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CN110816543B - A driver's distracted driving detection and early warning system and method in vehicle turning and lane changing scenarios - Google Patents

A driver's distracted driving detection and early warning system and method in vehicle turning and lane changing scenarios Download PDF

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CN110816543B
CN110816543B CN201911031107.1A CN201911031107A CN110816543B CN 110816543 B CN110816543 B CN 110816543B CN 201911031107 A CN201911031107 A CN 201911031107A CN 110816543 B CN110816543 B CN 110816543B
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driver
driving
data
turning
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CN110816543A (en
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叶智锐
陈天
许跃如
刘民
王超
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Southeast University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

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  • Automation & Control Theory (AREA)
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Abstract

本发明公开了一种车辆转弯和变道场景下驾驶员分神驾驶检测和预警系统及方法，所述系统包括数据采集单元、数据处理单元、判定单元以及预警单元。数据采集单元实时收集车辆以及驾驶员状态信息，据此预先建立车辆转弯/变道情景判定标准；以及预先通过聚类算法输出驾驶员三种状态的指标特征范围，并将其输入数据处理单元以供与收集到的实时数据对比。在车辆实际行驶的过程中进入转弯/变道的情景下，数据采集单元实时收集车辆以及驾驶员状态信息，并将其输入到数据处理单元，判定驾驶员是否存在分神驾驶状态。最终由预警单元发出两级预警信息。本发明能够准确地识别车辆进入转弯/变道的情景，并全面地对驾驶员分神状态进行准确判断和预警。

Figure 201911031107

The invention discloses a driver's distracted driving detection and early warning system and method under vehicle turning and lane changing scenarios. The system includes a data acquisition unit, a data processing unit, a determination unit and an early warning unit. The data acquisition unit collects the vehicle and driver status information in real time, and establishes the vehicle turning/lane change scene judgment criteria in advance; For comparison with real-time data collected. In the case of turning/changing lanes during the actual driving of the vehicle, the data acquisition unit collects vehicle and driver status information in real time, and inputs it to the data processing unit to determine whether the driver is in a distracted driving state. Finally, the warning unit sends out two-level warning information. The present invention can accurately identify the situation where the vehicle enters a turning/lane change, and comprehensively and accurately judges and gives an early warning to the driver's distracted state.

Figure 201911031107

Description

Driver distraction driving detection and early warning system and method under vehicle turning and lane changing scenes
Technical Field
The invention belongs to the field of active safety prevention and control of vehicle drivers, and particularly relates to a driver distraction driving detection and early warning system and method in vehicle turning and lane changing scenes.
Background
In the process of continuous development of the modern automobile industry and continuous emergence of emerging technologies, the safety control problems of vehicle driving and vehicle drivers are always the first problems concerned by people. Statistical data of traffic accidents show that human factors of drivers, such as distraction driving and other behaviors are one of main reasons for inducing the traffic accidents; while a significant portion of traffic accidents occur in vehicle turning and lane changing scenarios. Reducing distraction under special situations such as vehicle turning and lane changing during the driving process of a driver is one of important problems to be solved in the field of active safety control of vehicle drivers.
The expression forms of the distracted driving behaviors of the driver tend to be diversified, and the distracted driving behaviors have obvious differences under different driving situations. At present, the existing relevant research for detecting and early warning the distracted driving state of the driver mainly focuses on detecting and judging the distracted driving state of the driver by considering a predefined judgment index in the normal driving process of a vehicle. The detection of driver distraction driving under a specific scene in the driving process of the vehicle is less researched, and the possible difference of the definition standard of the driver distraction state under the specific scene in the driving process of the vehicle is not considered.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a driving system and a method for detecting and early warning the distraction driving behavior of a driver when a vehicle turns and changes lanes, which solve the problem that the difference possibly existing in the definition standard of the distraction state of the driver under the specific scene of turning and changing lanes of the vehicle is not considered in the existing method and system for detecting the distraction driving state of the driver of the vehicle; and three-level early warning information is provided, and detection and early warning are comprehensively carried out on the distracted driving state of the vehicle driver.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a driver distraction driving detection and early warning system under vehicle turning and lane changing scenes comprises a data acquisition unit, a data processing unit, a judgment unit and an early warning unit.
The data acquisition unit comprises a vehicle steering lamp flicker detection device, a vehicle steering wheel rotation detection device, a vehicle running camera, a non-invasive eye tracker and a grip strength sensor; the data acquisition unit is used for acquiring the state information of a driver and a vehicle in the driving process and transmitting the state information to the data processing unit.
The data processing unit adopts a relevant vehicle-mounted processor terminal and is used for receiving data transmitted by the data acquisition unit, namely the vehicle steering lamp flicker detection device, the vehicle steering wheel rotation detection device, the vehicle running camera, the non-invasive eye tracker and the grip strength sensor, and transmitting the data to a corresponding judgment unit. The data processing unit is used for comparing the pre-input index range of the early warning level with the state information of the vehicle and the driver in the actual driving process.
The determination unit includes a vehicle state determination unit and a driver state determination unit for determining whether the vehicle enters a turning/lane change running state and whether the driver has a distracted driving state. The judging unit adopts a relevant vehicle-mounted processor terminal, is coupled with the data processing unit and is used for receiving the data transmitted by the data processing unit and judging whether the vehicle enters a turning/lane changing scene or not and whether the driver has a state of distraction driving or not.
The early warning unit is used for carrying out corresponding early warning on the distracted driving state of the driver, such as flashing of an indicator light and voice prompt. The early warning unit adopts relevant on-vehicle stereo set and on-vehicle pilot lamp for carry out pilot lamp scintillation, voice prompt early warning to I, II level driver distraction state.
Further, the vehicle steering lamp flicker detection device is assembled in a vehicle steering system and used for collecting vehicle steering lamp flicker data in real time; the vehicle steering wheel rotation detection device is assembled in a vehicle direction control system and is used for acquiring the rotation angle data of the vehicle steering wheel in real time; the vehicle running cameras are assembled on rearview mirrors on two sides of a vehicle and used for acquiring vehicle direction and track change data in real time; the non-invasive eye tracker is assembled above a dial plate of a vehicle driving position instrument, and a camera of the non-invasive eye tracker is aligned to the eye part of the face of a driver and is used for acquiring position data of an eye gazing point and change data of the eye gazing point position in the process of driving the vehicle of the driver in real time; the grip sensor is assembled on a vehicle steering wheel and is used for acquiring grip data of a driver's operating hand on the steering wheel in real time in the process of driving the vehicle.
A driver distraction driving detection and early warning method under vehicle turning and lane changing scenes comprises the following steps:
step 1, collecting vehicle index data and determining whether a vehicle enters a turning/lane changing situation;
step 2, building a vehicle and driver behavior data set by acquiring vehicle and driver state data after the vehicle enters a turning/lane changing scene in advance;
step 3, performing FCM clustering analysis on the collected vehicle driving state data and the driver driving state data to obtain a driver distraction state and a corresponding early warning level;
step 4, collecting vehicle index data and judging whether the vehicle enters a turning/lane changing state or not in the normal running process of the vehicle; if the vehicle enters a turning/lane changing state, entering the step 5, otherwise, continuously acquiring data;
step 5, after the vehicle is determined to enter a turning/lane changing state, acquiring vehicle driving state data and driver driving state index data; comparing the collected data with the characteristic range of the early warning hierarchy output by clustering analysis to determine the driving state of the vehicle driver;
and 6, judging whether to carry out driving distraction early warning or not according to the driving state of the vehicle driver determined in the step 5, and taking corresponding early warning measures according to early warning levels.
Further, in the step 1, the vehicle index data includes vehicle turn light flicker, vehicle track change and vehicle steering wheel rotation; when the vehicle steering lamp flickers, the vehicle running track changes, and the vehicle steering wheel rotates, the situation that the vehicle enters the turning/lane changing situation is judged.
Further, in the step 2, a vehicle and driver behavior data set is established by acquiring vehicle and driver state data after the vehicle enters a turning/lane changing scene in advance; the method comprises the following specific steps:
2-1, after judging that the vehicle enters the turning/lane changing scene, in a time period T1Collecting vehicle running state data and driving state data of a driver; the driving state data of the vehicle comprises an angle change range CT of the vehicle driving track direction and a rotation angle change range CD of a vehicle steering wheel; the driving state data of the driver comprises a change range GP of the position of a fixation point of the driver and a change range GF of the grip strength of the driver to a steering wheel;
and 2-2, acquiring vehicle and driver state data of n time periods, grouping the vehicle driving state data and the driver driving state data in each time period, and establishing a vehicle and driver behavior data set.
Further, in the step 3, FCM cluster analysis is performed on the collected vehicle driving state data and the driver driving state data to obtain the driver distraction state and the corresponding early warning level; the method comprises the following specific steps:
3-1, using data indexes in the vehicle and driver behavior data set as input data, performing clustering estimation on the distraction state of the driver by adopting an FCM clustering method in combination with the behavior adopted by the driver, and dividing a clustering result into three early warning levels;
3-2, after the cluster analysis is finished, outputting an angle change range CT of the vehicle driving track direction, a rotation angle change range CD of a vehicle steering wheel, a change range GP of the driver gazing point position and a grip change range GF of the driver to the steering wheel, wherein the four indexes correspond to the characteristic ranges of three early warning levels;
3-3, taking the four indexes output in the step 3-2 as data processing and judging bases, and judging the distracted driving state of the driver; real-time vehicle and driver data collected in the normal driving process of the vehicle are compared with the real-time vehicle and the driver data to determine whether the driver has a distracted driving state and whether early warning is needed.
Further, the three early warning levels in the step 3-1 are as follows:
early warning in class I: the driver does not make corresponding operation behavior when the vehicle turns/changes lanes;
II type early warning: the driver takes corresponding operation when the vehicle turns/changes lanes, but a distraction state exists;
no early warning is performed: the driver takes corresponding operation when the vehicle turns/changes lanes, and the distraction state does not exist.
Further, in the step 5, after the vehicle is determined to enter the turning/lane changing state, vehicle driving state data and driver driving state index data are collected; comparing the collected data with the characteristic range of the early warning hierarchy output by clustering analysis to determine the driving state of the vehicle driver; the method comprises the following specific steps:
if the grip strength of the driver does not exceed the grip strength change range GF, the gaze point of the driver does not exceed the change range GP of the position of the gaze point, the vehicle track does not exceed the angle change range CT of the direction of the driving track, and the change of the steering wheel angle does not exceed the rotation angle change range CD, indicating that the driver makes corresponding operation behavior when the vehicle turns/changes lanes and no distraction state exists.
If the grip strength of the driver does not exceed the grip strength change range GF, the gaze point of the driver does not exceed the change range GP of the position of the gaze point, and simultaneously the angle change range CT that the vehicle track exceeds the direction of the driving track and the change of the steering wheel angle exceeds the change range CD of the rotation angle, the driver does not make corresponding operation behaviors when the vehicle turns/changes lanes.
If the grip strength of the driver exceeds the grip strength change range GF, the gaze point of the driver does not exceed the change range GP of the position of the gaze point, the vehicle track does not exceed the angle change range CT of the direction of the driving track, and the change of the steering wheel angle does not exceed the rotation angle change range CD, indicating that the driver takes corresponding operation when the vehicle turns/changes lanes, but the distraction state exists.
Further, step 6, according to the driving state of the vehicle driver determined in step 5, judging whether to perform driving distraction early warning, and taking corresponding early warning measures according to early warning levels; the method comprises the following specific steps:
if the driver of the vehicle takes corresponding operation after the vehicle enters the turning/lane changing scene and the distraction state does not exist, no early warning is carried out, and data acquisition is restarted;
if the driver of the vehicle does not take corresponding operation behavior after the vehicle enters the turning/lane changing scene, starting the class I early warning;
if the driver of the vehicle takes corresponding operation after the vehicle enters the turning/lane changing scene, but a distraction state exists during the operation, the II-type early warning is started.
Further, starting class I early warning, and reminding a driver by flashing a vehicle-mounted indicator light; and starting II-type early warning, and reminding a driver through vehicle-mounted indicating lamp flashing and voice prompt.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
at present, the existing relevant research for detecting and early warning the distracted driving state of a driver mainly focuses on detecting and judging the distracted driving state of the driver through artificially predefined judgment indexes in the normal driving process of a vehicle. The detection of driver distraction driving under a specific scene in the driving process of the vehicle is less researched, and the possible difference of the definition standard of the driver distraction state under the specific scene in the driving process of the vehicle is not considered. The technical scheme of the invention solves the problem that the difference possibly exists in the definition standard of the distraction state of the driver under the specific scene of vehicle turning and lane changing is not considered in the traditional method and system for detecting the distraction driving state of the vehicle driver; and three-level early warning information is provided, and detection and early warning are comprehensively carried out on the distracted driving state of the vehicle driver.
Drawings
FIG. 1 is a flowchart of the overall operation of the detection and early warning method of the present invention;
fig. 2 is a flowchart of the method operation of determining whether the vehicle has entered a turning/lane-changing state in the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
The invention provides a driving system for detecting and early warning distracted driving behaviors of a driver during vehicle turning and lane changing.
The data acquisition unit comprises a vehicle steering lamp flicker detection device, a vehicle steering wheel rotation detection device, a vehicle running camera, a non-invasive eye tracker and a grip strength sensor; the data acquisition unit is used for acquiring the state information of a driver and a vehicle in the driving process and transmitting the state information to the data processing unit.
The data processing unit adopts a relevant vehicle-mounted processor terminal and is used for receiving data transmitted by the data acquisition unit, namely the vehicle steering lamp flicker detection device, the vehicle steering wheel rotation detection device, the vehicle running camera, the non-invasive eye tracker and the grip strength sensor, and transmitting the data to a corresponding judgment unit.
The data processing unit inputs in advance an angle change range CT based on the vehicle driving track direction, a rotation angle change range CD of a vehicle steering wheel, a change range GP of the driver gazing point position, a result of FCM cluster analysis of the driver distraction driving state based on four indexes of a grip change range GF of the driver to the steering wheel and index ranges of three early warning levels so as to compare the information with the vehicle and the driver state in the actual driving process.
The determination unit includes a vehicle state determination unit and a driver state determination unit for determining whether the vehicle enters a turning/lane change running state and whether the driver has a distracted driving state. The judging unit adopts a relevant vehicle-mounted processor terminal and is coupled with the data processing unit and used for receiving the data transmitted by the data processing unit and judging whether the vehicle enters a turning/lane changing scene or not and whether the driver has a state of distraction driving or not. The work flow of the vehicle state determination unit is shown in fig. 2.
The early warning unit is used for carrying out corresponding early warning on the distracted driving state of the driver, such as flashing of an indicator light and voice prompt. The early warning unit adopts relevant on-vehicle stereo set and on-vehicle pilot lamp, carries out pilot lamp scintillation, voice prompt early warning to I, II level driver distraction state.
The vehicle steering lamp flicker detection device is coupled with a vehicle steering system and used for collecting vehicle steering lamp flicker condition data in real time and providing data basis for judging whether a vehicle enters a turning/lane changing situation.
The vehicle steering wheel rotation detection device is coupled with a vehicle steering control system, is assembled with a vehicle steering wheel facility and is used for collecting the data of the rotation angle of the vehicle steering wheel in real time and providing data basis for judging whether the vehicle enters a turning/lane changing scene and whether a driver has a distracted driving state.
The vehicle running camera and rearview mirror facilities on two sides of the vehicle are assembled together and used for collecting vehicle direction and track change data in real time and providing data basis for judging whether the vehicle enters a turning/lane changing scene and whether a driver has a distracted driving state.
The non-invasive eye tracker is assembled above a dial plate facility of a vehicle driving position instrument, and a camera of the non-invasive eye tracker is aligned to the eye position of the face of a driver and used for acquiring position data of an eye gazing point and change data of the eye gazing point position of the driver in the vehicle driving process in real time and providing data basis for judging whether a distracted driving state exists in the driver.
The grip force sensor is coupled with a vehicle direction control system, is assembled with a vehicle steering wheel facility, is used for real-time grip force data of a steering wheel of a manipulator of a driver in the process of driving the vehicle, and provides data basis for judging whether the driver has a distracted driving state.
A driver distraction driving detection and early warning method under the scene of vehicle turning and lane changing is disclosed, the working flow is shown in figure 1, and the method comprises the following steps:
step 1, collecting vehicle index data and determining whether a vehicle enters a turning/lane changing situation; the vehicle index data comprises vehicle steering lamp flicker, vehicle track change and vehicle steering wheel rotation. As shown in fig. 2, when the vehicle turn signal blinks and the vehicle trajectory changes while the vehicle steering wheel is turned, it is determined that the vehicle enters a turning/lane changing situation.
Step 2, building a vehicle and driver behavior data set by acquiring vehicle and driver state data after the vehicle enters a turning/lane changing scene in advance; the method comprises the following specific steps:
2-1, after judging that the vehicle enters the turning/lane changing scene, in a time period T1Collecting vehicle running state data and driving state data of a driver; the driving state data of the vehicle comprises an angle change range CT of the vehicle driving track direction and a rotation angle change range CD of a vehicle steering wheel; the driving state data of the driver comprises a change range GP of the position of the gazing point of the driver and the holding of the steering wheel by the driverForce variation range GF;
and 2-2, acquiring vehicle and driver state data of n time periods, grouping the vehicle driving state data and the driver driving state data in each time period, and establishing a vehicle and driver behavior data set.
Step 3, performing FCM clustering analysis on the collected vehicle driving state data and the driver driving state data to obtain a driver distraction state and a corresponding early warning level; the method comprises the following specific steps:
3-1, using data indexes in the vehicle and driver behavior data set as input data, using an FCM clustering method to perform clustering estimation on the distraction state of the driver in combination with the behavior of the driver, and dividing a clustering result into the following three early warning levels:
early warning in class I: the driver does not make corresponding operation behavior when the vehicle turns/changes lanes;
II type early warning: the driver takes corresponding operation when the vehicle turns/changes lanes, but a distraction state exists;
no early warning is performed: the driver takes corresponding operation when the vehicle turns/changes lanes, and the distraction state does not exist.
3-2, after the cluster analysis is finished, outputting an angle change range CT of the vehicle driving track direction, a rotation angle change range CD of a vehicle steering wheel, a change range GP of the driver gazing point position and a grip change range GF of the driver to the steering wheel, wherein the four indexes correspond to the characteristic ranges of three early warning levels;
3-3, taking the four indexes output in the step 3-2 as data processing and judging bases, and judging the distracted driving state of the driver; real-time vehicle and driver data collected in the normal driving process of the vehicle are compared with the real-time vehicle and the driver data to determine whether the driver has a distracted driving state and whether early warning is needed.
Step 4, collecting vehicle index data and judging whether the vehicle enters a turning/lane changing state or not in the normal running process of the vehicle; if the vehicle enters a turning/lane changing state, the step 5 is entered, otherwise, the data collection is continued.
Step 5, after the vehicle is determined to enter a turning/lane changing state, acquiring vehicle driving state data and driver driving state index data; comparing the collected data with the characteristic range of the early warning hierarchy output by clustering analysis to determine the driving state of the vehicle driver; the method comprises the following specific steps:
if the grip strength of the driver does not exceed the grip strength change range GF, the gaze point of the driver does not exceed the change range GP of the position of the gaze point, the vehicle track does not exceed the angle change range CT of the direction of the driving track, and the change of the steering wheel angle does not exceed the rotation angle change range CD, indicating that the driver makes corresponding operation behavior when the vehicle turns/changes lanes and no distraction state exists.
If the grip strength of the driver does not exceed the grip strength change range GF, the gaze point of the driver does not exceed the change range GP of the position of the gaze point, and simultaneously the angle change range CT that the vehicle track exceeds the direction of the driving track and the change of the steering wheel angle exceeds the change range CD of the rotation angle, the driver does not make corresponding operation behaviors when the vehicle turns/changes lanes.
If the grip strength of the driver exceeds the grip strength change range GF, the gaze point of the driver does not exceed the change range GP of the position of the gaze point, the vehicle track does not exceed the angle change range CT of the direction of the driving track, and the change of the steering wheel angle does not exceed the rotation angle change range CD, indicating that the driver takes corresponding operation when the vehicle turns/changes lanes, but the distraction state exists.
Step 6, judging whether to carry out driving distraction early warning according to the driving state of the vehicle driver determined in the step 5, and taking corresponding early warning measures according to early warning levels; the method comprises the following specific steps:
if the driver of the vehicle takes corresponding operation after the vehicle enters the turning/lane changing scene and the distraction state does not exist, no early warning is carried out, and data acquisition is restarted;
if the driver of the vehicle does not take corresponding operation behavior after the vehicle enters the turning/lane changing scene, starting a class I early warning, and reminding the driver by flashing a vehicle-mounted indicator lamp;
if the driver of the vehicle takes corresponding operation after the vehicle enters the turning/lane changing scene, but the distraction state exists during the operation, the II-type early warning is started, and the driver is reminded through the flashing of the vehicle-mounted indicating lamp and the voice prompt.

Claims (5)

1.一种车辆转弯和变道场景下驾驶员分神驾驶检测和预警方法，其特征在于：包括以下步骤：1. a driver's distracted driving detection and early warning method under a vehicle turning and lane change scene, is characterized in that: comprise the following steps: 步骤1，采集车辆指标数据，确定车辆是否进入转弯/变道情景；Step 1: Collect vehicle index data to determine whether the vehicle enters a turning/lane changing scenario; 步骤2，通过预先采集车辆进入转弯/变道情景后的车辆和驾驶员状态数据，建立车辆以及驾驶员行为数据集；Step 2: Establish a vehicle and driver behavior data set by pre-collecting the vehicle and driver status data after the vehicle enters the turning/lane changing scenario; 2-1，在判断车辆进入转弯/变道情景后，在时间周期T1内，采集车辆行驶状态数据和驾驶员的驾驶状态数据； 2-1 , after judging that the vehicle enters the turning/lane changing scenario, within the time period T1, collect the vehicle driving state data and the driver's driving state data; 所述车辆的行驶状态数据包括车辆行车轨迹方向的角度变化范围CT、车辆方向盘的转动角度变化范围CD；The driving state data of the vehicle includes the angular variation range CT of the direction of the vehicle's driving track and the rotational angle variation range CD of the steering wheel of the vehicle; 所述驾驶员的驾驶状态数据包括驾驶员注视点位置的变化范围GP、驾驶员对方向盘的握力变化范围GF；The driving state data of the driver includes the variation range GP of the driver's gaze point position and the variation range GF of the driver's grip on the steering wheel; 2-2，采集n个时间周期的车辆和驾驶员状态数据，将每一个时间周期内的车辆行驶状态数据和驾驶员驾驶状态数据编组，建立车辆以及驾驶员行为数据集；2-2, collect vehicle and driver status data for n time periods, group the vehicle driving status data and driver driving status data in each time period, and establish a vehicle and driver behavior data set; 步骤3，对采集到的车辆行驶状态数据以及驾驶员的驾驶状态数据进行FCM聚类分析，得到驾驶员分神状态及相应的预警层次；Step 3: Perform FCM cluster analysis on the collected vehicle driving state data and the driver's driving state data to obtain the driver's distraction state and the corresponding warning level; 3-1，使用车辆和驾驶员行为数据集中的数据指标作为输入数据，采用FCM聚类方法对驾驶员的分神状态结合其采取的行为进行聚类估算，将聚类结果分为三个预警层次；3-1. Using the data indicators in the vehicle and driver behavior datasets as input data, the FCM clustering method is used to cluster and estimate the driver's distraction state combined with the behaviors he takes, and the clustering results are divided into three early warnings level; 3-2，在聚类分析完成后，输出车辆行车轨迹方向的角度变化范围CT、车辆方向盘的转动角度变化范围CD、驾驶员注视点位置的变化范围GP、驾驶员对方向盘的握力变化范围GF四个指标对应于三个预警层次的特征范围；3-2. After the cluster analysis is completed, output the angular variation range CT of the vehicle's driving track direction, the rotational angle variation range CD of the vehicle steering wheel, the variation range GP of the driver's gaze point position, and the driver's grip force variation range GF on the steering wheel The four indicators correspond to the characteristic ranges of the three early warning levels; 3-3，将步骤3-2输出的四个指标作为数据处理及判定的依据，判断驾驶员分神驾驶状态；将车辆正常行驶过程中采集到的实时车辆和驾驶员数据与其进行对比，以确定驾驶员是否存在分神驾驶状态以及是否需要进行预警；3-3. Use the four indicators output in step 3-2 as the basis for data processing and judgment to judge the driver's distracted driving state; Determining whether the driver is distracted and whether an early warning is required; 步骤4，在车辆正常行驶过程中，采集车辆指标数据，判断车辆是否进入转弯/变道状态；如果车辆进入转弯/变道状态，进入步骤5，否则，继续采集数据；Step 4, during the normal driving process of the vehicle, collect vehicle index data to determine whether the vehicle enters the turning/lane changing state; if the vehicle enters the turning/lane changing state, go to step 5, otherwise, continue to collect data; 步骤5，在确定车辆进入转弯/变道状态后，采集车辆行驶状态数据和驾驶员驾驶状态指标数据；将采集到的数据与聚类分析输出的预警层次的特征范围相比较，确定车辆驾驶员的驾驶状态；Step 5: After it is determined that the vehicle enters the turning/lane changing state, the vehicle driving state data and the driver driving state index data are collected; the collected data is compared with the characteristic range of the warning level output by the cluster analysis, and the vehicle driver is determined. driving status; 步骤6，根据步骤5确定的车辆驾驶员的驾驶状态，判断是否进行驾驶分神预警，并根据预警层次采取相应的预警措施。Step 6, according to the driving state of the vehicle driver determined in step 5, determine whether to perform a driving distraction warning, and take corresponding warning measures according to the warning level. 2.根据权利要求1所述的一种车辆转弯和变道场景下驾驶员分神驾驶检测和预警方法，其特征在于：所述步骤3-1中三个预警层次如下：2. the driver's distracted driving detection and early warning method under a kind of vehicle turning and lane changing scene according to claim 1, is characterized in that: in described step 3-1, three warning levels are as follows: I类预警：驾驶员未作出在车辆转弯/变道时相应的操作行为；Class I early warning: the driver fails to act accordingly when the vehicle turns/changes lanes; II类预警：驾驶员在车辆转弯/变道时采取了相应的操作，但是存在分神状态；Class II early warning: The driver took corresponding actions when the vehicle turned/changed lanes, but was distracted; 不预警：驾驶员在车辆转弯/变道时采取了相应的操作，不存在分神状态。No warning: The driver takes corresponding actions when the vehicle turns/changes lanes, and there is no distraction. 3.根据权利要求2所述的一种车辆转弯和变道场景下驾驶员分神驾驶检测和预警方法，其特征在于：所述步骤5中，在确定车辆进入转弯/变道状态后，采集车辆行驶状态数据和驾驶员驾驶状态指标数据；将采集到的数据与聚类分析输出的预警层次的特征范围相比较，确定车辆驾驶员的驾驶状态；具体如下：3. The driver's distracted driving detection and early warning method under a vehicle turning and lane-changing scene according to claim 2, wherein in the step 5, after determining that the vehicle enters the turning/lane-changing state, collecting Vehicle driving state data and driver driving state index data; compare the collected data with the feature range of the early warning level output by cluster analysis to determine the driving state of the vehicle driver; the details are as follows: 如果驾驶员握力未超出握力变化范围GF，驾驶员注视点未超出注视点位置的变化范围GP，并且车辆轨迹未超出行车轨迹方向的角度变化范围CT，方向盘转角变化未超出转动角度变化范围CD，表示驾驶员在车辆转弯/变道时做出了相应操作行为，且不存在分神状态；If the driver's grip strength does not exceed the grip strength variation range GF, the driver's gaze point does not exceed the gaze point position variation range GP, and the vehicle trajectory does not exceed the angular variation range CT in the direction of the driving trajectory, and the steering wheel angle does not exceed the rotational angle variation range CD, Indicates that the driver has made corresponding operating behaviors when the vehicle turns/changes lanes, and there is no distraction; 如果驾驶员握力未超出握力变化范围GF，驾驶员注视点未超出注视点位置的变化范围GP，同时车辆轨迹超出行车轨迹方向的角度变化范围CT以及方向盘转角变化超出转动角度变化范围CD，表明驾驶员未作出在车辆转弯/变道时相应的操作行为；If the driver's grip strength does not exceed the grip strength variation range GF, the driver's fixation point does not exceed the gaze point position variation range GP, and the vehicle trajectory exceeds the angular variation range CT in the direction of the driving trajectory and the steering wheel angle variation exceeds the rotational angle variation range CD, indicating that driving The operator fails to act accordingly when the vehicle turns/changes lanes; 如果驾驶员握力超出握力变化范围GF，驾驶员注视点未超出注视点位置的变化范围GP，并且车辆轨迹未超出行车轨迹方向的角度变化范围CT，方向盘转角变化未超出转动角度变化范围CD，表明驾驶员在车辆转弯/变道时采取了相应的操作，但是存在分神状态。If the driver's grip strength exceeds the grip strength variation range GF, the driver's fixation point does not exceed the gaze point position variation range GP, and the vehicle trajectory does not exceed the angular variation range CT in the direction of the driving trajectory, and the steering wheel angle does not exceed the turning angle variation range CD, indicating that The driver takes action when the vehicle turns/changes lanes, but is distracted. 4.根据权利要求3所述的一种车辆转弯和变道场景下驾驶员分神驾驶检测和预警方法，其特征在于：所述步骤6，根据步骤5确定的车辆驾驶员的驾驶状态，判断是否进行驾驶分神预警，并根据预警层次采取相应的预警措施；具体如下：4. the driver's distracted driving detection and early warning method under a kind of vehicle turning and lane changing scene according to claim 3, it is characterized in that: described step 6, according to the driving state of the vehicle driver determined in step 5, judge Whether to carry out driving distraction warning, and take corresponding early warning measures according to the warning level; the details are as follows: 若车辆驾驶员在车辆进入转弯/变道情景后，采取了相应的操作，而且未存在分神状态，则不进行预警，重新开始采集数据；If the driver of the vehicle takes corresponding actions after the vehicle enters the turning/lane changing situation, and there is no distraction state, no warning will be given, and data collection will be restarted; 若车辆驾驶员在车辆进入转弯/变道情景后，未采取相应操作行为，则启动I类预警；If the driver of the vehicle does not take the corresponding action after the vehicle enters the turning/lane changing situation, the Class I early warning will be activated; 若车辆驾驶员在车辆进入转弯/变道情景后，采取了相应的操作，但操作时存在分神状态，则启动II类预警。If the driver of the vehicle takes corresponding actions after the vehicle enters the turning/lane changing situation, but there is a distraction state during the operation, a Type II warning is activated. 5.根据权利要求4所述的一种车辆转弯和变道场景下驾驶员分神驾驶检测和预警方法，其特征在于：启动I类预警，通过车载指示灯闪烁提醒驾驶员；启动II类预警，通过车载指示灯闪烁以及语音提示提醒驾驶员。5. the driver's distracted driving detection and early warning method under a kind of vehicle turning and lane changing scene according to claim 4, it is characterized in that: start Class I early warning, remind the driver by flashing on-board indicator light; start Class II early warning , and remind the driver through the flashing of the on-board indicator lights and voice prompts.
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