CN111862533A

CN111862533A - Vehicle joint navigation equipment and method based on big data

Info

Publication number: CN111862533A
Application number: CN202010679952.6A
Authority: CN
Inventors: 胡浩
Original assignee: Beijing Jingyi Technology Co ltd
Current assignee: GUANGDONG CASKA ELECTRONIC TECHNOLOGY Co.,Ltd.
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2020-10-30
Anticipated expiration: 2040-07-15
Also published as: CN111862533B

Abstract

The invention discloses vehicle combined navigation equipment based on big data, which comprises a GPS navigation module, a vehicle-mounted forward-looking camera, a steering angle monitoring unit, a dynamic simulation system, an object monitoring radar, a speed sensor and a central processing system, wherein the central processing system receives information of the steering angle monitoring unit, the dynamic simulation system, the object monitoring radar, the angle sensor and the speed sensor in real time and judges the driving state of a driver in real time according to information integration, and the navigation method of the navigation equipment comprises the following steps: identifying gender and age information of a driver; reminding to fasten the safety belt and the breathing monitoring abdominal belt; the real-time fatigue monitoring is carried out by combining a steering angle monitoring unit, a dynamic simulation system, an object monitoring radar and a speed sensor; the invention uses the included angle between the vehicle moving direction and the lane central line to pre-judge the vehicle trend by the dynamic simulation image between the vehicle and the road, and improves the accuracy of fatigue driving monitoring.

Description

Vehicle joint navigation equipment and method based on big data

Technical Field

The embodiment of the invention relates to the technical field of big data analysis application, in particular to vehicle joint navigation equipment and a navigation method based on big data.

Background

The driving is a heavy load work which consumes physical strength and mental effort. The driver sits in an almost closed cab for a long time, muscles of the whole body are in a tense working state all the time, the thought is highly concentrated, energy consumed physiologically and psychologically for a long time can cause fatigue if the energy cannot be recovered and adjusted in time, the phenomena of mood annoyance, easy ignition and body weakness are caused, and the sense organs of the driver are obstructed due to the fatigue, so that the reaction becomes pure and delayed, the judgment is wrong, the fatigue driving is a natural enemy of safe driving, and more than 60 percent of traffic accidents are related to the fatigue driving according to the statistics of traffic departments.

Highway driving is more prone to fatigue and doze than ordinary highway driving. One overseas survey test states that drivers on expressways doze at about 1/45 km, and often sleep with their eyes open for 1-4 seconds without any awareness. One important reason for the reduction of the consciousness level of drivers and the generation of fatigue and drowsiness is that the expressway has a strong hypnotic effect. The special road conditions (flat road, straight line and the like), traffic conditions (high speed, large traffic flow, less interference, no traffic signal and the like), surrounding environments (monotonous external scenery, single noise of an engine in a vehicle, rhythmic vibration of vehicle body seats and the like) and simple driving operation, rigid sitting posture and the like of the expressway cause simple, repeated and monotonous stimulation to the driver for a long time, so that the consciousness degree of the driver is reduced. It is statistically estimated that the total number of traffic accidents on highways accounts for about 20% of the traffic accidents caused by driving fatigue and dozing.

However, the existing vehicle-mounted navigation equipment generally only has a simple navigation function, and cannot be used for judging the fatigue state in combination with the movement track of the vehicle, so that great potential safety hazards exist in the driving process of the vehicle, and therefore a navigation equipment capable of combining the displacement condition of the vehicle is urgently needed, so that the accuracy of fatigue monitoring is improved, and the initiative of the fatigue monitoring is improved.

Disclosure of Invention

Therefore, the embodiment of the invention provides vehicle combined navigation equipment and a navigation method based on big data, which are used by combining a GPS navigation module and a vehicle-mounted camera module to simulate the angle relation between a vehicle displacement line segment and a lane in real time so as to solve the problem that a navigation system in the prior art cannot judge a fatigue state by combining the moving track of a vehicle, so that great potential safety hazard exists in the vehicle driving process.

In order to achieve the above object, an embodiment of the present invention provides the following: a vehicle combined navigation device based on big data comprises a GPS navigation module, a vehicle-mounted forward-looking camera, a steering angle monitoring unit, a dynamic simulation system, an object monitoring radar, a speed sensor and a central processing system;

The GPS navigation module is arranged at the mass center part of the vehicle and plans a driving route for a vehicle owner;

the vehicle-mounted forward-looking camera is mounted on a front window of the vehicle, is combined with the GPS navigation module, is used for detecting a lane track at the current position and is connected with the dynamic simulation system;

the steering angle monitoring unit comprises an angle sensor and a voice broadcast device which are arranged on a steering wheel, the angle sensor is used for monitoring the rotation angle of the steering wheel in real time, and the driving state of a driver is pre-judged;

the dynamic simulation system comprises a road alignment unit based on the vehicle-mounted forward-looking camera and a vehicle trend unit actually monitored by the vehicle-mounted forward-looking camera, and can simulate road conditions shot by the vehicle-mounted forward-looking camera into two-dimensional plane animation images;

the object monitoring radars are distributed and installed on bumpers at the head and the tail of the vehicle, the distances between the front and rear ends of the vehicle and the object are monitored in real time, and a steering angle monitoring unit and a dynamic simulation system are assisted to carry out fatigue monitoring;

the speed sensor is arranged on the wheel of the vehicle, monitors the speed of the vehicle in real time and transmits the speed information to the central processing system in real time.

The central processing system receives information of the steering angle monitoring unit, the dynamic simulation system, the object monitoring radar, the angle sensor and the speed sensor in real time, and judges the driving state of the driver in real time according to information integration.

As a preferable scheme of the present invention, a lane deviation included angle unit for monitoring vehicle steering in real time is further disposed in the dynamic simulation system, a lane real-time alignment line parallel to the lane is formed at a central position of each lane in a vehicle moving process by the road alignment unit, a steering real-time trend line coincident with a vehicle center line can be formed by the vehicle moving unit in the vehicle moving process, a plane rectangular coordinate system about the lane real-time alignment line is established by the lane deviation included angle unit, and an included angle between the steering real-time trend line and the road condition real-time alignment line is monitored in real time.

As a preferred embodiment of the present invention, the rectangular plane coordinate system uses a real-time alignment line of the lane as an X axis, and uses a line axis perpendicular to the real-time alignment line of the lane as a Y axis, and the lane deviation included angle unit determines whether the vehicle is deviated and an angle of the vehicle deviation by a size of an included angle between the steering real-time trend line and the X axis.

As a preferable scheme of the present invention, the angle sensor monitors a rotation angle of the steering wheel in real time, and when the angle of the steering wheel changes, the steering angle monitoring unit, in combination with the dynamic simulation system, can determine an included angle relationship between the vehicle and the lane, and pre-determine whether the driver is in a fatigue state.

In a preferred embodiment of the present invention, the steering wheel of the vehicle that is driven in a straight line is in an initial state, and the angle sensor detects that the rotation angle of the steering wheel is 0 °.

In addition, the invention also designs a navigation method of the vehicle combined navigation equipment based on the big data, which comprises the following steps:

step 100, identifying gender and age information of a driver;

step 200, reminding a driver to fasten a safety belt and a secondary safety protection abdominal belt after the driver sits on a driver seat;

step 300, dispatching a vehicle and starting a navigation device, wherein a dynamic simulation system generates a two-dimensional plane animation image and monitors an included angle between a moving track of the vehicle and a lane in real time;

step 400, a steering angle monitoring unit monitors steering and steering angles of a steering wheel in real time;

and 500, carrying out real-time fatigue monitoring by combining a steering angle monitoring unit, a dynamic simulation system, an object monitoring radar and a speed sensor. .

As a preferable aspect of the present invention, in step 500, the real-time fatigue monitoring is divided into a steering wheel stationary driving and a steering wheel turning driving.

As a preferable aspect of the present invention, the specific process of the steering wheel stationary driving includes:

t1, the angle sensor detects no change of the steering wheel, the real-time steering trend line of the vehicle is kept parallel to the real-time alignment line of the lane

When the object monitoring radar detects that the distance between the vehicle body and the foreign object is the warning deceleration distance, the speed sensor detects that the vehicle decelerates, and the driver is in a waking driving state;

when the object monitoring radar detects that the distance between the vehicle body and the foreign object is the warning deceleration distance, the speed sensor detects that the vehicle does not decelerate, then the driver is in a non-waking driving state, and the central processing unit controls the voice broadcast device to give an alarm.

T2, the angle sensor detects no change of the steering wheel, the steering real-time trend line of the vehicle keeps an included angle with the real-time collimation line of the lane, the driver is in a non-waking driving state, and the central processor controls the voice broadcaster to give an alarm.

As a preferable aspect of the present invention, the specific process of steering driving of the steering wheel includes:

s1, detecting the angle change of the steering wheel by the angle sensor, keeping the steering real-time trend line of the vehicle parallel to the real-time alignment line of the lane, and controlling the voice broadcaster to give an alarm by the central processing unit when the driver is in a non-waking driving state;

S2, detecting the angle change of the steering wheel by the angle sensor, keeping the steering real-time trend line of the vehicle to form an included angle with the real-time alignment line of the lane

When the angle sensor detects that the steering wheel is continuously changed and the final steering real-time trend line is parallel to the real-time collimation line of the next lane, the driver is in a clear-headed driving state;

when the angle sensor detects that the steering wheel continuously changes and the final steering real-time trend line still keeps an included angle with the real-time collimation line of the lane of the next lane, the driver is in a non-waking driving state, and the central processor controls the voice broadcast device to give an alarm.

The embodiment of the invention has the following advantages:

the invention utilizes the function of adding real-time monitoring to the vehicle track in the navigation equipment, forms a dynamic simulation image between the vehicle and the road by combining the navigation system and the camera shooting mechanism, pre-judges the trend of the vehicle by utilizing the included angle between the moving direction of the vehicle and the central line of the lane, judges the driving mental state of the driver and improves the accuracy of monitoring the fatigue driving.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

FIG. 1 is a block diagram of a module structure of a navigation device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating a navigation procedure according to an embodiment of the present invention;

FIG. 3 is a schematic view of the configuration of the binder cinch monitoring module of the present invention;

FIG. 4 is a flow chart of the secondary safety belt tightening status monitoring of the present invention;

FIG. 5 is a schematic diagram of a respiratory rate monitoring module according to the present invention;

FIG. 6 is a flow chart of the present invention for integrated respiratory signal monitoring and processing;

fig. 7 is a side view of the electric shock stimulation plate of the present invention;

FIG. 8 is a schematic side view of the vibration massage anti-fatigue mechanism of the present invention;

FIG. 9 is a schematic top view of the hidden expansion board of the present invention;

In the figure:

1-driver seat; 2-electric shock stimulating plate; 3-vibration massage anti-fatigue mechanism; 4-secondary safety protection bellyband; 5-resetting the winding shaft; 6-integrated clamping plate of safety belt; 7-respiratory rate monitoring module; 8-a binder cinching monitoring module;

201-head and neck convex backup plate; 202-waist convex backing plate; 203-shock contacts; 204-through perforated slots; 205-insulating heat-resistant rubber; 206-smooth conductive metal mesh;

301-a servo motor; 302-touching a gear; 303-limit track; 304-cutting the drive slot; 305-movable massage board; 306-toothed strip; 307-Y-shaped positioning brackets; 308-wheel type massage balls; 309-cushion protection plate; 3010-a brace; 3011-an elongated well; 3012-embedding pores; 3013-a spring; 3014-hide the expansion plate;

701-widening the protective braided belt; 702-a wear resistant rubber protective layer; 703-a sensor loading slot; 704-a lateral vibration sensor; 705-an on-line data processing module;

7051-signal filtering unit; 7052-a signal amplification unit; 7053-processing chip; 7054-bluetooth transmission unit;

801-pressure sensor; 802-fixed card slot; 803-a control processor; 804-infrared detection sensor; 805-alarm light.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 9, the present invention provides a vehicle combined navigation device based on big data, which includes a GPS navigation module, a vehicle-mounted forward-looking camera, a steering angle monitoring unit, a dynamic simulation system, an object monitoring radar, a speed sensor, and a central processing system;

the GPS navigation module is arranged at the mass center part of the vehicle and plans a driving route for a vehicle owner, and the two-dimensional plane view angle in the GPS navigation module is mainly utilized in the embodiment;

the vehicle-mounted forward-looking camera is arranged on a front window of the vehicle, is combined with the GPS navigation module, is used for detecting a lane track under the current position, is connected with the dynamic simulation system, continuously obtains image information 50-100m in front of the current position, and completes the continuous update of the information of the current lane of the vehicle by combining the image information with the GPS navigation module;

the dynamic simulation system comprises a road alignment unit based on the vehicle-mounted forward-looking camera and a vehicle trend unit actually monitored by the vehicle-mounted forward-looking camera, and can simulate road conditions shot by the vehicle-mounted forward-looking camera into a two-dimensional plane animation image, and the vehicle runs in the animation image of the dynamic simulation system at a first person-named visual angle, so that a driver can observe details in the running process of the vehicle according to the animation image;

The steering angle monitoring unit comprises an angle sensor and a voice broadcaster which are installed on a steering wheel, the angle sensor monitors the rotation angle of the steering wheel in real time, and when the angle of the steering wheel changes, the steering angle monitoring unit is combined with the dynamic simulation system to judge whether a driver is in a fatigue state;

the object monitoring radars are distributed and installed on bumpers at the head and the tail of the vehicle, monitor the distance between the front and rear ends of the vehicle and an object in real time, and assist the steering angle monitoring unit and the dynamic simulation system in fatigue monitoring;

and the speed sensor is arranged on the wheel of the vehicle and used for monitoring the running speed of the vehicle and transmitting the speed information to the central processing system in real time.

And the central processing system receives the information of the steering angle monitoring unit, the dynamic simulation system, the object monitoring radar, the angle sensor and the speed sensor in real time and judges the driving state of the driver in real time according to the information integration.

The dynamic simulation system is also internally provided with a lane deviation included angle unit for monitoring the steering of the vehicle in real time, the road alignment unit forms a lane real-time alignment line parallel to the lane at the central position of each lane in the moving process of the vehicle, the lane real-time alignment line is displayed in an animation image of the dynamic simulation system, and meanwhile, the lane real-time alignment line is arranged along the central position of each lane and is in a transparent dotted line form in the animation image, so that confusion conflict with the lane separated simulation line can be avoided, and the interference to a driver can be prevented.

The vehicle trend unit can form a steering real-time trend line which is superposed with a central line of the vehicle in the moving process of the vehicle, the steering real-time trend line passes through the central position of the vehicle, and the steering real-time trend line actually represents the track of the vehicle in the driving process and is not displayed in an animation image in the dynamic simulation system.

The lane deviation included angle unit establishes a plane rectangular coordinate system about a lane real-time collimation line, and monitors an included angle between a steering real-time trend line and a road condition real-time collimation line in real time, the plane rectangular coordinate system takes the lane real-time collimation line as an X axis and a spool perpendicular to the lane real-time collimation line in real time as a Y axis, the lane deviation included angle unit judges whether a vehicle deviates and the angle of the vehicle deviation through the size of the included angle between the steering real-time trend line and the X axis, and monitors the running track of the vehicle on the lane in real time through monitoring the included angle between the steering real-time trend line and the road condition real-time collimation line, so that a driver is subjected to fatigue monitoring in a navigation implementation process.

In addition, it should be noted that, when the steering wheel of the vehicle is in the initial state and the angle sensor is in the initial state, the angle sensor detects that the turning angle of the steering wheel is 0 °, the angle of the steering wheel in the clockwise rotation is a positive number larger than zero, and the angle of the steering wheel in the counterclockwise rotation is a negative number smaller than zero.

In order to further detail the monitoring process of the navigation device on the lane track, the invention also designs a navigation method of the vehicle combined navigation device based on big data, which comprises the following steps:

step 100, identifying gender and age information of a driver;

the operation of identifying the age and sex in this step is realized by a fatigue monitor installed in the vehicle, and the fatigue monitor and the sex and age monitor are carried out by using a facial image identification mode, wherein the specific working mode of the fatigue monitor is described in detail below.

the secondary safety protection abdominal belt is a part of a fatigue detector, the fatigue detection of a driver is realized by monitoring the breathing frequency, the specific installation mode and the monitoring method of the secondary safety protection abdominal belt are also described in detail below, the accuracy of the fatigue monitoring of the driver can be improved by using the in-vehicle fatigue monitoring method and the navigation equipment in the embodiment in a combined manner, and the waking capacity of the head of the human body can be improved by using intelligent anti-fatigue equipment to stimulate the human body.

and 500, carrying out real-time fatigue monitoring by combining a steering angle monitoring unit, a dynamic simulation system, an object monitoring radar and a speed sensor.

It should be noted that, in step 500, the triggering conditions for fatigue monitoring of the navigation device are: forward driving and the speed per hour exceeds 30km/h, thereby ensuring that the fatigue monitoring function in the navigation equipment does not influence the normal backing function and simultaneously does not influence the operations of turning, turning off the head and the like.

In step 300, the driving state of the vehicle can be divided into steering wheel stationary driving and steering wheel steering driving, that is, the braking capability of the vehicle is monitored in the state that the steering wheel is in a stationary straight direction, and whether the vehicle moves parallel to the lane, or whether the vehicle can be monitored in real time in the state that the steering wheel is in a turning direction and is parallel to the center line of the lane.

The specific monitoring process of the steering wheel stationary driving comprises the following steps:

The fact that the real-time steering trend line of the vehicle is parallel to the real-time collimation line of the lane means that the vehicle stably moves along the lane, if the driver can perform reasonable braking deceleration according to the condition of the foreign object monitored by the radar, the consciousness of the driver is clear, and if the driver can not perform reasonable braking deceleration, the consciousness of the driver is fuzzy, and the driver is in a fatigue driving state, and alarm processing is needed.

The above-described case of T2 describes that the driver does not perform the steering process at a place where the lane turns, and therefore can directly determine that the driver is in the non-awake driving state.

The specific monitoring process of steering wheel steering driving comprises the following steps:

s1, detecting the angle change of the steering wheel by the angle sensor, keeping the steering real-time trend line of the vehicle parallel to the lane real-time collimation line, namely, bending the vehicle along the lane, and keeping the driver in a non-waking driving state;

S2, detecting the angle change of the steering wheel by the angle sensor, and keeping the steering real-time trend line of the vehicle to form an included angle with the lane real-time collimation line;

when the angle sensor detects that the steering wheel is continuously changed, and the final steering real-time trend line is parallel to the lane real-time collimation line of the next lane, namely the driver performs lane change processing, so that the driver can be judged to be in a clear-headed driving state in advance;

when the angle sensor detects that the steering wheel is continuously changed, and finally the real-time steering trend line still keeps an included angle with the real-time alignment line of the next lane, namely the driver does not perform lane change treatment, so that the driver is in a non-waking driving state if pre-judgment is made, and the central processing unit controls the voice broadcast device to give an alarm.

When the normal lane change is carried out, the steering angle of the steering wheel is between 3 and 10 degrees, and when the vehicle turns to a second lane, the mass point of the vehicle can not exceed the real-time alignment of the lane of the second lane.

Therefore, the monitoring process during the steering driving process of the steering wheel mainly comprises the following steps:

judging the steering angle and the steering displacement of a steering wheel, and judging that the driver is in a non-waking driving state if the angle of the steering wheel is more than 10 degrees and mass points of the vehicle exceed the real-time alignment line of the lane of a second lane when the real-time steering trend line of the vehicle keeps an included angle with the real-time alignment line of the lane;

And if the angle of the steering wheel is 3-10 degrees, the mass point of the vehicle is near the real-time alignment line of the lane of the second lane, and the wheels do not exceed the lane separation line, judging that the driver is in the wakeful driving state.

It should be added that if the real-time turning trend line is parallel to the real-time alignment line of the lane of the third lane, an alarm operation is also required, so that according to the traffic laws, when changing lanes, two or more lanes are not allowed to be changed continuously, that is, the lane cannot be changed from one lane to the third lane directly.

The specific monitoring method of the fatigue monitor capable of identifying the sex and age information of the driver comprises the following steps:

s100, identifying the gender and age of the driver, and performing fatigue monitoring and gender and age monitoring by using a facial image identification mode.

In S100, the face of the driver is captured by a facial image recognition mode, geometric features and motion features of eyelid eyeballs of the human, gaze angles of eyes and dynamic changes of the gaze angles, changes of head positions and directions and the like are detected and measured in real time through a vision sensor, and a relation model of head features and fatigue states of the human eyes is built.

The facial recognition mode of the embodiment also has the function of identifying the gender and the age of the driver when capturing the facial features of the driver, and the function is convenient for matching the respiratory frequency of the corresponding age group and increasing the accuracy of fatigue judgment because the respiratory frequency of the human body is classified according to the age and the gender.

S200, subjective initiative configuration fatigue monitoring is carried out, and a driver is reminded to fasten the secondary safety protection abdominal belt.

In S200, the subjective initiative configuration fatigue monitoring method specifically includes:

s201, after a driver sits in a driver seat, a pressure sensor monitors pressure, and an alarm lamp gives an alarm;

s202, when a driver ties the safety belt and does not tie the abdominal belt, the infrared monitoring sensor does not monitor that the abdominal belt is fixed, and then continues to give an alarm;

s203, when the safety belt and the abdominal belt are fixed on the safety belt integrated clamping plate, the infrared monitoring sensor monitors that the safety belt and the abdominal belt are tied well, and the alarm lamp stops working.

This embodiment uses mandatory binder mode of wearing, can guarantee to use respiratory rate monitoring module to carry out fatigue detection's validity and initiative, prevents that the driver from forgetting to wear and influencing the fatigue monitoring effect.

S300, monitoring the normal breathing frequency of the driver, monitoring the breathing state of the driver in real time by a breathing frequency monitoring module, and comparing the corresponding gender and the general breathing frequency of the driver in the age state in a local database according to the driving monitoring data.

In the above steps, the working process of monitoring the normal breathing frequency of the driver specifically includes:

firstly, automatically extracting the universal respiratory frequency under the corresponding gender age from a local database according to the gender age information monitored by a facial image recognition mode;

then, collecting a breathing frequency signal of a driver detected by a breathing frequency monitoring module in real time, and intercepting a breathing frequency band with concentrated and stable frequency;

according to the actual operation of the actual driving work, the fatigue state is usually caused because the driver sits in an almost closed cab for a long time, muscles of the whole body are always in a tense working state, the thought is highly concentrated, the energy consumed physiologically and psychologically for a long time can cause fatigue if the energy cannot be recovered and adjusted immediately, and the driver is usually in a relatively tense and excited state when the driver starts to drive, the breathing frequency is unstable, so that the breathing state of the driver needs to be continuously monitored within a certain time until a relatively stable and concentrated breathing state occurs, and the intercepted relatively stable breathing frequency band represents the breathing frequency of the driver in a normal state.

And finally, adjusting the frequency spectrum of the general breathing frequency to be matched with the breathing frequency bands one by one, and judging whether the breathing state of the driver is normal for the first time, wherein the standard for judging whether the breathing state of the driver is normal for the first time is that whether the breathing frequency of the driver is approximately the same as the breathing frequency of the general breathing frequency.

The operation is to match the frequency spectrum of the general respiratory frequency with the respiratory frequency band, so as to calculate the frequency difference between the respiratory frequency band of the driver and the general respiratory frequency, if the frequency of the respiratory frequency band of the driver is far less than the general respiratory frequency, the respiratory frequency monitoring module judges that the driving spirit of the driver is in a fatigue state, and the mental state of the driver is further determined by combining the judgment result of the facial image recognition mode.

If the breathing frequency of the driver is approximately the same as the breathing frequency of the general breathing frequency, the breathing frequency monitoring module judges that the driving mental state of the driver is good, and the mental state of the driver needs to be further determined by combining the judgment result of the facial image recognition mode.

It should be added that the fatigue detection method in the present embodiment is determined by an or logic method, that is, if the respiratory rate monitoring module determines that the driving spirit of the driver is in a fatigue state, and the facial image recognition method determines that the driving spirit of the driver is in a good state, the driving spirit of the driver is comprehensively determined to be in a fatigue state; if the respiratory frequency monitoring module judges that the driving spirit of the driver is in a fatigue state and the facial image recognition mode judges that the driving spirit of the driver is in the fatigue state, comprehensively judging that the driving spirit of the driver is in the fatigue state; if the respiratory frequency monitoring module judges that the driving mental state of the driver is good and the facial image recognition mode judges that the driving mental state of the driver is good, the driving mental state of the driver is comprehensively judged to be good.

The fatigue detection mode can improve the driving safety to the maximum extent, can effectively avoid the omission of fatigue detection, and the anti-fatigue equipment can avoid directly generating maximum stimulation to the human body, thereby improving the use experience, and the anti-fatigue equipment will be described in detail below.

S400, generating a personal respiratory spectrogram, correcting the general respiratory frequency according to the respiratory frequency of the driver, and simulating the respiratory spectrogram matched with the characteristics of the driver.

The specific implementation process for generating the personal respiratory spectrogram through standard respiratory frequency correction processing comprises the following steps:

s401, collecting the respiratory signal processed by the respiratory frequency monitoring module in real time, and intercepting a respiratory frequency band with concentrated and stable frequency in the respiratory signal;

s402, carrying out frequency conversion processing on the general respiratory frequency according to the respiratory frequency band to obtain a respiratory spectrogram corresponding to the driver.

The steps can generate the breathing frequency spectrogram corresponding to a single person, so that the accuracy of breathing frequency detection is improved, the precision of breathing detection is improved, and further the precision of fatigue detection is improved.

And S500, performing secondary comparison simulation, continuously monitoring the respiratory frequency of the driver, and comparing the acquired respiratory frequency with a respiratory spectrogram in real time.

In S500, the fatigue determination step of the second comparison simulation is as follows:

continuously monitoring the breathing frequency of a driver, and comparing the acquired breathing frequency with a breathing frequency spectrogram in real time;

and comparing the detected respiratory signal frequency and amplitude with the frequency and amplitude in the respiratory spectrogram in real time, and if the detected respiratory signal frequency is continuously smaller than the frequency and amplitude in the respiratory spectrogram, judging whether the driver is in a fatigue sleep stage or not by combining the monitoring result of a facial image recognition mode.

Based on the above, after the single person breathing frequency spectrogram is generated, the breathing frequency of the driver continuously monitored is compared with the breathing frequency spectrogram in a simulation mode, and therefore the stability and the accuracy of fatigue monitoring can be improved.

In addition, in the present embodiment, if the detected respiratory signal frequency is continuously smaller than the frequency and amplitude in the respiratory spectrogram within 10 to 15s, the respiratory frequency monitoring module determines that the driver is in a fatigue driving state.

The fatigue monitoring method only monitors the mental state of the driver in real time, and anti-fatigue equipment is required to be added in the vehicle for the fatigue monitoring result, the invention also designs a fatigue monitor based on big data, as shown in fig. 3, including a car central control processor, a facial image recognition system for monitoring the status of the face and eyes, and a respiratory frequency monitoring system for monitoring the abdominal vibration, which comprises a driver seat 1 and an electric shock stimulating plate 2 arranged on a back plate of the driver seat, and the vibration massage anti-fatigue mechanism 3 is arranged on the bottom plate of the driver seat 1, wherein the body of the driver seat 1 is a driver seat steel frame plate which is commonly used in vehicles, the electric shock stimulation plate 2 can bear an electric shock contact, and the vibration massage anti-fatigue mechanism 3 utilizes a rolling wheel to massage human bodies, so that the fixed frequency of the driver seat in the running process is changed, and the phenomenon that the driver is not conscious is avoided.

In addition, the side of driver's seat 1 still is equipped with the second grade safety protection binder 4 that is used for monitoring fatigue state, the inside rolling axle 5 that resets that is used for accomodating spacing second grade safety protection binder 4 that is equipped with in the driver's seat 1 back, the side of driver's seat 1 is equipped with the integrative cardboard 6 of safety belt that is used for fixed second grade safety protection binder 4, the part that second grade safety protection binder 4 is close to the end is equipped with respiratory frequency monitoring module 7, be equipped with binder on the integrative cardboard 6 of safety belt and fasten monitoring module 8, respiratory frequency monitoring module 7 among this embodiment installs on second grade safety protection binder 4, and binder fastens monitoring module 8 and can guarantee that fatigue monitoring mode can be objective wears, does not influence normal driving operation simultaneously, and practicality and strong reliability.

What need supplement the explanation, the installation and the working method of rolling axle 5 that resets specifically refer to the mode of resetting of car blet, will not explain again in this embodiment, use the rolling axle 5 that resets that can playback automatically and can guarantee, the inside neatness of cockpit when not using, the elastic stretching of rolling axle 5 that resets is fit for the driver of different sizes and uses, can guarantee that secondary safety protection binder 4 ties up the human body of tight laminating simultaneously, make things convenient for respiratory frequency monitoring module 7's normal monitoring work, prevent that secondary safety protection binder 4 from relaxing and can not reach normal monitoring effect.

In addition, the secondary safety protection abdominal belt 4 is not only used for monitoring the breathing frequency of a driver, but also can be matched with the function of a safety belt to carry out double protection on a human body.

As shown in fig. 3 and fig. 4, the objective wearing and fatigue monitoring mode of the abdominal belt fastening monitoring system 8 and the respiratory frequency monitoring module 7 will be described in detail below, the abdominal belt fastening monitoring system 8 includes a pressure sensor 801 mounted on the driver's seat 1, two fixing slots 802 disposed on the seat belt integrated clamping plate 6, and a control processor 803 for processing monitoring information, the two fixing slots 802 are respectively used for fixing the driving seat belt and the secondary safety protection abdominal belt 4 of the automobile, an infrared detection sensor 804 is disposed inside each of the two fixing slots 802, the two infrared detection sensors 804 are connected in series, the input end of the control processor 803 is respectively connected with the pressure sensor 801 and the infrared detection sensor 804, and the output end of the control processor 803 is connected with an alarm lamp 805.

Based on the main components of the abdominal belt fastening monitoring system 8, the main working process is as follows:

firstly, after a driver sits on a driver seat 1, a pressure sensor 801 monitors that a person is in the driver seat 1, when the vehicle is started, the pressure sensor 801 transmits monitored pressure information to a control processor 803, and an alarm lamp 805 works to prompt the driver to wear a driving safety belt of the vehicle;

Then, due to inertia operation, a driver can fix the safety belt on the safety belt integrated clamping plate 6, at the moment, the infrared detection sensor 804 in one of the fixed clamping grooves 802 monitors that the safety belt is worn completely, and the alarm lamp 805 continues to give an alarm;

when the secondary safety protection abdominal belt 4 is also inserted into the corresponding fixing slot 802, the alarm lamp 805 stops working, and the driver can drive normally.

Therefore, the two infrared detection sensors 804 are connected in series, which means that when the two infrared detection sensors 804 simultaneously monitor that the safety belt and the secondary safety protection abdominal belt 4 are fixed, the alarm operation of the alarm lamp 805 is stopped, so that the fatigue monitoring mode is ensured to be actively used on objective factors, and the effect of actively implementing the monitoring mode is prevented from being influenced by the monitoring modes such as a hat, a bracelet and glasses.

As shown in fig. 5 and 6, the respiratory rate monitoring module 7 includes a widened protection braid 701 disposed on the secondary safety protection abdominal belt 4 and a wear-resistant rubber protection layer 702 adhered to the inner and outer surfaces of the secondary safety protection abdominal belt 4, a plurality of uniformly distributed sensor loading slots 703 are disposed on the secondary safety protection abdominal belt 4, and a horizontal vibration sensor 704 is disposed in the sensor loading slots 703.

Widen the quality of protection braid 701 multiplicable second grade safety protection binder 4 itself, prevent to buckle and influence normal monitoring at the in-process second grade safety protection binder 4 of wearing, wear-resisting rubber protective layer 702 adopts synthetic soft rubber in addition, accessible horizontal direction's elastic displacement reflects driver's respiration, and other interference vibration factors, horizontal vibration sensor 704 receives wear-resisting rubber protective layer 702's displacement information and converts respiratory frequency information into, and filter and amplify the processing to the information, monitor driver's respiratory frequency change through real time monitoring's big data processing mode.

In addition, the function of respectively fixing the secondary safety protection abdominal belt 4 and the safety belt in the embodiment is to ensure that the secondary safety protection abdominal belt 4 is in a parallel state after being fixed, and ensure the monitoring accuracy of the respiratory frequency monitoring module 7.

It should supplement the explanation, the vibration effect on the parallel horizontal plane of above-mentioned flat vibration sensor 704 only monitoring and sensor, and the vibration effect of the upper and lower direction of driver of not monitoring, the monitoring error influence that consequently reducible car body seat itself vibration brought, improve respiratory frequency's monitoring accuracy, therefore the tired monitoring mode of this embodiment more adapts to the vehicle on the highway and uses, and to the road of the bumpiness, the driver is more can focus on attention, the monitoring of can't tired and anti fatigue stimulation also can keep the mind, consequently, there is actual great meaning to the tired driving of anti in the life.

The back of the driver seat 1 is also provided with a connected data processing module 705 for processing respiration monitoring, the connected data processing module 705 comprises a signal filtering unit 7051, a signal amplifying unit 7052 and a processing chip 7053, the signal filtering unit 7051 and the signal amplifying unit 7052 are both connected to the input end of the processing chip 7053, the output end of the processing chip 7053 is connected with a Bluetooth transmission unit 7054, the Bluetooth transmission unit 7054 transmits processed respiration frequency signals to a big data fatigue monitoring system, and the interference of noise is reduced through a processing mode of signal filtering and amplifying, so that ideal respiration frequency data are obtained, and then compared with a normal respiration state, whether a real-time monitoring driver is in a fatigue state is determined.

Based on the above, the specific implementation manner of the respiratory rate monitoring module 7 for monitoring fatigue of the driver by using the big data fatigue monitoring system is as follows:

firstly, transmitting a processed respiratory frequency signal to a big data fatigue monitoring system, and comparing the respiratory signal with a standard respiratory frequency in a database in real time by the big data fatigue monitoring system;

then, correcting the standard respiratory frequency to simulate a respiratory spectrogram matched with a driver;

And finally, comparing the processed respiratory frequency signal with the corrected respiratory frequency spectrogram in real time, and judging whether the driver is in a fatigue driving state or not by combining other fatigue monitoring modes in the big data fatigue monitoring system when the respiratory frequency of the driver is obviously smaller than the corrected respiratory frequency spectrogram.

In the above process, the specific implementation process of correcting the standard respiratory frequency to form the respiratory spectrogram is as follows:

the first step is as follows: the big data fatigue monitoring system receives the processed respiration signal and compares the respiration signal with the standard respiration frequency in the database in real time;

the second step is that: after monitoring for a period of time, intercepting stable calibration respiratory signal segments with the same frequency in the monitored respiratory signals;

thirdly, carrying out frequency conversion processing on the standard respiratory frequency according to the intercepted calibration respiratory signal section to obtain a respiratory frequency spectrogram corresponding to the driver;

and fourthly, continuously monitoring the breathing frequency of the driver, and comparing the monitored breathing frequency signal with the breathing frequency spectrogram in real time.

In the process of forming the respiratory frequency spectrogram by performing correction processing based on the standard respiratory frequency, the embodiment can store the specific respiratory frequency spectrograms of different drivers so as to meet the respiratory frequency of specific individuals, thereby improving the accuracy of fatigue monitoring of the respiratory frequency.

After the monitoring accuracy of the breathing frequency is adjusted, when the driver is in a fatigue state, the driver needs to work by using an anti-fatigue stimulation structure added on the driver seat, so that the driver can keep a mental waking state.

Specific composition structures and implementation modes of electric shock stimulation and massage stimulation are detailed below, as shown in fig. 7, the electric shock stimulation plate 2 comprises a head and neck convex backup plate 201 and a waist convex backup plate 202 which are installed on a steel frame of a driver seat 1, a plurality of groups of electric shock contacts 203 which are connected in parallel are installed on the head and neck convex backup plate 201 and the waist convex backup plate 202, through hole grooves 204 for installing the electric shock contacts are formed in a filling sponge mat of the backup plate of the driver seat 1, insulating heat-resistant rubber 205 is paved on the inner wall of the through hole grooves 204, and smooth conductive metal mesh sheets 206 connected with the electric shock contacts 203 are arranged on the outer surface of the driver seat 1.

Generally speaking, ordinary driver's seat generally comprises steelframe, sponge and leather, the size and the basic shape of driver's seat are decided to the steelframe, and the sponge is applied at the steelframe surface, increase the compliance in order to improve the driving comfort, the protruding backup plate 201 of neck and the protruding backup plate 202 of waist are added to the backup plate of driver's seat 1 in this embodiment, not only satisfy the human body structure in normal driving process, support driver's head and waist, reduce tired sense, be convenient for simultaneously add the electric shock structure, make things convenient for smooth conductive metal net piece 206 and human direct contact, keep the head clear-headed.

The electric shock contact 203 is the high voltage assembly of the electric rod specifically, the inside major structure of electric shock contact 203 comprises integration high quality integrated piece and chargeable nickel-hydrogen battery, outside major structure mainly comprises ABS ebonite pressure injection molding and metal material, there is a pair or several pairs of metal electric shock head generally in the front portion of product, the electric shock contact 203 of this embodiment is different at the voltage strength of different positions in addition, the voltage strength of installation is greater than the voltage strength of the protruding backup plate 201 of neck far away on the protruding backup plate 202 of general waist, guarantee can not produce very big stimulation to the head, and the people can wear the clothes, can reduce the electric shock strength of the protruding backup plate 202 of waist.

The voltage of the head and neck convex backup plate 201 is generally pulse voltage, the voltage of the waist convex backup plate 202 is direct current voltage, and the voltage standard of the electric shock contacts 203 of the waist and the head and the neck is that the head, the neck and the waist can feel stabbing pain during working.

When other fatigue monitoring modes in the big data fatigue monitoring system and the respiratory rate monitoring mode in this embodiment judge that the human body is in the state of falling asleep at fatigue jointly, the electric shock contact 203 of general waist is electrified firstly to work, and the driver is prevented from falling asleep through the stimulation of different positions, and then the electric shock contact 203 of neck and head is electrified, so that the huge pain feeling can not be generated, and the unstable driving condition caused by human stress can be prevented.

As shown in fig. 8 and 9, the vibration massage anti-fatigue mechanism 3 includes a servo motor 301 embedded in the center of the bottom plate of the driver seat 1, and a touch gear 302 installed at the output shaft of the servo motor 301, two sides of the servo motor 301 are respectively provided with a limit track 303 arranged on the seat plate of the driver seat 1 in parallel, the inner side plate of the limit track 303 is provided with a cutting driving groove 304, a movable massage plate 305 is arranged in the limit track 303, the inner wall of the movable massage plate 305 is provided with a tooth-shaped strip 306 engaged with the touch gear 302, one end of the movable massage plate 305 is provided with a Y-shaped positioning bracket 307, and the Y-shaped positioning bracket 307 is provided with a wheel type massage ball 308.

The vibration massage anti-fatigue mechanism 3 has the specific working modes that: the servo motor 301 drives the touch gear 302 to rotate forwards or backwards, and when the touch gear 302 rotates, the touch gear is meshed with the tooth-shaped long strips 306 on the inner wall of the movable massage plate 305 to drive the two movable massage plates 305 to respectively move in the front-back direction in the limiting track 303, so that the two legs of a driver are subjected to cyclic massage in different directions, monotonicity of equidirectional massage is reduced, and stimulation to the human body and the consciousness degree are improved.

In order to ensure the massage range of the movable massage plate 305, the length of the movable massage plate 305 is generally slightly greater than half of the length of the limit track 303, so that the movable massage plate 305 can be driven when the trigger gear 302 rotates forwards or backwards, when the movable massage plate 305 moves, the legs of a human body are massaged through the wheel type massage balls 308, the inherent vibration sense of the saddle is changed, the driver is enabled to be conscious, and the legs of the driver are massaged through the massage mode, so that blood movement is promoted, and fatigue is reduced.

It should be noted that, in the present embodiment, the working processes of the vibration massage anti-fatigue mechanism 3 and the electric shock contact 203 are controlled by the processor in the automobile anti-fatigue reminding system, wherein the vibration massage anti-fatigue mechanism 3 performs massage operation in a timing mode, for example, once every 10 minutes or 20 minutes, the power of the electric shock contact 203 is turned on and is related to the fatigue monitoring state, and once the monitoring mode of the big data fatigue monitoring system and the respiratory frequency monitoring mode jointly determine that the driver is in the fatigue driving state, the electric shock contact 203 performs electric shock stimulation on the human body in the mode of turning on the waist, the neck and the head.

Servo motor 301 and spacing track 303's top is equipped with cushion guard plate 309, the both sides limit correspondence of cushion guard plate 309 is fixed on the side of driver's seat 1, the upper surface at driver's seat 1 seat is fixed through vaulting pole 3010 to the lower surface of cushion guard plate 309, and cushion guard plate 309 plays the isolation guard action to servo motor 301 and spacing track 303, and the driver is when driving, sits on cushion guard plate 309, and servo motor 301 and spacing track 303 are in the space between cushion guard plate 309 and the driver's seat bottom plate.

The cushion protection plate 309 is provided with a long hole slot 3011 at the position opposite to the limiting track 303, both sides of the long hole slot 3011 are provided with embedded holes 3012, the hidden expansion plate 3014 is installed in the embedded holes 3012 through a plurality of uniformly distributed springs 3013, and both ends of the hidden expansion plate 3014 are in a smooth arc shape.

The long hole 3011 is set up on the cushion guard plate 309 in the middle part, guarantee when the activity massage board 305 is motionless, hide the expansion plate 3014 and close the long hole 3011, improve the driver's long travelling comfort of sitting.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A big data-based vehicle joint navigation device is characterized in that: the system comprises a GPS navigation module, a vehicle-mounted forward-looking camera, a steering angle monitoring unit, a dynamic simulation system, an object monitoring radar, a speed sensor and a central processing system;

2. The big-data-based vehicle joint navigation device according to claim 1, wherein: the dynamic simulation system is characterized in that a lane deviation included angle unit for monitoring vehicle steering in real time is further arranged in the dynamic simulation system, lane real-time alignment lines parallel to the lanes are formed in the center position of each lane in the vehicle moving process of the road alignment unit, the vehicle trend unit can form steering real-time trend lines coincident with the central lines of the vehicles in the vehicle moving process, a plane rectangular coordinate system related to the lane real-time alignment lines is established in the lane deviation included angle unit, and an included angle between the steering real-time trend lines and the road condition real-time alignment lines is monitored in real time.

3. The big-data-based vehicle joint navigation device according to claim 2, wherein: the plane rectangular coordinate system takes a lane real-time collimation line as an X axis, takes a spool perpendicular to the lane real-time collimation line as a Y axis, and the lane deviation included angle unit judges whether the vehicle deviates and the angle of the vehicle deviation through the size of an included angle between a steering real-time trend line and the X axis.

4. The big-data-based vehicle joint navigation device according to claim 1, wherein: the angle sensor monitors the rotation angle of the steering wheel in real time, and when the angle of the steering wheel changes, the steering angle monitoring unit and the dynamic simulation system are combined to judge the included angle relationship between the vehicle and the lane, so that whether the driver is in a fatigue state or not is judged in advance.

5. The big-data-based vehicle joint navigation device according to claim 1, wherein: the steering wheel for the vehicle to drive in a straight line is in an initial state, the angle sensor is in an initial state, and the angle sensor detects that the rotation angle of the steering wheel is 0 degree.

6. A navigation method of a vehicle combined navigation device based on big data is characterized by comprising the following steps:

step 100, identifying gender and age information of a driver;

7. The navigation method of the big-data-based vehicle integrated navigation device according to claim 6, wherein in step 500, the real-time fatigue monitoring is divided into a steering wheel stationary driving mode and a steering wheel turning driving mode.

8. The navigation method of the big-data-based vehicle combined navigation device according to claim 7, wherein the specific process of the steering wheel stationary driving comprises:

9. The navigation method of the big-data-based vehicle combined navigation device according to claim 7, wherein the specific process of steering driving of the steering wheel comprises the following steps: