CN115366909B - Dynamic early warning method and device for driver accidents in long and large longitudinal slope section and electronic equipment - Google Patents

Abstract

The application provides a dynamic early warning method, device and electronic equipment for driver accidents on long longitudinal slope road sections, which belong to the technical field of safety early warning. The dynamic early warning method for driver accidents on the long longitudinal slope section uses the image of the driver's work area to judge the opening and closing state of the driver's eyes, and determines the driver's fatigue state; by obtaining the steering wheel angle value data, it is judged whether the steering wheel has occurred within a preset time Rotation; Predict the brake temperature at the end of the downhill through the road section information of the long longitudinal slope section and the vehicle information of the driving vehicle. When there is a potential driving risk, the driver will be warned to reduce the occurrence of traffic accidents.

Description

Method, device and electronic equipment for dynamic early warning of accidents for drivers on long longitudinal slope sections

Technical Field

The present application relates to the field of safety warning technology, and in particular to a method, device and electronic equipment for dynamic warning of accidents for drivers on long longitudinal slope sections.

Background Art

In mountainous areas, there are large height differences, complex terrain and geological conditions, and it is difficult to construct highways. Highways with longer slopes and steeper slopes are designed. Traffic accidents are more likely to occur on such roads than on gentle roads in plains. Frequent braking on roads with continuous long longitudinal slopes will cause the brake temperature to rise. When the temperature rises rapidly in a short period of time, it is very easy to cause brake failure. In addition, for trucks driving on long longitudinal slopes, long-term driving on mountain roads can easily lead to fatigue. Drivers' fatigue driving leads to dangerous driving behavior, which can easily lead to traffic accidents, rear-end collisions or collisions with guardrails.

In order to do this, it is necessary to give early warning to the driver's current driving behavior and to dynamically warn of dangerous behaviors that may lead to accidents.

Summary of the invention

The purpose of the embodiments of the present application is to provide a method, device and electronic equipment for dynamic early warning of accidents for drivers on long longitudinal slope sections, so as to monitor the driving behavior of the driver, promptly discover driving behaviors with hidden dangers, and remind and warn the driver, so as to better ensure road safety.

In order to achieve the above purpose, the embodiments of the present application are implemented in the following ways:

In a first aspect, an embodiment of the present application provides a method for dynamic warning of driver accidents on a road section with a long longitudinal slope, including: obtaining an image of the driver's working area for image recognition, determining the driver's eye features, judging the opening and closing state of the eyes based on the driver's eye features, determining the driver's fatigue state, and if the driver is in a fatigued state, determining that the first condition is met.

The steering wheel angle value data is obtained to determine whether the steering wheel is turned within a preset time. If the steering wheel is not turned within the preset time, it is determined that the second condition is met.

Obtain the section information of the long longitudinal slope section of the navigation route, obtain the vehicle information of the driving vehicle, determine the brake temperature at the end of downhill without auxiliary braking conditions based on the current section information and the current vehicle information, and when the brake temperature is greater than the preset temperature, determine that the third condition is met.

When any one of the first condition, the second condition and the third condition is met, it is determined that there is a potential accident hazard in this driving state, and a reminder message is issued.

In combination with the first aspect, in some implementation schemes, an image of the driver's work area is obtained for image recognition to determine the driver's eye features, and the opening and closing state of the eyes is determined based on the driver's eye features to determine the driver's fatigue state, including:

Perform face detection on the driver's work area image to determine the facial width and height parameters, perform eye detection on the face area to initially locate the iris, and determine the iris position parameters of the current frame image; based on the adjacent frame difference method, use the absolute value of the adjacent frame difference between the previous and next frames to obtain the adjacent frame difference binary image, and based on this, determine whether the previous and next frames have an intersection. If there is no intersection, repeat the previous step. If there is an intersection, detect the facial movement parameters, and determine the iris position parameters in the current frame image based on the movement parameters; detect vertical edges based on the Sobel operator, obtain the iris area image, and identify the open and closed eye images; perform edge detection on the open eye iris area image to obtain the iris and the upper eyelid and lower eyelid The method comprises the following steps: determining the boundary of the upper eyelid and the lower eyelid, and regarding the area between the upper eyelid and the lower eyelid as the iris exposure area, determining the eye length according to the edges of the upper eyelid and the lower eyelid, and defining the eye opening value according to the ratio of the iris exposure area to the eye length; obtaining the working area images within the preset time period T at equal time intervals according to the time series, and obtaining the eye opening values of the corresponding frame images according to the above steps; drawing a curve with the time series as the horizontal coordinate and the eye opening values of the corresponding frame images as the vertical coordinate, obtaining the area S enclosed by the curve and the horizontal coordinate, and determining the eye opening degree of the time period according to the ratio of the area S to the time period T; and comparing the opening degree with a preset threshold value, when the opening degree is less than the preset threshold value, determining that the driver is in a fatigue state.

In combination with the first aspect, in some implementation schemes, the steering wheel angle value data is collected and acquired by a steering wheel angle sensor.

In combination with the first aspect, in some embodiments, the reminder information is sound alarm information and/or light alarm information.

In combination with the first aspect, in some implementation schemes, when any one of the first condition, the second condition, and the third condition is met, it is determined that there is a potential accident hazard in this driving state, and a reminder message is issued, specifically: when only any one of the first condition, the second condition, and the third condition is met, the reminder message is an audible alarm message; when only two of the first condition, the second condition, and the third condition are met, the reminder message is an optical alarm message; when any one of the first condition, the second condition, and the third condition is met at the same time, the reminder message is an audible alarm message and an optical alarm message. In combination with the first aspect, in some implementation schemes, the road section information includes: road section number, road section length, and road section slope.

In combination with the first aspect, in some implementation schemes, the vehicle information of the driving vehicle includes a vehicle number, a vehicle mass, a vehicle speed, and a current brake temperature.

In combination with the first aspect, in some implementation schemes, determining the brake temperature at the end of a downhill slope under a non-assisted braking condition according to current road section information and current vehicle information includes:

Simplify the continuous road conditions of the long longitudinal slope section, ignore the transition slopes between different longitudinal slopes, and regard them as the same slope longitudinal slope, where the starting point of the same slope longitudinal slope is the starting point of the long longitudinal slope section before simplification.

Assuming that the long longitudinal slope section has n continuous longitudinal slopes, then

The slope length of the same slope is defined as

L = L ₁ + L ₂ + L ₃ …+ L _n , where L is the slope length, L ₁ is the length of the first section of the continuous longitudinal slope, L ₂ is the length of the second section of the continuous longitudinal slope, L ₃ is the length of the third section of the continuous longitudinal slope, and L _n is the length of the nth section of the continuous longitudinal slope.

The slope of the same slope longitudinal slope is defined as

I = ( I ₁ L ₁ + I ₂ L ₂ + I ₃ L ₃ …+ I ₁ L _n )/( L ₁ + L ₂ + L ₃ … + L _n ),

Among them, I is the _slope , I1 is the slope of the first section of continuous longitudinal _slope , I2 is the slope of the second section of continuous longitudinal slope, _I3 is the slope of the third section of continuous longitudinal slope, and In is the _slope of the nth section of continuous longitudinal slope.

Assuming that the vehicle speed is constant at V during the descent on a long longitudinal slope section, the brake temperature at the end of the descent without auxiliary braking is determined based on the simplified parameters of the long longitudinal slope section.

In conjunction with the first aspect, in some embodiments, the brake temperature at the end of a downhill slope

When the longitudinal slope of the same slope is 2%＜I ≤5%,

When the longitudinal slope of the same slope is I>5%,

为连续纵坡的行驶时间；H为连续纵坡简化前起点与终点位置的高差；M为车辆总质量，

为重力加速度，k为修正系数（当坡度在达到5%以上，坡度每提高1%，k值增加0.1，其中，坡度在5%时，K=1），P ₀为制动器当前温度，

为下坡结束时制动器温度。In the formula,

is the travel time of the continuous longitudinal slope; H is the height difference between the starting point and the end point before the continuous longitudinal slope is simplified; M is the total mass of the vehicle,

is the acceleration of gravity, k is the correction coefficient (when the slope reaches more than 5%, the k value increases by 0.1 for every 1% increase in the slope, where K = 1 when the slope is 5%), P0 _is the current temperature of the brake,

is the brake temperature at the end of a downhill slope.

In the second aspect, an embodiment of the present application provides a dynamic warning device for driver accidents on long longitudinal slope sections, including: a first judgment module, the first judgment module is used to obtain an image of the driver's working area for image recognition, determine the driver's eye features, judge the opening and closing state of the eyes based on the driver's eye features, determine the driver's fatigue state, and if the driver is in a fatigued state, determine that the first condition is met.

The second judgment module is used to obtain the steering wheel angle value data to determine whether the steering wheel is turned within a preset time. If the steering wheel is not turned within the preset time, it is determined that the second condition is met.

The third judgment module is used to obtain the section information of the long longitudinal slope section of the navigation route, obtain the vehicle information of the driving vehicle, and determine the brake temperature at the end of downhill without auxiliary braking conditions based on the current section information and the current vehicle information. When the brake temperature is greater than the preset temperature, it is determined that the third condition is met.

A reminder module is used to determine that there is a potential accident hazard in this driving state and issue a reminder message when any one of the first condition, the second condition and the third condition is met.

In a third aspect, an embodiment of the present application provides an electronic device comprising a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, and when the program instructions are loaded and executed by the processor, the method for dynamic warning of driver accidents on long longitudinal slope sections as described in the first aspect or any one of the possible implementation methods of the first aspect is implemented.

The method for dynamic early warning of accidents for drivers on long and steep slopes provided by the application uses the image of the driver's work area to determine the opening and closing state of the eyes and the driver's fatigue state; obtains the steering wheel angle value data to determine whether the steering wheel has been turned within a preset time; and predicts the brake temperature at the end of the downhill slope through the road section information of the long and steep slope and the vehicle information of the driving vehicle. When there is a potential driving risk, the driver is warned to reduce the occurrence of traffic accidents.

In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

FIG1 is a flow chart of a method for dynamic early warning of accidents for drivers on long longitudinal slopes provided by an embodiment of the present application;

FIG2 is a schematic diagram of a dynamic early warning device for drivers on a long longitudinal slope provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of an electronic device provided in an embodiment of the present application.

Icons: 10-dynamic early warning device for driver accidents on long and steep longitudinal slopes; 11-first judgment module; 12-second judgment module; 13-third judgment module; 14-reminding module; 20-electronic equipment; 21-memory; 22-communication module; 23-bus; 24-processor.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

Please refer to Figure 1, which is a flow chart of a method for dynamic early warning of driver accidents on long longitudinal slope sections provided by an embodiment of the present application. In this embodiment, the method for dynamic early warning of driver accidents on long longitudinal slope sections can be executed by an electronic device, which can be a server (such as a cloud server, a server cluster, etc.) or a terminal (such as a personal computer, a laptop, etc.), which is not limited here.

In this embodiment, the method for dynamic warning of driver accidents on a road section with a long longitudinal slope may include step S10, step S20, step S30 and step S40.

In order to provide a dynamic accident warning to the driver on a road section with a long longitudinal slope, the electronic device may execute step S10.

Step S10: Acquire the image of the driver's working area for image recognition, determine the driver's eye features, judge the opening and closing state of the eyes based on the driver's eye features, and determine the driver's fatigue state. If the driver is in a fatigued state, it is determined that the first condition is met.

In this embodiment, the electronic device can determine the driver's fatigue state. The driver's fatigue state can be obtained mainly by processing in the following ways:

Perform face detection on the driver's work area image to determine the facial width and height parameters, perform eye detection on the face area to initially locate the iris, and determine the position parameters of the iris in the current frame image.

Based on the adjacent frame difference method, the absolute value of the adjacent frame difference between the previous and next two frames is used to obtain the adjacent frame difference binary image, and based on this, it is judged whether the previous and next two frames have an intersection. If there is no intersection, the previous step is repeated. If there is an intersection, the facial movement parameters are detected, and the position parameters of the iris in the current frame image are determined according to the movement parameters.

The vertical edges are detected according to the Sobel operator, the iris area image is obtained, and the open and closed eye images are identified.

Perform edge detection on the open eye iris area image to obtain the boundary between the iris and the upper and lower eyelids, and regard the area between the upper and lower eyelids as the iris exposure area. Determine the eye length based on the edges of the upper and lower eyelids, and define the eye opening value based on the ratio of the iris exposure area to the eye length.

The working area images within the preset time period T are acquired according to the time series, and the eye opening values of the corresponding frame images are acquired according to the above steps.

A curve is drawn with the time series as the horizontal coordinate and the eye opening value of the corresponding frame image as the vertical coordinate, and the area S formed by the curve and the horizontal coordinate is obtained. The eye opening degree of the time period is determined by the ratio of the area S to the time period T.

According to the comparison between the opening degree and the preset threshold, when the opening degree is less than the preset threshold, it is determined that the driver is in a fatigue state.

Here, firstly, face detection is performed on the driver's working area image to determine the facial width and height parameters, and the iris position is initially located. Then, based on the adjacent frame difference method, the absolute value of the adjacent frame difference between the two frames of images is used to obtain the adjacent frame difference binary image, and based on this, it is judged whether the two frames of images have an intersection. If there is an intersection, the facial movement parameters are detected, and the position parameters of the iris in the current frame image are determined according to the movement parameters. This process can greatly reduce the amount of calculation for face recognition, improve the image recognition speed, and quickly obtain the position parameters of the iris in the current frame image. The inventor found in practice that in the non-iris area, there is little vertical edge information, and the edge detection effect of using the Sobel operator is better. After obtaining the iris area image and identifying the open and closed eye images, the open eye image is focused on edge detection again, the boundary between the iris and the upper eyelid and the lower eyelid is obtained, and the eye opening value of the corresponding frame image is defined. Finally, the graphic method is used to determine the eye opening degree per unit time, and the eye opening degree is used to characterize the driver's fatigue state.

After acquiring the driver's fatigue status, the electronic device may execute step S20.

Step S20: Obtain steering wheel angle data to determine whether the steering wheel is turned within a preset time. If the steering wheel is not turned within the preset time, it is determined that the second condition is met.

Here, the steering wheel angle value data is collected and obtained by a steering wheel angle sensor, which is not limited here.

When the driver is in a fatigued state, the operation will be sluggish, and sometimes even forget to operate, or even fall asleep for a short time, causing the steering wheel to not turn for a long time. The steering wheel angle sensor collects the steering wheel angle value and can remind you when the steering wheel does not turn for a long time.

After determining whether the steering wheel is turned within the preset time, the electronic device may execute step S30.

Step S30: Obtain the section information of the long longitudinal slope section of the navigation route, obtain the vehicle information of the driving vehicle, determine the brake temperature at the end of downhill without auxiliary braking conditions based on the current section information and the current vehicle information, and when the brake temperature is greater than the preset temperature, determine that the third condition is met.

Here, the brake temperature at the end of downhill slope without auxiliary braking is determined based on the current road section information (such as road section number, road section length and road section slope) and the current vehicle information (vehicle number, vehicle mass (including driver and cargo weight), vehicle speed and current brake temperature), including:

Simplify the continuous road conditions of the long longitudinal slope section, ignore the transition slopes between different longitudinal slopes, and regard them as the same slope longitudinal slope, where the starting point of the same slope longitudinal slope is the starting point of the long longitudinal slope section before simplification.

Assuming that the long longitudinal slope section has n continuous longitudinal slopes, then

The slope length of the same slope is defined as

L = L ₁ + L ₂ + L ₃ …+ L _n , where L is the slope length, L ₁ is the length of the first section of the continuous longitudinal slope, L ₂ is the length of the second section of the continuous longitudinal slope, L ₃ is the length of the third section of the continuous longitudinal slope, and L _n is the length of the nth section of the continuous longitudinal slope.

The slope of the same slope longitudinal slope is defined as

I = ( I ₁ L ₁ + I ₂ L ₂ + I ₃ L ₃ …+ I ₁ L _n )/( L ₁ + L ₂ + L ₃ … + L _n ),

Among them, I is the _slope , I1 is the slope of the first section of continuous longitudinal _slope , I2 is the slope of the second section of continuous longitudinal slope, _I3 is the slope of the third section of continuous longitudinal slope, and In is the _slope of the nth section of continuous longitudinal slope.

Assuming that the vehicle speed is constant at V during the descent on a long longitudinal slope section, the brake temperature at the end of the descent is determined without auxiliary braking based on the simplified parameters of the long longitudinal slope section, based on the law of energy conservation and the temperature rise law under different slopes.

When the longitudinal slope of the same slope is 2%＜I ≤5%,

When the longitudinal slope of the same slope is I>5%,

为连续纵坡的行驶时间；H为连续纵坡简化前起点与终点位置的高差；M为车辆总质量，

为重力加速度，k为修正系数（当坡度在达到5%以上，坡度每提高1%，k值增加0.1，其中，坡度在5%时，K=1），P ₀为制动器当前温度，

为下坡结束时制动器温度。In the formula,

is the travel time of the continuous longitudinal slope; H is the height difference between the starting point and the end point before the continuous longitudinal slope is simplified; M is the total mass of the vehicle,

is the acceleration of gravity, k is the correction coefficient (when the slope reaches more than 5%, the k value increases by 0.1 for every 1% increase in the slope, where K = 1 when the slope is 5%), P0 _is the current temperature of the brake,

is the brake temperature at the end of a downhill slope.

Here, there are transition slopes between different longitudinal slopes of long and continuous longitudinal slopes. The gradient of these transition slopes is relatively gentle. The design here is also to facilitate the vehicle to reduce the speed. This buffer section is generally shorter than the longitudinal slope section and can be ignored. The difficulty of early warning of long and long longitudinal slope sections is that the slope lengths and slopes of different sections are different. Therefore, this application proposes a new design idea, which simplifies the long and long continuous longitudinal slope section into a single slope, redefines the slope and slope length of the single slope, and then determines the temperature rise model under the condition of no auxiliary braking according to the slope of the long and long longitudinal slope. When the driver enters the long and long longitudinal slope section, it is assumed that he does not perform auxiliary braking operation, and the temperature rise of his brake is predicted, so as to give an early warning to remind the driver that it may be necessary to use auxiliary braking and slow down reasonably.

After determining the brake temperature at the end of the downhill slope, the electronic device may execute step S40.

Step S40: When any one of the first condition, the second condition and the third condition is met, it is determined that there is a potential accident hazard in this driving state, and a reminder message is issued.

In this embodiment, the reminder information is an audible alarm information and/or a visual alarm information. Exemplarily, when any of the first condition, the second condition and the third condition is met, it is determined that there is a potential accident hazard in this driving state, and a reminder information is issued, specifically:

When only any one of the first condition, the second condition and the third condition is met, the reminder information is sound alarm information; when only two of the first condition, the second condition and the third condition are met, the reminder information is light alarm information; when any one of the first condition, the second condition and the third condition is met at the same time, the reminder information is sound alarm information and light alarm information.

In this way, differentiated reminders can be given according to the current conditions of the driver's behavior. When the driver is in an extremely dangerous situation, reminders can be given through sound and light alarm information.

Therefore, the dynamic early warning method for driver accidents on long and steep slopes provided by this solution uses the image of the driver's work area to determine the opening and closing state of the eyes and the driver's fatigue state; obtains the steering wheel angle value data to determine whether the steering wheel has been turned within the preset time; and predicts the brake temperature at the end of the downhill slope through the long and steep slope section information and the vehicle information of the driving vehicle. When there is a potential driving risk, the driver is warned to reduce the occurrence of traffic accidents.

Please refer to FIG. 2 , which is a schematic diagram of a dynamic early warning device for driver accidents on a road section with a long longitudinal slope according to an embodiment of the present application.

In this embodiment, the long longitudinal slope section driver accident dynamic warning device 10 may include:

The first judgment module 11 is used to obtain the image of the driver's working area for image recognition, determine the driver's eye features, judge the opening and closing state of the eyes based on the driver's eye features, and determine the driver's fatigue state. If the driver is in a fatigued state, it is determined that the first condition is met.

The second judgment module 12 is used to obtain the steering wheel angle value data to determine whether the steering wheel is turned within a preset time. If the steering wheel is not turned within the preset time, it is determined that the second condition is met.

The third judgment module 13 is used to obtain the section information of the long longitudinal slope section of the navigation route, obtain the vehicle information of the driving vehicle, and determine the brake temperature at the end of downhill without auxiliary braking conditions based on the current section information and the current vehicle information. When the brake temperature is greater than the preset temperature, it is determined that the third condition is met.

The reminder module 14 is used to determine that there is a potential accident hazard in the driving state and issue a reminder message when any one of the first condition, the second condition and the third condition is met.

In addition, please refer to FIG. 3 , which is a schematic diagram of an electronic device 20 provided in an embodiment of the present application.

In this embodiment, the electronic device 20 may be a terminal, such as a tablet computer, a personal computer, etc.; the electronic device 20 may also be a server, such as a cloud server, a server cluster, etc., which is not limited here.

Exemplarily, the electronic device 20 may include: a communication module 22 connected to the outside world via a network, one or more processors 24 for executing program instructions, a bus 23, and different forms of memory 21, such as a disk, ROM, or RAM, or any combination thereof. The memory 21, the communication module 22, and the processor 24 may be connected via the bus 23.

Exemplarily, programs are stored in the memory 21. The processor 24 can call and run these programs from the memory 21, so that the dynamic early warning method for driver accidents on long longitudinal slope sections can be implemented by running the programs.

In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims (7)

1. A dynamic early warning method for accidents of drivers in long and large longitudinal slope sections is characterized by comprising the following steps:

acquiring an image of a working area of a driver for image recognition, determining the eye characteristics of the driver, judging the opening and closing state of eyes according to the eye characteristics of the driver, determining the fatigue state of the driver, and determining that a first condition is met if the driver is in the fatigue state;

acquiring steering wheel angle value data to judge whether the steering wheel rotates within preset time, and determining that a second condition is met if the steering wheel does not rotate within the preset time;

acquiring road section information of a long and large longitudinal slope road section of a navigation route, acquiring vehicle information of a driving vehicle, determining the temperature of a brake at the end of a downhill under the condition of no auxiliary braking according to the current road section information and the current vehicle information, and determining that a third condition is met when the temperature of the brake is greater than a preset temperature;

when any one of the first condition, the second condition and the third condition is met, determining that accident potential exists in the driving state, and sending out reminding information;

wherein the link information includes: the method comprises the steps of obtaining vehicle information of a driving vehicle, including a vehicle number, vehicle mass, vehicle speed and current temperature of a brake, according to the length of a road section and the gradient of the road section;

determining the brake temperature at the end of a downhill under the condition of no auxiliary braking according to the current road section information and the current vehicle information, wherein the method comprises the following steps:

simplifying continuous road conditions of the long and large longitudinal slope section, neglecting transitional continuous slopes among different longitudinal slopes, regarding the sections as longitudinal slopes with the same gradient, wherein the starting point of the longitudinal slope with the same gradient is the starting point of the long and large longitudinal slope section before simplification,

the long and large longitudinal slope section is assumed to havenSection-continuous longitudinal slope, then

The length of the longitudinal slope with the same gradient is defined as

L=L ₁ + L ₂ + L ₃ …+L _n WhereinLthe length of the slope is the length of the slope,L ₁ is the slope length of the 1 st section continuous longitudinal slope,L ₂ is as followsThe slope length of the 2-section continuous longitudinal slope,L ₃ is the slope length of the 3 rd continuous longitudinal slope,L _n is a firstnThe slope length of the segmental continuous longitudinal slope;

the gradient of the longitudinal slope with the same gradient is defined as

I=（I ₁ L ₁ +I ₂ L ₂ +I ₃ L ₃ …+I ₁ L _n ）/（L ₁ +L ₂ +L ₃ …+L _n ），

Wherein,Iin order to be the slope of the slope,I ₁ is the gradient of the 1 st section continuous longitudinal slope,I ₂ is the gradient of the 2 nd continuous longitudinal slope,I ₃ the slope of the 3 rd section continuous longitudinal slope,I _n is a firstnThe gradient of the segmental continuous longitudinal slope;

the vehicle speed is assumed to be constant asVDetermining the temperature of a brake at the end of a downhill under the condition of no auxiliary braking according to the simplified parameters of the long and large longitudinal slope section;

when the gradient of the longitudinal slope with the same gradient is more than 2 percent and I is less than or equal to 5 percent,

when the gradient of the longitudinal slope with the same gradient is I more than 5 percent,

in the formula,

the running time of the continuous longitudinal slope; h is the height difference between the starting point and the end point before the simplification of the continuous longitudinal slope; m is the total mass of the vehicle, and>

is heavyThe acceleration of the force is accelerated and,kfor correcting the coefficient, when the gradient reaches more than 5 percent and every time the gradient is improved by 1 percent,kthe value increases by 0.1, wherein, at a gradient of 5%,k=1，P ₀ for the current temperature of the brake>

Brake temperature at the end of the downhill slope.

2. The dynamic early warning method for the accidents of the driver on the long and long longitudinal slope road section as claimed in claim 1, wherein the image of the working area of the driver is obtained to identify the eye characteristics of the driver through image recognition, the eye opening and closing state is judged according to the eye characteristics of the driver, and the fatigue state of the driver is determined, which comprises the steps of

Carrying out face detection on the image of the working area of the driver, determining parameters of the width and the height of the face, carrying out eye detection on the face area, carrying out primary positioning on the iris, and determining the position parameter of the iris of the current frame image;

based on an adjacent frame difference method, acquiring an adjacent frame difference binary image by using an absolute value of an adjacent frame difference of a front frame image and a rear frame image, judging whether the front frame image and the rear frame image have an intersection or not based on the adjacent frame difference binary image, repeating the previous step if the front frame image and the rear frame image do not have the intersection, detecting a face movement parameter if the front frame image and the rear frame image have the intersection, and determining a position parameter of an iris in a current frame image according to the movement parameter;

detecting the vertical edge according to a Sobel operator, acquiring an iris area image, and identifying open-eye and closed-eye images;

performing edge detection on the image of the open eye iris region to obtain the junction of the iris and the upper eyelid and the lower eyelid, determining the length of the eye according to the edge of the upper eyelid and the lower eyelid, and defining the opening value of the eye according to the ratio of the iris exposure area to the eye length;

obtaining working area images in equal time intervals within a preset time period T according to the time sequence, and obtaining eye opening values of corresponding frame images according to the steps;

drawing a curve by taking the time sequence as an abscissa and the eye opening value of the corresponding frame image as an ordinate, acquiring a region area S formed by the curve and the abscissa in a surrounding manner, and determining the eye opening of the time period according to the ratio of the region area S to the time period T;

and comparing the opening degree with a preset threshold value, and determining that the driver is in a fatigue state when the opening degree is smaller than the preset threshold value.

3. The dynamic early warning method for the accidents of the drivers on the long and large longitudinal slope sections according to claim 1, wherein steering wheel angle value data is acquired by a steering wheel angle sensor.

4. The dynamic early warning method for the accidents of the drivers on the long and large longitudinal slope sections according to claim 1, wherein the reminding information is sound alarm information and/or light alarm information.

5. The dynamic early warning method for the accident of the driver on the long and large longitudinal slope section as claimed in claim 4, wherein when any one of the first condition, the second condition and the third condition is met, it is determined that the accident potential exists in the driving state, and a warning message is sent, specifically:

when any one of the first condition, the second condition and the third condition is only met, the reminding information is sound alarm information;

when only two conditions of the first condition, the second condition and the third condition are met, the reminding information is light alarm information;

and when any one of the first condition, the second condition and the third condition is met, the reminding information is sound alarm information and light alarm information.

6. A dynamic early warning device for accidents of drivers on long and large longitudinal slope sections is characterized by comprising

The first judgment module is used for acquiring images of a working area of a driver to perform image recognition, determining the eye characteristics of the driver, judging the opening and closing state of eyes according to the eye characteristics of the driver, determining the fatigue state of the driver, and determining that a first condition is met if the driver is in the fatigue state;

the second judgment module is used for acquiring steering wheel angle value data to judge whether the steering wheel rotates within the preset time, and if the steering wheel does not rotate within the preset time, the second judgment module determines that a second condition is met;

the third judgment module is used for acquiring the road section information of a long and large longitudinal slope road section of the navigation route, acquiring the vehicle information of a driving vehicle, determining the brake temperature at the end of a downhill under the condition of no auxiliary brake according to the current road section information and the current vehicle information, and determining that a third condition is met when the brake temperature is greater than a preset temperature;

the reminding module is used for determining that accident potential exists in the driving state and sending reminding information when any one of the first condition, the second condition and the third condition is met;

wherein the link information includes: the method comprises the steps of obtaining vehicle information of a driving vehicle, including a vehicle number, vehicle mass, vehicle speed and current temperature of a brake, according to the length of a road section and the gradient of the road section;

determining the brake temperature at the end of a downhill under the condition of no auxiliary braking according to the current road section information and the current vehicle information, wherein the method comprises the following steps:

simplifying continuous road conditions of the long and large longitudinal slope section, neglecting transitional continuous slopes among different longitudinal slopes, regarding the sections as longitudinal slopes with the same gradient, wherein the starting point of the longitudinal slope with the same gradient is the starting point of the long and large longitudinal slope section before simplification,

the long and large longitudinal slope section is assumed to havenSection-continuous longitudinal slope, then

The length of the longitudinal slope with the same gradient is defined as

L=L ₁ + L ₂ + L ₃ …+L _n WhereinLthe length of the slope is the length of the slope,L ₁ is the slope length of the 1 st section continuous longitudinal slope,L ₂ the slope length of the 2 nd continuous longitudinal slope,L ₃ slope of 3 rd continuous longitudinal slopeThe length of the utility model is long,L _n is as followsnThe length of the section of continuous longitudinal slope;

the gradient of the longitudinal slope with the same gradient is defined as

I=（I ₁ L ₁ +I ₂ L ₂ +I ₃ L ₃ …+I ₁ L _n ）/（L ₁ +L ₂ +L ₃ …+L _n ），

Wherein,Iin order to be the slope of the slope,I ₁ is the gradient of the 1 st section continuous longitudinal slope,I ₂ is the gradient of the 2 nd section continuous longitudinal slope,I ₃ the slope of the 3 rd section continuous longitudinal slope,I _n is as followsnThe gradient of the segmental continuous longitudinal slope;

the vehicle speed is assumed to be constant during the downhill process of a long and large longitudinal slope sectionVDetermining the temperature of a brake at the end of a downhill under the condition of no auxiliary braking according to the simplified parameters of the long and large longitudinal slope section;

when the gradient of the longitudinal slope with the same gradient is more than 2 percent and I is less than or equal to 5 percent,

when the gradient of the longitudinal slope with the same gradient is I more than 5 percent,

in the formula,

the running time of the continuous longitudinal slope; h is the height difference between the starting point and the end point before the simplification of the continuous longitudinal slope; m is the total mass of the vehicle, based on the sum of the measured values>

In order to be the acceleration of the gravity,kfor correcting the coefficient, when the gradient reaches more than 5 percent, the gradientEvery time the yield is increased by 1 percent,kthe value increases by 0.1, wherein, at a gradient of 5%,k=1，P ₀ is the current temperature of the brake>

Brake temperature at the end of the downhill slope.

7. An electronic device, comprising a memory for storing information including program instructions and a processor for controlling execution of the program instructions, wherein the program instructions are loaded and executed by the processor to implement the dynamic early warning method for accidents of drivers on long and long longitudinal slope sections as claimed in any one of claims 1 to 5.

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