WO2021159269A1 - 基于视觉的安全驾驶预警方法、***及存储介质 - Google Patents
基于视觉的安全驾驶预警方法、***及存储介质 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
Definitions
- This specification relates to the technical field of assisted driving of vehicles, in particular to a vision-based safe driving early warning method, system and storage medium.
- the behavior state of the driver is one of the important factors affecting driving safety.
- technical solutions such as early warning of safe driving by judging the degree of eye fatigue have emerged.
- statistical studies have shown that in traffic accidents related to the behavior of the driver, physiological factors such as fatigue driving are not important factors leading to traffic accidents.
- inattention is one of the important factors leading to traffic accidents. Therefore, how to determine whether the driver's gaze is concentrated in order to carry out corresponding safe driving warnings has become a technical problem that needs to be solved urgently.
- the purpose of the embodiments of this specification is to provide a vision-based safe driving early warning method, system and storage medium to improve driving safety.
- the embodiments of this specification provide a vision-based safe driving early warning method, including:
- the embodiments of this specification also provide a vision-based safe driving early warning system, including:
- Image acquisition device used to track the driver's facial image
- An image processing device for acquiring a three-dimensional map of the cockpit, and determining the projection position of the driver’s gaze direction on the three-dimensional map according to the eye features contained in the facial image; when the projection position is located at a designated When the position is out of range, an early warning command will be issued;
- the early warning execution device outputs safe driving warning information according to the early warning instruction.
- the embodiment of this specification also provides a computer storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the above safe driving early warning method.
- the embodiments of this specification can determine the projection position of the driver’s gaze direction on the cockpit 3D map based on the eye features tracked in the driver’s facial image; when When the projection position is outside the specified position range, it can be confirmed that the driver's attention is not focused on the correct line of sight area, and the driver can be warned of safe driving based on this, that is, the driver can not concentrate on the situation , Provide safe driving early warning to the driver in time, thereby improving the safety of driving and effectively reducing traffic accidents caused by inattention during driving.
- Figure 1 is a structural block diagram of a vision-based safe driving early warning system in some embodiments of this specification
- Figure 2 is a schematic diagram of the driver's gaze direction in an embodiment of this specification
- FIG. 3a is a schematic diagram of the gaze direction after weighting the feature values of the primary and secondary eyes in an embodiment of this specification
- FIG. 3b is a schematic diagram of the gaze direction after weighting the feature values of the primary and secondary eyes in another embodiment of this specification;
- Fig. 4 is a schematic diagram of a designated position range in an embodiment of the specification.
- FIG. 5 is a schematic diagram of judging whether the projection position of the gaze direction on the three-dimensional map exceeds the specified position range in an embodiment of the specification
- Fig. 6 is a flowchart of a vision-based safe driving early warning method in some embodiments of this specification.
- some embodiments of this specification may take a car as an example for description.
- the embodiments of this specification can be adapted to any ground vehicle with a cockpit, for example, it can include, but is not limited to, various automobiles and the like.
- the ground vehicle can be controlled by the driver.
- some ground vehicles may have automatic driving functions, in driving scenarios where the automatic driving mode is not turned on, the ground vehicles still need to be manipulated by the driver. Therefore, the embodiments of this specification can also be applied to Ground vehicles with autonomous driving functions.
- a vision-based safe driving early warning system may include an image acquisition device 11, an image processing device 12 and an early warning execution device 13.
- the image acquisition device 11 can be used to track the facial image of the driver.
- the image processing device 12 may be used to obtain a three-dimensional map of the cockpit, and determine the projection position of the driver’s gaze direction on the three-dimensional map according to the eye features contained in the facial image; when the projection position is located When the specified position is outside the range, an early warning command is issued.
- the early warning execution device 13 can output safe driving warning information according to the early warning instruction.
- the embodiments of this specification can determine the projection position of the driver’s gaze direction on the cockpit 3D map based on the eye features tracked to the driver’s facial image; when the projection position is outside the specified position range It can be confirmed that the driver’s attention is not focused on the correct line of sight area. Based on this, the driver can be warned of safe driving, that is, the driver can be safely driven in time when the driver’s attention is not concentrated. Early warning improves driving safety and helps effectively reduce traffic accidents caused by inattention during driving.
- the image acquisition device 11 can realize real-time acquisition of cockpit images from different shooting angles, so as to obtain the three-dimensional spatial distribution in the cockpit.
- the image acquisition device 11 may be a camera that can freely rotate 360 degrees to shoot, which may help reduce the implementation cost.
- the camera can have a face tracking and shooting function to realize real-time collection of cockpit images including faces from different shooting angles.
- the image acquisition device 11 may also be composed of multiple cameras, and the shooting angles of these cameras may be fixed and may be different, so as to cooperate to complete Real-time acquisition of the three-dimensional spatial distribution in the cockpit.
- the image acquisition device 11 may be an infrared camera, which can reduce changes in the lighting environment (for example, at night or at night). The influence of the darkening of the light caused by cloudy sky, etc.) on the system, which is beneficial to improve the stability of the system. Not only that, compared with ordinary white light, infrared light can eliminate the driver's dazzling feeling, so as not to cause dazzling interference to the driver's vision.
- the image processing device 12 may be a processor.
- the processor may include, but is not limited to, a central processing unit (CPU), a single chip microcomputer, a micro control unit (MCU), a digital signal processor (DSP), and a programmable logic controller ( PLC) and so on.
- CPU central processing unit
- MCU micro control unit
- DSP digital signal processor
- PLC programmable logic controller
- the image processing device 12 can control the image acquisition device 11 to collect cockpit images, and can build a three-dimensional map of the cockpit based on the cockpit images, so that the driver can see in real time
- the facial image is displayed on a three-dimensional map.
- the image processing device 12 can calculate the relative spatial position of the driver's gaze direction in the three-dimensional map based on the eye features contained in the facial image.
- the projection position of the driver's gaze direction on the three-dimensional map is also determined.
- the image processing device 12 can process the cockpit image based on any suitable real-time positioning and map construction algorithm (Simultaneous Localization And Mapping, SLAM for short) to create and maintain a three-dimensional map of the cockpit.
- SLAM Simultaneous Localization And Mapping
- the SLAM algorithm may be ORB-SLAM, LSD-SLAM, or the like.
- the SLAM algorithm (especially the open source SLAM algorithm) is easy to implement and helps reduce the cost of implementation.
- the SLAM algorithm is taken as an example for illustration, and it should not be understood as a limitation of the specification.
- any three-dimensional mapping method that can construct and maintain a three-dimensional map of the cockpit in real time can be applied. In the examples of this specification.
- the determining the projection position of the driver's gaze direction on the three-dimensional map according to the eye features contained in the facial image may include the following steps:
- the image processing device 12 can extract the feature values of the eyes from the facial image.
- the characteristics of different positions of the face are different, for example, the eyes, nose, mouth, etc. each have their own shape characteristics.
- the image processing device 12 locks the driver’s face through the image acquisition device 11
- the feature values of the facial image collected by the image acquisition device 11 can be used to easily identify the eye position, so that the eye position can be extracted from the image. Eigenvalues.
- the orientation of the eyeball in the three-dimensional space is different. For example, when the human eye is looking upward, the eyeball is upward; when the human eye is looking downward, the eyeball is downward, and so on. Therefore, the pitch angle and yaw angle of the eyeball center point relative to the reference axis (or the front and back offset distance, left and right offset distance, and up and down offset distance of the eye center point relative to the reference axis) can be used to determine the gaze direction of the eyeball.
- the center point of the interpupillary distance can be used as the starting point and the same as the gaze direction of the eyes.
- the direction of the parallel rays is regarded as the driver's gaze direction (for example, as shown in Fig. 2).
- the reference axis may refer to the gaze direction of the driver when the driver is looking straight ahead, that is, the straight line that passes through the center of the eyeball and is parallel to the ground when the driver is looking straight ahead.
- the above ray direction that passes through the center of the interpupillary distance and is parallel to the direction of the eyes is taken as the gaze direction of the driver, which is only an exemplary illustration.
- the driver's gaze direction may be any suitable direction provided that the above recognition confusion can be overcome.
- the gaze direction of the driver can also be determined based on the weighted sum of the characteristics of the primary eyeball and the characteristics of the secondary eyeball in the eyes.
- the dominant eye or the dominant eye for short.
- the other eye can be called a secondary eye (referred to as secondary eye). Therefore, determining the gaze direction of the driver based on the weighted sum of the features of the primary eyeball and the feature of the secondary eyeball in both eyes can help more accurately identify the gaze direction of the driver.
- which eye of the driver is the dominant eye can be preset through configuration parameters, or it can be automatically determined by the system.
- the weight of the feature value of the left eye can be increased, and the weight of the feature value of the right eye can be reduced accordingly, so that the starting point of the driver’s gaze direction is closer to the center of the left eye instead of Then it is located at the center of the interpupillary distance, as shown in Figure 3a, for example.
- Fig. 3a 31 indicates the center of the left eye
- 32 indicates the center of the right eye
- 33 indicates the center of the interpupillary distance
- the arrow direction indicates the gaze direction.
- the weight of the feature value of the right eye can be increased, and the weight of the feature value of the left eye can be reduced accordingly, so that the starting point of the driver's gaze direction is closer to the center of the right eye, and It is no longer at the center of the interpupillary distance, as shown in Figure 3b, for example.
- 31 represents the eyeball center of the left eye
- 32 represents the eyeball center of the right eye
- 33 represents the center point of the interpupillary distance
- the arrow direction represents the gaze direction.
- the adjustment of the weights of the characteristic values of the primary and secondary eyes can be set as required.
- the projection position of the driver's gaze direction on the three-dimensional map refers to the intersection of the driver's gaze direction and the surface of the cockpit.
- the projection position is the intersection of the driver’s gaze direction and the roof
- the projection position is the driver’s gaze direction and the front windshield. The intersection of the windshield, etc.
- the correct line of sight area can generally include the area covered by the driver when looking ahead.
- the area covered by the front windshield of the vehicle may be taken as the designated position range (for example, as shown by the area enclosed by the dashed line in FIG. 4).
- the area covered by the front windshield of the vehicle is also taken as an example of the designated position range.
- the projection position of the driver’s gaze direction on the three-dimensional map is outside the designated position range (for example, Figure 5 As shown in point B)
- the driver can be warned of safe driving to remind the driver to drive safely.
- the projection position of the driver's gaze direction on the three-dimensional map is within the designated position range (for example, as shown at point A in FIG. 5)
- the driver may not be given a safe driving warning and the detection may continue.
- the designated position range may also include a certain tolerance margin to reduce the probability of misjudgment.
- the behavior of the driver occasionally observing the road conditions of the adjacent lane through the side view rear mirror is generally a correct driving behavior.
- the driver’s gaze direction is on the side view mirror, it will be considered that the driver’s gaze direction is not focused on the correct The sight area, which is obviously not what the user expects. Therefore, at least the area covered by the side view rear mirror can be used as a tolerance margin, that is, when the driver looks at the side view rear mirror, the driver's gaze direction can still be regarded as falling in the correct line of sight area.
- the timing can be started; when the projection position is outside the designated position range, the duration exceeds At the time threshold, a safe driving warning can be given to the driver to remind the driver to drive safely.
- the duration of the projection position outside the designated position range does not exceed the duration threshold, the driver may not be given a safe driving warning to reduce the frequency of safe driving warnings, reduce the driving interference to the driver, and improve the user experience.
- the image processing device 12 needs to give the driver a safe driving warning in time to avoid causing a traffic accident.
- the image processing device 12 may respond to driving The driver gives a warning for safe driving.
- the early warning execution device 13 may be any suitable voice prompt device (such as a voice alarm, a buzzer), a light prompt device (such as a flashing indicator light, a color indicator light, etc.), and or graphics.
- voice prompt device such as a voice alarm, a buzzer
- light prompt device such as a flashing indicator light, a color indicator light, etc.
- graphics such as graphics.
- Prompt device such as display screen
- the safe driving warning information output by the early warning execution device 13 may be associated with the severity of the driver's gaze direction not focusing on the correct line of sight area. For example, when the frequency of the driver's gaze direction not focusing on the correct line of sight area reaches the set frequency threshold (or the duration reaches another duration threshold), the early warning execution device 13 may output stronger safety driving warning information . In order to draw the driver's sufficient attention to the safe driving warning information. For example, taking verbal prompts as an example, when the driver's gaze direction is not focused on the correct line of sight area, the early warning execution device 13 may output safe driving warning information with stronger tone, rush and/or louder.
- this specification also provides a vision-based safe driving early warning method.
- the vision-based safe driving early warning method can be applied to the image processing device 12 side. As shown in FIG. 6, in some embodiments of this specification, the vision-based safe driving early warning method may include the following steps:
- S603 Determine the projection position of the driver's gaze direction on the three-dimensional map according to the eye features contained in the facial image
- S604 Determine whether the projection position is outside the designated position range.
- the acquiring a three-dimensional map of the cockpit may include:
- the cockpit image is processed based on a preset slam algorithm to create a three-dimensional map of the cockpit.
- the determining the projection position of the driver's gaze direction on the three-dimensional map according to the eye features contained in the facial image may include :
- the gaze direction of the driver is determined according to the characteristic values of the eyes.
- the determining the gaze direction of the driver according to the characteristic values of the eyes includes:
- the gaze direction of the driver is determined according to the weighted sum of the features of the primary eyeballs and the features of the secondary eyeballs in the two eyes.
- the gaze direction may include:
- giving a safe driving early warning to the driver may include:
- the projection position is outside the designated position range, which may include:
- the projection position is outside the designated position range and exceeds the preset offset margin.
- the vision-based safe driving early warning method may further include:
- the driver is given a safe driving warning.
- the facial image may include an infrared image.
- These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
- the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
- These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
- the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
- the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
- processors CPUs
- input/output interfaces network interfaces
- memory volatile and non-volatile memory
- the memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
- RAM random access memory
- ROM read-only memory
- flash RAM flash memory
- Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
- the information can be computer-readable instructions, data structures, program modules, or other data.
- Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cartridges, disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
- PRAM phase change memory
- SRAM static random access memory
- DRAM dynamic random access memory
- RAM random access memory
- ROM read-only memory
- EEPROM electrically erasable programmable read-only memory
- flash memory or other memory technology
- CD-ROM compact disc
- this specification can be provided as a method, a system or a computer program product. Therefore, this specification may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
- computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
- program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types.
- This specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network.
- program modules can be located in local and remote computer storage media including storage devices.
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Abstract
Description
Claims (19)
- 一种基于视觉的安全驾驶预警方法,其特征在于,包括:获取驾驶舱的三维地图;跟踪驾驶员的面部图像;根据所述面部图像所包含的眼部特征,确定所述驾驶员的注视方向在所述三维地图中的投射位置;当所述投射位置位于指定位置范围之外时,对所述驾驶员进行安全驾驶预警。
- 如权利要求1所述的基于视觉的安全驾驶预警方法,其特征在于,所述获取驾驶舱的三维地图,包括:获取从不同角度采集的驾驶舱图像;基于预设的slam算法处理所述驾驶舱图像,以创建所述驾驶舱的三维地图。
- 如权利要求1所述的基于视觉的安全驾驶预警方法,其特征在于,所述根据所述面部图像所包含的眼部特征,确定所述驾驶员的注视方向在所述三维地图中的投射位置,包括:从所述面部图像中提取双眼的特征值;根据所述双眼的特征值确定所述驾驶员的注视方向。
- 如权利要求3所述的基于视觉的安全驾驶预警方法,其特征在于,所述根据所述双眼的特征值确定所述驾驶员的注视方向,包括:根据所述双眼中主眼球的特征与副眼球的特征的加权和,确定所述驾驶员的注视方向。
- 如权利要求3所述的基于视觉的安全驾驶预警方法,其特征在于,所述注视方向包括:以瞳距中心点为起点,与所述双眼的朝向平行的射线方向。
- 如权利要求1所述的基于视觉的安全驾驶预警方法,其特征在于,所述当所述投射位置位于指定位置范围之外时,对所述驾驶员进行安全驾驶预警,包括:当所述投射位置位于指定位置范围外的持续时间超过时长阈值时,对所述驾驶员进行安全驾驶预警。
- 如权利要求1或6所述的基于视觉的安全驾驶预警方法,其特征在于,所述投射位置位于指定位置范围之外,包括:所述投射位置位于指定位置范围外且超出预设的偏移余量。
- 如权利要求1所述的基于视觉的安全驾驶预警方法,其特征在于,还包括:当未跟踪到面部图像的持续时间超过时长阈值,或跟踪到的未包含双眼的面部图像的持续时间超过时长阈值时,对所述驾驶员进行安全驾驶预警。
- 如权利要求1所述的基于视觉的安全驾驶预警方法,其特征在于,所述面部图像包括红外图像。
- 一种基于视觉的安全驾驶预警***,其特征在于,包括:图像采集装置,用于跟踪驾驶员的面部图像;图像处理装置,用于获取驾驶舱的三维地图,根据所述面部图像所包含的眼部特征,确定所述驾驶员的注视方向在所述三维地图中的投射位置;当所述投射位置位于指定位置范围之外时,发出预警指令;预警执行装置,根据所述预警指令输出安全驾驶警示信息。
- 如权利要求10所述的基于视觉的安全驾驶预警***,其特征在于,所述获取驾驶舱的三维地图,包括:获取从不同角度采集的驾驶舱图像;基于预设的slam算法处理所述驾驶舱图像,以创建所述驾驶舱的三维地图。
- 如权利要求10所述的基于视觉的安全驾驶预警***,其特征在于,所述根据所述面部图像所包含的眼部特征,确定所述驾驶员的注视方向在所述三维地图中的投射位置,包括:从所述面部图像中提取双眼的特征值;根据所述双眼的特征值确定所述驾驶员的注视方向。
- 如权利要求12所述的基于视觉的安全驾驶预警***,其特征在于,所述根据所述双眼的特征值确定所述驾驶员的注视方向,包括:根据所述双眼中主眼球的特征与副眼球的特征的加权和,确定所述驾驶员的注视方向。
- 如权利要求12所述的基于视觉的安全驾驶预警***,其特征在于,所述注视方向包括:以瞳距中心点为起点,且与所述双眼的朝向平行的射线方向。
- 如权利要求10所述的基于视觉的安全驾驶预警***,其特征在于,所述当所述投射位置位于指定位置范围之外时,对所述驾驶员进行安全驾驶预警,包括:当所述投射位置位于指定位置范围外的持续时间超过时长阈值时,对所述驾驶员进行安全驾驶预警。
- 如权利要求10或15所述的基于视觉的安全驾驶预警***,其特征在于,所述投射位置位于指定位置范围之外,包括:所述投射位置位于指定位置范围外且超出预设的偏移余量。
- 如权利要求10所述的基于视觉的安全驾驶预警***,其特征在于,所述图像处理装置还用于:当未跟踪到面部图像的持续时间超过时长阈值,或跟踪到的未包含双眼的面部图像的持续时间超过时长阈值时,对所述驾驶员进行安全驾驶预警。
- 如权利要求10所述的基于视觉的安全驾驶预警***,其特征在于,所述图像采集装置包括红外图像采集装置。
- 一种计算机存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器执行权利要求1-9任意一项所述的安全驾驶预警方法。
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