1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
| """
触觉反馈干预系统
根据DMS状态等级，触发不同触觉模式
依赖: pip install numpy RPi.GPIO(树莓派) 或等效接口
"""
import numpy as np
from typing import Dict, List
from dataclasses import dataclass
from enum import IntEnum
import time
class HapticLevel(IntEnum):
NONE = 0
LIGHT_VIBRATION = 1
PULSE_PATTERN = 2
SEATBELT_TENSE = 3
FULL_ALERT = 4
EMERGENCY = 5
@dataclass
class DriverState:
"""DMS输入状态"""
perclos: float = 0.0
gaze_off_road_sec: float = 0.0
phone_detected: bool = False
responsive: bool = True
fatigue_duration_sec: float = 0.0
class HapticInterventionSystem:
"""
触觉干预系统
决策逻辑:
1. DMS状态 → 干预等级
2. 干预等级 → 触觉模式
3. 触觉模式 → 执行器控制
"""
HAPTIC_PATTERNS = {
HapticLevel.LIGHT_VIBRATION: {
'pattern': 'sine',
'frequency': 150,
'amplitude': 0.4,
'duration_ms': 500,
'repeat': 1,
'actuators': ['sw_left', 'sw_right'],
},
HapticLevel.PULSE_PATTERN: {
'pattern': 'pulse',
'frequency': 200,
'amplitude': 0.7,
'duration_ms': 200,
'gap_ms': 100,
'repeat': 3,
'actuators': ['sw_left', 'sw_right', 'sw_top', 'sw_bottom'],
},
HapticLevel.SEATBELT_TENSE: {
'pattern': 'seatbelt_pre',
'duration_ms': 300,
'force': 50,
'repeat': 1,
'actuators': ['seatbelt_left', 'seatbelt_right'],
},
HapticLevel.FULL_ALERT: {
'pattern': 'full',
'frequency': 250,
'amplitude': 1.0,
'duration_ms': 1000,
'gap_ms': 200,
'repeat': 5,
'actuators': ['sw_all', 'seatbelt_all', 'seat_all'],
},
HapticLevel.EMERGENCY: {
'pattern': 'emergency',
'frequency': 300,
'amplitude': 1.0,
'duration_ms': 2000,
'gap_ms': 100,
'repeat': 999,
'actuators': ['sw_all', 'seatbelt_all', 'seat_all'],
},
}
def determine_level(self, driver: DriverState,
speed_kmh: float) -> HapticLevel:
"""根据DMS状态确定干预等级"""
if driver.gaze_off_road_sec > 4 or driver.phone_detected:
if speed_kmh > 80:
return HapticLevel.PULSE_PATTERN
return HapticLevel.LIGHT_VIBRATION
if driver.perclos > 0.30:
if driver.fatigue_duration_sec > 10:
return HapticLevel.SEATBELT_TENSE
return HapticLevel.PULSE_PATTERN
elif driver.perclos > 0.15:
return HapticLevel.LIGHT_VIBRATION
if not driver.responsive:
if driver.fatigue_duration_sec > 30:
return HapticLevel.EMERGENCY
elif driver.fatigue_duration_sec > 15:
return HapticLevel.FULL_ALERT
elif driver.fatigue_duration_sec > 5:
return HapticLevel.SEATBELT_TENSE
return HapticLevel.NONE
def generate_waveform(self, level: HapticLevel) -> Dict:
"""生成执行器控制波形"""
if level == HapticLevel.NONE:
return {'actuators': [], 'waveform': []}
pattern = self.HAPTIC_PATTERNS[level]
if pattern['pattern'] == 'sine':
t = np.linspace(0, pattern['duration_ms']/1000,
int(pattern['duration_ms']))
waveform = pattern['amplitude'] * np.sin(2*np.pi*pattern['frequency']*t)
elif pattern['pattern'] == 'pulse':
total_duration = pattern['duration_ms'] * pattern['repeat'] + \
pattern.get('gap_ms', 0) * (pattern['repeat']-1)
t = np.linspace(0, total_duration/1000, int(total_duration*10))
waveform = np.zeros_like(t)
for i in range(pattern['repeat']):
start = i * (pattern['duration_ms'] + pattern.get('gap_ms', 0))
end = start + pattern['duration_ms']
mask = (t*1000 >= start) & (t*1000 < end)
waveform[mask] = pattern['amplitude'] * \
np.sin(2*np.pi*pattern['frequency']*t[mask])
elif pattern['pattern'] == 'seatbelt_pre':
t = np.linspace(0, pattern['duration_ms']/1000,
int(pattern['duration_ms']))
waveform = np.minimum(t / 0.05, 1.0) * pattern['force']
else:
duration = min(pattern['duration_ms'], 2000)
t = np.linspace(0, duration/1000, int(duration*10))
waveform = pattern['amplitude'] * \
np.sin(2*np.pi*pattern['frequency']*t)
return {
'actuators': pattern['actuators'],
'waveform': waveform.tolist(),
'duration_ms': len(waveform) / 10,
'pattern': pattern['pattern'],
}
if __name__ == "__main__":
system = HapticInterventionSystem()
states = [
('正常', DriverState(perclos=0.05, gaze_off_road_sec=1.0)),
('轻度分心', DriverState(gaze_off_road_sec=4.5)),
('手机使用', DriverState(phone_detected=True)),
('中度疲劳', DriverState(perclos=0.28, fatigue_duration_sec=5)),
('重度疲劳', DriverState(perclos=0.45, fatigue_duration_sec=15)),
('无响应', DriverState(responsive=False, fatigue_duration_sec=35)),
]
for name, driver in states:
level = system.determine_level(driver, speed_kmh=80)
wave = system.generate_waveform(level)
print(f"{name}: 等级{level.name}, "
f"执行器={wave.get('actuators', [])}, "
f"时长={wave.get('duration_ms', 0):.0f}ms")
|