CN114670844A - Fatigue driving monitoring method and device and electric automobile - Google Patents

Abstract

The application discloses a fatigue driving monitoring method, a fatigue driving monitoring device and an electric automobile, and relates to the technical field of automobiles, wherein the method comprises the following steps: acquiring a plurality of driving behavior parameters of a vehicle; determining a current driving state according to the plurality of driving behavior parameters; outputting fatigue driving warning information under the condition that the current driving state is fatigue driving; wherein the driving behavior parameters include at least one of: vehicle lateral control parameters; a vehicle lateral offset parameter; vehicle longitudinal control parameters. According to the scheme, accurate monitoring of fatigue driving of the driver is achieved under the condition that cost is not increased.

Description

Fatigue driving monitoring method and device and electric automobile

Technical Field

The application relates to the technical field of automobiles, in particular to a fatigue driving monitoring method and device and an electric automobile

Background

At present, a driver fatigue monitoring system monitors based on a respiratory rate, a heart rate, blood pressure, blood oxygen, pulse, a human body biological clock and other direct analysis methods, however, in such a way, a camera, a sensor and other image acquisition devices are additionally added to a vehicle, so that the monitoring cost is increased.

Disclosure of Invention

The application aims to provide a fatigue driving monitoring method and device and an electric automobile, so that the problem that a fatigue driving monitoring mode in the prior art is high in cost is solved.

In order to achieve the above object, the present application provides a fatigue driving monitoring method, comprising:

acquiring a plurality of driving behavior parameters of a vehicle;

determining a current driving state according to the plurality of driving behavior parameters;

outputting fatigue driving warning information under the condition that the current driving state is fatigue driving;

wherein the driving behavior parameters include at least one of:

vehicle lateral control parameters;

a vehicle lateral offset parameter;

vehicle longitudinal control parameters.

Optionally, determining a current driving state according to a plurality of driving behavior parameters includes:

acquiring a current driving mode of a vehicle;

respectively acquiring threshold values of the driving behavior parameters under the current driving mode;

and determining the current driving state according to each driving behavior parameter and the threshold value of each driving behavior parameter.

Optionally, the vehicle lateral control parameter comprises: steering wheel hand torque, steering wheel angular rate and vehicle lateral deviation displacement;

Determining a current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter, including:

and in a first preset time period, determining that the current driving state is fatigue driving under the condition that the steering wheel hand moment is smaller than a threshold value of the steering wheel hand moment in the current driving mode, the steering wheel turning rate is larger than a threshold value of the steering wheel turning rate in the current driving mode, and the yaw displacement is larger than a threshold value of the yaw displacement in the current driving mode.

Optionally, the vehicle lateral offset parameter comprises lateral acceleration and/or rate of change of lateral acceleration;

determining the current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter, including:

and in a second preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the lateral acceleration is greater than a threshold value of the lateral acceleration in the current driving mode and the lateral acceleration change rate is greater than a threshold value of the lateral acceleration change rate in the current driving mode.

Optionally, the vehicle longitudinal control parameter comprises an accelerator pedal opening and/or a brake pedal opening;

Determining the current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter, including:

in a third preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the accelerator pedal opening change rate is larger than a threshold value of the accelerator pedal opening change rate in the current driving mode;

or,

and in a fourth preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the brake pedal opening change rate is larger than the threshold value of the current driving mode of the brake pedal opening change rate.

Optionally, the driving behavior parameter further comprises a duration of driving;

determining a current driving state according to a plurality of the driving behavior parameters, including:

acquiring vehicle speed information in the vehicle running process;

determining that the vehicle is in a fatigue driving state currently under the conditions that the continuous driving time is longer than the preset continuous driving time and the vehicle speed information is longer than a first vehicle speed threshold value in the continuous driving time;

or,

determining information representing a driving state as first preset information under the condition that the continuous driving time of the adjacent times reaches the preset continuous driving time and the duration of the vehicle speed information which is less than or equal to a second vehicle speed threshold value is less than the preset duration;

Wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

Optionally, the obtaining the threshold of each driving behavior parameter in the current driving mode respectively includes:

acquiring the type of a steering mode and/or the type of a driving mode in the driving mode;

determining the type of the current steering mode and/or the threshold weight of each driving behavior parameter corresponding to the type of the driving mode according to the corresponding relation between the pre-stored mode type and the threshold weight;

and determining the threshold value of each driving behavior parameter according to the threshold value weight of each driving behavior parameter and the pre-stored standard threshold value of each behavior parameter.

The embodiment of the present application further provides a fatigue driving monitoring device, including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a plurality of driving behavior parameters of a vehicle;

the determining module is used for determining the current driving state according to the plurality of driving behavior parameters;

the output module is used for outputting fatigue driving warning information under the condition that the current driving state is fatigue driving;

wherein the driving behavior parameters include at least one of:

vehicle lateral control parameters;

A vehicle lateral offset parameter;

vehicle longitudinal control parameters.

Optionally, the determining module includes:

the first acquisition submodule is used for acquiring the current running mode of the vehicle;

the second obtaining submodule is used for respectively obtaining the threshold value of each driving behavior parameter in the current driving mode;

and the first determining submodule is used for determining the current driving state according to each driving behavior parameter and the threshold value of each driving behavior parameter.

Optionally, the vehicle lateral control parameter comprises: steering wheel hand torque, steering wheel angular rate and vehicle lateral deviation displacement;

the first determination submodule is specifically configured to:

and in a first preset time period, determining that the current driving state is fatigue driving under the condition that the steering wheel hand moment is smaller than a threshold value of the steering wheel hand moment in the current driving mode, the steering wheel turning rate is larger than a threshold value of the steering wheel turning rate in the current driving mode, and the side deviation displacement is larger than a threshold value of the side deviation displacement in the current driving mode.

Optionally, the vehicle lateral offset parameter comprises lateral acceleration and/or a rate of change of lateral acceleration;

The first determination submodule is specifically configured to:

and in a second preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the lateral acceleration is greater than a threshold value of the lateral acceleration in the current driving mode and the lateral acceleration change rate is greater than a threshold value of the lateral acceleration change rate in the current driving mode.

Optionally, the vehicle longitudinal control parameter comprises an accelerator pedal opening and/or a brake pedal opening;

the first determination submodule is specifically configured to:

in a third preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the accelerator pedal opening change rate is larger than a threshold value of the accelerator pedal opening change rate in the current driving mode;

or,

and in a fourth preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the brake pedal opening change rate is larger than the threshold value of the current driving mode of the brake pedal opening change rate.

Optionally, the driving behavior parameter further comprises a duration of driving;

the determining module comprises:

the third acquisition submodule is used for acquiring the speed information of the vehicle in the running process;

The second determining submodule is used for determining that the vehicle is in a fatigue driving state currently under the conditions that the continuous driving time is longer than the preset continuous driving time and the vehicle speed information is longer than the first vehicle speed threshold value in the continuous driving time;

or,

determining information representing a driving state as first preset information under the condition that the continuous driving time of the adjacent times reaches the preset continuous driving time and the duration of the vehicle speed information which is less than or equal to a second vehicle speed threshold value is less than the preset duration;

wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

Optionally, the second obtaining sub-module includes:

an acquisition unit configured to acquire a type of a steering mode and/or a type of a driving mode in the travel mode;

the first determining unit is used for determining the type of the current steering mode and/or the threshold weight of each driving behavior parameter corresponding to the type of the driving mode according to the corresponding relation between the type of the mode and the threshold weight stored in advance;

and the second determining unit is used for determining the threshold value of each driving behavior parameter according to the threshold value weight of each driving behavior parameter and the standard threshold value of each behavior parameter stored in advance.

The embodiment of the present application further provides an electric automobile, including: a processor, a memory and a program stored on the memory and executable on the processor, the program when executed by the processor implementing the steps of the fatigue driving monitoring method as described above.

Embodiments of the present application also provide a readable storage medium, which stores a program, and when the program is executed by a processor, the method for monitoring fatigue driving is implemented.

The above technical scheme of this application has following beneficial effect at least:

according to the fatigue driving monitoring method, firstly, a plurality of driving behavior parameters of a vehicle are obtained, and the driving behavior parameters can comprise at least one of vehicle transverse control parameters, vehicle transverse offset parameters and vehicle longitudinal control parameters; secondly, determining the current driving state according to the driving behavior parameters; and finally, outputting fatigue driving warning information under the condition that the current driving state is fatigue driving. Therefore, the driving behavior parameters are acquired by the existing hardware acquisition equipment of the electric automobile, whether the driver is in a fatigue driving state at present is determined according to the acquired driving behavior parameters, and under the condition of being in the fatigue driving state, fatigue driving warning information is output to remind the driver, so that the fatigue driving can be reminded on the basis of not increasing the cost, and the driving safety is ensured.

Drawings

Fig. 1 is a schematic flowchart of a fatigue driving monitoring method according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a fatigue driving monitoring device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The fatigue driving monitoring method and device and the electric vehicle provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.

Here, it should be explained first that the fatigue driving monitoring method according to the embodiment of the present application can be implemented by using the following control architecture: a fatigue driving mathematical model is established and fatigue monitoring is realized through a Vehicle Control Unit (VCU), the acquisition and analysis of Vehicle motion parameters are realized through an Electronic Stability Program (ESP) and an Electric Power Steering (EPS) system of a Vehicle body, and the human-computer interaction of fatigue driving is realized through an integrated Instrument Unit (ICM).

As shown in fig. 1, which is a schematic flow chart of fatigue driving monitoring according to an embodiment of the present application, the method includes:

step 101: acquiring a plurality of driving behavior parameters of a vehicle;

in this step, the driving behavior parameters include at least one of: vehicle lateral control parameters; a vehicle lateral offset parameter; vehicle longitudinal control parameters.

Specifically, the ESP and the EPS may be used to collect vehicle lateral control parameters, and the sensor may be used to collect vehicle longitudinal control parameters.

The method utilizes the existing signal acquisition device on the vehicle to acquire corresponding parameters, avoids adding a new acquisition device on the vehicle, and reduces the production cost.

Step 102: determining a current driving state according to a plurality of driving behavior parameters;

here, it should be noted that the plurality of driving behavior parameters are parameters for identifying fatigue driving, that is: these driving behavior parameters are driver behavior recognition parameters.

That is to say, in this step, the information representing the driving state is indirectly determined according to the driving behavior parameters acquired by the existing acquisition device, so that the problem of cost increase caused by the need of adding hardware devices to the electric vehicle by monitoring the information representing the fatigue state directly such as the facial state of the driver in the prior art is solved.

Step 103: and outputting fatigue driving warning information under the condition that the current driving state is fatigue driving.

In the step, when the driver is determined to be in the fatigue driving state at present, the fatigue driving warning information is output to remind the driver to stop for rest, so that traffic accidents are avoided.

Here, in this step, the fatigue driving warning information may be output by sound, light, or the like by using the ICM; that is: the fatigue driving warning information can be voice information, light flicker and the like.

According to the fatigue driving monitoring method, firstly, a plurality of driving behavior parameters of a vehicle are obtained, and the driving behavior parameters can comprise at least one of vehicle transverse control parameters, vehicle transverse offset parameters and vehicle longitudinal control parameters; secondly, determining the current driving state according to the driving behavior parameters; and finally, outputting fatigue driving warning information under the condition that the current driving state is fatigue driving. Therefore, the driving behavior parameters are acquired by the existing hardware acquisition equipment of the electric automobile, whether the driver is in a fatigue driving state at present is determined according to the acquired driving behavior parameters, and under the condition of being in the fatigue driving state, fatigue driving warning information is output to remind the driver, so that the fatigue driving can be reminded on the basis of not increasing the cost, and the driving safety is ensured.

As an optional implementation manner,step 102, determining the current driving state according to a plurality of driving behavior parameters includes:

acquiring a current driving mode of a vehicle;

here, it should be noted that the running mode may include a driving mode and a steering mode; wherein the driving mode may include a sport mode, a comfort mode, and an economy mode; the steering mode may include a comfort mode, a standard mode, a sport mode, and the like. That is, the running mode of the present application may be a combination of any one of the above three modes of the driving mode and any one of the above three modes of the steering mode, and thus the running modes in the embodiment of the present application may be combined into nine modes.

Respectively acquiring threshold values of the driving behavior parameters under the current driving mode;

here, it should be noted that the threshold value of the driving behavior parameter and the driving mode may be in a one-to-one correspondence relationship, that is: in different driving modes, the threshold values of the driving behavior parameters are different, so that different threshold values of the driving behavior parameters can be determined according to the driving performances of different driving modes. By the arrangement, the information representing the driving state is determined more accurately according to the driving behavior parameters, and the monitoring accuracy is improved. Specifically, the corresponding relationship between the threshold of the driving behavior parameter and the driving mode may be a corresponding relationship calibrated in advance according to different vehicle types, so that the specific setting of the threshold for a specific vehicle type is realized, and the monitoring accuracy is further improved.

And determining the current driving state according to each driving behavior parameter and the threshold value of each driving behavior parameter.

In this step, information characterizing the driving behavior may be determined based on a comparison of the driving behavior parameter and a threshold value of the current driving mode. In particular, the comparison of the driving behavior parameter with its threshold value may be performed by way of a difference or quotient.

In the optional implementation mode, the threshold values of the driving behavior parameters in different driving modes are set, so that the information representing the driving state is determined according to the comparison between the driving behavior parameters in the specific driving mode and the threshold values of the driving behavior parameters, and compared with a judgment mode in which the current threshold values are fixed values, the judgment result of the optional implementation mode is more accurate, and the reliability of the monitoring result of the embodiment of the application is improved.

Specifically, the respectively obtaining the threshold of each driving behavior parameter in the current driving mode includes:

acquiring the type of a steering mode and/or the type of a driving mode in a driving mode;

determining the threshold weight of each driving behavior parameter corresponding to the type of the current steering mode and/or the type of the driving mode according to the corresponding relation between the pre-stored mode type and the threshold weight;

and determining the threshold value of each driving behavior parameter according to the threshold value weight of each driving behavior parameter and the standard threshold value of each behavior parameter stored in advance.

That is, the threshold values of the respective driving behavior parameters are different in the different travel pattern types, that is: the threshold values of the driving behavior parameters can be set according to the characteristics of the driving modes respectively, for convenience of calculation, the weight is preferentially set for each driving mode, and therefore the threshold values of the driving behavior parameters under each driving mode can be determined according to the product of the standard threshold values and the weight of the driving behavior parameters, so that whether the driving mode is in a fatigue driving state or not is determined according to the characteristics of the driving modes.

As an alternative implementation, the vehicle lateral control parameters include: steering wheel hand torque, steering wheel angular rate and vehicle lateral deviation displacement;

here, it should be noted that, in the case of fatigue driving by the driver, the driver's hands may be separated from the steering wheel due to inattention of the driver, and the separation of the driver's hands from the steering wheel may cause the vehicle to shift laterally, so the vehicle lateral control parameter in the embodiment of the present application includes the steering wheel hand moment; when the vehicle has the problems of lateral deviation and the like, the driver needs to rotate the steering wheel quickly for a short time to return to the vehicle, and if the driver is in a fatigue driving state, the driver is difficult to rotate the steering wheel quickly for a short time, so the transverse control parameters of the vehicle in the embodiment of the application comprise the steering wheel turning rate; the three, because factors such as side wind, road surface unevenness can appear the phenomenon of vehicle sideslip, if the driver is in driver fatigue, then the driver can not in time return the steering wheel, then can lead to the more and more big trend of sideslip like this, consequently, the vehicle lateral control parameter in this application embodiment includes vehicle sideslip displacement.

Determining a current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter, wherein the determining comprises:

and in a first preset time period, determining that the current driving state is fatigue driving under the condition that the steering wheel hand moment is smaller than a threshold value of the steering wheel hand moment in the current driving mode, the steering wheel turning rate is larger than a threshold value of the steering wheel turning rate in the current driving mode, and the lateral deviation displacement is larger than a threshold value of the lateral deviation displacement in the current driving mode.

That is to say, when the driver disengages from the steering wheel, the hand torque of the steering wheel is smaller than the threshold value of the hand torque of the steering wheel in the current driving mode, and the duration time reaches the first preset duration, the vehicle has the problems of lateral deviation and the like, but the driver does not rotate the steering wheel back quickly for a short time, so that the turning rate of the steering wheel is greater than the threshold value of the turning rate of the steering wheel in the current driving mode; and finally, determining the driving state to be fatigue driving under the condition that the lateral deviation of the vehicle is larger than the threshold value of the lateral deviation displacement in the current driving mode.

In the optional implementation mode, whether the current fatigue driving state is in is judged through three factors, namely hand torque of the steering wheel, turning rate of the steering wheel and lateral deviation of the vehicle, so that the phenomenon that misjudgment is caused by acquisition errors when the fatigue driving state is judged by adopting a single factor is avoided, and the accuracy of fatigue driving monitoring is improved.

As another alternative implementation, the vehicle lateral offset parameter includes lateral acceleration and/or a rate of change of lateral acceleration;

here, it should be noted that, because the vehicle tends to move laterally due to vehicle turning, side wind, uneven road surface, and other factors, and in the case of the trend of lateral movement, if the driver is in fatigue driving, the driver cannot perform immediate return operation, so that the present embodiment may indirectly determine whether the vehicle is in a fatigue driving state according to the lateral acceleration and/or the lateral acceleration change rate.

Determining the current driving state according to each driving behavior parameter and the threshold value of each driving behavior parameter, wherein the determining comprises the following steps:

and in a second preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the lateral acceleration is larger than the threshold value of the lateral acceleration in the current driving mode and the lateral acceleration change rate is larger than the threshold value of the lateral acceleration change rate in the current driving mode.

That is, when the lateral acceleration is greater than the threshold of the lateral acceleration in the current driving mode, the lateral acceleration rate is greater than the threshold of the lateral acceleration rate in the current driving mode, and the duration time reaches a second preset time period, it is determined that the vehicle is currently in the fatigue driving state.

In the optional implementation mode, whether the fatigue driving state is currently in the fatigue driving state is judged through the lateral acceleration factor and the lateral acceleration rate change factor, the phenomenon that misjudgment is caused due to acquisition errors when the fatigue driving state is judged by adopting a single factor is avoided, and the accuracy of fatigue driving monitoring is improved.

As an alternative implementation, the vehicle longitudinal control parameter comprises an accelerator pedal opening and/or a brake pedal opening;

here, it should be noted that, since the driving habit of the driver is that the right foot is located above the brake pedal during the driving of the vehicle, if the driver is in the fatigue driving state, the right foot of the driver may not be autonomously light to brake the brake pedal, so that the change rate of the opening degree of the brake pedal is frequently changed, and the change rate of the opening degree of the accelerator pedal is small, so that the present embodiment may indirectly determine whether the driver is in the fatigue driving state according to the opening degree of the accelerator pedal and/or the opening degree of the brake pedal.

Specifically, determining the current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter includes:

in a third preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the accelerator pedal opening change rate is larger than the threshold value of the accelerator pedal opening change rate in the current driving mode;

Or,

and in the fourth preset time period, under the condition that the brake pedal opening change rate is larger than the threshold value of the current running mode of the brake pedal opening change rate, determining that the vehicle is in a fatigue driving state at present.

In the optional implementation mode, through the change of the change rate of the opening degree of the accelerator pedal in a period of time or the change of the change rate of the opening degree of the brake pedal in a period of time, the error judgment caused by the acquisition error is avoided, the accuracy of the monitoring result is improved, and the signal acquired by the conventional acquisition equipment is utilized to indirectly judge whether the driver is in a fatigue driving state at present, so that the cost is saved.

As an alternative implementation, the driving behavior parameter further comprises a duration of driving;

step 102, determining a current driving state according to a plurality of driving behavior parameters, comprising:

acquiring vehicle speed information in the vehicle running process;

determining that the vehicle is in a fatigue driving state currently under the conditions that the continuous driving time is longer than the preset continuous driving time and the vehicle speed information is longer than a first vehicle speed threshold value in the continuous driving time;

or,

when the adjacent multiple continuous driving time reaches the preset continuous driving time and the duration time of the vehicle speed information which is less than or equal to the second vehicle speed threshold value is less than the preset duration time, determining the information representing the driving state as first preset information;

Wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

Here, it should be noted that the preset continuous driving time is 4h, the preset continuous driving time is 20min, and the first vehicle speed threshold is a preset vehicle speed for high-speed driving; the second vehicle speed threshold may be 0.

That is, in this optional implementation manner, in the vehicle driving process, when it is determined that the vehicle speed is greater than the first vehicle speed threshold value, timing is started, and when the vehicle continuously drives for more than 4h, fatigue driving is determined; or when the vehicle continuously runs for not more than 4h, the rest time is less than 20min, then the vehicle runs again, and the sum of the two adjacent continuous running times is greater than or equal to 4h, the fatigue driving is determined.

According to the fatigue driving monitoring method, the fatigue driving state of the driver is indirectly monitored through any one or more of the vehicle transverse control parameter, the vehicle transverse offset parameter and the vehicle longitudinal control parameter, and therefore the signal acquired by the existing signal acquisition device of the vehicle at present is used for indirectly monitoring the fatigue driving state, the new signal acquisition device is prevented from being added to the vehicle, and the monitoring cost is reduced; and the threshold values of different driving behavior parameters are determined according to different driving modes, so that the condition for determining fatigue driving is adjusted according to the driving performance of the driving modes, the accuracy of the monitoring result is improved, and the universality of the fatigue driving monitoring method in the embodiment of the application is improved.

As shown in fig. 2, an embodiment of the present application further provides a fatigue driving monitoring device, including:

an obtainingmodule 201, configured to obtain a plurality of driving behavior parameters of a vehicle;

a determiningmodule 202, configured to determine a current driving state according to a plurality of driving behavior parameters;

theoutput module 203 is used for outputting fatigue driving warning information under the condition that the current driving state is fatigue driving;

wherein the driving behavior parameters include at least one of:

vehicle lateral control parameters;

a vehicle lateral offset parameter;

vehicle longitudinal control parameters.

In the fatigue driving monitoring device according to the embodiment of the application, first, the obtainingmodule 201 obtains a plurality of driving behavior parameters of the vehicle, where the driving behavior parameters may include at least one of a vehicle lateral control parameter, a vehicle lateral offset parameter, and a vehicle longitudinal control parameter; secondly, the determiningmodule 202 determines the current driving state according to the driving behavior parameters; finally, theoutput module 203 outputs fatigue driving warning information when the current driving state is fatigue driving. Therefore, the driving behavior parameters are acquired by utilizing the existing hardware acquisition equipment of the electric automobile, whether the driver is in a fatigue driving state at present is determined according to the acquired driving behavior parameters, and under the condition of being in the fatigue driving state, fatigue driving warning information is output to remind the driver, so that the fatigue driving can be reminded on the basis of not increasing the cost, and the driving safety is ensured.

In the fatigue driving monitoring apparatus according to the embodiment of the present application, the determiningmodule 202 includes:

the first obtaining submodule is used for obtaining the current running mode of the vehicle;

the second acquisition submodule is used for respectively acquiring the threshold value of each driving behavior parameter in the current driving mode;

and the first determining submodule is used for determining the current driving state according to each driving behavior parameter and the threshold value of each driving behavior parameter.

In the fatigue driving monitoring device of the embodiment of the application, the lateral control parameters of the vehicle include: steering wheel hand torque, steering wheel turning rate and vehicle lateral deviation displacement;

the first determination submodule is specifically configured to:

and in a first preset time period, determining that the current driving state is fatigue driving under the condition that the steering wheel hand moment is smaller than a threshold value of the steering wheel hand moment in the current driving mode, the steering wheel turning rate is larger than a threshold value of the steering wheel turning rate in the current driving mode, and the yaw displacement is larger than a threshold value of the yaw displacement in the current driving mode.

In the fatigue driving monitoring device of the embodiment of the application, the vehicle transverse offset parameter comprises lateral acceleration and/or lateral acceleration change rate;

The first determination submodule is specifically configured to:

and in a second preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the lateral acceleration is greater than a threshold value of the lateral acceleration in the current driving mode and the lateral acceleration change rate is greater than a threshold value of the lateral acceleration change rate in the current driving mode.

In the fatigue driving monitoring device of the embodiment of the application, the longitudinal control parameter of the vehicle comprises the opening degree of an accelerator pedal and/or the opening degree of a brake pedal;

the first determination submodule is specifically configured to:

in a third preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the accelerator pedal opening change rate is larger than a threshold value of the accelerator pedal opening change rate in the current driving mode;

or,

and in a fourth preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the brake pedal opening change rate is larger than the threshold value of the current driving mode of the brake pedal opening change rate.

In the fatigue driving monitoring device of the embodiment of the application, the driving behavior parameters further comprise continuous driving time;

thedetermination module 202 includes:

the third acquisition submodule is used for acquiring the speed information of the vehicle in the running process;

The second determining submodule is used for determining that the vehicle is in a fatigue driving state currently under the conditions that the continuous driving time is longer than the preset continuous driving time and the vehicle speed information is longer than the first vehicle speed threshold value in the continuous driving time;

or,

determining information representing a driving state as first preset information under the condition that the continuous driving time of the adjacent times reaches the preset continuous driving time and the duration of the vehicle speed information which is less than or equal to a second vehicle speed threshold value is less than the preset duration;

wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

In the fatigue driving monitoring apparatus according to the embodiment of the present application, the second obtaining sub-module includes:

an acquisition unit configured to acquire a type of a steering mode and/or a type of a driving mode in the travel mode;

the first determining unit is used for determining the type of the current steering mode and/or the threshold weight of each driving behavior parameter corresponding to the type of the driving mode according to the corresponding relation between the type of the mode and the threshold weight stored in advance;

and the second determining unit is used for determining the threshold value of each driving behavior parameter according to the threshold value weight of each driving behavior parameter and the standard threshold value of each behavior parameter stored in advance.

The fatigue driving monitoring device provided by the embodiment of the application can realize each process of the embodiment of the fatigue driving monitoring method, can achieve the same technical effect, and is not repeated herein for avoiding repetition.

The embodiment of the present application further provides an electric automobile, including: the processor, the memory and the program stored in the memory and capable of running on the processor, when the program is executed by the processor, the processes of the above-mentioned embodiments of the fatigue driving monitoring method are implemented, and are not described herein again to avoid repetition.

The embodiment of the present application further provides a readable storage medium, where a program is stored on the readable storage medium, and the program, when executed by the processor, implements the processes of the embodiment of the fatigue driving monitoring method described above, and details are not repeated here to avoid repetition. The readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and refinements can be made without departing from the principle described in the present application, and these modifications and refinements should be regarded as the protection scope of the present application.

Claims (10)

1. A method of monitoring fatigue driving, comprising:

acquiring a plurality of driving behavior parameters of a vehicle;

determining a current driving state according to the plurality of driving behavior parameters;

outputting fatigue driving warning information under the condition that the current driving state is fatigue driving;

wherein the driving behavior parameters include at least one of:

vehicle lateral control parameters;

a vehicle lateral offset parameter;

vehicle longitudinal control parameters.

2. The method of claim 1, wherein determining a current driving state based on a plurality of the driving behavior parameters comprises:

acquiring a current driving mode of a vehicle;

respectively acquiring threshold values of the driving behavior parameters under the current driving mode;

and determining the current driving state according to each driving behavior parameter and the threshold value of each driving behavior parameter.

3. The method of claim 2, wherein the vehicle lateral control parameter comprises: steering wheel hand torque, steering wheel angular rate and vehicle lateral deviation displacement;

determining a current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter, including:

and in a first preset time period, determining that the current driving state is fatigue driving under the condition that the steering wheel hand moment is smaller than a threshold value of the steering wheel hand moment in the current driving mode, the steering wheel turning rate is larger than a threshold value of the steering wheel turning rate in the current driving mode, and the yaw displacement is larger than a threshold value of the yaw displacement in the current driving mode.

4. The method of claim 2, wherein the vehicle lateral offset parameter comprises lateral acceleration and/or a rate of change of lateral acceleration;

determining the current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter, including:

and in a second preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the lateral acceleration is greater than a threshold value of the lateral acceleration in the current driving mode and the lateral acceleration change rate is greater than a threshold value of the lateral acceleration change rate in the current driving mode.

5. The method according to claim 2, characterized in that the vehicle longitudinal control parameter comprises an accelerator pedal opening and/or a brake pedal opening;

determining the current driving state according to each driving behavior parameter and a threshold value of each driving behavior parameter, including:

in a third preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the accelerator pedal opening change rate is larger than a threshold value of the accelerator pedal opening change rate in the current driving mode;

or,

and in a fourth preset time period, determining that the vehicle is in a fatigue driving state currently under the condition that the brake pedal opening change rate is larger than the threshold value of the current driving mode of the brake pedal opening change rate.

6. The method of claim 1, wherein the driving behavior parameters further include a duration of driving;

determining a current driving state according to a plurality of the driving behavior parameters, including:

acquiring vehicle speed information in the vehicle running process;

determining that the vehicle is in a fatigue driving state currently under the conditions that the continuous driving time is longer than the preset continuous driving time and the vehicle speed information is longer than a first vehicle speed threshold value in the continuous driving time;

Or,

determining information representing a driving state as first preset information under the condition that the continuous driving time of the adjacent times reaches the preset continuous driving time and the duration of the vehicle speed information which is less than or equal to a second vehicle speed threshold value is less than the preset duration;

wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

7. The method according to claim 2, wherein the obtaining of the threshold value of each driving behavior parameter in the current driving mode comprises:

acquiring the type of a steering mode and/or the type of a driving mode in the driving mode;

determining the type of the current steering mode and/or the threshold weight of each driving behavior parameter corresponding to the type of the driving mode according to the corresponding relation between the pre-stored mode type and the threshold weight;

and determining the threshold value of each driving behavior parameter according to the threshold value weight of each driving behavior parameter and the pre-stored standard threshold value of each behavior parameter.

8. A fatigue driving monitoring device, comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a plurality of driving behavior parameters of a vehicle;

The determining module is used for determining the current driving state according to the plurality of driving behavior parameters;

the output module is used for outputting fatigue driving warning information under the condition that the current driving state is fatigue driving;

wherein the driving behavior parameters include at least one of:

vehicle lateral control parameters;

a vehicle lateral offset parameter;

vehicle longitudinal control parameters.

9. An electric vehicle, comprising: a processor, a memory and a program stored on the memory and executable on the processor, the program when executed by the processor implementing the steps of the fatigue driving monitoring method according to any of claims 1 to 7.

10. A readable storage medium, characterized in that the readable storage medium has stored thereon a program which, when being executed by a processor, carries out the steps of the fatigue driving monitoring method according to any one of claims 1 to 7.

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