CN101791982B - Driver following intention recognition system - Google Patents
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Abstract
Description
技术领域 technical field
本发明涉及一种车载识别系统，特别是用于对驾驶员操控车辆运行意图的车载识别系统。The invention relates to a vehicle-mounted identification system, in particular to a vehicle-mounted identification system for controlling a driver's vehicle running intention.
背景技术 Background technique
目前，道路交通安全保障技术产品开发的重点在于车载安全系统智能化方向，因此出现多种车辆安全预警、安全辅助驾驶甚至自动驾驶系统。如“一种汽车驾驶安全警示系统”(申请号/专利号：200610034879)、“汽车安全驾驶智能辅助系统”(申请号/专利号：200720199941)等。此类系统不仅能给驾驶过程中的驾驶员补充可能遗漏的重要道路交通信息，甚至可在道路交通事故发生之际对车辆运行进行主动干预以确保驾驶员人身安全。At present, the focus of road traffic safety assurance technology product development is on the direction of intelligent vehicle safety systems, so there are various vehicle safety warnings, safety assisted driving and even automatic driving systems. Such as "A Warning System for Automobile Driving Safety" (Application No./Patent No.: 200610034879), "Intelligent Assistance System for Safe Driving of Automobiles" (Application No./Patent No.: 200720199941), etc. This type of system can not only supplement important road traffic information that may be missed by the driver during driving, but can even actively intervene in the operation of the vehicle when a road traffic accident occurs to ensure the personal safety of the driver.
但这些车载安全系统也存在着不足，这是由于车载安全系统不能完全理解或无法实时捕获驾驶人的真实意图及其变化趋势，当驾驶人因车辆周边环境变化而做出与平时习惯驾驶操作不同的动作时，此类系统往往会发出与驾驶人意图相异的警报或强制执行动作，反而使驾驶人注意力分散、心理紧张甚至失去对机动车辆的正常操控，使车载安全系统变为致使道路交通事故发生的诱因。However, these in-vehicle safety systems also have deficiencies. This is because the in-vehicle safety systems cannot fully understand or capture the driver’s real intentions and their changing trends in real time. Such systems often issue alarms or enforce actions that are different from the driver's intentions, causing the driver to be distracted, nervous or even lose normal control of the motor vehicle, making the vehicle safety system become a road hazard. Causes of traffic accidents.
发明内容 Contents of the invention
本发明要解决的技术问题是：提供一种驾驶员跟车意图识别系统，该系统通过对驾驶员操控汽车运行的动作加以采集、处理，从而判断驾驶员当前是否具有跟车意图，为提升车载安全系统的性能创造条件。The technical problem to be solved by the present invention is to provide a driver's car-following intention recognition system. The performance of the safety system creates conditions.
本发明为解决上述技术问题所采取的技术方案为：The technical scheme that the present invention takes for solving the problems of the technologies described above is:
驾驶员跟车意图识别系统，它包括：Driver following intention recognition system, which includes:
(1)驾驶员换道意图识别系统；(1) Driver lane-changing intention recognition system;
(2)车辆信息采集装置；(2) Vehicle information collection device;
(3)接收车辆信息采集装置输出的信号并进行处理的处理器；(3) A processor that receives and processes the signal output by the vehicle information collection device;
车辆信息采集装置包括：油门开度传感器；The vehicle information collection device includes: an accelerator opening sensor;
所述处理器包括：The processor includes:
(3.1)用于依次记录规定时间段内采集的油门开度传感器输出的开度信号的油门开度信号存储单元；(3.1) a throttle opening signal storage unit for sequentially recording the opening signals output by the throttle opening sensor collected within the specified time period;
(3.2)用于比较油门开度信号存储单元中开度信号的开度比较器；(3.2) an opening comparator for comparing the opening signal in the throttle opening signal storage unit;
(3.3)跟车意图识别模块，所述跟车意图识别模块做出以下动作：(3.3) Car-following intention recognition module, described car-following intention recognition module makes the following actions:
——驾驶员换道意图识别系统的判断结果为：具有换道意图，跟车意图识别模块不工作；或- The judgment result of the driver's lane-changing intention recognition system is: the driver has the lane-changing intention, and the following vehicle intention recognition module does not work; or
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且开度比较器比较的开度信号呈大小交替变化，跟车意图识别模块输出的结果为：具有跟车意图。——The judgment result of the driver’s lane-changing intention recognition system is: no lane-changing intention, and the opening degree signal compared by the opening degree comparator changes in size alternately, and the output result of the car-following intention recognition module is: there is a car-following intention.
上述方案中，车辆信息采集装置还包括：刹车开关量传感器；In the above solution, the vehicle information collection device also includes: a brake switch sensor;
所述处理器还包括：The processor also includes:
(3.4)用于依次记录规定时间段内采集的刹车开关量传感器输出的刹车开关信号的刹车开关信号存储单元；(3.4) A brake switch signal storage unit for sequentially recording the brake switch signal output by the brake switch value sensor collected within a specified period of time;
所述跟车意图识别模块做出以下动作：The car-following intention recognition module makes the following actions:
——驾驶员换道意图识别系统的判断结果为：具有换道意图，跟车意图识别模块不工作；或- The judgment result of the driver's lane-changing intention recognition system is: the driver has the lane-changing intention, and the following vehicle intention recognition module does not work; or
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且开度比较器比较的开度信号呈大小交替变化，跟车意图识别模块输出的结果为：具有跟车意图；或——The judgment result of the driver’s lane-changing intention recognition system is: there is no lane-changing intention, and the opening degree signal compared by the opening degree comparator changes in size alternately, and the output result of the vehicle following intention identification module is: there is the following vehicle intention; or
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且刹车开关信号存储单元中存储的刹车开关信号呈开关交替变化，跟车意图识别模块输出的结果为：具有跟车意图。——The judging result of the driver’s lane-changing intention recognition system is: no lane-changing intention, and the brake switch signal stored in the brake switch signal storage unit changes alternately, the output result of the following vehicle intention recognition module is: there is vehicle following intention.
上述方案中，车辆信息采集装置还包括：档位位置传感器；In the above solution, the vehicle information collection device further includes: a gear position sensor;
所述处理器还包括：The processor also includes:
(3.5)用于依次记录规定时间段内采集的档位位置传感器输出的档位位置信号的档位位置信号存储单元；(3.5) a gear position signal storage unit for sequentially recording the gear position signal output by the gear position sensor collected within a specified period of time;
(3.6)用于比较档位位置信号存储单元中档位位置信号的档位位置信号比较器；(3.6) a gear position signal comparator for comparing the gear position signal in the gear position signal storage unit;
所述跟车意图识别模块做出以下动作：The car-following intention recognition module makes the following actions:
——驾驶员换道意图识别系统的判断结果为：具有换道意图，跟车意图识别模块不工作；或- The judgment result of the driver's lane-changing intention recognition system is: the driver has the lane-changing intention, and the following vehicle intention recognition module does not work; or
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且开度比较器比较的开度信号呈大小交替变化，跟车意图识别模块输出的结果为：具有跟车意图；或——The judgment result of the driver’s lane-changing intention recognition system is: there is no lane-changing intention, and the opening degree signal compared by the opening degree comparator changes in size alternately, and the output result of the vehicle following intention identification module is: there is the following vehicle intention; or
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且刹车开关信号存储单元中存储的刹车开关信号呈开关交替变化，跟车意图识别模块输出的结果为：具有跟车意图。——The judging result of the driver’s lane-changing intention recognition system is: no lane-changing intention, and the brake switch signal stored in the brake switch signal storage unit changes alternately, the output result of the following vehicle intention recognition module is: there is vehicle following intention.
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且档位位置信号比较器比较的档位位置信号呈高低交替变化，跟车意图识别模块输出的结果为：具有跟车意图。——The judgment result of the driver’s lane-changing intention recognition system is: no lane-changing intention, and the gear position signal compared with the gear position signal comparator is alternately high and low, and the output result of the vehicle following intention identification module is: car intent.
本发明系统通过车辆信息，可准确判断出驾驶员当前是否具有跟车意图，从而为提升车载安全系统的性能创造条件。The system of the invention can accurately judge whether the driver currently has the intention to follow the car through the vehicle information, thereby creating conditions for improving the performance of the vehicle safety system.
附图说明 Description of drawings
图1为本发明系统实施例的结构示意图Fig. 1 is the structural representation of system embodiment of the present invention
图2为本发明系统实施例的结构框图Fig. 2 is the structural block diagram of system embodiment of the present invention
图3为本发明系统实施例的软件流程图Fig. 3 is the software flowchart of the system embodiment of the present invention
图4为头部偏转判断模块的软件流程图Figure 4 is the software flow chart of the head deflection judgment module
图5为驾驶员换道意图识别系统的软件流程图Figure 5 is a software flow chart of the driver's lane-changing intention recognition system
具体实施方式 Detailed ways
如图1所示的本发明驾驶员跟车意图识别系统实施例，它包括：As shown in Figure 1, the embodiment of the driver's car-following intention recognition system of the present invention includes:
(1)驾驶员换道意图识别系统；(1) Driver lane-changing intention recognition system;
(2)车辆信息采集装置；(2) Vehicle information collection device;
(3)接收车辆信息采集装置输出的信号并进行处理的处理器4；(3) a
车辆信息采集装置包括：油门开度传感器6、刹车开关量传感器7、档位位置传感器5。如图2所示，油门开度传感器6、刹车开关量传感器7、档位位置传感器5的输出的信号输入处理器4。The vehicle information collection device includes: an
所述处理器包括：The processor includes:
(3.1)用于依次记录规定时间段(设定时间为1.5秒，设定采集频率为25次/秒)内采集的油门开度传感器输出的开度信号的油门开度信号存储单元；(3.1) Accelerator opening signal storage unit for sequentially recording the opening signals output by the accelerator opening sensor output in the specified time period (the setting time is 1.5 seconds, and the setting acquisition frequency is 25 times/second);
(3.2)用于比较油门开度信号存储单元中开度信号的开度比较器；(3.2) an opening comparator for comparing the opening signal in the throttle opening signal storage unit;
(3.3)跟车意图识别模块；(3.3) Car-following intention recognition module;
(3.4)用于依次记录规定时间段(设定时间为1.5秒，设定采集频率为25次/秒)内采集的刹车开关量传感器输出的刹车开关信号的刹车开关信号存储单元；(3.4) The brake switch signal storage unit for recording the brake switch signal output by the brake switch sensor output in the specified time period (the set time is 1.5 seconds, and the set acquisition frequency is 25 times/second) successively;
(3.5)用于依次记录规定时间段(设定时间为1.5秒，设定采集频率为25次/秒)内采集的档位位置传感器输出的档位位置信号的档位位置信号存储单元；(3.5) a gear position signal storage unit for sequentially recording the gear position signal output by the gear position sensor collected within the specified time period (the set time is 1.5 seconds, and the set acquisition frequency is 25 times/second);
(3.6)用于比较档位位置信号存储单元中档位位置信号的档位位置信号比较器；(3.6) a gear position signal comparator for comparing the gear position signal in the gear position signal storage unit;
所述跟车意图识别模块做出以下动作：The car-following intention recognition module makes the following actions:
——驾驶员换道意图识别系统的判断结果为：具有换道意图，跟车意图识别模块不工作；或- The judgment result of the driver's lane-changing intention recognition system is: the driver has the lane-changing intention, and the following vehicle intention recognition module does not work; or
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且开度比较器比较的开度信号呈大小交替变化，跟车意图识别模块输出的结果为：具有跟车意图；或——The judgment result of the driver’s lane-changing intention recognition system is: there is no lane-changing intention, and the opening degree signal compared by the opening degree comparator changes in size alternately, and the output result of the vehicle following intention identification module is: there is the following vehicle intention; or
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且刹车开关信号存储单元中存储的刹车开关信号呈开关交替变化，跟车意图识别模块输出的结果为：具有跟车意图。——The judging result of the driver’s lane-changing intention recognition system is: no lane-changing intention, and the brake switch signal stored in the brake switch signal storage unit changes alternately, the output result of the following vehicle intention recognition module is: there is vehicle following intention.
——驾驶员换道意图识别系统的判断结果为：不具有换道意图，且档位位置信号比较器比较的档位位置信号呈高低交替变化，跟车意图识别模块输出的结果为：具有跟车意图。——The judgment result of the driver’s lane-changing intention recognition system is: no lane-changing intention, and the gear position signal compared with the gear position signal comparator is alternately high and low, and the output result of the vehicle following intention identification module is: car intent.
本发明驾驶员跟车意图识别系统实施例的软件流程图如图3所示。The software flowchart of the embodiment of the system for recognizing the driver's intention to follow the car of the present invention is shown in FIG. 3 .
如图1所示，驾驶员换道意图识别系统实施例，它包括：As shown in Figure 1, the embodiment of the driver's lane-changing intention recognition system includes:
(1)从驾驶员前方指向驾驶员头部的摄像头1及其图像采集器；(1)
(2)车辆信息采集装置；(2) Vehicle information collection device;
(3)接收图像采集器和车辆信息采集装置输出的信号并进行处理的处理器4；(3) A
车辆信息采集装置包括：转向盘角度传感器3、转向灯传感器2；转向灯传感器2为开关量传感器，它设置在转向灯控制键上；转向盘角度传感器3为数字编码型角度传感器，它设置在转向盘的输出轴上。The vehicle information collection device includes: steering
如图2所示，摄像头及其图像采集器、转向盘角度传感器、转向灯传感器分别输出信号至处理器。As shown in Figure 2, the camera and its image collector, the steering wheel angle sensor, and the turn signal sensor output signals to the processor respectively.
所述处理器包括：The processor includes:
(3.7)用于判断驾驶员头部偏转的头部偏转判断模块，头部偏转判断模块输出的结果为：驾驶员头部向左偏转或驾驶员头部向右偏转或驾驶员头部未偏转；(3.7) The head deflection judging module for judging the driver's head deflection, the output result of the head deflection judging module is: the driver's head deflects to the left or the driver's head deflects to the right or the driver's head does not deflect ;
所述头部偏转判断模块包括：The head deflection judging module includes:
(3.7.1)用于定位图像采集器输入图像中左眼并测量左眼与头部左边缘距离L左的单元；(3.7.1) A unit for locating the left eye in the input image of the image collector and measuring the distance L left between the left eye and the left edge of the head;
(3.7.2)用于定位图像采集器输入图像中右眼并测量右眼与头部右边缘距离L右的单元；(3.7.2) A unit for locating the right eye in the input image of the image collector and measuring the distance L between the right eye and the right edge of the head;
(3.7.3)用于比较L左和L右的距离比较单元；(3.7.3) A distance comparison unit for comparing L left and L right ;
(3.7.4)头部偏转判断单元，头部偏转判断单元对以下动作进行选择：(3.7.4) The head deflection judging unit, the head deflection judging unit selects the following actions:
——L左-L右＞a，头部偏转判断单元输出的结果为：驾驶员头部向左偏转；—— L left - L right > a, the result output by the head deflection judging unit is: the driver's head deflects to the left;
——L左-L右＜-a，头部偏转判断单元输出的结果为：驾驶员头部向右偏转；——L left - L right < -a, the output result of the head deflection judging unit is: the driver's head deflects to the right;
——-a≤L左-L右≤a，头部偏转判断单元输出的结果为：驾驶员头部未偏转； ——a≤Lleft - Lright≤a , the output result of the head deflection judging unit is: the driver's head is not deflected;
式中：a为设定的正值。In the formula: a is a set positive value.
头部偏转判断模块的软件流程图如图4所示。The software flow chart of the head deflection judgment module is shown in Figure 4.
(3.8)用于记录第一时间转向灯传感器、转向盘角度传感器和头部偏转判断模块输出结果的第一时间存储单元；(3.8) the first time storage unit for recording the output results of the turn signal sensor, the steering wheel angle sensor and the head deflection judgment module at the first time;
(3.9)用于记录第二时间转向灯传感器、转向盘角度传感器和头部偏转判断模块输出结果的第二时间存储单元；第一时间和第二时间之间相差设定时间(3.0秒)；(3.9) A second time storage unit for recording the output results of the turn signal sensor, the steering wheel angle sensor and the head deflection judgment module at the second time; the difference between the first time and the second time is the set time (3.0 seconds);
(3.10)用于比较第一时间存储单元和第二时间存储单元中转向盘角度传感器输出结果的比较器，比较器输出的结果为：转向盘向左转或转向盘向右转或转向盘未转；(3.10) The comparator used to compare the output results of the steering wheel angle sensor in the first time storage unit and the second time storage unit, the result output by the comparator is: the steering wheel turns left or the steering wheel turns right or the steering wheel does not change;
所述比较器对以下动作进行选择：The comparator selects the following actions:
——|W2-W1|≤θ，比较器输出的结果为：转向盘未转；——|W 2 -W 1 |≤θ, the output result of the comparator is: the steering wheel is not turned;
——W2-W1＞θ，比较器输出的结果为：转向盘向左转；——W 2 -W 1 >θ, the output result of the comparator is: the steering wheel turns left;
——W2-W1＜-θ，比较器输出的结果为：转向盘向右转；——W 2 -W 1 <-θ, the output result of the comparator is: the steering wheel turns right;
式中：W1为第一时间存储单元中转向盘角度传感器输出结果，W2为第二时间存储单元中转向盘角度传感器输出结果，θ为设定的正值。Where: W 1 is the output result of the steering wheel angle sensor in the first time storage unit, W 2 is the output result of the steering wheel angle sensor in the second time storage unit, and θ is a set positive value.
(3.11)换道意图识别模块，换道意图识别模块对以下动作进行选择：(3.11) Lane-changing intention recognition module, the lane-changing intention recognition module selects the following actions:
——第二时间的转向灯传感器输出结果为左转向灯亮，换道意图识别模块输出的结果为：具有向左换道意图；或——The output result of the turn signal sensor at the second time is that the left turn signal light is on, and the output result of the lane change intention recognition module is: there is an intention to change lane to the left; or
——第二时间的转向灯传感器输出结果为右转向灯亮，换道意图识别模块输出的结果为：具有向右换道意图；或——The output result of the turn signal sensor at the second time is that the right turn signal light is on, and the output result of the lane-changing intention recognition module is: there is an intention to change lanes to the right; or
——第一、二时间的转向灯传感器输出结果为转向灯均未亮，且比较器输出的结果为转向盘向左转，换道意图识别模块输出的结果为：具有向左换道意图；或——The output result of the turn signal sensor at the first and second time is that the turn signal is not on, and the output result of the comparator is that the steering wheel is turned to the left, and the output result of the lane change intention recognition module is: there is an intention to change lane to the left; or
——第一、二时间的转向灯传感器输出结果为转向灯均未亮，且比较器输出的结果为转向盘向右转，换道意图识别模块输出的结果为：具有向右换道意图；或——The output result of the turn signal sensor at the first and second time is that the turn signal is not on, and the output result of the comparator is that the steering wheel is turning right, and the output result of the lane change intention recognition module is: there is an intention to change lane to the right; or
——第一、二时间的转向灯传感器输出结果为转向灯均未亮，且比较器输出的结果为转向盘未转，且头部偏转判断模块输出的结果为：驾驶员头部向左偏转，换道意图识别模块输出的结果为：具有向左换道意图；或——The output result of the turn signal sensor at the first and second time is that the turn signal is not on, and the output result of the comparator is that the steering wheel is not turned, and the output result of the head deflection judgment module is: the driver's head deflects to the left , the result output by the lane-changing intention identification module is: there is an intention to change lanes to the left; or
——第一、二时间的转向灯传感器输出结果为转向灯均未亮，且比较器输出的结果为转向盘未转，且头部偏转判断模块输出的结果为：驾驶员头部向右偏转，换道意图识别模块输出的结果为：具有向右换道意图。——The output result of the turn signal sensor at the first and second time is that the turn signal is not on, and the output result of the comparator is that the steering wheel is not turned, and the output result of the head deflection judgment module is: the driver's head is deflected to the right , the output result of the lane-changing intention identification module is: there is an intention to change lanes to the right.
驾驶员换道意图识别系统实施例的软件流程图如图5所示。The software flowchart of an embodiment of the driver's lane-changing intention recognition system is shown in FIG. 5 .
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| US6950788B2 (en) * | 2000-09-27 | 2005-09-27 | Ardeshir Faghri | Computer-implemented system and method for simulating motor vehicle and bicycle traffic |
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| US6950788B2 (en) * | 2000-09-27 | 2005-09-27 | Ardeshir Faghri | Computer-implemented system and method for simulating motor vehicle and bicycle traffic |
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