Fatigue driving safety guarantee system based on M-LVDS

Abstract

The invention discloses a fatigue driving safety guarantee system based on M-LVDS, and belongs to the technical field of automatic driving systems, and the system comprises a fatigue state detection subsystem which is used for recording the driving information of a driver and judging whether the driver is in a fatigue driving state; the fatigue alarm subsystem is used for giving an alarm when the driver is in a non-serious fatigue state; the environment sensing subsystem is used for accurately tracking the position of the vehicle and establishing a dynamic environment map around the vehicle; the intelligent parking subsystem is used for performing path planning and implementing intelligent roadside parking when the driver has a serious fatigue driving condition; and the fatigue driving intelligent control subsystem is used for controlling the coordinated operation of the subsystems and the operation of the vehicle. The fatigue driving safety guarantee system based on the M-LVDS has the advantages of being large in transmission bandwidth, high in processing real-time performance, high in anti-interference capacity, low in power consumption, high in hardware integration coordination degree and the like, and the safety of a driver can be guaranteed to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic driving systems, and in particular to a fatigue driving safety assurance system based on M-LVDS. Background Art

[0002] Nowadays, the number of cars is growing rapidly. In addition to bringing speed and convenience to people's lives, it also brings frequent road traffic accidents, causing heavy economic and life losses. Fatigue driving has become a serious and urgent traffic safety issue in the world.

[0003] At present, the fatigue driving safety assurance system generally includes two parts: fatigue detection module and fatigue warning module. However, when the driver is seriously fatigued and unconscious, the fatigue warning module cannot effectively remind the driver.

[0004] As the intelligence of automobiles becomes more mature, smart cars can obtain various information about the vehicle itself and the environment through various sensors such as cameras, radars, steering, and speed measurement installed on the vehicle, realize the perception of the environment, and finally make all-round judgments and decisions, plan driving routes, and control the operation of the vehicle. Therefore, the application of vehicle surrounding environment perception and intelligent roadside parking in fatigue driving systems can largely solve traffic accidents caused by fatigue driving. However, with the rapid increase in system functions, the increase in the number of cameras, resolution, and frame rate, the volume of video data has increased rapidly, the complexity of path planning has increased, and the difficulty of intelligent joint control of vehicles has increased. In addition to more stringent requirements on the real-time and anti-interference performance of the system, more efficient joint debugging is required between each sensor, between sensors and systems, and between boards, so as to achieve safe and effective operation of the entire system.

[0005] The CAN bus, the most widely used bus in automobiles, has the advantages of high transmission bandwidth, strong anti-interference and high reliability, and is widely used in a variety of key vehicle functions. However, the CAN bus also faces some limitations, the most obvious of which is its data transmission rate. The maximum rate of the standard CAN bus is about 1Mbps. In applications such as ADAS that need to process a large amount of sensor data, the rate of the CAN bus has become a bottleneck.

[0006] Multipoint low Voltage Differential Signaling (M-LVDS) is an interface standard similar to LVDS. As a new branch of the LVDS series, M-LVDS is mainly used to achieve multi-point interconnection transmission. Up to 32 transmission nodes can be mounted on the differential pair transmission line, and the data transmission bandwidth is up to 500Mbps. It has the advantages of high real-time performance, strong electromagnetic shielding capability and low power consumption.

[0007] In China, in 2020, the Integrated Circuit Engineering Department of Nanjing University of Aeronautics and Astronautics studied and implemented LVDS-based data transmission technology, using the hardware circuit of the FPGA as the main control chip as the node for processing and transmitting data, with a data transmission bandwidth of up to 60Mbps and a bit error rate better than . In 2022, the 715th Institute of China Shipbuilding Industry Corporation studied a design of a synchronous acquisition and transmission system based on FPGA, which uses FPGA as the main control unit and combines the peripheral control circuit to collect and package the analog signal, and then transmits it through the M-LVDS bus for data analysis and processing, achieving a signal transmission rate of 200Mbps.

[0008] M-LVDS is suitable for application scenarios with higher requirements and adopts a simple cable connection method. It does not require complex interface circuits and protocols, reduces the cost of implementation and deployment, improves the reliability and stability of the system, and provides a reliable solution with low power and low EMI for the transmission of current high-speed data, control signals, and synchronous clock signals.

[0009] Therefore, incorporating vehicle automatic driving technology, fatigue driving detection technology, vehicle surrounding environment perception technology and wire-controlled steering system based on M-LVDS bus into the fatigue driving safety assurance system can largely solve the traffic accidents caused by fatigue driving. Summary of the invention

[0010] The purpose of the present invention is to provide a fatigue driving safety assurance system based on M-LVDS, which can ensure the safety of the driver to the greatest extent when the driver is severely fatigued and unconscious, and has the advantages of large transmission bandwidth, high real-time processing, strong anti-interference ability, low power consumption, high hardware integration and coordination, etc., which provides a new idea for the intelligence and stabilization of the fatigue driving safety assurance system.

[0011] To achieve the above-mentioned object, the present invention provides a fatigue driving safety assurance system based on M-LVDS, including a fatigue state detection subsystem for recording the driver's driving information and determining whether the driver is in a fatigue driving state; Fatigue warning subsystem, used to warn when the driver is in a non-severe fatigue state; Environmental perception subsystem, used to accurately track the vehicle's position and build a dynamic environmental map around the vehicle; The intelligent parking subsystem is used to plan routes and implement intelligent roadside parking when the driver is seriously fatigued; The fatigue driving intelligent control subsystem is used to control the coordinated operation of each subsystem and the operation of the vehicle.

[0012] Preferably, the fatigue driving intelligent control subsystem includes an embedded computer module and a first bus controller, and the embedded computer module is respectively connected to the fatigue status detection subsystem, the fatigue alarm subsystem, the environmental perception subsystem and the intelligent docking subsystem by being equipped with two M-LVDS buses.

[0013] Preferably, the first bus controller includes an M-LVDS receiver, an M-LVDS transmitter, an instruction parsing generator, a data receiver, a DDR3 memory controller, a FIFO cache, a DDR memory, a Flash controller and a Flash; the M-LVDS receiver is respectively connected to the M-LVDS bus and the data receiver, the M-LVDS transmitter is respectively connected to the M-LVDS bus, the instruction parsing generator and the data receiver, the instruction parsing generator is also respectively connected to the data receiver and the Flash controller, the Flash controller is connected to the Flash, the data receiver is connected to the FIFO cache, the FIFO cache is connected to the DDR3 controller, and the DDR3 controller is connected to the DDR memory.

[0014] Preferably, the fatigue state detection subsystem includes a vehicle speed detection module for detecting the real-time vehicle speed; a face detection module for detecting the driver's eye opening and closing status and blinking frequency information; a Beidou module for synchronously uploading the vehicle driving data to the freight platform to monitor the driving status in real time; a fatigue data processing module for receiving and processing the signals uploaded by the vehicle speed detection module, the face detection module and the Beidou module; and a second bus controller for uploading the processing results of the fatigue data processing module to the fatigue driving intelligent control subsystem; The vehicle speed detection module, face detection module and Beidou module are all connected to the fatigue data processing module, the fatigue data processing module is connected to the second bus controller, and the second bus controller is connected to the fatigue driving intelligent control subsystem.

[0015] Preferably, the fatigue alarm subsystem includes a voice prompt module, a seat vibration module, a reset module, an alarm control module and a third bus controller; the voice prompt module, the seat vibration module and the reset module are all connected to the alarm control module, and the third bus controller is connected to the fatigue driving intelligent control subsystem; The seat vibration module comprises a vibration control plate and a vibration motor, wherein the vibration motor is connected to the vibration control plate, and the vibration control plate is connected to the alarm control module.

[0016] Preferably, the environmental perception subsystem includes a visual sensor module, an IMU module, a display module, a millimeter wave radar module, a perception processing module, a mapping module and a fourth bus controller; The visual sensor, IMU module and millimeter wave radar module are all connected to the perception processing module, the perception processing module and the display module are connected to the mapping module, the mapping module is connected to the fourth bus controller, and the fourth bus controller is connected to the fatigue driving intelligent control subsystem; The millimeter wave radar module includes a radar unit for measuring the distance to a preceding vehicle and a radar unit for measuring the speed and direction of the preceding vehicle.

[0017] Preferably, the intelligent docking subsystem includes a navigation planning module, a steering wheel assembly, a steering execution assembly, a docking controller, an automatic fail-safe module and a fifth bus controller; The navigation planning module is connected to the docking controller and is used to send navigation information to the docking controller; the steering wheel assembly and the steering execution assembly are respectively connected to the docking controller and are used to send steering information to the docking controller for analysis and processing, determine the movement state of the vehicle, and control the steering state of the vehicle; the automatic fault prevention module is connected to the docking controller and is used to make corresponding processing for different fault forms and fault levels, so as to maximize the normal driving of the vehicle; the docking controller is connected to the fifth bus controller, and the fifth bus controller is connected to the fatigue driving intelligent control subsystem.

[0018] Preferably, the steering wheel assembly includes a steering wheel, a steering wheel angle sensor, a torque sensor and a steering wheel self-aligning torque motor; the steering wheel angle sensor, the torque sensor and the steering wheel self-aligning torque motor are respectively connected to the steering wheel, and the steering wheel is connected to the docking controller.

[0019] Preferably, the steering actuator assembly includes a front wheel angle sensor, a steering actuator motor and a steering motor controller; the front wheel angle sensor and the steering actuator motor are both connected to the steering motor controller and the front wheels of the vehicle, and the steering motor controller is connected to the docking controller.

[0020] Therefore, the present invention adopts the above-mentioned M-LVDS-based fatigue driving safety assurance system, which can ensure the driver's safety to the greatest extent when the driver is severely fatigued and unconscious, and has the advantages of large transmission bandwidth, high real-time processing, strong anti-interference ability, low power consumption, and high hardware integration coordination, providing a new idea for the intelligence and stabilization of the fatigue driving safety assurance system.

[0021] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1It is a schematic diagram of the structure of a fatigue driving safety assurance system based on M-LVDS of the present invention; Figure 2 is a schematic diagram of the structure of the fatigue driving intelligent control subsystem of an embodiment of the present invention; Figure 3 is a schematic diagram of the logical architecture of a first bus controller according to an embodiment of the present invention; Figure 4 is a framework diagram of a fatigue state detection subsystem according to an embodiment of the present invention; Figure 5 is a framework diagram of a fatigue alarm subsystem according to an embodiment of the present invention; Figure 6 is a framework diagram of an environment perception subsystem of an embodiment of the present invention; Figure 7 is a framework diagram of an intelligent docking subsystem according to an embodiment of the present invention; Figure 8 It is a control flow chart of a fatigue driving safety assurance system based on M-LVDS of the present invention. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0024] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] Embodiment 1 like Figure 1 As shown, the present invention provides a fatigue driving safety assurance system based on M-LVDS, including a fatigue state detection subsystem for recording the driver's driving information and determining whether the driver is in a fatigue driving state.

[0026] The fatigue warning subsystem is used to warn the driver when he / she is in a non-severe fatigue state.

[0027] The environmental perception subsystem is used to accurately estimate the vehicle's position in the environment and create a three-dimensional map that updates the vehicle's surrounding information, so that the system can more accurately track the vehicle's position and build a map of the dynamic environment to facilitate path planning by the subsequent navigation planning module.

[0028] The intelligent docking subsystem is used to plan routes and implement intelligent roadside docking when the driver is severely fatigued.

[0029] The fatigue driving intelligent control subsystem is used to control the coordinated operation of each subsystem and the operation of the vehicle.

[0030] like Figure 2 As shown, the fatigue driving intelligent control subsystem includes an embedded computer module and a first bus controller. The embedded computer module is connected to the fatigue state detection subsystem, fatigue alarm subsystem, environmental perception subsystem and intelligent parking subsystem respectively by equipping two M-LVDS buses, and is used to control the coordinated operation of each subsystem and the operation of the vehicle. When the driver is in a serious fatigue driving state, that is, after the fatigue alarm subsystem turns on the fatigue warning, the driver does not reset for more than 10 seconds, the fatigue driving intelligent control subsystem will turn on the control of the vehicle and coordinate the various subsystems of the vehicle to perform intelligent roadside parking. When the vehicle speed exceeds 60km / h, the fatigue state detection subsystem detects the driver's fatigue driving state and records the driver's continuous driving time and the parking time after long-term driving, and uploads it to the national freight platform simultaneously. When the driver drives for four hours without stopping to rest or the parking rest time is less than 20 minutes, it will be judged as a fatigue driving state regardless of whether the driver is fatigued or not.

[0031] The embedded computer module is used as the master control node, and the slave node mainly includes fatigue state detection, fatigue alarm, human-computer interaction, surrounding environment perception and motion control. The master and slave nodes are connected to the system through the first bus controller.

[0032] One end of the first bus controller is connected to each system by programming the corresponding hardware logic interface, and the other end is connected to the M-LVDS cable. The circuit of the first bus controller consists of two parts: the bus driver and the protocol processor. The M-LVDS bus is equipped with two signal channels, realizing a serial bus with a redundancy of 1 and a transmission rate of up to 500Mbps for the communication bus. It can realize dynamic redundant fault tolerance of one data channel of the system, prevent data loss and errors, and thus improve the reliability of the entire system.

[0033] like Figure 3As shown, the first bus controller includes an M-LVDS receiver, an M-LVDS transmitter, a command parsing generator, a data receiver, a DDR3 memory controller, a FIFO buffer, a DDR memory, a Flash controller and a Flash.

[0034] The M-LVDS receiver is connected to the M-LVDS bus and the data receiver respectively, the M-LVDS transmitter is connected to the M-LVDS bus, the instruction parsing generator and the data receiver respectively, the instruction parsing generator is also connected to the data receiver and the Flash controller respectively, the Flash controller is connected to the Flash, the data receiver is connected to the FIFO buffer, the FIFO buffer is connected to the DDR3 controller, and the DDR3 controller is connected to the DDR memory.

[0035] Specifically, the instruction parsing generator receives instructions from the host computer, parses the instructions and thus dominates the execution process of the system. When the instructions sent are non-data request instructions, the instructions are sent directly to each module through the M-LVDS transmitter. Such instructions have a wide range of effects and are valid for all acquisition modules. Each module also receives the instructions at the same time, and then each module performs the corresponding operation. When the instruction parsing generator needs to issue a data request instruction, such as a data acquisition request instruction, it first sends the data request instruction of the corresponding acquisition module through the M-LVDS transmitter. The scope of this instruction is only the corresponding acquisition module. Other acquisition modules will also receive this instruction but will not respond, and then the corresponding acquisition module sends the response data. At the same time, the instruction parsing generator needs to communicate with the data receiver to inform the data receiver that the request instruction has been sent and is ready to enter the data receiving state, and then the data receiver receives the data responded by the acquisition module through the M-LVDS receiver.

[0036] The data received by the data receiver can be cached by FIFO, and the DDR3 controller can store the data in the DDR memory. In addition, the Flash controller can control the erase, program, and read operations of the system memory.

[0037] like Figure 4As shown, the fatigue state detection subsystem includes a vehicle speed detection module for detecting the real-time vehicle speed; a face detection module for detecting the driver's eye opening and closing status and blinking frequency information; a Beidou module for synchronously uploading the vehicle driving data to the freight platform to monitor the driving status in real time; a fatigue data processing module for receiving and processing the signals uploaded by the vehicle speed detection module, the face detection module and the Beidou module; and a second bus controller for uploading the processing results of the fatigue data processing module to the fatigue driving intelligent control subsystem. The vehicle speed detection module, the face detection module and the Beidou module are all connected to the fatigue data processing module, the fatigue data processing module is connected to the second bus controller, and the second bus controller is connected to the fatigue driving intelligent control subsystem.

[0038] Specifically, the Beidou module is used to record the driver's continuous driving time and the parking time after long-term driving, and will upload the driving information to the national freight platform simultaneously. When the driver continues to drive for four hours without stopping to rest or the parking rest time is less than 20 minutes, it will be judged as fatigue driving state. The vehicle speed detection module is used to detect the current speed of the front wheel. When the driving speed reaches 60km / h, the face detection module will turn on the face detection function. The fatigue data processing module automatically collects and tracks the face from the feedback video screen received by the face detection module through the Kalman filter method, and then determines the eye opening and closing status and blinking frequency. Then, through the historical data collected by the system, combined with the PERCLOS method, where PERCLOS is the percentage of eye closure time per unit time, it is determined whether the driver is fatigued, and the fatigue signal is transmitted to the M-LVDS bus through the second bus controller for other subsystems to call.

[0039] like Figure 5 As shown, the fatigue alarm subsystem includes a voice prompt module, a seat vibration module, a reset module, an alarm control module and a third bus controller. The voice prompt module, the seat vibration module and the reset module are all connected to the alarm control module, and the third bus controller is connected to the fatigue driving intelligent control subsystem. The seat vibration module includes a vibration control board and a vibration motor, the vibration motor is connected to the vibration control board, and the vibration control board is connected to the alarm control module.

[0040] Specifically, when the alarm control module receives a fatigue signal transmitted from the fatigue status detection subsystem, the alarm control module will control the voice prompt module to issue a prompt tone of "You are now driving fatigued, please take a rest", and control the vibration motor of the seat to vibrate at a frequency of 40~80Hz. Vibrating the seat directly transmits the vibration perception to the body, which is more direct and effective. The alarm control module will transmit the signal to the M-LVDS bus for other systems to call. When the driver perceives the fatigue alarm, he can press the reset button of the reset module to stop the voice and seat vibration alarms. However, as long as the fatigue characteristics are detected again, the voice and seat vibration alarms will be turned on again. When the reset module is not reset within 10s, the vehicle control will be handed over to the fatigue driving intelligent control subsystem.

[0041] like Figure 6 As shown, the environment perception subsystem includes a visual sensor module, an IMU module, a display module, a millimeter-wave radar module, a perception processing module, a mapping module and a fourth bus controller. The visual sensor, the IMU module and the millimeter-wave radar module are all connected to the perception processing module, the display module and the perception processing module are connected to the mapping module, the mapping module is connected to the fourth bus controller, and the fourth bus controller is connected to the fatigue driving intelligent control subsystem. The millimeter-wave radar module includes a radar unit for measuring the distance of the vehicle ahead and a radar unit for measuring the speed and direction of the vehicle ahead.

[0042] Specifically, the visual sensor module uses a binocular camera installed under the front windshield of the vehicle to collect image data. The IMU module is used to provide vehicle posture information, including direction, angular velocity, and acceleration. By fusing visual information, the vehicle's motion state can be more accurately estimated, helping the environmental perception subsystem to more accurately determine the vehicle's position and posture.

[0043] The millimeter-wave radar module is a high-precision sensor that can provide high-precision environmental perception capabilities and measure the distance, speed, angle and other information between objects and the radar in real time. It can be integrated with the data of the visual sensor module and the IMU module to improve the robustness and accuracy of the environmental perception subsystem, especially in complex weather or lighting conditions.

[0044] The perception processing module processes the surrounding environment images collected by the visual sensor module, the acceleration collected by the IMU module, and the distance, speed and other data of the vehicle's surrounding environment collected by the millimeter-wave radar module, and tracks the image features between two adjacent frames to achieve initial camera motion estimation, estimate the vehicle's posture, speed and displacement, and realize local mapping.

[0045] The mapping module is used for feature extraction, map construction and map update, and the mapping module will pass the signal to the M-LVDS bus through the fourth bus controller for other subsystems to call. First, the mapping module will obtain key feature point information from the perception processing module to describe the structure and characteristics of the environment. These feature points are usually used for subsequent positioning and calibration. Secondly, the mapping module is responsible for converting the feature point information obtained from the visual sensor module, IMU module and millimeter wave radar module into map information. By establishing an environmental map, the driver can better understand the environment in which the vehicle is located and locate its own position. The mapping module will also continuously update the map information to cope with changes in the environment and changes in the vehicle's position. By updating the map in real time, the system can more accurately track the vehicle's position and establish a map of the dynamic environment to facilitate the subsequent navigation planning module to perform path planning.

[0046] The display module can display the surrounding environment information constructed by the mapping module in real time, so that the driver can intuitively understand the current environment of the vehicle and better understand the surrounding landmarks and obstacles and other information, providing the driver with reliable visual feedback.

[0047] like Figure 7 As shown, the intelligent docking subsystem includes a navigation planning module, a steering wheel assembly, a steering execution assembly, a docking controller, an automatic fault prevention module and a fifth bus controller. The navigation planning module is connected to the docking controller and is used to send navigation information to the docking controller. The steering wheel assembly and the steering execution assembly are respectively connected to the docking controller to send the steering information to the docking controller for analysis and processing, to determine the motion state of the vehicle, and to control the steering state of the vehicle. The automatic fault prevention module is connected to the docking controller and is used to make corresponding processing for different fault forms and fault levels, so as to maximize the normal driving of the vehicle. The docking controller is connected to the fifth bus controller, and the fifth bus controller is connected to the fatigue driving intelligent control subsystem.

[0048] The steering wheel assembly includes a steering wheel, a steering wheel angle sensor, a torque sensor and a steering wheel return torque motor, which are respectively connected to the steering wheel, and the steering wheel is connected to the docking controller. The steering execution assembly includes a front wheel angle sensor, a steering execution motor and a steering motor controller, which are connected to the steering motor controller and the front wheels of the vehicle, and the steering motor controller is connected to the docking controller.

[0049] Specifically, the main function of the steering wheel assembly is to receive the steering digital signal generated by the fatigue driving intelligent control subsystem according to the navigation planning module, generate the steering wheel return torque, so as to realize the intelligent steering of the vehicle. The function of the steering execution assembly is to receive the command of the fatigue driving intelligent control subsystem, control the steering wheel rotation through the steering motor controller, and realize the steering intention. The docking controller analyzes and processes the collected signals, determines the motion state of the vehicle, sends instructions to the steering wheel return force motor and the steering motor, controls the work of the two motors, ensures that the vehicle has an ideal response under various working conditions, and safely completes the task of compensating the vehicle steering characteristics with the change of vehicle speed, and safely docks the vehicle according to the path planned by the system, and the docking controller transmits the signal to the M-LVDS bus through the fifth bus controller for other subsystems to call. The automatic fault prevention module will continuously monitor the status and performance of each subsystem of the vehicle. Through sensors and data acquisition systems, it can monitor the operation of various components such as the vehicle's power system, braking system, and steering system in real time. When the automatic fault prevention module detects an abnormality or failure in a subsystem, it will issue an alarm and provide corresponding fault diagnosis information. This helps to detect potential problems in advance, prevent failures from occurring, and ensure vehicle safety and reliability.

[0050] like Figure 8 As shown, the control process of a fatigue driving safety assurance system based on M-LVDS in this embodiment is as follows: when the car starts, the Beidou module starts to synchronously upload the current driving record to the freight platform. After driving continuously for 4 hours or resting for less than 20 minutes, the driver will be deemed to have entered the commentary driving state and will be dealt with according to law. At the same time, when the vehicle speed is greater than 60km / h, the face detection module starts to collect the driver's facial feature information to continuously determine whether it has entered the fatigue driving state. When it is detected that the eye opening and closing status and the blinking frequency exceed a certain threshold, the voice prompt module and the seat vibration module will respectively start the voice and seat vibration prompts. If the driver resets the alarm through the reset module, the voice and seat vibration alarms will be temporarily stopped until the fatigue state is detected again.

[0051] If the driver fails to reset the voice prompt module or seat vibration module after turning it on for 10 seconds, it will be regarded as a state of severe fatigue driving, and the alarm reset function will be blocked. At this time, the fatigue driving intelligent control subsystem will turn on the double flash, the environmental perception subsystem will collect information about surrounding vehicles and environment to generate a real-time environmental map, the navigation planning module will generate a real-time parking path based on the established environmental map, and the fatigue driving intelligent control subsystem will adjust the parameters to control the intelligent parking subsystem to park the vehicle safely. The fatigue driving intelligent control subsystem will determine whether the parking path matches the environmental perception subsystem and the navigation planning module. If it does not match, the fatigue driving intelligent control subsystem will continue to adjust the parameters for dynamic matching. After the dynamic match is achieved, the parking will be completed, and the voice will prompt the driver of severe fatigue driving. At this time, the alarm reset function will be released. If the reset button of the reset module is pressed, the control of the vehicle will be handed over to the driver.

[0052] Therefore, the present invention adopts the above-mentioned M-LVDS-based fatigue driving safety assurance system, which can ensure the driver's safety to the greatest extent when the driver is severely fatigued and unconscious, and has the advantages of large transmission bandwidth, high real-time processing, strong anti-interference ability, low power consumption, and high hardware integration coordination, providing a new idea for the intelligence and stabilization of the fatigue driving safety assurance system.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A fatigue driving safety assurance system based on M-LVDS, characterized by: It includes a fatigue state detection subsystem, which is used to record the driver's driving information and determine whether the driver is in a fatigue driving state; Fatigue warning subsystem, used to warn when the driver is in a non-severe fatigue state; Environmental perception subsystem, used to accurately track the vehicle's position and build a dynamic environmental map around the vehicle; The intelligent parking subsystem is used to plan routes and implement intelligent roadside parking when the driver is seriously fatigued; The fatigue driving intelligent control subsystem is used to control the coordinated operation of each subsystem and the operation of the vehicle.

2. The M-LVDS-based fatigue driving safety assurance system according to claim 1, characterized in that: The fatigue driving intelligent control subsystem includes an embedded computer module and a first bus controller. The embedded computer module is respectively connected to the fatigue state detection subsystem, the fatigue alarm subsystem, the environment perception subsystem and the intelligent docking subsystem by being equipped with two M-LVDS buses.

3. The M-LVDS-based fatigue driving safety assurance system according to claim 2 is characterized in that: The first bus controller includes an M-LVDS receiver, an M-LVDS transmitter, an instruction parsing generator, a data receiver, a DDR3 memory controller, a FIFO buffer, a DDR memory, a Flash controller and a Flash; the M-LVDS receiver is respectively connected to the M-LVDS bus and the data receiver, the M-LVDS transmitter is respectively connected to the M-LVDS bus, the instruction parsing generator and the data receiver, the instruction parsing generator is also respectively connected to the data receiver and the Flash controller, the Flash controller is connected to the Flash, the data receiver is connected to the FIFO buffer, the FIFO buffer is connected to the DDR3 controller, and the DDR3 controller is connected to the DDR memory.

4. The M-LVDS-based fatigue driving safety assurance system according to claim 1, characterized in that: The fatigue state detection subsystem includes a vehicle speed detection module for detecting the real-time vehicle speed; a face detection module for detecting the driver's eye opening and closing status and blinking frequency information; a Beidou module for synchronously uploading vehicle driving data to the freight platform to monitor the driving status in real time; A fatigue data processing module, used to receive and process the signals uploaded by the vehicle speed detection module, the face detection module and the Beidou module; A second bus controller, used for uploading the processing result of the fatigue data processing module to the fatigue driving intelligent control subsystem; The vehicle speed detection module, face detection module and Beidou module are all connected to the fatigue data processing module, the fatigue data processing module is connected to the second bus controller, and the second bus controller is connected to the fatigue driving intelligent control subsystem.

5. The M-LVDS-based fatigue driving safety assurance system according to claim 1, characterized in that: The fatigue alarm subsystem includes a voice prompt module, a seat vibration module, a reset module, an alarm control module and a third bus controller; the voice prompt module, the seat vibration module and the reset module are all connected to the alarm control module, and the third bus controller is connected to the fatigue driving intelligent control subsystem; The seat vibration module comprises a vibration control plate and a vibration motor, wherein the vibration motor is connected to the vibration control plate, and the vibration control plate is connected to the alarm control module.

6. The M-LVDS-based fatigue driving safety assurance system according to claim 1, characterized in that: The environmental perception subsystem includes a visual sensor module, an IMU module, a display module, a millimeter wave radar module, a perception processing module, a mapping module and a fourth bus controller; The visual sensor, IMU module and millimeter wave radar module are all connected to the perception processing module, the perception processing module and the display module are connected to the mapping module, the mapping module is connected to the fourth bus controller, and the fourth bus controller is connected to the fatigue driving intelligent control subsystem; The millimeter wave radar module includes a radar unit for measuring the distance to a preceding vehicle and a radar unit for measuring the speed and direction of the preceding vehicle.

7. The M-LVDS-based fatigue driving safety assurance system according to claim 1, characterized in that: The intelligent docking subsystem includes a navigation planning module, a steering wheel assembly, a steering execution assembly, a docking controller, an automatic fail-safe module and a fifth bus controller; The navigation planning module is connected to the docking controller and is used to send navigation information to the docking controller; the steering wheel assembly and the steering execution assembly are respectively connected to the docking controller and are used to send steering information to the docking controller for analysis and processing, determine the motion state of the vehicle, and control the steering state of the vehicle; The automatic fault prevention module is connected to the docking controller and is used to make corresponding processing for different fault forms and fault levels in order to maximize the normal driving of the vehicle; the docking controller is connected to the fifth bus controller, and the fifth bus controller is connected to the fatigue driving intelligent control subsystem.

8. The M-LVDS-based fatigue driving safety assurance system according to claim 7 is characterized in that: The steering wheel assembly includes a steering wheel, a steering wheel angle sensor, a torque sensor and a steering wheel aligning torque motor; the steering wheel angle sensor, the torque sensor and the steering wheel aligning torque motor are respectively connected to the steering wheel, and the steering wheel is connected to the docking controller.

9. The M-LVDS-based fatigue driving safety assurance system according to claim 7, characterized in that: The steering execution assembly includes a front wheel angle sensor, a steering execution motor and a steering motor controller; the front wheel angle sensor and the steering execution motor are both connected to the steering motor controller and the front wheels of the vehicle, and the steering motor controller is connected to the parking controller.

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