阅读说明：本技术 一种基于货车司机的防疲劳保护方法及其保护系统 (Anti-fatigue protection method and protection system based on truck driver ) 是由 吴琦 刘龙 徐国芬 李斌 段绪连 李行 言胜 于 2020-06-17 设计创作，主要内容包括：本发明涉及一种基于货车司机的防疲劳保护方法及其系统,该方法通过实时检测司机的面目表情以及手握方向盘情况,根据采集的图像来进行深度学习并分类为：闭眼、不目视前方、不手握方向盘、打哈气等状态,根据这些状态结合当前车辆的速度、角度、前方障碍物等变量,当发生驾驶员出现不安全状态时,司机未踩下制动踏板的情况下,主动对车辆采取应急处理,该方法灵活,能够避免交通事故发生。(The invention relates to a fatigue prevention protection method and a system thereof based on a truck driver, the method detects the facial expression of the driver and the condition of holding a steering wheel in real time, and carries out deep learning according to the collected images and classifies the deep learning into the following steps: the method is characterized by comprising the following steps of closing eyes, not seeing the front, not holding a steering wheel, opening a horn and other states, combining the current variables of the speed, the angle, the front barrier and the like of the vehicle according to the states, and actively performing emergency treatment on the vehicle under the condition that a driver does not step on a brake pedal when an unsafe state occurs.)

1. The anti-fatigue protection method based on the truck driver is characterized by comprising the following steps: the method determines whether to take corresponding emergency measures by judging the state of a driver, and the judging process is as follows: capturing images through a first fatigue camera (1) and a second fatigue camera (2), then transmitting the images to a system controller (3), and judging the state of a driver by the system controller (3) through deep learning of the acquired images, namely judging the eye closing duration t1 of the driver at first, and entering a first emergency processing program if the eye closing duration t1 is more than 2 s; if the eye closing duration t1 is less than or equal to 2s, judging whether the driver holds the steering wheel, and if the driver does not hold the steering wheel, entering a second emergency treatment program; if the driver holds the steering wheel, judging whether the driver is inflating air, and if the driver is inflating air, entering a third emergency processing program; if the air is not being inflated, judging the collision time t2 generated by the distance between the truck and the front vehicle, and if t2 is less than 2.7s, entering a fourth emergency processing program; if the collision time t2 is more than or equal to 2.7s, the condition of the driver is proved to belong to the normal driving condition, and the truck normally responds to the opening degree of the accelerator and continues to drive.

2. The truck driver-based anti-fatigue protection method according to claim 1, characterized in that: the first emergency processing program comprises the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor (6), and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and controlling the rotating speed of the engine (7) if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging the collision time t2 generated by the distance between the truck and the front truck, and if t2 is more than 2.7s, carrying out first voice reminding; if t2 is more than 2s and less than or equal to 2.7s, the rotating speed instruction of the engine (7) is reduced to an idle speed state, and third voice reminding is carried out; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to be max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, the rotating speed command of the engine (7) is reduced to an idle speed state, the gear is set to be a neutral gear, the braking force is (2.0-T) the maximum braking force, and third voice reminding is carried out.

3. The truck driver-based anti-fatigue protection method according to claim 1, characterized in that: the second emergency procedure processing procedure comprises the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor (6), and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and controlling the rotating speed of the engine (7) if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging the collision time t2 generated by the distance between the truck and the front vehicle, and if t2 is more than 2.7s, performing second voice reminding; if t2 is more than 2s and less than or equal to 2.7s, the rotating speed instruction of the engine (7) is reduced to an idle speed state, and third voice reminding is carried out; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to be max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, the rotating speed command of the engine (7) is reduced to an idle speed state, the gear is set to be a neutral gear, the braking force is (2.0-T) the maximum braking force, and third voice reminding is carried out.

4. The truck driver-based anti-fatigue protection method according to claim 1, characterized in that: the third emergency treatment program is as follows: and reminding the driver by playing the fourth voice prompt.

5. The truck driver-based anti-fatigue protection method according to claim 1, characterized in that: the fourth emergency processing program comprises the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor (6), and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and entering a rotating speed and gear control program of an engine (7) if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging the collision time t2 generated by the distance between the truck and the front truck, if t2 is more than 2s, reducing the rotating speed instruction of the engine (7) to an idle speed state, and carrying out third voice reminding; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, the rotating speed command of the engine (7) is reduced to an idle speed state, the gear is set to be a neutral gear, the braking force is (2.0-T) the maximum braking force, and third voice reminding is carried out.

6. The truck driver-based anti-fatigue protection method according to claim 5, wherein: in the fourth emergency treatment program, when the current running speed V of the truck is larger than or equal to the limit vehicle speed V1, the control program of the rotating speed and the gear of the engine (7) is entered, and the control program of the rotating speed and the gear of the engine (7) is as follows: setting a target rotation speed of an engine (7) corresponding to a vehicle speed limit V1 as n1, setting n1 to V1 id i2 25/(3 pi R), wherein id represents a gear speed ratio, i2 represents a rear axle speed ratio, setting the minimum rotation speed of the engine (7) as n2, setting the target rotation speed of the engine (7) as n3, and if n1 is greater than n2, setting n3 to n 1; if n1 is less than or equal to n2, the gears can be selected by multiple gears, the lowest gear can be reduced to one gear, the third voice prompt is also performed, and ID is the ID, wherein the ID is the speed ratio corresponding to the current gear.

7. A truck driver based anti-fatigue protection method according to claim 2, claim 3 or claim 5, characterized in that: the vehicle speed limit V1 is 720 — absolute value of current steering wheel angle/720 — maximum vehicle speed, and if V1> set maximum vehicle speed, the vehicle speed limit V1 is set to V1 — maximum vehicle speed; if V1 < 10km/h, the vehicle speed limit V1 is set to V1 at 10 km/h.

8. A truck driver based anti-fatigue protection method according to claim 2, claim 3 or claim 5, characterized in that: the steering wheel angle α is specifically: when the truck moves straight, alpha is equal to 0 degrees, and if the steering wheel rotates clockwise, alpha is a positive angle; if the steering wheel is rotated counterclockwise, α is a negative angle and the maximum value of α is taken to be 720 °.

9. A truck driver based anti-fatigue protection method according to claim 2, claim 3, claim 4 or claim 5, characterized in that: the first voice prompt is as follows: fatigue driving, attention to safety; the second voice prompt is as follows: the hands are separated from the steering wheel, so that safety is paid attention to; the third voice prompt is: front obstacles, safety concerns; the fourth voice prompt is: you are tired and pay attention to rest.

10. The utility model provides a prevent fatigue protection system based on freight train driver which characterized in that: the system comprises a system controller (3), a first fatigue camera (1), a second fatigue camera (2), a millimeter wave radar (4), a forward camera (5), a steering wheel angle sensor (6), an engine (7), a braking system (8), an automatic gearbox (9) and a voice prompter (10), wherein the first fatigue camera (1) is arranged on an instrument desk and used for capturing the expression of a driver, the second fatigue camera (2) is arranged above the steering wheel and used for capturing the action of the steering wheel, the forward camera (5) is located in the center of a windshield of the truck and used for recognizing a front obstacle, the millimeter wave radar (4) is located at the head position of the truck, and the steering wheel angle sensor (6) is arranged inside the steering wheel of the truck.

Technical Field

The invention relates to the technical field of vehicle driving, in particular to an anti-fatigue protection method and an anti-fatigue protection system based on a truck driver.

Background

The traffic accident easily caused by fatigue driving refers to the phenomenon that after a driver drives a vehicle continuously for a long time, the physiological function and the psychological function are disordered, and the driving skill is objectively reduced. The driver has poor or insufficient sleeping quality, and is easy to have fatigue when driving the vehicle for a long time. Driving fatigue affects the driver's attention, feeling, perception, thinking, judgment, consciousness, decision and movement. When the vehicle is driven continuously after fatigue, the vehicle can feel sleepy, weak limbs, unconsciousness, reduced judgment capability, even absentmindedness or instant memory loss, delayed or early action, improper operation pause or correction time and other unsafe factors, and road traffic accidents are easy to happen. Thus, strict driving of the vehicle after fatigue

The characteristics of a truck driver driving a truck are as follows: the road is far, the driving time is long, the driving chance at night is more, and the fatigue is easy to generate to cause traffic accidents. However, the existing truck does not basically adopt anti-fatigue measures, when a driver is tired in driving, the driver usually opens the car window to ventilate, releases music with different styles, chews chewing gum and coats essential balm, the effect is not good generally, the driver cannot be reminded of concentrating attention, and when the driver is tired, the system cannot remind the driver in time and cannot take emergency treatment on the vehicle, so that traffic accidents can be caused.

Disclosure of Invention

The invention aims to solve the technical problem of providing an anti-fatigue protection method based on a truck driver, which can actively carry out emergency treatment on a vehicle according to the driving state of the truck driver.

The invention adopts the technical scheme that the anti-fatigue protection method based on the truck driver determines whether to adopt corresponding emergency measures or not by judging the state of the driver, and the judgment process is as follows: capturing images through the first fatigue camera and the second fatigue camera, transmitting the images to a system controller, and judging the state of the driver by deep learning the acquired images through the system controller, namely judging the eye-closing duration t1 of the driver at first, and entering a first emergency processing program if the eye-closing duration t1 is more than 2 s; if the eye closing duration t1 is less than or equal to 2s, judging whether the driver holds the steering wheel, and if the driver does not hold the steering wheel, entering a second emergency treatment program; if the driver holds the steering wheel, judging whether the driver is inflating air, and if the driver is inflating air, entering a third emergency processing program; if the air is not being inflated, judging the collision time t2 generated by the distance between the truck and the front vehicle, and if t2 is less than 2.7s, entering a fourth emergency processing program; if the collision time t2 is more than or equal to 2.7s, the condition of the driver is proved to belong to the normal driving condition, and the truck normally responds to the opening degree of the accelerator and continues to drive.

The first emergency processing program comprises the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor, and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and controlling the rotating speed of the engine if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging the collision time t2 generated by the distance between the truck and the front truck, and if t2 is more than 2.7s, carrying out first voice reminding; if t2 is more than 2s and less than or equal to 2.7s, the rotating speed instruction of the engine is reduced to an idle speed state, and third voice reminding is carried out; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to be max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, reducing the engine speed command to an idle speed state at the moment, setting the gear to be a neutral gear, setting the braking force to be (2.0-T) maximum braking force, and carrying out third voice reminding.

The second emergency procedure processing procedure comprises the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor, and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and controlling the rotating speed of the engine if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging the collision time t2 generated by the distance between the truck and the front vehicle, and if t2 is more than 2.7s, performing second voice reminding; if t2 is more than 2s and less than or equal to 2.7s, the rotating speed instruction of the engine is reduced to an idle speed state, and third voice reminding is carried out; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to be max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, reducing the engine speed command to an idle speed state at the moment, setting the gear to be a neutral gear, setting the braking force to be (2.0-T) maximum braking force, and carrying out third voice reminding.

The third emergency treatment program is used for reminding the driver by playing fourth voice.

The fourth emergency processing program comprises the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor, and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and entering a rotating speed and gear control program of the engine if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging collision time t2 generated by the distance between the truck and the front truck, if t2 is more than 2s, reducing the engine speed instruction to an idle speed state, and carrying out third voice reminding; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, reducing the engine speed command to an idle speed state at the moment, setting the gear to be a neutral gear, setting the braking force to be (2.0-T) maximum braking force, and carrying out third voice reminding.

In the fourth emergency treatment program, when the current running speed V of the truck is larger than or equal to the limit vehicle speed V1, the control program of the rotating speed and the gear of the engine is entered, and the control program of the rotating speed and the gear of the engine is as follows: setting an engine target rotation speed corresponding to a vehicle speed limit V1 as n1, setting n1 to V1 id i 2/(3 pi R), wherein id is a gear speed ratio, i2 is a rear axle speed ratio, setting the minimum rotation speed of the engine as n2, setting the target rotation speed of the engine as n3, and if n1 is greater than n2, setting n3 to n 1; if n1 is less than or equal to n2, the gears can be selected by multiple gears, the lowest gear can be reduced to one gear, the third voice prompt is also performed, and ID is the ID, wherein the ID is the speed ratio corresponding to the current gear.

In the emergency processing routine, the vehicle speed limit V1 is 720-the absolute value 720 of the current steering wheel angle is the maximum vehicle speed, and if V1> the set maximum vehicle speed, the vehicle speed limit V1 is set to V1-the maximum vehicle speed; if V1 < 10km/h, the vehicle speed limit V1 is set to V1 at 10 km/h.

In the emergency processing procedure, the steering wheel angle α is specifically: when the truck moves straight, alpha is equal to 0 degrees, and if the steering wheel rotates clockwise, alpha is a positive angle; if the steering wheel is rotated counterclockwise, α is a negative angle and the maximum value of α is taken to be 720 °.

In the emergency processing program, the first voice prompt is as follows: fatigue driving, attention to safety.

In the emergency processing program, the second voice prompt is as follows: the hands are separated from the steering wheel, so that safety is ensured.

In the emergency processing program, the third voice prompt is as follows: and a front obstacle, which is safe to pay attention.

In the emergency processing program, the fourth voice prompt is as follows: you are tired and pay attention to rest.

The invention has the beneficial effects that: according to the anti-fatigue protection method based on the truck driver, the facial expression of the driver and the condition of holding the steering wheel are detected in real time, deep learning is carried out according to the collected images, and the method is classified into the following steps: the method is characterized by comprising the following steps of closing eyes, not seeing the front, not holding a steering wheel, opening a horn and other states, combining the current variables of the speed, the angle, the front barrier and the like of the vehicle according to the states, and actively performing emergency treatment on the vehicle under the condition that a driver does not step on a brake pedal when an unsafe state occurs.

The utility model provides a prevent fatigue protection system based on freight train driver, this system includes the system control ware, the first tired camera, the tired camera of second, millimeter wave radar, preceding camera, steering wheel angle sensor, engine, braking system, automatic transmission and the voice prompt ware of being connected with the system control ware, first tired camera setting is at the instrument desk for catch driver's expression, the tired camera of second set up in the steering wheel top, be used for catching the action of steering wheel, preceding camera is located the windshield's of freight train central authorities for discernment the place ahead barrier, the millimeter wave radar is located freight train locomotive position, steering wheel angle sensor sets up inside the steering wheel of freight train. The anti-fatigue protection system actively carries out emergency treatment on the vehicle under the condition that the driver does not step on a brake pedal when the driver is in an unsafe state by detecting the facial expression of the driver and the condition that the driver holds a steering wheel in real time and combining the current variables of the speed, the angle, the front barrier and the like of the vehicle.

Drawings

FIG. 1 is a flow chart of a truck driver-based anti-fatigue protection method according to the present invention;

FIG. 2 is a flowchart of a first emergency process of the present invention;

FIG. 3 is a flow chart of a second emergency treatment process of the present invention;

FIG. 4 is a flow chart of a third emergency treatment process of the present invention;

FIG. 5 is a flow chart of a fourth emergency treatment process according to the present invention;

FIG. 6 is a flowchart of a process for controlling the rotational speed and gear of the engine according to the present invention;

FIG. 7 is a system block diagram of a truck driver based anti-fatigue protection system of the present invention;

FIG. 8 is a system block diagram of a truck driver based anti-fatigue protection system of the present invention;

FIG. 9 is a side view of a truck according to the present invention;

FIG. 10 is a front elevational view of a truck according to the present invention;

as shown in the figure: 1. a first fatigue camera; 2. a second fatigue camera; 3. a system controller; 4. a millimeter wave radar; 5. a forward facing camera; 6. a steering wheel angle sensor; 7. an engine; 8. a braking system; 9. an automatic transmission; 10. and a voice prompter.

Detailed Description

The invention is further described below with reference to the accompanying drawings in combination with specific embodiments so that those skilled in the art can practice the invention with reference to the description, and the scope of the invention is not limited to the specific embodiments.

The invention relates to a fatigue prevention protection method based on a truck driver, which decides whether to take corresponding emergency measures or not by judging the state of the driver, wherein the judgment process is as shown in figure 1: capturing images through the first fatigue camera 1 and the second fatigue camera 2, then transmitting the images to the system controller 3, and judging the state of the driver by the system controller 3 through deep learning of the acquired images, namely firstly judging the eye closing duration t1 of the driver, and entering a first emergency processing program if the eye closing duration t1 is more than 2 s; if the eye closing duration t1 is less than or equal to 2s, judging whether the driver holds the steering wheel, and if the driver does not hold the steering wheel, entering a second emergency treatment program; if the driver holds the steering wheel, judging whether the driver is inflating air, and if the driver is inflating air, entering a third emergency processing program; if the air is not being inflated, judging the collision time t2 generated by the distance between the truck and the front vehicle, and if t2 is less than 2.7s, entering a fourth emergency processing program; if the collision time t2 is more than or equal to 2.7s, the condition of the driver is proved to belong to the normal driving condition, and the truck normally responds to the opening degree of the accelerator and continues to drive.

The deep learning described herein is specifically explained as: deep learning is a machine learning algorithm, information of data such as characters, images and sounds is obtained from a learning process by learning the internal rules and the expression levels of sample data, and the final aim of the deep learning algorithm is to enable a machine to have the analysis and learning capability like a human and to recognize the data such as the characters, the images and the sounds.

When the duration t1 of the truck driver eye closure is greater than 2s, a first emergency treatment program is entered, and the first emergency treatment program is shown in fig. 2 and comprises the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor 6, and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and controlling the rotating speed of the engine 7 if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging the collision time t2 generated by the distance between the truck and the front truck, and if t2 is more than 2.7s, carrying out first voice reminding; if t2 is more than 2s and less than or equal to 2.7s, the rotating speed instruction of the engine 7 is reduced to an idle speed state, and third voice reminding is carried out; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to be max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, the rotating speed command of the engine 7 is reduced to an idle speed state, the gear is set to be a neutral gear, the braking force is (2.0-T) the maximum braking force, and third voice reminding is carried out.

If the steering wheel is not held, a second emergency procedure is entered, which is illustrated in fig. 3 and includes the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor 6, and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and controlling the rotating speed of the engine 7 if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging the collision time t2 generated by the distance between the truck and the front vehicle, and if t2 is more than 2.7s, performing second voice reminding; if t2 is more than 2s and less than or equal to 2.7s, the rotating speed instruction of the engine 7 is reduced to an idle speed state, and third voice reminding is carried out; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to be max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, the rotating speed command of the engine 7 is reduced to an idle speed state, the gear is set to be a neutral gear, the braking force is (2.0-T) the maximum braking force, and third voice reminding is carried out.

If the gas is being treated, a third treatment procedure is entered, and the third emergency treatment procedure is shown in fig. 4 and is as follows: and reminding the driver by playing the fourth voice prompt.

If the time to collision t2 is less than 2.7s, a fourth emergency procedure is entered, said fourth emergency procedure being shown in FIG. 5 and comprising the following steps:

(1) judging the angle alpha of the steering wheel through a steering wheel angle sensor 6, and if the angle alpha is larger than 45 degrees, entering the step (2); if alpha is less than or equal to 45 degrees, entering the step (3);

(2) judging the current running speed V of the truck, and entering a rotating speed and gear control program of the engine 7 if the current running speed V of the truck is not less than the speed limit V1; ending when the current running speed V of the truck is less than the vehicle speed limit V1;

(3) judging collision time t2 generated by the distance between the truck and the front truck, if t2 is more than 2s, reducing the rotating speed instruction of the engine 7 to an idle state, and carrying out third voice reminding; if T2 is less than or equal to 2s, the depth h of the brake pedal at the moment is judged, if the depth h of the brake pedal is greater than 3% of the total depth of the brake pedal, the braking force at the moment is set to max (the pedal depth is the maximum braking force, (2.0-T) is the maximum braking force), wherein T is the relative distance/relative speed, and third voice reminding is carried out; and if h is less than or equal to 3% of the total depth of the pedal, the rotating speed command of the engine 7 is reduced to an idle speed state, the gear is set to be a neutral gear, the braking force is (2.0-T) the maximum braking force, and third voice reminding is carried out.

In the fourth emergency processing procedure, when the current running speed V of the truck is greater than or equal to the limit vehicle speed V1, the control procedure of the rotation speed and gear of the engine 7 is entered, as shown in fig. 6, the control procedure of the rotation speed and gear of the engine is as follows: setting an engine target rotation speed corresponding to a vehicle speed limit V1 as n1, setting n1 to V1 id i 2/(3 pi R), wherein id represents a gear speed ratio, i2 represents a rear axle speed ratio, setting the minimum rotation speed of the engine as n2, setting the target rotation speed of the engine as n3, and if n1 is greater than n2, setting n3 to n 1; if n1 is less than or equal to n2, the gears have multiple gears to be selected, the lowest gear can be reduced to one gear, the third voice prompt is also performed, and ID is the ID, wherein the ID is the speed ratio corresponding to the current gear.

In the emergency processing procedure, the vehicle speed limit V1 is 720-the absolute value of the current steering wheel angle/720-the maximum vehicle speed, and if V1> the set maximum vehicle speed, the vehicle speed limit V1 is set to V1-the maximum vehicle speed; if V1 < 10km/h, the vehicle speed limit V1 is set to V1 at 10 km/h.

In the emergency processing procedure, the steering wheel angle α is specifically: when the truck moves straight, alpha is equal to 0 degrees, and if the steering wheel rotates clockwise, alpha is a positive angle; if the steering wheel is rotated counterclockwise, α is a negative angle and the maximum value of α is taken to be 720 °.

In the emergency processing program, the first voice prompt is as follows: fatigue driving, attention to safety.

In the emergency processing program, the second voice prompt is as follows: the hands are separated from the steering wheel, so that safety is ensured.

In the emergency processing program, the third voice prompt is as follows: and a front obstacle, which is safe to pay attention.

In the emergency processing program, the fourth voice prompt is as follows: you are tired and pay attention to rest.

The invention has the beneficial effects that: according to the anti-fatigue protection method based on the truck driver, the facial expression of the driver and the condition of holding the steering wheel are detected in real time, deep learning is carried out according to the collected images, and the method is classified into the following steps: the method is characterized by comprising the following steps of closing eyes, not seeing the front, not holding a steering wheel, opening a horn and other states, combining the current variables of the speed, the angle, the front barrier and the like of the vehicle according to the states, and actively performing emergency treatment on the vehicle under the condition that a driver does not step on a brake pedal when an unsafe state occurs.

The utility model provides a prevent fatigue protection system based on freight train driver, as shown in fig. 7, this system includes system controller 3, the first tired camera 1, the tired camera 2 of second, millimeter wave radar 4, preceding camera 5, steering wheel angle sensor 6, engine 7, braking system 8, automatic transmission 9 and the voice prompt 10 of being connected with system controller 3, first tired camera 1 sets up at the instrument desk for catch driver's expression, the tired camera 2 of second set up in the steering wheel top, be used for catching the action of steering wheel, preceding camera 5 is located the central authorities of the windshield of freight train, is used for discerning the place ahead barrier, millimeter wave radar 4 is located the position of freight train locomotive, steering wheel angle sensor 6 sets up inside the steering wheel of freight train.