CN111325869B - Vehicle fatigue driving accurate judgment method, terminal device and storage medium - Google Patents
Vehicle fatigue driving accurate judgment method, terminal device and storage medium Download PDFInfo
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
- G07C5/06—Registering or indicating driving, working, idle, or waiting time only in graphical form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
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Abstract
The invention relates to the technical field of fatigue driving, and provides a vehicle fatigue driving accurate judgment method, a terminal device and a storage medium, wherein in the method, when the vehicle is preliminarily judged to be fatigue driving in the driving process, the following method is used for further judgment: setting the area enclosed by the time-steering angular velocity curve drawn according to the vehicle driving data and the straight line where the time axis, the steering angular velocity upper limit threshold and the steering angular velocity lower limit threshold are located in the sampling time period as a selected area, calculating whether the selected area is smaller than the area threshold, and if so, judging the fatigue driving. The invention can distinguish whether the driver is in fatigue state abnormal driving or in normal state fast lane changing overtaking in the driving process of the vehicle, thereby reducing the false alarm rate of the program and improving the accuracy.
Description
Technical Field
The invention relates to the technical field of fatigue driving, in particular to a method for accurately judging vehicle fatigue driving, a terminal device and a storage medium.
Background
The existing fatigue driving detection technology is almost based on a camera, the fatigue state of a driver is identified by collecting the actions of yawning or nodding of a human face, an infrared camera and an image processor are additionally arranged on the detection method, the cost of equipment cannot be increased, and the detection method cannot be quickly transplanted to equipment without the camera.
The two schemes are also used in most of the prior patents and papers, but in the real vehicle test, the false alarm rate calculated according to the zero speed percentage and the standard deviation is higher, and especially the false alarm rate when the vehicle carries out large-amplitude lane change is higher.
Disclosure of Invention
In order to solve the problems, the invention provides a method for accurately judging fatigue driving of a vehicle, terminal equipment and a storage medium, so as to reduce the false alarm rate and improve the accuracy of fatigue driving detection.
The specific scheme is as follows:
an accurate judgment method for fatigue driving of a vehicle, when preliminarily judged to be fatigue driving during running of the vehicle, further judges using:
setting the area enclosed by the time-steering angular velocity curve drawn according to the vehicle driving data and the straight line where the time axis, the steering angular velocity upper limit threshold and the steering angular velocity lower limit threshold are located in the sampling time period as a selected area, calculating whether the selected area is smaller than the area threshold, and if so, judging the fatigue driving;
the sampling time period is preset according to experience and experimental data;
the setting method of the upper limit threshold value of the steering angular velocity, the lower limit threshold value of the steering angular velocity and the area threshold value is as follows:
s1: collecting data samples of a plurality of groups of vehicles under two conditions of large-amplitude lane change and fatigue driving, and drawing the data samples into a time-steering angular velocity curve;
s2: extracting an upper limit threshold value and a lower limit threshold value of the steering angular speed according to the data sample;
s3: and extracting an area threshold value according to the data sample, so that the selected area is larger than the area threshold value when the vehicle is in a large-amplitude lane change condition, and the selected area is smaller than the area threshold value when the vehicle is in a fatigue driving condition.
Further, the specific process of step S2 is: and (2) according to the time-steering angular velocity curve drawn in the step (S1), counting the maximum value of the steering angular velocity of the vehicle under the condition of large-amplitude lane change, and calculating a steering angular velocity upper limit threshold value and a steering angular velocity lower limit threshold value after data processing is carried out on the data of the counted maximum value.
Further, the data processing specifically includes: after removing the obviously abnormal data, calculating an average value X, and setting an upper limit threshold of the steering angular velocity as X and a lower limit threshold of the steering angular velocity as-X.
Further, the specific process of step S3 is: and (2) respectively calculating the selected areas of the vehicle under the two conditions of large-amplitude lane change and fatigue driving according to the data samples in the step (S1), summarizing and counting the calculated data to obtain the range of the selected areas of the vehicle under the two conditions of large-amplitude lane change and fatigue driving, and setting an area threshold according to the range of the areas under the two conditions.
Further, the area range is obtained by the following steps: respectively setting the selected areas calculated when the vehicle is in the condition of changing lanes to a large extent as S i1 、S i2 、……、S in The set of the composition area is S i ＝{S i1 、S i2 、……、S in }; the selected areas calculated when the vehicle is in fatigue driving are respectively S j1 、S j2 、……、S jm The selected area set of composition is S j ＝{S j1 、S j2 、……、S jm }; selecting a set of areas S by culling i And S j After the data with obvious abnormality is selected, an area set S is selected i And S j Maximum value of S imax 、S jmax And minimum value S imin 、S jmin Setting the respective values as ranges, namely:
the range of the selected area is S under the condition that the vehicle is in the large-amplitude lane change imin ～S imax ；
The selected area of the vehicle in a fatigue driving situation is in the range S jmin ～S jmax 。
The terminal device for accurately judging the fatigue driving of the vehicle comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method of the embodiment of the invention.
A computer-readable storage medium, in which a computer program is stored, wherein the computer program, when being executed by a processor, is adapted to carry out the steps of the above-mentioned method according to an embodiment of the present invention.
The invention adopts the technical scheme and has the beneficial effects that: the method can distinguish whether the driver is in fatigue state abnormal driving or in normal state fast lane changing overtaking in the driving process of the vehicle, reduce the false alarm rate of the program and improve the accuracy.
Drawings
FIG. 1 is a diagram illustrating a dual sliding window detection method according to an embodiment of the invention.
Fig. 2 shows the change curve of the steering angle of the vehicle with a large-amplitude lane change according to the embodiment.
Fig. 3 shows a change in steering angle over time in the case of fatigue driving of the vehicle in this embodiment.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The embodiment of the invention provides an accurate judgment method for fatigue driving of a vehicle.
There are many common fatigue driving determination methods, and in this embodiment, a method for detecting double sliding windows is listed, as shown in fig. 1, in the current fatigue detection method, a sliding time window L2 is set in a time window L1, the zero velocity percentage and the angular velocity standard deviation in the time window L2 at each time are calculated, and the respective maximum values are selected as the characteristic values in the time window L1 to determine the current state of the driver.
Figures 2 and 3 show the curves of the two steering angles over time for a vehicle in a wide range of lane changes and fatigue driving respectively,
the data of fig. 2 and 3 were calculated, respectively, as:
(1) When the vehicle is in a large-amplitude lane change, the maximum zero speed Percentage (PNS) is 0.72, and the maximum steering angular speed standard deviation (STD) is 0.47;
(2) When the vehicle was in fatigue driving, the maximum percent zero speed (PNS) was 0.74 and the maximum steering angular velocity standard deviation (STD) was 0.49.
Because the double sliding windows represent the characteristics of the large window by selecting the maximum characteristic value calculated by the small window, when the vehicle overtakes at high speed, the vehicle almost always passes on a straight road, a section of high-speed straight-going state exists before the behavior of changing the lane greatly, the data shows that the value of the zero-speed Percentage (PNS) is very large, and the maximum standard deviation (STD) of the steering angle speed is increased at the moment of the lane change overtaking, so that the data shows that the data is very similar to the data when the vehicle presses the lane line and then hits the steering wheel to return the lane during fatigue driving. Therefore, when only two characteristics of the zero speed percentage and the standard deviation of the steering angular velocity are matched for identification, the data of the two conditions are similar and difficult to identify, and therefore false alarm can be caused.
In this embodiment, an improved scheme is proposed On the basis that a six-axis sensor is adopted as an angular speed acquisition device, and vehicle speed data is acquired through an On-Board Diagnostic (OBD) interface of a vehicle, or GPS vehicle speed is used.
The specific method of the embodiment is as follows: setting the area enclosed by a straight line in which the time axis, the steering angular speed upper limit threshold value and the steering angular speed lower limit threshold value are positioned in the sampling time period as a selected area according to a time-steering angular speed curve drawn according to vehicle driving data, calculating whether the selected area is smaller than the area threshold value, if so, judging the fatigue driving, and if not, judging the fatigue driving.
The sampling time period is preset according to experience and experimental data.
The method for setting the upper limit threshold value, the lower limit threshold value and the area threshold value of the steering angular velocity comprises the following steps:
Step 2, according to the time-steering angular velocity curve, counting the maximum value of the steering angular velocity of the vehicle under the condition of large-amplitude lane change to form a set A i ＝{A i1 、A i2 、……、A in }。
Step 3. Involution A i And (4) performing data processing, calculating a steering angular velocity threshold value X, namely after removing obviously abnormal data, averaging, and setting an upper limit threshold value of the steering angular velocity as X and a lower limit threshold value of the steering angular velocity as-X.
And 4, respectively calculating the size of the selected area of the data sample in the step 1 according to the set sampling time period.
the range of the selected area is S under the condition that the vehicle is in the large-amplitude lane change imin ～S imax ；
The selected area of the vehicle in a fatigue driving situation is in the range S jmin ～S jmax 。
Step 6, setting an area threshold S according to the value range of the selected area under the two conditions k So that the selected area is larger than the area threshold S under the condition that the vehicle is in the large-amplitude lane change k Vehicle for transporting goodsSelected area less than area threshold S for vehicle in fatigue driving condition k 。
In fig. 2 and 3, the steering angular velocity threshold value X =0.5 is set, the sampling period is set to 3 seconds, 15 sampling points, the selected area is calculated to be 5.10 in the case of a large-amplitude lane change, the selected area is calculated to be 3.80 in the case of fatigue driving, and the difference between the two selected area data is (5.1-3.8)/3.8 =34.2%.
When the steering angular velocity threshold is not increased, the calculated area is 5.81 in the case of a large lane change and 5.09 in the case of fatigue driving, and the difference between the two area data is (5.18-5.09)/5.09 =13.96%.
From the above results, it can be seen that, after the upper and lower limit thresholds are increased, the difference of the same data in calculating the area is increased from 13.9% to 34.2%, the difference after the same data is analyzed is increased, the difficulty in debugging the threshold is reduced, and the fault tolerance rate is improved.
Example two:
the invention also provides a terminal device for accurately judging fatigue driving of a vehicle, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps in the method embodiment of the first embodiment of the invention.
Further, as an executable scheme, the terminal device for accurately judging fatigue driving of the vehicle may be a computer, a vehicle-mounted computer, a palm computer and other computing devices. The vehicle fatigue driving accurate judgment terminal device can comprise, but is not limited to, a processor and a memory. It is understood by those skilled in the art that the above-mentioned constituent structure of the vehicle fatigue driving accurate judgment terminal device is only an example of the vehicle fatigue driving accurate judgment terminal device, and does not constitute a limitation on the vehicle fatigue driving accurate judgment terminal device, and may include more or less components than the above, or combine some components, or different components, for example, the vehicle fatigue driving accurate judgment terminal device may further include an input/output device, a network access device, a bus, and the like, which is not limited in the embodiments of the present invention.
Further, as an executable solution, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general processor can be a microprocessor or the processor can be any conventional processor and the like, the processor is a control center of the vehicle fatigue driving accurate judgment terminal device, and various interfaces and lines are utilized to connect various parts of the whole vehicle fatigue driving accurate judgment terminal device.
The memory can be used for storing the computer program and/or the module, and the processor realizes various functions of the vehicle fatigue driving accurate judgment terminal device by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method of an embodiment of the invention.
The module/unit integrated with the vehicle fatigue driving accurate judgment terminal device can be stored in a computer readable storage medium if it is realized in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), software distribution medium, and the like.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A method for accurately judging fatigue driving of a vehicle is characterized by comprising the following steps: when preliminarily judged to be fatigue driving during the running of the vehicle, further judgment is made using the following method:
calculating whether the area enclosed by a time shaft, a steering angular speed upper limit threshold value and a steering angular speed lower limit threshold value in a sampling time period and a straight line in which the time shaft, the steering angular speed upper limit threshold value and the steering angular speed lower limit threshold value are located is smaller than an area threshold value according to a time-steering angular speed curve drawn by vehicle driving data, and if so, judging that the vehicle is in fatigue driving;
the sampling time period is preset according to experience and experimental data;
the setting method of the upper limit threshold value of the steering angular velocity, the lower limit threshold value of the steering angular velocity and the area threshold value is as follows:
s1: collecting data samples of a plurality of groups of vehicles under two conditions of large-amplitude lane change and fatigue driving, and drawing the data samples into a time-steering angular velocity curve;
s2: extracting an upper steering angular velocity threshold and a lower steering angular velocity threshold according to the data samples;
s3: and extracting an area threshold value according to the data sample, so that the area of the vehicle is larger than the area threshold value under the condition of changing lanes greatly, and the area of the vehicle is smaller than the area threshold value under the condition of fatigue driving.
2. The method for accurately judging fatigue driving of a vehicle according to claim 1, characterized in that: the specific process of the step S2 is as follows: and (2) according to the time-steering angular velocity curve drawn in the step (S1), counting the maximum value of the steering angular velocity of the vehicle under the condition of large-amplitude lane change, and calculating a steering angular velocity upper limit threshold value and a steering angular velocity lower limit threshold value after data processing is carried out on the data of the counted maximum value.
3. The method for accurately judging fatigue driving of a vehicle according to claim 2, characterized in that: the data processing specifically comprises: after removing the obviously abnormal data, calculating an average value X, and setting an upper limit threshold of the steering angular velocity as X and a lower limit threshold of the steering angular velocity as-X.
4. The method for accurately judging fatigue driving of a vehicle according to claim 1, characterized in that: the specific process of the step S3 is as follows: and (2) respectively calculating the area enclosed by the time-steering angular velocity curve drawn in the step (S1) and the straight line where the time axis, the steering angular velocity upper limit threshold and the steering angular velocity lower limit threshold are located in the sampling time period, carrying out data induction and statistics on the calculated area to obtain the area range of the vehicle under two conditions of large-amplitude lane change and fatigue driving, and setting the area threshold according to the area range under the two conditions.
5. The method for accurately determining fatigue driving of a vehicle according to claim 4, wherein: the area range was obtained as follows:setting the areas of the vehicle under the condition of large-amplitude lane change and calculated after the set steering angular speed threshold value as S i1 、S i2 、……、S in The area set of the composition is S i ＝{S i1 、S i2 、……、S in }; the vehicle is in a fatigue driving situation, and the calculated areas after the set steering angular velocity threshold are respectively S j1 、S j2 、……、S jm The area set of the composition is S j ＝{S j1 、S j2 、……、S jm }; by rejecting area sets S i And S j After the data with obvious abnormality is selected, an area set S is selected i And S j Maximum value of S imax 、S jmax And minimum value S imin 、S jmin Setting the respective values as ranges, namely:
the area of the vehicle under the condition of large-amplitude lane change is S imin ～S imax ；
The area of the vehicle in the fatigue driving state is S jmin ～S jmax 。
6. The utility model provides a vehicle driver fatigue accurate judgement terminal equipment which characterized in that: comprising a processor, a memory and a computer program stored in the memory and running on the processor, the processor implementing the steps of the method according to any of claims 1-5 when executing the computer program.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN104794856B (en) * | 2014-01-22 | 2018-06-22 | 径卫视觉科技（上海）有限公司 | Driver attention's compositive appraisement system |
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| CN104207791B (en) * | 2014-08-26 | 2017-02-15 | 江南大学 | Fatigue driving detection method |
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| CN107316354B (en) * | 2017-07-12 | 2019-07-16 | 哈尔滨工业大学 | A kind of method for detecting fatigue driving based on steering wheel and GNSS data |
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