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| class OOPDetector:
"""OOP（异常姿态）检测器"""
def __init__(self, vehicle_config: Dict):
"""
Args:
vehicle_config: 车辆配置（座椅位置、安全气囊位置等）
"""
self.config = vehicle_config
self.thresholds = {
'forward_lean': 0.3,
'side_lean': 0.2,
'recline_angle': 30,
}
def detect_oop(self, pose: np.ndarray, seat_position: str) -> Dict:
"""
检测OOP
Args:
pose: (16, 3) 乘员姿态
seat_position: 座位位置（'driver', 'passenger', 'rear_left', 'rear_right'）
Returns:
oop_result: OOP检测结果
"""
oop_types = []
if self._detect_forward_lean(pose):
oop_types.append({
'type': 'forward_lean',
'severity': 'high',
'description': '乘员前倾，靠近仪表盘/方向盘',
'action': '禁用/调整前排安全气囊'
})
if self._detect_side_lean(pose):
oop_types.append({
'type': 'side_lean',
'severity': 'medium',
'description': '乘员侧向倾斜，可能靠近侧气帘',
'action': '调整侧气帘展开策略'
})
if self._detect_excessive_recline(pose):
oop_types.append({
'type': 'excessive_recline',
'severity': 'medium',
'description': '座椅过度后仰',
'action': '调整安全带预紧力'
})
if self._detect_child_misposition(pose, seat_position):
oop_types.append({
'type': 'child_misposition',
'severity': 'critical',
'description': '儿童未在儿童座椅，或位置异常',
'action': '禁用所有安全气囊'
})
return {
'seat': seat_position,
'oop_detected': len(oop_types) > 0,
'oop_types': oop_types,
'recommendation': self._generate_recommendation(oop_types)
}
def _detect_forward_lean(self, pose: np.ndarray) -> bool:
"""检测前倾"""
head = pose[0]
chest = pose[10]
head_forward = head[2] - chest[2]
return head_forward > self.thresholds['forward_lean']
def _detect_side_lean(self, pose: np.ndarray) -> bool:
"""检测侧倾"""
left_shoulder = pose[4]
right_shoulder = pose[5]
height_diff = np.abs(left_shoulder[1] - right_shoulder[1])
return height_diff > self.thresholds['side_lean']
def _detect_excessive_recline(self, pose: np.ndarray) -> bool:
"""检测过度后仰"""
chest = pose[10]
pelvis = pose[11]
head = pose[0]
torso_vector = chest - pelvis
angle = np.arctan2(torso_vector[1], torso_vector[2]) * 180 / np.pi
return np.abs(angle) > self.thresholds['recline_angle']
def _detect_child_misposition(self, pose: np.ndarray, seat_position: str) -> bool:
"""检测儿童位置异常"""
left_shoulder = pose[4]
right_shoulder = pose[5]
shoulder_width = np.linalg.norm(left_shoulder - right_shoulder)
is_child = shoulder_width < 0.3
if is_child and seat_position in ['driver', 'passenger']:
return True
return False
def _generate_recommendation(self, oop_types: List[Dict]) -> str:
"""生成安全建议"""
if not oop_types:
return "姿态正常"
severity_order = {'critical': 0, 'high': 1, 'medium': 2, 'low': 3}
oop_types_sorted = sorted(oop_types, key=lambda x: severity_order[x['severity']])
return oop_types_sorted[0]['action']
if __name__ == "__main__":
vehicle_config = {
'front_airbag_pos': {'driver': [0.5, 0.3, 0.8]},
'side_airbag_pos': {'driver': [0.3, 0.1, 0.5]}
}
oop_detector = OOPDetector(vehicle_config)
pose_forward_lean = np.array([
[0, 0, 0.5],
[-0.05, 0, 0.1], [0.05, 0, 0.1],
[0, 0, 0.1],
[-0.15, 0.1, 0], [0.15, 0.1, 0],
[-0.2, 0, 0.1], [0.2, 0, 0.1],
[-0.25, -0.1, 0.2], [0.25, -0.1, 0.2],
[0, 0, 0],
[0, -0.1, -0.2],
[-0.1, -0.2, -0.3], [0.1, -0.2, -0.3],
[-0.1, -0.4, -0.4], [0.1, -0.4, -0.4]
])
result = oop_detector.detect_oop(pose_forward_lean, 'driver')
print(f"OOP检测结果: {result}")
|