JP2009289136A - Alarm control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately give an alarm in advance in accordance with driver's carelessness. <P>SOLUTION: An alarm control ECU 12 includes: an alarm output unit 127 for determining whether the vehicle collision probability exceeds a preset threshold and, if yes, outputting an alarm at a preset reference timing; an inattentiveness detection unit 121 for detecting whether a driver is in an inattentive state and measuring the time in which the inattentive state is continued; a closed eye detection unit 122 for detecting whether the driver closes his or her eyes and measuring the time in which a closed-eye state is continued; a time setting unit 125 for setting an advance alarm time to specify an alarm output timing for the alarm output unit 127 based on the inattentive time and the closed-eye time; and a timing change unit 126 for causing the alarm output unit 127 to output the alarm at a timing earlier only by the advance alarm time set by the time setting unit 125 on the basis of the reference timing. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an alarm control device that is mounted on, for example, a vehicle and controls the output of an alarm when there is a possibility of a collision with the vehicle.

2. Description of the Related Art Conventionally, an in-vehicle warning device that gives a warning to a driver when a possibility of collision of an own vehicle with an obstacle such as the front of a vehicle reaches a preset threshold level is known (for example, Patent Document 1). reference). In the on-vehicle alarm device described in Patent Document 1, it is detected whether or not the driver is looking aside using an image captured by a camera provided in the vehicle interior. And when a driver's side-arm is detected, a collision warning can be outputted early (= advance), and as a result, safety during vehicle travel can be improved.
JP 2007-72629 A

  However, in the in-vehicle alarm device described in Patent Document 1 or the like, for example, the face direction of the driver is set in advance with respect to the front from the state where the driver's face is substantially front and the eyes are closed (= closed eye state). Even when the vehicle is turned to a state where it is turned sideways (for example, 15 degrees) or more (for example, a state of looking aside), as in the case of a state of simply looking aside, a collision warning is issued according to the time for looking aside. As a result, the alarm may not be output at an appropriate timing.

  That is, in the former case, as compared with the latter, the eye-closed state exists prior to the looking-aside state, and therefore it is preferable to output the collision warning at an earlier timing than in the case of simply looking aside. That is, in the former case, it is preferable that the collision warning be further issued in accordance with the duration of the closed eye state (= closed eye time) that exists prior to the looking-aside state, compared to the latter.

  In the same way, even when the eye-gaze state is shifted to the eye-closed state, the collision warning is made according to the duration of the eye-catching state that exists prior to the eye-closed state (= the eye-catching time), compared to the case where the eye-closed state is simply closed. It is preferable to further advance the above. In the following description, when the driver is in at least one of a look-aside state and a closed-eye state, the driver is in a “forward careless state”.

  This invention is made in view of the said situation, Comprising: It is providing the alarm control apparatus which can perform an advance warning appropriately according to a driver | operator's forward careless state.

  In order to achieve the above object, the present invention has the following features. A first invention is an alarm control device that is mounted on a vehicle and controls the output of an alarm when there is a possibility of a collision with the vehicle, and the possibility of the collision of the vehicle is greater than or equal to a preset threshold value. It is determined whether or not there is an alarm output means for outputting an alarm at a preset reference timing when it is determined that the threshold is equal to or greater than the threshold, and whether or not the driver is in an aside state is detected. Aspect detection means for measuring the time of aside that is the time during which the state continues and eye detection that detects whether the driver is in the closed state and measures the time for which the eye is closed Means, a time setting means for setting an advance time for defining a timing for outputting an alarm to the alarm output means based on the aside time and the eye closing time, and the reference timing for the alarm output means On the basis of the above And a timing changing means for outputting an alarm only in front of the timing the advancing time set by the setting means.

  In a second aspect of the present invention, in the first aspect of the invention, when the side-by-side detection means detects that the subject is looking aside, whether or not the eye is in a closed state substantially immediately before it is detected that the subject is looking aside. A first continuation determining means for determining whether the time setting means is in an eye-closed state by the first continuation determining means, and the first continuation determining means determines that the eye is not in a closed state. Compared to the case, set a long advance time.

  According to a third aspect, in the second aspect, the first continuation determination unit is preceded by a preset first determination time from a timing at which the determination that the armpit detection unit is in the state of looking aside is started. At this timing, based on whether or not the eye-closed state is detected by the eye-closed detection means, it is determined whether or not the eye-closed state is substantially continuously immediately before it is determined that the eye is looking aside.

  In a fourth aspect based on the third aspect, the first determination time is set based on a time required for determining whether or not the aside detection means is in the aside state.

  A fifth aspect of the present invention is the above-described second aspect of the present invention, wherein the alarm is output in association with the side-viewing time, which is the time during which the side-by-side state continues, based on the reference timing. First storage means for storing the first output time in advance, and when the time setting means determines that the first continuation determination means is not in an eye-closed state, the first output time is stored in the first storage means; The first output time corresponding to the aside look time detected by the look aside detection means is set as the advance time, and if it is determined by the first continuation determination means that the eye is closed, the first storage means A time longer than the first output time that is stored and corresponds to the look-ahead time detected by the look-ahead detecting means is set as the advance time.

  In a sixth aspect based on the fifth aspect, when the time setting means determines that the first continuation determining means is in an eye-closed state, the eye-closing time corresponding to the eye-closed state is determined as the eye-closed state. The advance time is set based on the acquired eye-closing time.

  In a seventh aspect based on the sixth aspect, when the time setting means determines that the first continuation determination means is in an eye-closed state, the eye closure time acquired via the eye closure detection means The first output time stored in the first storage means corresponds to the product of the product obtained by multiplying the product by the preset first coefficient and the look-ahead time detected by the look-ahead detection means. Set as advance time.

  In an eighth aspect based on the seventh aspect, the first coefficient is set to 0.5 or more and 1 or less.

  According to a ninth aspect of the present invention, in the first or second aspect of the invention, when the closed eye detection means detects that the eye is in a closed state, the eye movement is continued substantially immediately before it is detected that the eye is closed. A second continuation determination unit that determines whether or not the vehicle is in a state, and when the time setting unit determines that the second continuation determination unit is in a state of looking aside, the first continuation determination unit determines whether or not Compared to the case where it is determined that the time is not, a longer advance time is set.

  According to a tenth aspect, in the ninth aspect, the second continuation determination unit is preceded by a preset second determination time from a timing at which the determination that the closed eye detection unit is in the closed state is started. Based on whether or not it was detected that the side-by-side state was in the side-by-side state at the timing, it is determined whether or not it was in the side-by-side state almost immediately before it was determined to be in the closed-eye state.

  In an eleventh aspect based on the tenth aspect, the second determination time is set based on a time required for determining whether or not the eye-closing detection means is in an eye-closed state.

  In a twelfth aspect according to the ninth aspect, the timing at which an alarm is output in association with the closed eye time, which is the time during which the closed eye state continues, is a time to advance based on the reference timing. Second storage means for storing the second output time in advance, and when the time setting means determines that the second continuation determination means is not in an aside state, is stored in the second storage means, The second output time corresponding to the eye closing time detected by the eye closing detecting means is set as the advance time, and when it is determined that the second continuation determining means is in an aside state, it is stored in the second storage means. A time longer than the second output time stored and corresponding to the eye closing time detected by the eye closing detecting means is set as the advance time.

  In a thirteenth aspect based on the twelfth aspect, in the case where the time setting means determines that the second continuation determination means is in the look-aside state, the eye-closing time corresponding to the look-ahead state is determined as the look-aside state. Obtained via the detecting means, and set the advance time based on the obtained look-aside time.

  In a fourteenth aspect based on the thirteenth aspect, when the time setting means determines that the second continuation determining means is in an eye-closed state, the looking aside time acquired via the aside detection means Corresponding to the sum of the eye closure times obtained by adding the eye closure time detected by the eye closure detection means to the product multiplied by the preset second coefficient, and the second output time stored in the second storage means, Set as advance time.

  In a fifteenth aspect based on the fourteenth aspect, the second coefficient is set to 0.5 or more and 1 or less.

  According to the first aspect, the warning output means determines whether or not the possibility of a vehicle collision is equal to or greater than a preset threshold value, and is set in advance when it is determined to be equal to or greater than the threshold value. Alarm is output at the reference timing. Then, it is detected whether or not the driver is looking aside, and the time for looking aside, which is the time during which the looking aside state continues, is counted. Further, it is detected whether or not the driver is in an eye-closed state, and the eye-closing time, which is a time during which the eye-closed state continues, is counted. Further, based on the look-ahead time and the eye-closing time, a leading time is set that defines a timing for outputting an alarm to the alarm output means, and the leading time set based on the reference timing is set via the alarm output means. Since the alarm is output at the timing just before the time, it is possible to appropriately issue the alarm according to the driver's forward careless state.

  That is, since the warning is output at the timing before the advance time set based on the look-aside time and the eye-closing time with the reference timing as a reference via the alarm output means, for example, the state shifts from the look-ahead state to the eye-closed state. In this case, it is possible to set an appropriate advance time according to the duration of the look-ahead state that exists prior to the closed-eye state (= look-aside time). This can be done in advance.

  According to the second aspect, when it is detected that the person is looking aside, it is determined whether or not the eye is closed substantially immediately before it is detected that the person is looking aside. If it is determined, a longer advance time is set as compared with the case where it is determined that the eyes are not closed, so that an alarm is issued more appropriately according to the driver's careless state. be able to.

  According to the third aspect of the invention, based on whether or not the eye-closed state has been detected at a timing preceding the first determination time set in advance from the timing at which the determination that the person is looking aside is started. In addition, since it is determined whether or not the eyes are closed substantially immediately before it is determined to be in the aside state, whether or not the eyes are closed substantially immediately before it is determined to be in the aside state. Can be appropriately performed with a simple configuration.

  According to the fourth aspect of the invention, since the first determination time is set based on the time required to determine whether or not the person is in the side-by-side state, the first determination time is substantially continuous immediately before it is determined to be in the side-by-side state. Thus, it is possible to appropriately determine whether or not the eye is closed with a simpler configuration.

  That is, for example, whether or not the driver is looking aside is greater than or equal to a preset threshold angle (for example, 15 degrees) with respect to the front of the driver (= hereinafter, this state is referred to as a “non-frontal state”. In order to distinguish it from the normal short-time confirmation operation of the driver (for example, sign confirmation, left-side backward confirmation at the time of left turn, etc.) It is determined that it is in a state of looking aside when it has continued for a first duration threshold value (for example, 2 seconds) that has been set, but in this case, the first determination time is approximately the first duration threshold value (= first duration threshold value). By setting to + α (= time required for image processing for identifying face orientation) + β (= allowance time)), it is determined whether or not the eye is in a closed state almost immediately before it is determined to be in the side-by-side state. Furthermore, it can be appropriately performed with a simple configuration.

  According to the fifth aspect of the invention, the first output time that is the time to advance the timing at which the alarm is output in association with the look-ahead time, which is the time during which the look-ahead state is continued, based on the reference timing. If it is determined that the eye is not closed, the first output time stored in the first storage means and corresponding to the detected look-aside time is set as the advance time. If it is determined that the eye is closed, a time longer than the first output time stored in the first storage means and corresponding to the detected look-aside time is set as the advance time. The warning can be sent out more appropriately according to the careless state of the person in front.

  That is, if the closed eye state is not substantially continuous immediately before it is detected that it is a look-ahead state, the first output time stored in the first storage means and corresponding to the detected look-ahead time is the preceding time. Therefore, by storing the appropriate first output time in the first storage means, it is possible to more appropriately issue an alarm according to the driver's forward carelessness state.

  According to the sixth aspect, when it is determined that the eye is closed, the eye closing time corresponding to the eye closing state is acquired, and the advance time is set based on the acquired eye closing time. When the eyes are in a closed state almost immediately before it is detected that the driver is looking aside, it is possible to more appropriately issue an alarm according to the driver's careless state.

  According to the seventh aspect, when it is determined that the eye is closed, a sum of the product of multiplying the acquired first eye time multiplied by the first coefficient that is detected is added. Since the first output time stored in the first storage means corresponding to the look-aside time is set as the advance time, it is possible to advance the alarm more appropriately according to the driver's forward careless state with a simple configuration. It can be performed.

  That is, when the eyes are in a closed state almost immediately before being detected to be in the state of looking aside, the detected eye closing time is set in advance to the acquired eye closing time (= the eye closing time immediately before the looking aside time). In addition, since the first output time corresponding to the summing-up time of the sum obtained by adding the product multiplied by the first coefficient is set as the advance time, it is more appropriate according to the driver's forward careless state with a simple configuration. It is possible to make an advance warning.

  According to the eighth aspect of the invention, since the first coefficient is set to 0.5 or more and 1 or less, when the eye is in a closed state almost immediately before it is detected that it is in an aside state. Since the effect of the eye-closing time existing immediately before the aside time can be appropriately reflected in the advance time, it is possible to appropriately advance the warning according to the driver's careless state.

  According to the ninth aspect, when it is detected that the eyes are closed, it is determined whether or not the eyes are in a state of looking aside immediately before it is detected that the eyes are closed. If it is determined, a longer advance time is set as compared to the case where it is determined that the driver is not looking aside. Therefore, the alarm is issued more appropriately according to the driver's careless state. be able to.

  According to the tenth aspect of the present invention, based on whether or not it is detected that the person is looking aside at a timing that is a predetermined second determination time before the determination that the eye is closed. Therefore, it is determined whether or not the eye is in a state of looking aside immediately before it is determined that the eye is closed. Can be appropriately performed with a simple configuration.

  According to the eleventh aspect of the invention, since the second determination time is set based on the time required to determine whether or not the eye is closed, it is substantially continuous immediately before it is determined that the eye is closed. Thus, it is possible to appropriately determine whether or not the person is looking aside with a simpler configuration.

  That is, for example, whether or not the eyes are closed is whether or not the opening degree of the driver's eyelid is equal to or less than a predetermined threshold (for example, 3 mm) (hereinafter, this state is referred to as “the eyelid closed state”). In order to distinguish from a driver's blinking or the like, the eyelid state is closed when the eyelid closed state continues for a second duration threshold value (for example, 1 second) set in advance in order to distinguish it from the driver's blinking or the like. However, in this case, the second determination time is substantially the second duration threshold value (= second duration threshold value + γ (= time required for image processing for identifying the opening degree of the bag) + δ (allowance time)). By setting to, it is possible to appropriately determine whether or not the person is looking aside substantially continuously immediately before it is determined that the eye is closed.

  According to the twelfth aspect of the present invention, the second output time, which is the time to advance the alarm output timing with reference to the reference timing, in association with the closed eye time, which is the time during which the closed eye state continues. The second output time corresponding to the detected eye closing time stored in the second storage means and set as the advance time is stored in advance in the second storage means and when it is determined that the state is not a look-aside state. If it is determined that the person is looking aside, the time stored in the second storage means and longer than the second output time corresponding to the detected eye closing time is set as the advance time. The warning can be sent out more appropriately according to the careless state of the person in front.

  That is, when the eye is not in a state of looking aside immediately before it is detected that the eye is closed, the second output time stored in the second storage means and corresponding to the detected eye closing time is the advance time. Therefore, by storing the appropriate second output time in the second storage means, it is possible to issue the alarm more appropriately according to the driver's forward carelessness state.

  According to the thirteenth aspect, when it is determined that the armpit is in an aside state, the armpit time corresponding to the armpit state is acquired, and the advance time is set based on the acquired armpit time. When the driver is in a state of looking aside substantially immediately before being detected as being in an eye-closed state, an alarm can be issued more appropriately according to the driver's careless state.

  According to the fourteenth aspect of the present invention, when it is determined that the person is in an aside look state, the sum of the obtained eye close time multiplied by the second coefficient set in advance is added to the product of the detected eye close time. The second output time stored in the second storage means corresponding to the eye closing time is set as the advance time, so that the warning can be issued more appropriately according to the driver's forward careless state with a simple configuration. It can be performed.

  In other words, when the eyes are in a state of looking aside substantially immediately before being detected as being in an eye-closed state, the acquired eye-closing time is set in advance to the detected eye-closing time (= a look-ahead time immediately before the eye-closing time). In addition, since the second output time corresponding to the closed eye time obtained by adding the product multiplied by the second coefficient is set as the advance time, it is more appropriate according to the driver's forward careless state with a simple configuration. It is possible to make an advance warning.

  According to the fifteenth aspect of the invention, since the second coefficient is set to 0.5 or more and 1 or less, when the eye is in a state of looking aside immediately before it is detected that the eye is closed. Since the influence of the looking-aside time that exists immediately before the eye-closing time can be appropriately reflected in the advance time, it is possible to appropriately advance the alarm according to the driver's careless state.

  Hereinafter, an embodiment of an alarm control device according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an example of the configuration of an alarm control device according to the present invention. As shown in FIG. 1, an alarm control ECU (Electronic Control Unit) 12 (= corresponding to a part of an alarm control device) according to the present invention includes an image processing ECU 11, an input device 2 as a peripheral device, and an output device. 3 is communicably connected.

  Here, with reference to FIG. 1, peripheral devices of the alarm control ECU 12 will be described. First, the input device 2 will be described. The input device 2 includes a camera 21 and a radar sensor 22. The camera 21 (corresponding to a part of the armpit detection means and part of the closed eye detection means) is a CCD (Charge Coupled Device) camera arranged in the meter hood of the driver's seat, in the meter panel, on the steering column, etc. Etc., and is an image of the driver's face. Further, the camera 21 outputs the generated image information of the driver's face to the image processing ECU 11.

  The image processing ECU 11 (corresponding to a part of the armpit detection means and a part of the closed eye detection means) performs image processing on the image information of the driver's face transmitted from the camera 21, and the driver's face orientation is determined. Face orientation angle information indicating how much it faces in the left-right direction with respect to the front, Angle detection availability information indicating whether or not the face orientation angle is detected, heel opening information indicating the driver's heel opening, And opening degree detection availability information indicating whether or not the eyelid opening is detected, and alarm control of the generated face orientation angle information, angle detection availability information, eyelid opening information and opening degree detection availability information The ECU 12 outputs to the ECU 12 (here, the aside detection unit 121 and the closed eye detection unit 122 shown in FIG. 2).

  The radar sensor 22 (corresponding to a part of the alarm output means) is a sensor that detects the inter-vehicle distance from the preceding vehicle via, for example, a millimeter wave radar or the like, and is an alarm control ECU 12 (here in FIG. 2). A signal indicating the distance between the vehicles or a signal indicating that the preceding vehicle is not detected is output to the alarm output unit 127).

  Next, the output device 3 will be described with reference to FIG. The output device 3 includes a speaker 31 and a monitor 32. The speaker 31 outputs sound corresponding to the alarm to the driver in accordance with an instruction from the alarm control ECU 12 (here, the alarm output unit 127 shown in FIG. 2). The monitor 32 is composed of an LCD (Liquid Crystal Display) or the like disposed below the meter panel, etc., and alerts the driver according to instructions from the alarm control ECU 12 (here, the alarm output unit 127 shown in FIG. 2). The image or character corresponding to is displayed.

  Next, functional configurations of the image processing ECU 11 and the alarm control ECU 12 will be described with reference to FIG. FIG. 2 is a block diagram illustrating an example of functional configurations of the image processing ECU 11 and the alarm control ECU 12. The image processing ECU 11 functionally includes a face orientation detection unit 111 and a heel opening detection unit 112, and the alarm control ECU 12 functionally includes an armpit detection unit 121, a closed eye detection unit 122, and a first continuation determination unit. 123, a second continuation determining unit 124, a time setting unit 125, a timing changing unit 126, an alarm output unit 127, a first storage unit 128, and a second storage unit 129.

  The image processing ECU 11 causes a microcomputer disposed in a proper position of the image processing ECU 11 to execute a control program stored in advance in a ROM (Read Only Memory) disposed in a proper position of the image processing ECU 11. The microcomputer is caused to function as functional units such as the face direction detecting unit 111 and the eyelid opening detecting unit 112. Further, the alarm control ECU 12 causes a microcomputer disposed at a proper position of the alarm control ECU 12 to execute a control program stored in advance in a ROM (Read Only Memory) disposed at a proper position of the alarm control ECU 12. The microcomputer includes the aside detection unit 121, the closed eye detection unit 122, the first continuation determination unit 123, the second continuation determination unit 124, the time setting unit 125, the timing change unit 126, the alarm output unit 127, and the first storage unit 128. And function as a functional unit such as the second storage unit 129.

  The face direction detection unit 111 (corresponding to a part of the side-view detection means) performs image processing on the image information of the driver's face transmitted from the camera 21 and determines which face direction of the driver is with respect to the front. The face direction angle information indicating whether or not it is oriented in the horizontal direction and the angle detection availability information indicating whether or not the face direction angle is detected are generated, and the generated face direction angle information and angle detection availability information are generated. This is a functional unit that outputs to the aside look detection unit 121.

  The eyelid opening detection unit 112 (corresponding to a part of the eye closing detection means) performs image processing on the image information of the driver's face transmitted from the camera 21, and the driver's eyelid opening (= up and down) And the opening degree detection information indicating whether or not the opening degree is detected, and the generated opening degree information and opening degree detection possibility information This is a functional unit that outputs to the closed eye detection unit 122.

  The look-ahead detection unit 121 (corresponding to a part of the look-ahead detection unit) determines whether the driver is in the look-ahead state based on the face direction angle information and the angle detection availability information input from the face direction detection unit 111. It is a functional unit that detects and measures the time of looking aside, which is the time during which the state of looking aside continues. Specifically, the side-view detection unit 121 is preset with a non-frontal state (see FIG. 3) in which the face orientation angle θ input from the face orientation detection unit 111 is greater than or equal to a threshold angle θ1 (for example, 15 degrees). In addition, it is determined to be in an aside state when continuing for the first duration threshold (for example, 2 seconds) or longer.

  Thus, since the side-view detection unit 121 determines that the side-view state is a side-view state when the non-frontal state continues for the first duration threshold TSH1 (for example, 2 seconds) or more, the driver's normal short-term confirmation It is possible to prevent an operation (for example, confirmation of a sign, confirmation of the left rear at the time of a left turn, etc.) from being erroneously determined to be an aside look state.

  The closed eye detection unit 122 (corresponding to a part of the closed eye detection unit) determines whether the driver is in an eye-closed state based on the eyelid opening degree information and the opening degree detection availability information input from the eyelid opening degree detecting unit 112. This is a functional unit that detects the closed eye time, which is the time during which the closed eye state continues. Specifically, the eye-closed detection unit 122 has a second continuation in which the eyelid closed state in which the eyelid opening input from the eyelid opening degree detection unit 112 is equal to or less than a preset threshold (for example, 3 mm) is set in the second continuation. When it continues for a time threshold (for example, 1 second) or more, it is determined that the eye is closed. Here, for the sake of convenience, when it is determined that the side-by-side detection unit 121 is in the side-by-side state (= when the face-facing angle θ is a non-front state where the angle θ is greater than or equal to a threshold angle θ1 (for example, 15 degrees)) It is assumed that the closed eye detection unit 122 cannot detect whether the eye is closed.

  As described above, the eye-closed detection unit 122 determines that the eye-closed state is the closed state when the eyelid closed state continues for a second duration threshold (for example, 1 second) or more, and thus the driver's blinking operation is performed in the closed-eye state. Therefore, it is possible to prevent erroneous determination as being.

  The first continuation determination unit 123 (corresponding to the first continuation determination unit) closes its eyes substantially immediately before it is detected that it is in the side-by-side state when the side-by-side detection unit 121 detects that it is in the side-by-side state. It is a function part which determines whether it was in a state. Specifically, the first continuation determination unit 123 closes the eyes at a timing TM2 that is a predetermined first determination time ΔT1 before the timing TM1 at which the determination that the armpit detection unit 121 is in the state of looking aside is started. Based on whether or not the detection unit 122 has detected that the eyes are closed, it is determined whether or not the eyes are closed substantially immediately before it is determined that the eyes are looking aside (see FIG. 3).

  The second continuation determination unit 124 (corresponding to the second continuation determination unit) is substantially continuously looking aside immediately before it is detected that the eye is closed when the eye-closed detection unit 122 detects that the eye is closed. It is a function part which determines whether it was in a state. Specifically, the second continuation determination unit 124 looks aside at a timing TM4 that is a predetermined second determination time ΔT2 before the timing TM3 at which the determination that the closed eye detection unit 122 starts to be in the closed state is started. Based on whether or not the detection unit 121 has detected that the subject is looking aside, it is determined whether or not the subject has been looking aside substantially immediately before it is determined that the eye is closed (see FIG. 3).

  FIG. 3 is an explanatory diagram illustrating an example of processing of the first continuation determination unit 123 and the second continuation determination unit 124. FIG. 3A is a conceptual diagram illustrating an example of the driver's operation determined by the first continuation determination unit 123 and the second continuation determination unit 124. FIG. 3B shows whether or not the first continuation determination unit 123 and the second continuation determination unit 124 have been in a closed state substantially immediately before it is determined that they are in an aside state, and in the closed state. It is a timing chart which shows an example of the timing which determines whether it was in a state of looking aside substantially continuously just before determining with there being.

  As shown in FIG. 3A, the operation M1 shifts from the front state where the face angle θ is less than the threshold angle θ1 (here, 15 degrees) to the non-front state where the face angle θ is equal to or larger than the threshold angle θ1. The driver performs. After that, when it is detected that the side-by-side detection unit 121 is in the side-by-side state, as shown in FIG. 3B, the first continuation determination unit 123 starts from the timing TM1 when the determination that the side-by-side state is in the side-by-side state is started. Based on whether or not the eye-closed state is detected by the eye-closed detection unit 122 at a timing TM2 that is a predetermined first determination time ΔT1, it is substantially continuous immediately before it is determined to be in the looking-aside state. It is determined that the eye is closed.

  In this way, based on whether or not the eye-closed state has been detected at the timing TM2 that is a predetermined first determination time ΔT1 before the timing TM1 at which the determination of the looking-aside state is started. Since it is determined whether or not the eyes are closed substantially immediately before it is determined to be in the side-by-side state, it is determined whether or not the eyes are closed substantially continuously immediately before it is determined to be in the side-by-side state. It is possible to carry out properly with a simple configuration.

Here, the first determination time ΔT1 is set based on the time (≈first duration threshold value TSH1) required to determine whether or not the side-by-side detection unit 121 is in the side-by-side state. Specifically, for example, the first determination time ΔT1 is set by the following equation (1).
First determination time ΔT1 = first duration threshold value TSH1 + α1 + β1 (1)
Here, α1 = time required for image processing for identifying the face orientation (for example, 0.1 seconds), and β1 = allowance time (for example, 0.2 seconds).

  As described above, since the first determination time ΔT1 is set based on the time required to determine whether or not the side-by-side detection unit 121 is in the side-by-side state (≈first duration threshold value TSH1), It is possible to appropriately determine whether or not the eye is in a closed state almost continuously immediately before it is determined as being a simpler configuration. In other words, since the side-view detection unit 121 detects that the non-frontal state is the side-by-side state when the non-frontal state continues for the first duration threshold value TSH1 (for example, 2 seconds) or longer, the closed-eye state and the side-by-side state are actually continuous. Even if this occurs, the closed eye state and the aside state are detected by being separated by approximately the first duration threshold value TSH1.

  Further, as shown in FIG. 3A, the face direction angle θ shifts from a non-front state where the face direction angle θ is equal to or greater than a threshold angle θ1 (here, 15 degrees) to a front state where the face direction angle θ is less than the threshold angle θ1. The driver performs the operation M2. Thereafter, when the closed eye detection unit 122 detects that the eye is closed, as shown in FIG. 3B, the second continuation determination unit 124 starts from the timing TM3 at which the determination that the eye is closed is started. In accordance with whether or not the armpit detection unit 121 has detected that the armpit is in the state of looking aside at a timing TM4 that is a second determination time ΔT2 that is set in advance, it is substantially continuous immediately before it is determined that the eye is closed. And determined to have been looking aside.

  In this way, based on whether or not it was detected that the person was looking aside at the timing TM4 before the preset second determination time ΔT2 from the timing TM3 at which the determination that the eye was closed was started. Since it is determined whether or not the eyes are in a state of looking aside immediately before it is determined that the eyes are closed, it is determined whether or not the eyes are in a state of looking aside substantially immediately before it is determined that the eyes are closed. It is possible to carry out properly with a simple configuration.

Here, the second determination time ΔT2 is set based on the time (≈second duration threshold value TSH2) required for determining whether or not the closed eye detection unit 122 is in the closed eye state. Specifically, for example, the second determination time ΔT2 is set by the following equation (2).
Second determination time ΔT2 = second duration threshold value TSH2 + α2 + β2 (2)
Here, α2 = the time required for image processing for detecting the eyelid opening (for example, 0.1 second), and β2 = the margin time (for example, 0.2 second).

  Thus, since the second determination time ΔT2 is set based on the time required to determine whether or not the closed eye detection unit 122 is in the closed eye state (≈second duration threshold value TSH2), the closed eye state Therefore, it is possible to appropriately determine whether or not the user is in the side-by-side state almost immediately before it is determined to be. In other words, since the closed eye detection unit 122 detects that the closed eye state is the closed eye state when the closed eye state continues for the second duration threshold value TSH2 (for example, 1 second) or more, in reality, the looking-ahead state and the closed eye state are continuous. Even if this occurs, the aside look state and the closed eye state are detected by being separated by approximately the second duration threshold value TSH2.

  Returning to FIG. 2 again, the functional configuration of the alarm control ECU 12 will be described. The first storage unit 128 (corresponding to the first storage means) puts the timing at which an alarm is output in association with the look-ahead time TA, which is the time during which the look-ahead state continues, with reference to the reference timing T0. It is a functional unit that stores in advance the first output time TX that is the time to perform. The first output time TX stored in the first storage unit 128 is read by the time setting unit 125.

  FIG. 5A is a graph showing an example of the relationship between the look-ahead time TA stored in the first storage unit 128 and the first output time (previous time) TX. As shown in the figure, when the horizontal axis is the look-ahead time TA, and the vertical axis is the first output time (previous time) TX, the graph is a graph between the preset time TA1 and time TA2. Is a downwardly convex curve, and the first output time (previous time) TX is set so as to be a monotonically increasing function.

  Returning to FIG. 2 again, the functional configuration of the alarm control ECU 12 will be described. The second storage unit 129 (corresponding to the second storage unit) puts the timing at which an alarm is output in association with the closed eye time TB, which is the time during which the closed eye state continues, with reference to the reference timing T0. It is a functional unit that stores in advance the second output time TY that is the time to perform. The second output time TY stored in the second storage unit 129 is read by the time setting unit 125.

  FIG. 5B is a graph showing an example of the relationship between the eye closing time TB stored in the second storage unit 129 and the second output time (previous time) TY. As shown in the figure, when the eye closure time TB is taken on the horizontal axis and the second output time (advancing time) TY is taken on the vertical axis, the eye closure time TA is between the preset time TB1 and time TB2. The second output time (previous time) TY is set so that becomes a monotonically increasing function (here, a function convex downward on the time TB1 side to a function convex upward on the time TB2 side).

  Returning to FIG. 2 again, the functional configuration of the alarm control ECU 12 will be described. The time setting unit 125 (corresponding to a time setting unit) is a functional unit that sets the advance time that defines the timing for outputting an alarm to the alarm output unit 127 based on the look-aside time and the eye-closing time. FIG. 4 is an explanatory diagram for explaining the method of setting the advance time by the time setting unit 125 for each case. FIG. 4A is a timing chart showing an example of case classification. As shown in FIG. 4A, the case 1 is detected by the armpit detection unit 121 to be in the armpit state for the armpit time T2, and there is no substantially continuous closed eye state before the armpit time T2. ing. Case 2 shows a case where the side-by-side detection unit 121 detects that the side-by-side state is in the side-by-side state T2 and there is a substantially continuous eye-closing time T1 before the side-by-side time T2. The first continuation determination unit 123 is a functional unit that determines whether it is case 1 or case 2.

  As shown in FIG. 4A, the case 3 is detected by the closed eye detection unit 122 as being in the closed state for the closed eye time T4, and there is no substantially continuous looking-ahead state before the closed eye time T4. Is shown. Case 3 shows a case where the closed eye detection unit 122 detects that the eye is closed only for the eye closing time T4 and there is a substantially continuous look-ahead time T3 before the eye closing time T4. The second continuation determination unit 124 is a functional unit that determines whether it is case 3 or case 4.

  Further, in the case 2 (= when the first continuation determination unit 123 determines that the eyes are closed), the time setting unit 125 is the case 1 (= when the eyes are closed by the first continuation determination unit 123). Set a longer advance time compared to (if it was determined that there was no). Furthermore, in the case 4 (= when the second continuation determination unit 124 determines that the person is in the aside state), the time setting unit 125 is in the case 3 (= the second continuation determination unit 124 is in the aside state). Set a longer advance time compared to (if it was determined that there was no).

  FIG. 4B shows an evaluation time (in this case, a side-viewing time) set by the time setting unit 125 in order to determine the advance time in case 1 to case 4 shown in FIG. It is a chart for explaining TA and closed eye time TB (collectively referred to as “evaluation time”). The time setting unit 125 sets the first output time TX (or the second output time TY) corresponding to the evaluation time shown in FIG. 4B as the advance time (see FIG. 5).

  Hereinafter, a method in which the time setting unit 125 sets the advance time will be described in detail with reference to FIGS. 4B and 5. In case 1, the time setting unit 125 sets the look-ahead time T <b> 2 as the evaluation time (here, the look-ahead time TA) (see FIG. 4B) and is stored in the first storage unit 128. The first output time TX1 corresponding to the time T2 is set as the advance time (see FIG. 5A). In the case 2, the time setting unit 125 adds, as the evaluation time (here, the aside time TA), the product obtained by multiplying the closed eye time T1 by the first coefficient α set in advance to the aside time T2 ( (= T2 + T1 × α) is set (see FIG. 4B), and the first output time TX2 stored in the first storage unit 128 and corresponding to the look-ahead time TA (= T2 + T1 × α) is set as the advance time. (See FIG. 5A). Here, the first coefficient α is set to 0.5 or more and 1 or less (here, α = 0.8).

  In case 3, the time setting unit 125 sets the eye closing time T4 as the evaluation time (here, the eye closing time TB) (see FIG. 4B), and is stored in the second storage unit 129, and the eyes are closed. The second output time TY1 corresponding to the time TB (= T4) is set as the advance time (see FIG. 5B). In case 4, the time setting unit 125 adds, as an evaluation time (here, the eye closing time TB), a product obtained by multiplying the side look time T3 by a preset second coefficient β and the eye closing time T4 ( = T4 + T3 × β) is set (see FIG. 4B), and the second output time TY2 stored in the second storage unit 129 and corresponding to the closed eye time TB (= T4 + T3 × β) is set as the advance time. (See FIG. 5B). Here, the second coefficient β is set to 0.5 or more and 1 or less (here, β = 0.8).

  Referring back to FIG. 2 again, the timing changing unit 126 (corresponding to the timing changing unit) is ahead of the warning output unit 127 by the advance time set by the time setting unit 125 with reference to the reference timing T0. It is a functional unit that outputs an alarm at the timing.

  The alarm output unit 127 (corresponding to an alarm output unit) determines whether or not the possibility of a vehicle collision is greater than or equal to a preset threshold, and is set in advance when it is determined that the threshold is greater than or equal to the threshold. This is a functional unit that outputs an alarm to the speaker 31 and the monitor 32 shown in FIG. 1 at the reference timing T0. However, when the warning output unit 127 receives an instruction from the timing changing unit 126 to change the timing, the warning output unit 127 outputs an alarm at a timing that is earlier by the preceding time based on the reference timing T0 according to the instruction.

  FIG. 6 is a flowchart showing an example of the operation of the alarm control ECU 12 shown in FIG. First, a time setting process, which is a process for setting the advance time, is performed by the time setting unit 125 or the like (S1). And the alarm output process which is a process which outputs an alarm by the alarm output part 127 grade | etc., Is performed (S2). When the process of step S2 is completed, the process returns to step S1, and the processes after step S1 are repeatedly executed.

  7 and 8 are detailed flowcharts showing an example of the time setting process executed in step S1 of the flowchart shown in FIG. Here, for convenience, the first output time TX is stored in advance in the first storage unit 128 in association with the look-ahead time TA, and the second output time TY is stored in advance in the second storage unit 129 in association with the eye-closing time TB. The case where it is stored will be described. First, it is determined whether or not the driver is in the side-by-side state by the side-by-side detection unit 121 (S101). If it is determined that the subject is looking aside (Yes in S101), the process proceeds to step S121 shown in FIG.

  When it is determined that the driver is not looking aside (No in S101), the closed eye detection unit 122 determines whether or not the driver is in the closed state (S103). If it is determined that the eye is not closed (No in S103), the advance time is cleared (= the advance time is not set) (S119), and the process proceeds to step S2 shown in FIG. Returned. If it is determined that the eye is closed (Yes in S103), the eye-closing time T4 is counted by the eye-closing detection unit 122 (S105). Then, it is determined by the second continuation determination unit 124 whether or not it was in the side-by-side state almost immediately before it was detected that the eye was closed (S107). If it is determined that the condition of looking aside is not substantially continuous (No in S107), the closed eye time T4 counted in step S105 is set as the evaluation time (here, the closed eye time TB) (S113), and the process Advances to step S115.

  When it is determined that the side-by-side state is substantially continuous (Yes in S107), the time setting unit 125 acquires the side-by-side time T3 via the side-by-side detection unit 121 (S109). Then, the time setting unit 125 multiplies the product obtained by multiplying the look-ahead time T3 acquired in step S109 by the second coefficient β (for example, 0.8) set in advance as the evaluation time (here, the closed eye time TB). The sum (= T4 + β × T3) obtained by adding the eye closure time T4 counted in step S105 is set (S111). When the processing of step S111 or step S113 is completed, the second output time TY2 (in this case, the eye closing time TB) corresponding to the evaluation time set in step S111 (or step S113) by the time setting unit 125 ( Alternatively, the second output time TY1) is read from the second storage unit 129 (S115). Then, the time setting unit 125 sets the second output time TY2 (or the second output time TY1) read in step S115 as the advance time (S117), and the process returns to step S2 shown in FIG. Is done.

  In the case of Yes in step S101, as shown in FIG. 8, the side-by-side detection unit 121 counts the side-by-side time T2 (S121). And it is determined by the 1st continuation determination part 123 whether it was an eye-closed state substantially continuously just before it was detected that it was a look-aside state (S123). If it is determined that the eyes are not closed substantially continuously (No in S123), the aside look time T2 counted in step S121 is set as the evaluation time (here, look aside time TA) (S129). Is advanced to step S131.

  When it is determined that the eyes are closed substantially continuously (Yes in S123), the time setting unit 125 acquires the eye closing time T1 via the eye closing detection unit 122 (S125). Then, the time setting unit 125 multiplies the product obtained by multiplying the closed eye time T1 acquired in step S125 by the first coefficient α (for example, 0.8) set in advance as the evaluation time (here, the looking-aside time TA). Then, the sum (= T2 + α × T1) obtained by adding the aside time T2 counted in step S121 is set (S127). When the process of step S127 or step S129 ends, the first output time TX2 (in this case, the eye closing time TB) corresponding to the evaluation time set in step S127 (or step S129) by the time setting unit 125 ( Alternatively, the first output time TX1) is read from the first storage unit 128 (S131). Then, the time setting unit 125 sets the first output time TX2 (or the first output time TX1) read in step S131 as the advance time (S133), and the process returns to step S2 shown in FIG. Is done.

  FIG. 9 is a detailed flowchart showing an example of the alarm output process executed in step S2 of the flowchart shown in FIG. First, the alarm output unit 127 determines whether there is a possibility of a vehicle collision (S201). If it is determined that there is no possibility of a collision (No in S201), the process is returned to step S1 shown in FIG. When it is determined that there is a possibility of collision (Yes in S201), the alarm output unit 127 determines whether or not the possibility of collision is greater than or equal to a preset threshold value (S203). If it is determined that the value is less than the threshold value (No in S203), the process returns to step S1 shown in FIG. When it is determined that the threshold value is equal to or greater than the threshold (Yes in S203), the alarm output unit 127 sets the reference timing T0 (S205).

  Then, the timing changing unit 126 determines whether or not the advance time is set by the time setting unit 125 (S207). If it is determined that the advance time is not set (No in S207), the process proceeds to step S215. When it is determined that the advance time is set (Yes in S207), the timing changing unit 126 acquires the advance time TX (or the advance time TY) set by the time setting unit 125. (S209). Then, the timing at which the alarm is output by the timing changing unit 126 is set to the timing TP that is the preceding timing TX (or the preceding timing TY) acquired in step S209 from the reference timing T0 set in step S205. It is changed (S211).

  Next, the alarm output unit 127 determines whether or not the timing TP has been reached (S213). If it is determined that the timing TP has been reached (Yes in S213), the process proceeds to step S217. If it is determined that the timing TP has not been reached (No in S213), the process is returned to step S1 shown in FIG. If No in step S207, the alarm output unit 127 determines whether or not the timing T0 set in step S205 has been reached (S215). If it is determined that the timing T0 has been reached (Yes in S215), the process proceeds to step S217. If it is determined that the timing T0 has not been reached (No in S215), the process is returned to step S1 shown in FIG. In the case of Yes in step S213 or Yes in step S215, the alarm output unit 127 outputs an alarm via the speaker 31 and the monitor 32 (S217), and the process is returned to step S1 shown in FIG. The

  Thus, based on the look-ahead time and the eye-closing time, the advance time that defines the timing for outputting an alarm to the alarm output unit 127 is set, and the reference timing T0 is set as a reference via the alarm output unit 127. Since the alarm is output at the timing TP before the set advance time, the alarm can be appropriately issued according to the driver's forward careless state.

  In other words, the alarm is output via the alarm output unit 127 at the timing TP that is the preceding time set based on the look-ahead time and the eye-closing time with reference to the reference timing T0. Therefore, for example, when a shift is made from the look-ahead state to the closed-eye state, an appropriate advance time can be set according to the duration of the look-ahead state that exists prior to the closed-eye state (= the look-ahead time). That is, it is possible to appropriately issue an alarm according to the driver's forward careless state (see case 4 and FIG. 5 in FIG. 4).

  In addition, when it is detected that it is a state of looking aside, it is determined whether or not it is a closed eye state almost immediately before it is detected that it is a state of looking aside. Compared to the case where it is determined that the eyes are not closed, a longer advance time is set, so that the alarm can be more appropriately delivered according to the driver's forward careless state (FIG. 4). Case 1, Case 2, see FIG.

  Further, the first output time TX, which is the time to advance the alarm output timing with reference to the reference timing T0, is stored in advance in the first memory in association with the look-ahead time TA, which is the time during which the look-ahead state continues. Stored in the unit 128. If it is determined that the eye is not closed, the first output time TX stored in the first storage unit 128 and corresponding to the detected look-ahead time TA is set as the advance time, and the eye is closed. If it is determined that the first output time TX is longer than the first output time TX stored in the first storage unit 128 and corresponding to the detected look-ahead time TA, the advance time is set. Therefore, it is possible to perform warnings more appropriately according to the driver's forward carelessness.

  In other words, when the eyes are not closed substantially immediately before being detected to be in the look-aside state, the first output time TX stored in the first storage unit 128 and corresponding to the detected look-ahead time TA is Since it is set as the advance time, by storing the appropriate first output time TX in the first storage unit 128, it is possible to make an advance warning more appropriately according to the driver's forward carelessness state. Can do it.

  In addition, if it is determined that the eye is closed, the sum of the obtained eye-closing time T1 multiplied by the first coefficient α set in advance and the detected look-ahead time T2 (= T2 + T1 × Since the first output time TX2 stored in the first storage unit 128 corresponding to the look-ahead time TA of α) is set as the advance time, it is further configured according to the driver's forward careless state with a simple configuration. It is possible to perform an advance warning appropriately.

  In other words, when the eyes are in a closed state almost immediately before being detected to be in the side-by-side state, the detected eye-closing time T2 is equal to the acquired eye-closing time T1 (= the eye-closing time T1 immediately before the side-by-side time). Since the first output time TX2 corresponding to the look-ahead time TA of the sum (= T2 + T1 × α) obtained by adding the product multiplied by the first coefficient α set in advance is set as the advance time, the operation is performed with a simple configuration. Thus, it is possible to perform the warning in a more appropriate manner according to the careless state of the person ahead.

  Also, since the first coefficient α is set to 0.5 or more and 1 or less, when the eye is closed substantially immediately before it is detected that it is a state of looking aside, immediately before the time for looking aside T2 Since the effect of the eye closing time T1 existing in the vehicle can be appropriately reflected in the advance time, it is possible to appropriately advance the alarm in accordance with the driver's forward carelessness.

  Further, when it is detected that the eyes are closed, it is determined whether or not the eyes are in a sideways state almost immediately before being detected that the eyes are closed. Compared with the case where it is determined that the vehicle is not looking aside, a longer advance time is set, so that the alarm can be more appropriately delivered in accordance with the driver's forward careless state (FIG. 4). Case 3, Case 4, see FIG.

  In addition, the second output time TY, which is the time to advance the warning output timing with reference to the reference timing T0, in association with the closed eye time T4, which is the time during which the closed eye state continues, is preliminarily set to the second output time TY. It is stored in the storage unit 129. If it is determined that the eye is not closed, the second output time TY1 corresponding to the detected eye closing time T4, which is stored in the second storage unit 129, is set as the advance time, and the eye-opening state is set. If it is determined that the time has elapsed, a time longer than the second output time TY1 stored in the second storage unit 129 and corresponding to the detected eye closing time T4 is set as the advance time. Therefore, it is possible to perform warnings more appropriately according to the driver's forward carelessness.

  In other words, if the side-by-side state is not substantially continuous immediately before it is detected that the eye is closed, the second output time TY1 stored in the second storage unit 129 and corresponding to the detected side-by-side time T4 is Since it is set as the advance time, the appropriate second output time TY is stored in the second storage unit 129, so that the alarm can be advanced more appropriately according to the driver's forward carelessness state. Can do it.

  Further, when it is determined that the person is looking aside, the sum obtained by multiplying the obtained aside time T3 by a preset second coefficient β and the detected eye closing time T4 (= T4 + T3 × β ), And the second output time TY2 stored in the second storage unit 129 is set as the advance time, so that it is more appropriate according to the driver's forward careless state with a simple configuration. It is possible to perform an alarm advance.

  In other words, when the eyes are in a state of looking aside substantially immediately before being detected as being in an eye-closed state, the detected eye-closing time T4 is equal to the acquired eye-aid time T3 (= a look-ahead time T3 immediately before the eye-closing time). Since the second output time TY2 corresponding to the closed eye time TB of the sum (= T4 + T3 × β) obtained by adding the product multiplied by the second coefficient β set in advance is set as the advance time, the operation is performed with a simple configuration. Thus, it is possible to perform the warning in a more appropriate manner according to the careless state of the person ahead.

  Furthermore, since the second coefficient β is set to 0.5 or more and 1 or less, immediately before the eye-closing time T4 when it is in a state of looking aside almost immediately before it is detected that the eye is closed. Since the influence of the look-ahead time T3 existing in the vehicle can be appropriately reflected in the advance time, it is possible to appropriately advance the alarm according to the driver's forward carelessness.

The alarm control ECU according to the present invention is not limited to the alarm control ECU 12 according to the above-described embodiment, and may be in the following form.
(A) In the present embodiment, the case where the alarm control ECU 12 outputs an alarm to the speaker 31 and the monitor 32 has been described. However, the alarm control ECU 12 outputs an alarm to one of the speaker 31 and the monitor 32. But it ’s okay. Further, in the present embodiment, the case where the alarm control ECU 12 directly outputs an alarm to the speaker 31 and the monitor 32 has been described. However, the alarm control ECU 12 performs the speaker 31 and the monitor 32 via other ECUs. May be configured to output an alarm. Furthermore, although the case where the alarm control ECU 12 outputs an alarm to the driver via the speaker 31 and the monitor 32 has been described, the alarm control ECU 12 may be connected via another device (for example, a vibrator that gives vibration to the driver). The alarm may be output.

  (B) In the present embodiment, the alarm control ECU 12 functionally includes an armpit detection unit 121, a closed eye detection unit 122, a first continuation determination unit 123, a second continuation determination unit 124, a time setting unit 125, and a timing change unit. 126, the alarm output unit 127, the first storage unit 128, the second storage unit 129 and the like have been described. However, the armpit detection unit 121, the closed eye detection unit 122, the first continuation determination unit 123, and the second continuation determination unit 124 are described. Among the time setting unit 125, the timing changing unit 126, the alarm output unit 127, the first storage unit 128, and the second storage unit 129, at least one functional unit is configured by hardware such as an electric circuit. Form may be sufficient.

  (C) In the present embodiment, the case where the forward careless state is composed of a look-aside state and a closed eye state has been described. However, in addition to the look-ahead state and the closed-eye state, the forward careless state is another careless state (for example, Although it is not a side-viewing state, it may be in a form including a state in which a bulletin board in front is being continuously viewed, a state in which a phone call is made, and the like.

  (D) In the present embodiment, when it is determined that the side-by-side detection unit 121 is in the side-by-side state (= when the face-facing angle θ is a non-front state where the angle θ is greater than or equal to the threshold angle θ1 (for example, 15 degrees)). In the above description, the closed eye detection unit 122 cannot detect whether or not the eye is closed. However, the closed eye detection unit 122 can always detect whether or not the eye is closed. (In other words, a form in which the aside look state and the closed eye state can be detected simultaneously) may be used.

  In this case, whether or not the first continuation determination unit 123 is closed at timing TM1 (see FIG. 3B) instead of (or in addition to) timing TM2 (see FIG. 3B). On the basis of this, it may be possible to determine whether or not the eyes are in a closed state almost immediately before the looking aside. Further, the second continuation determination unit 124 is based on whether or not it is in an aside state at the timing TM3 (see FIG. 3B) instead of (or in addition to) the timing TM4 (see FIG. 3B). Thus, it may be possible to determine whether or not the user is in the side-by-side state almost immediately before the closed-eye state.

  (E) In the present embodiment, the first continuation determination unit 123 is in a closed eye state substantially immediately before the looking-aside state based on whether or not the eye is closed at the timing TM2 (see FIG. 3B). However, the first continuation determination unit 123 is in the closed state at another timing (for example, 0.1 second before the timing TM2) instead of (or in addition to) the timing TM2. Based on whether or not, it may be determined whether or not the eyes are closed substantially immediately before the aside state. It can be more accurately determined whether or not the eye is in a closed state at a plurality of timings.

  (F) In the present embodiment, the second continuation determination unit 124 substantially continuously immediately before the eye-closed state based on whether or not it is in the state of looking aside at the timing TM4 (see FIG. 3B). However, the second continuation determination unit 124 has changed to the timing TM4 (or in addition) at another timing (for example, 0.1 second before the timing TM4). Based on whether or not, it may be determined whether or not it was a state of looking aside substantially immediately before the closed eye state. It can be more accurately determined whether it was a side-by-side state substantially immediately before the eye-closed state by determining whether it is a side-by-side state at a plurality of timings.

  (G) In the present embodiment, when the first continuation determination unit 123 determines that the eye is closed (= case 2 in FIG. 4), the time setting unit 125 sets the look-ahead time TA (= T2 + T1 × Although the case where the first output time TX2 corresponding to α) is set as the advance time has been described, the time setting unit 125 uses the first output time TX1 corresponding to the armpit time TA (= T2) as the advance time. Any form that sets a long time may be used. For example, the time setting unit 125 may set the sum of the first output time TX1 and a preset time (for example, 1 second) as the advance time. In this case, the process is simplified.

  (H) In the present embodiment, when the second continuation determination unit 124 determines that the person is looking aside (= case 4 in FIG. 4), the time setting unit 125 sets the eye closure time TB (= T4 + T3 ×). Although the case where the second output time TY2 corresponding to β) is set as the advance time has been described, the time setting unit 125 determines that the advance time is from the second output time TY1 corresponding to the armpit time TB (= T4). Any form that sets a long time may be used. For example, the time setting unit 125 may set the advance time as a sum obtained by adding a preset time (for example, 1 second) to the second output time TY1. In this case, the process is simplified.

  The present invention can be applied to, for example, an alarm control device that is mounted on a vehicle and controls the output of an alarm when there is a possibility of a collision with the vehicle.

The block diagram which shows an example of a structure of the alarm control apparatus which concerns on this invention The block diagram which shows an example of a function structure of image processing ECU and alarm control ECU Explanatory drawing which shows an example of a process of a 1st continuation determination part and a 2nd continuation determination part Explanatory drawing explaining how the advance time is set by the time setting unit for each case The graph which shows an example of the relationship between the armpit time TA and the first output time TX, and the relationship between the eye closing time TB and the second output time TY. The flowchart which shows an example of operation | movement of alarm control ECU shown in FIG. Detailed flowchart (first half) showing an example of the time setting process executed in step S1 of the flowchart shown in FIG. Detailed flowchart (second half) showing an example of the time setting process executed in step S1 of the flowchart shown in FIG. Detailed flowchart showing an example of alarm output processing executed in step S2 of the flowchart shown in FIG.

Explanation of symbols

11 Image processing ECU (part of alarm control device)
111 Face orientation detection unit (part of armpit detection means)
112 eyelid opening degree detection part (a part of eye-closing detection means)
12 Alarm control ECU (part of the alarm control device)
121 Armpit detection unit (part of armpit detection means)
122 Closed eye detection unit (part of closed eye detection means)
123 1st continuation determination part (1st continuation determination means)
124 2nd continuation determination part (2nd continuation determination means)
125 hours setting section (time setting means)
126 Timing changing section (timing changing means)
127 Alarm output section (alarm output means)
128 1st memory | storage part (1st memory | storage means)
129 Second storage unit (second storage means)
2 Input device 21 Camera (a part of the armpit detection means, a part of the closed eye detection means)
22 Radar sensor (part of alarm output means)
3 Output equipment 31 Speaker 32 Monitor

Claims (15)

An alarm control device that is mounted on a vehicle and controls the output of an alarm when there is a possibility of a collision with the vehicle,
An alarm output means for determining whether or not the possibility of a collision of the vehicle is equal to or greater than a preset threshold value, and to output an alarm at a preset reference timing when it is determined to be equal to or greater than the threshold value;
Detecting whether the driver is in the side-by-side state and measuring the side-by-side time, which is the time during which the side-by-side state continues,
Closed eye detection means for detecting whether or not the driver is in the closed eye state, and counting the closed eye time, which is the time during which the closed eye state continues,
A time setting means for setting an advance time that defines a timing for outputting an alarm to the alarm output means based on the aside time and the eye closing time;
An alarm control device comprising: timing changing means for causing the alarm output means to output an alarm at a timing preceding the advance time set by the time setting means with reference to the reference timing. A first continuation determination unit that determines whether or not the side-by-side detection unit is in the closed state immediately before being detected to be in the side-by-side state when the side-by-side detection unit has been detected;
When the time setting means determines that the first continuation determination means is in an eye-closed state, the time setting means has a longer advance time compared to a case where the first continuation determination means determines that the eye is not in a closed state. The alarm control device according to claim 1, wherein:   The first continuation determining means is in an eye-closed state by the eye-closed detecting means at a timing that is a predetermined first determination time before a timing at which the determination that the armpit detection state is in the aside is started. The alarm control device according to claim 2, wherein it is determined whether or not the eye is closed substantially immediately before it is determined that the subject is looking aside based on whether or not the subject is detected.   The alarm control device according to claim 3, wherein the first determination time is set based on a time required for determining whether or not the aside detection means is in the aside state. First storage means for preliminarily storing a first output time, which is a time to advance a warning output timing with reference to the reference timing, in association with a sidewatch time, which is a time during which the look-ahead state continues. Prepared,
The time setting means includes
If it is determined by the first continuation determination means that the eye is not closed, the first output time stored in the first storage means and corresponding to the look-ahead time detected by the look-ahead detection means is set as the advance time. Set as
If it is determined by the first continuation determination means that the eye is closed, a time longer than the first output time stored in the first storage means and corresponding to the look-ahead time detected by the look-ahead detection means is set. The alarm control device according to claim 2, wherein the alarm control device is set as the advance time.   The time setting means, when it is determined by the first continuation determination means that the eye is closed, obtains an eye closing time corresponding to the eye closing state via the eye closing detection means, and the acquired eye closing time The alarm control device according to claim 5, wherein the advance time is set based on   The time setting means, when it is determined by the first continuation determination means that the eye is closed, is obtained by multiplying the product obtained by multiplying the eye closing time acquired via the eye closing detection means by a first coefficient set in advance. The first output time stored in the first storage means is set as the advance time corresponding to the sum of the looking-aside times obtained by adding the looking-aside times detected by the aside-looking detection means. Alarm control device.   The alarm control device according to claim 7, wherein the first coefficient is set to 0.5 or more and 1 or less. A second continuation determination unit that determines whether or not the eyes are in a state of looking aside immediately before being detected as being in a closed state when it is detected as being in the closed state by the closed eye detection unit;
When the time setting means determines that the second continuation determination means is in an aside state, the time setting means has a longer lead time compared to the case where the second continuation determination means determines that the state is not an aside state. The alarm control device according to claim 1 or 2, wherein:   The second continuation determination unit is in the side-by-side state by the side-by-side detection unit at a timing preceding the second determination time set in advance from the timing at which the determination that the eye-closed detection unit is in the closed state is started. The alarm control device according to claim 9, wherein it is determined whether or not a side-by-side state has been detected substantially continuously immediately before being determined to be in an eye-closed state.   The alarm control device according to claim 10, wherein the second determination time is set based on a time required to determine whether or not the closed eye detection unit is in the closed eye state. A second storage means for preliminarily storing a second output time, which is a time to advance the timing at which an alarm is output in association with the eye-closing time, which is a time during which the eye-closed state continues, with reference to the reference timing; Prepared,
The time setting means includes
When it is determined by the second continuation determination means that the eye is not looking aside, the second output time stored in the second storage means and corresponding to the eye closing time detected by the eye closing detection means is set as the advance time. Set as
When it is determined by the second continuation determination means that the eye is in an aside state, a time longer than the second output time corresponding to the eye closing time stored in the second storage means and detected by the eye closing detection means is set. The alarm control device according to claim 9, wherein the alarm control device is set as the advance time.   The time setting means, when it is determined by the second continuation determination means that the armpit is in an aside state, obtains the armpit time corresponding to the armpit state via the armpit detection means, The alarm control device according to claim 12, wherein the advance time is set based on   If the second continuation determining unit determines that the eye is closed, the time setting unit multiplies the product obtained by multiplying the side look time acquired via the side look detection unit by a second coefficient set in advance. The second output time stored in the second storage means is set as the advance time corresponding to the sum of the eye closing times obtained by adding the eye closing times detected by the eye closing detection means. Alarm control device.   The alarm control device according to claim 14, wherein the second coefficient is set to 0.5 or more and 1 or less.

Images