,在检测到所述车辆点火后进行图像采集,获得所述驾驶员图像;和/或,在检测到所述车辆的启动指令时进行图像采集,获得所述驾驶员图像;和/或,在检测到对所述车辆或所述车辆中部件或***的控制指令时进行图像采集,获得所述驾驶员图像。
- 一种驾驶员监控***,其特征在于,包括:显示装置,用于显示驾驶员图像;驾驶状态分析装置,用于对驾驶员图像进行驾驶员的疲劳状态检测和分心状态检测,得到疲劳状态检测结果和分心状态检测结果;响应于所述疲劳状态检测结果和所述分心状态检测结果二者其中之一满足预定报警条件,输出满足预定报警条件的相应检测结果的报警信息;和/或,响应于所述疲劳状态检测结果和所述分心状态检测结果二者均满足预定报警条件,输出满足预定报警条件的所述疲劳状态检测结果的报警信息。
- 根据权利要求110所述的***,其特征在于,所述驾驶员状态检测装置包括权利要求56-109任一所述的驾驶状态分析装置。
- 一种电子设备,其特征在于,包括:存储器,用于存储计算机程序;处理器,用于执行所述存储器中存储的计算机程序,且所述计算机程序被执行时,实现上述权利要求1-55任一所述的方法。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,该计算机程序被处理器执行时,实现上述权利要求1-55任一所述的方法。
- 一种车辆,包括中控***,其特征在于,还包括:权利要求56-107任一所述的驾驶状态分析装置,或者权利要求108-109任一所述的驾驶员监控***。
- 根据权利要求114所述的车辆,其特征在于,所述中控***,用于在驾驶员状态的检测结果满足预定驾驶模式切换条件时,将驾驶模式切换为自动驾驶模式,并在自动驾驶模式下对所述车辆进行自动驾驶控制。
- 根据权利要求114或115所述的车辆,其特征在于,所述中控***,还用于根据所述驾驶状态分析装置或者所述驾驶员监控***输出的手势检测的结果生成的控制指令,对所述车辆进行相应的控制。
- 根据权利要求114-116任一所述的车辆,其特征在于,所述中控***,还用于在接收到切换为人工驾驶的驾驶指令时,将驾驶模式切换为人工驾驶模式。
- 根据权利要求114-117任一所述的车辆,其特征在于,还包括:娱乐***,用于根据所述中控***的控制指令进行报警;和/或,根据所述中控***的控制指令,调整报警的预警效果、或者娱乐项目的播放效果。
- 根据权利要求114-118任一所述的车辆,其特征在于,还包括:至少一个红外摄像头,用于进行图像采集。
- 根据权利要求119所述的车辆,其特征在于,所述红外摄像头部署在所述车辆内的至少一个位置,所述至少一个位置包括以下任意一个或多个位置:仪表盘上方或附近位置,中控台上方或附近位置,A柱或附近位置,后视镜或附近位置。
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