JP2020166309A - Driving support system, driving support method, and driving support program - Google Patents

Abstract

To provide a technology in which a gaze target that a driver is gazing at can be appropriately determined even when a bring-in item of the driver is inside a vehicle.SOLUTION: A driving support system comprises: a gazing direction acquisition unit for acquiring a right-eye gazing direction DR that is the gazing direction of the right eye of a driver of a vehicle and a left-eye gazing direction DL that is the gazing direction of the left eye of the driver; a gaze-point information acquisition unit for acquiring gaze-point information that is information showing the point of a gaze-point P, an intersection point between the right-eye gazing direction DR and the left-eye gazing direction DL; an inside-the-vehicle information acquisition unit for acquiring inside-the-vehicle information showing the configuration inside the vehicle; and a gaze target determination unit for determining a gaze target OBJ at which the driver is gazing based on the gaze-point information and the inside-the-vehicle information.SELECTED DRAWING: Figure 3

Description

The present invention relates to a technique for determining a gaze target that the driver is gaze at based on the gaze direction of the driver who drives the vehicle.

An example of such a technique is disclosed in Patent Document 1 below. In the technique of Patent Document 1 below, the position of the driver's eyes is detected, and the direction of the driver's line of sight is calculated from the position of the eyes. Then, based on the direction of the driver's line of sight and the coordinates of the article in the vehicle interior, the gaze target that the driver is gazing at is determined.

In the technique of Patent Document 1, the coordinates of the vehicle interior constituent articles such as the air conditioner and the navigation system fixed at a predetermined position in the vehicle interior are stored in the storage device in advance, and are used when determining the gaze target. To.

JP-A-6-251272

By the way, in many cases, in addition to the above-mentioned components of the vehicle interior, there are many items brought in by the driver, such as mobile devices. Generally, the brought-in article is moved to a position where the driver can easily see the brought-in article when the driver gazes at the brought-in article. Therefore, the coordinates of the brought-in article cannot be stored in the storage device in advance and cannot be used when determining the gaze target.

In the technique of Patent Document 1, when the vehicle interior component whose coordinates are stored in the storage device is located in the direction of the driver's line of sight, the vehicle interior component can be determined. On the other hand, in the technique of Patent Document 1, when the driver is gazing at the brought-in article whose coordinates are not stored in the storage device, it is not possible to determine the gaze target, or the gaze is different from the actual one. There was a possibility of misrecognizing that he was gazing at the subject.

Therefore, it is desired to realize a technique capable of appropriately determining the gaze target that the driver is paying attention to even when the brought-in article brought in by the driver is present in the vehicle interior.

In view of the above, the characteristic configuration of the driving support system is
A line-of-sight direction acquisition unit that acquires the right line-of-sight direction, which is the line-of-sight direction of the driver's right eye, and the left line-of-sight direction, which is the line-of-sight direction of the driver's left eye.
A gazing point information acquisition unit that acquires gazing point information, which is information indicating the position of the gazing point, which is an intersection of the right visual line direction and the left visual line direction.
An vehicle interior information acquisition unit that acquires vehicle interior information indicating the configuration of the vehicle interior of the vehicle,
The point is that the gaze target determination unit for determining the gaze target that the driver is gazing at is provided based on the gaze point information and the vehicle interior information.

Further, in view of the above, the technical features of the driving support system can be applied to a driving support method and a driving support program, and such a method and a program, and further, a storage medium in which such a program is stored. (For example, optical disks, flash memories, etc.) are also disclosed herein.

In that case, the characteristic composition of the driving support method is
A line-of-sight acquisition step for acquiring the right line-of-sight direction, which is the line-of-sight direction of the driver's right eye, and the left line-of-sight direction, which is the line-of-sight direction of the driver's left eye.
A gazing point information acquisition step for acquiring gazing point information, which is information indicating the position of the gazing point, which is an intersection of the right visual line direction and the left visual line direction,
The vehicle interior information acquisition step for acquiring vehicle interior information indicating the configuration of the vehicle interior of the vehicle, and
The point is that the gaze target determination step for determining the gaze target that the driver is gazing at is provided based on the gaze point information and the vehicle interior information.

In that case, the characteristic composition of the driving support program is
A line-of-sight acquisition function for acquiring the right line-of-sight direction, which is the line-of-sight direction of the driver's right eye, and the left line-of-sight direction, which is the line-of-sight direction of the driver's left eye.
A gazing point information acquisition function for acquiring gazing point information, which is information indicating the position of the gazing point, which is an intersection of the right visual line direction and the left visual line direction,
An interior information acquisition function for acquiring interior information indicating the configuration of the interior of the vehicle, and
The point is to make the computer realize a gaze target determination function for determining the gaze target that the driver is gazing at based on the gaze point information and the vehicle interior information.

According to these feature configurations, the gazing point information indicating the position of the gazing point, which is the intersection of the right visual line direction and the left visual line direction, is used for determining the gazing target. Thereby, it is possible to determine whether or not the gaze target is in the vehicle interior and whether or not the gaze target is a vehicle interior constituent article fixed in the vehicle interior. Therefore, even when the items brought in by the driver are present in the vehicle interior, it is possible to appropriately determine the object to be watched by the driver.

Block diagram showing the schematic configuration of the driving support system according to the embodiment Diagram showing the driver driving the vehicle The figure which shows the determination of the gaze target by the gaze target determination part The figure which shows the determination of the gaze target by the gaze target determination part Flowchart showing an example of the procedure of driving support processing

Hereinafter, embodiments of the driving support system (including the driving support method and the driving support program) according to the embodiment will be described with reference to the drawings. The driving support system 100 according to the embodiment is a system that determines the gaze target OBJ that the driver O is gazing at based on the line-of-sight direction of the driver O who drives the vehicle V (see FIG. 2). As shown in FIG. 1, the driving support system 100 includes a control unit 10. Although not shown, the control unit 10 includes an arithmetic processing unit (Central Processing Unit) or the like as a core member, and also includes a storage device that the arithmetic processing unit can refer to. This storage device is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.

The control unit 10 realizes the functions of each functional unit of the control unit 10 shown in FIG. 1 by executing various programs (each program constituting the driving support program) stored in the storage device. That is, each functional unit of the driving support system 100 is composed of software (program) stored in the storage device, hardware such as a separately provided arithmetic circuit, or both. In other words, a program (driving support program) for realizing the functions of each functional unit of the driving support system 100 in the arithmetic processing unit (computer) is stored in a storage device that can be referred to by the arithmetic processing unit. The driving assistance program is provided, for example, by a storage medium or via a communication network. When the driving support system 100 is incorporated and used in a navigation system for a vehicle, the provided driving support program is installed in, for example, an in-vehicle device of the navigation system to realize the driving support system 100. The driving support system 100 is not limited to the in-vehicle device, and may be realized by using a portable device (portable navigation device, portable information terminal device, multifunctional mobile phone (smartphone), etc.) that can be carried by the user. ..

As shown in FIG. 1, the driving support system 100 includes a storage unit 20 and a detection unit 30 in addition to the control unit 10.

The storage unit 20 is configured to be able to store various types of information. The storage unit 20 stores vehicle interior information indicating the configuration of the vehicle V in the vehicle interior R. The vehicle interior information includes information (shape, position in the vehicle interior R, etc.) regarding a plurality of vehicle interior constituent articles A1 constituting the vehicle interior R. As shown in FIG. 2, the plurality of vehicle interior constituent articles A1 are fixed in the vehicle interior R. The plurality of vehicle interior components A1 include a steering wheel SW for the driver O to grasp and steer the wheels of the vehicle V, a navigation system NV for providing route guidance, and a driver O for visually recognizing the outside of the vehicle V. Includes window WD and the like. In addition, at least a part of the data (including the program and the like) stored in the storage device of the control unit 10 may be stored in the storage unit 20.

The detection unit 30 has a device for acquiring information on both eyes of the driver O. In the present embodiment, the detection unit 30 has a vehicle interior camera 31 arranged in the vehicle interior R. The vehicle interior camera 31 captures a binocular image which is an image including both eyes of the driver O.

As shown in FIG. 1, the driving support system 100 has a line-of-sight direction acquisition unit 11, a gazing point information acquisition unit 12, a vehicle interior information acquisition unit 13, and a gaze target determination unit as functional units constituting the control unit 10. It is equipped with 14.

The line-of-sight direction acquisition unit 11 is a functional unit that acquires the right line-of-sight direction DR, which is the line-of-sight direction of the driver O's right eye, and the left line-of-sight direction DL (see FIGS. 3 and 4), which is the line-of-sight direction of the driver O's left eye. Is. In the present embodiment, the process executed by the line-of-sight direction acquisition unit 11 corresponds to the "line-of-sight direction acquisition step", and the function realized by executing the process corresponds to the "line-of-sight direction acquisition function".

In the present embodiment, the line-of-sight direction acquisition unit 11 first performs image recognition processing on the binocular image captured by the vehicle interior camera 31, and recognizes the pupils or irises of both eyes of the driver O in the binocular image. .. This image recognition process includes, for example, a binarization process for a binocular image, an edge detection process for the binocular image subjected to the binarization process, a pattern matching process based on the edge shape detected by the edge detection process, and the like. .. Next, the line-of-sight direction acquisition unit 11 calculates the positions of each part (pupil, iris, etc.) of both eyes of the driver O in the vehicle interior R based on the result of the image recognition processing for the images of both eyes. Since the position of the vehicle interior camera 31 in the vehicle interior R is known, the relative positional relationship between the vehicle interior camera 31 and the driver O's eyes is calculated based on the result of the image recognition processing for the binocular image. The positions of both eyes of the driver O in the passenger compartment R can be estimated. Finally, the line-of-sight direction acquisition unit 11 calculates the right line-of-sight direction DR and the left line-of-sight direction DL based on the positions of both eyes of the driver O in the vehicle interior R. Each of the right visual line direction DR and the left visual line direction DL can be calculated based on, for example, the position of the pupil or the iris with respect to the reference point (for example, the inner corner of the eye) of the driver O's eye.

The gazing point information acquisition unit 12 is a functional unit that acquires gazing information, which is information indicating the position of the gazing point P, which is the intersection of the right visual line direction DR and the left visual line direction DL. In the present embodiment, the process executed by the gaze point information acquisition unit 12 corresponds to the "gaze information acquisition step", and the function realized by executing the process corresponds to the "gaze information acquisition function".

In the present embodiment, the gazing point information includes information indicating the gazing point distance Lp, which is the distance from both eyes of the driver O to the gazing point P, and the direction in which the gazing point P is located with respect to both eyes of the driver O. Information indicating a certain gaze direction Dp and information are included. That is, in the present embodiment, the gazing point information acquisition unit 12 acquires information indicating the gazing point distance Lp and information indicating the gazing point direction Dp. The position of the gazing point P can be calculated based on the right visual line direction DR and the left visual line direction DL. Then, each of the gazing point distance Lp and the gazing point direction Dp can be calculated based on the position of the gazing point P.

The vehicle interior information acquisition unit 13 is a functional unit that acquires vehicle interior information indicating the configuration of the vehicle V in the vehicle interior R. In the present embodiment, the vehicle interior information acquisition unit 13 acquires the vehicle interior information from the storage unit 20 in which the vehicle interior information is stored. Further, in the present embodiment, the process executed by the vehicle interior information acquisition unit 13 corresponds to the "vehicle interior information acquisition step", and the function realized by executing the process corresponds to the "vehicle interior information acquisition function". ..

The gaze target determination unit 14 is gaze target OBJ that the driver O is gazing at based on the gaze information acquired by the gaze information acquisition unit 12 and the vehicle interior information acquired by the vehicle interior information acquisition unit 13. It is a functional part that determines. In the present embodiment, the process executed by the gaze target determination unit 14 corresponds to the “gaze target determination step”, and the function realized by executing the process corresponds to the “gaze target determination function”.

Hereinafter, the determination of the gaze target OBJ by the gaze target determination unit 14 of the present embodiment will be described with reference to FIGS. 3 and 4. In FIGS. 3 and 4, the position of the pupil or iris of the driver O's right eye, which determines the DR in the right visual line direction, is shown as the right eye position ER. Further, the position of the pupil or iris of the driver O's left eye, which determines the DL in the left visual line direction, is shown as the left eye position EL. Further, in FIGS. 3 and 4, the intersection of the straight line X passing through the right eye position ER and the left eye position EL and the perpendicular line of the straight line X passing through the gazing point P is shown as the viewpoint position S. In the present embodiment, the distance from the viewpoint position S to the gazing point P corresponds to the gazing point distance Lp. That is, the distance from the viewpoint position S to the gazing point P corresponds to the "distance from both eyes of the driver O to the gazing point P". Further, the direction from the viewpoint position S toward the gazing point P corresponds to the gazing point direction Dp. That is, the direction from the viewpoint position S toward the gazing point P corresponds to the "direction in which the gazing point P is located with respect to both eyes of the driver O".

The gazing distance Lp is the right visual line angle α, which is the angle of the right visual line direction DR with respect to the straight line X, the left visual line angle β, which is the angle of the left visual line direction DL with respect to the straight line X, and the distance between the right eye position ER and the left eye position EL. It can be calculated based on the distance between both eyes W. The specific calculation method of the gazing focal length Lp is shown below.

First, assuming that the distance from the viewpoint position S to the right eye position ER is the right eye side distance WR and the distance from the viewpoint position S to the left eye position EL is the left eye side distance WL, the distance between both eyes W is expressed by the following equation (1). Can be done.

W = WR + WL ・ ・ ・ (1)

Further, the tangent of the right visual line angle α and the tangent of the left visual line angle β can be expressed by the following equations (2) and (3), respectively.

tanα = Lp / WR ・ ・ ・ (2)
tanβ = Lp / WL ・ ・ ・ (3)

Then, based on the above equations (2) and (3), the right eye side distance WR and the left eye side distance WL can be expressed by the following equations (4) and (5), respectively.

WR = Lp / tanα ・ ・ ・ (4)
WL = Lp / tanβ ・ ・ ・ (5)

Finally, by substituting the above equations (4) and (5) into the above equation (1), the gazing point distance Lp can be expressed by the following equation (6).

Lp = W (tanαtanβ) / (tanα + tanβ) ・ ・ ・ (6)

The focal length Lp can be calculated by using the equation (6) obtained in this way. In the present embodiment, the gazing point information acquisition unit 12 calculates the gazing point distance Lp using the above equation (6).

As shown in FIG. 3, in the present embodiment, the gaze target determination unit 14 determines that the gaze target OBJ is the carry-on article A2 when the gaze target distance Lp is less than the article distance La. The carry-on article A2 is an article that is not included in the vehicle interior information and is an article that the driver O brought into the vehicle interior R. Examples of the carry-on item A2 include various mobile terminals such as smartphones, tablet terminals and mobile phones, and items worn by driver O such as wristwatches.

Here, the article distance La is the distance from both eyes of the driver O to the article A1a in the gazing direction. The gazing point direction article A1a is a vehicle interior component article A1 located in the gazing point direction Dp. In the present embodiment, the distance from the viewpoint position S to the article A1a in the gazing direction corresponds to the article distance La. That is, the distance from the viewpoint position S to the gazing-view direction article A1a corresponds to "the distance from both eyes of the driver O to the gazing-point direction article A1a". As described above, the vehicle interior information acquired by the vehicle interior information acquisition unit 13 includes information (shape, position in the vehicle interior R, etc.) regarding the vehicle interior constituent article A1. Therefore, the article distance La can be calculated based on the vehicle interior information.

That is, in the present embodiment, the gaze target determination unit 14 is the gaze target OBJ brought-in article A2 when the gaze target P is located between the driver O and the vehicle interior constituent article A1 in the gaze direction Dp. Is determined. This is because even if the vehicle interior constituent article A1 (gaze direction article A1a) exists in the line-of-sight direction (gaze direction Dp) of the driver O, the gaze point is closer to the driver O side than the vehicle interior constituent article A1. When P is located, it means that the driver O determines that he / she is paying attention to the brought-in article A2 instead of the vehicle interior constituent article A1.

As shown in FIG. 4, in the present embodiment, the gaze target determination unit 14 gazes when the gaze distance Lp is equal to or greater than the article distance La and the gaze direction article A1a is the window WD of the vehicle V. It is determined that the target OBJ is outside the vehicle V. Further, in the present embodiment, when the gaze target distance Lp is equal to or greater than the article distance La and the gaze direction article A1a is not the window WD of the vehicle V, the gaze target OBJ is in the vehicle interior. It is determined that the component article A1. That is, in the present embodiment, when the gazing point P is at the same position as the gazing point direction article A1a or at a position farther from the gazing point direction article A1a with respect to the driver O, the gazing point direction article A1a is the vehicle V. Based on whether or not the vehicle is the window WD, it is determined whether the driver O is gazing at the outside of the vehicle V or the vehicle interior component A1 through the window WD. The window WD includes a front window WDf arranged on the front side of the vehicle V, a plurality of side windows WDs arranged on the right and left sides of the vehicle V, and a rear window arranged on the rear side of the vehicle V. Including. As described above, the vehicle interior information acquired by the vehicle interior information acquisition unit 13 includes information (shape, position in the vehicle interior R, etc.) regarding the vehicle interior constituent article A1. Since the window WD is the vehicle interior component A1, information regarding the window WD (shape, position in the vehicle interior R, etc.) is also included in the vehicle interior information. Therefore, it is possible to determine whether or not the gazing point direction article A1a is the window WD based on the vehicle interior information.

As shown in FIG. 2, in the present embodiment, the gaze target determination unit 14 is in the case where the gaze target distance Lp is less than the specified determination threshold TH and the gaze direction article A1a is the window WD of the vehicle V. , It is determined that the gaze target OBJ is the carry-on article A2. Further, in the present embodiment, the gaze target determination unit 14 determines that the gaze target OBJ is the vehicle V when the gaze distance Lp is equal to or higher than the determination threshold TH and the gaze direction article A1a is the window WD of the vehicle V. Judged to be outside of. That is, in the present embodiment, when the window WD of the vehicle V exists in the gaze direction Dp, the driver O passes through the window WD of the vehicle V based on whether the gaze distance Lp is less than the determination threshold value TH. It is determined whether the outside of the window is being watched or the brought-in article A2 is being watched.

It is preferable that the determination threshold value TH is set with reference to a position where the carry-on article A2 is unlikely to be present. For example, the determination threshold value TH can be set to a value larger than the arm length of the driver O. In the present embodiment, the determination threshold value TH is the first determination distance Lth1 or more, which is the distance from both eyes of the driver O to the front window WDf of the vehicle V, and is from both eyes of the driver O to the front end portion of the vehicle V. It is set to the second determination distance Lth2 or less, which is the distance.

In the example shown in FIG. 2, the first determination distance Lth1 is the inner surface (vehicle compartment) of the virtual line and the front window WDf from the viewpoint position S when a virtual line is drawn horizontally from the viewpoint position S toward the front window WDf. It is the distance to the intersection with the surface on the R side). Further, the second determination distance Lth2 is the distance from the viewpoint position S in the horizontal direction to the front end portion of the vehicle V. Further, in the example shown in FIG. 2, the gazing point direction Dp extends horizontally.

In the present embodiment, the gaze target determination unit 14 causes the gaze target OBJ to perform a warning operation regarding the inattentive driving to the driver O when the gaze target OBJ is a controllable article. In the example shown in FIG. 2, the gaze target OBJ (carry-on article A2) is a mobile terminal. Therefore, in this example, the gaze target determination unit 14 displays a warning about inattentive driving on the display of the mobile terminal which is the gaze target OBJ (bring-in article A2), and emits a warning sound about inattentive driving from the speaker of the mobile phone. Have the gaze target OBJ perform a warning operation such as generating. Such a warning operation can be performed when the mobile terminal is communicably connected to the driving support system 100. For example, when the driving support system 100 is incorporated in the navigation system NV and the navigation system NV and the mobile terminal are connected by a specified wireless communication standard, the driving support system 100 can be used. It is possible to issue a warning operation command to the mobile terminal.

In the following, an example of the procedure of the driving support processing executed in the driving support system 100 will be described with reference to FIG.

As shown in FIG. 5, first, the gaze target determination unit 14 determines whether or not the gaze direction article A1a is the window WD of the vehicle V (step # 1). As described above, it is possible to determine whether or not the gazing point direction article A1a is the window WD based on the vehicle interior information acquired by the vehicle interior information acquisition unit 13.

When the gaze target determination unit 14 determines that the gaze direction article A1a is the window WD of the vehicle V (step # 1: Yes), whether the gaze distance Lp is less than the article distance La (Lp <La). Alternatively, it is determined whether the gazing point distance Lp is less than the determination threshold value TH (Lp <TH) (step # 2). On the other hand, when the gaze target determination unit 14 determines that the gaze direction article A1a is not the window WD of the vehicle V (step # 1: No), the gaze distance Lp is less than the article distance La (Lp <La). Whether or not it is determined (step # 3).

In step # 2, the gaze target determination unit 14 determines that the gaze distance Lp is less than the article distance La (Lp <La), or the gaze distance Lp is less than the determination threshold TH (Lp <TH). In the case (step # 2: Yes), it is determined that the gaze target OBJ is the carry-on article A2 (step # 4). On the other hand, when the gaze target determination unit 14 determines that the gaze distance Lp is equal to or greater than the article distance La (Lp ≧ La) and the gaze distance Lp is equal to or greater than the determination threshold TH (Lp ≧ TH) (step). # 2: No), it is determined that the gaze target OBJ is outside the vehicle V (step # 5).

In step # 3, when the gaze target determination unit 14 determines that the gaze target distance Lp is less than the article distance La (Lp <La) (step # 3: Yes), the gaze target OBJ determines that the gaze target OBJ is the brought-in article A2. Judgment (step # 4). On the other hand, when the gaze target determination unit 14 determines that the gaze target distance Lp is equal to or greater than the article distance La (Lp ≧ La) (step # 3: No), it determines that the gaze target OBJ is the vehicle interior constituent article A1. (Step # 6).

[Other Embodiments]
(1) In the above-described embodiment, the configuration for determining the gaze target OBJ using the gaze distance Lp and the gaze direction Dp has been described as an example. However, for example, whether or not the gaze target OBJ is in the passenger compartment R and whether the gaze target OBJ is in the passenger compartment R are determined by using the position (coordinates) of the gaze point P without using the gaze point distance Lp and the gaze direction Dp. It may be configured to determine whether or not the vehicle interior constituent article A1 is fixed in the vehicle interior R.

(2) In the above embodiment, when the gazing point direction article A1a is the window WD of the vehicle V, the configuration in which the gazing point distance Lp is compared with the determination threshold value TH has been described as an example. However, the configuration is not limited to such a configuration, and for example, the gaze target OBJ is determined by comparing the gaze distance Lp with the article distance La without comparing the gaze distance Lp with the determination threshold value TH. Is also good.

(3) In the above embodiment, when the first determination distance Lth1 is drawn horizontally from the viewpoint position S toward the front window WDf, the virtual line and the inner surface of the front window WDf are drawn from the viewpoint position S. The configuration in which the distance to the intersection with the surface on the R side of the passenger compartment) is used as an example has been described. However, without being limited to such a configuration, for example, the first determination distance Lth1 may be the shortest distance or the longest distance from the viewpoint position S to the front window WDf. Further, in the above embodiment, the configuration in which the second determination distance Lth2 is the distance from the viewpoint position S in the horizontal direction to the front end portion of the vehicle V has been described as an example. However, without being limited to such a configuration, for example, the second determination distance Lth2 may be the shortest distance or the longest distance from the viewpoint position S to the front end portion of the vehicle V.

(4) In the above embodiment, when the driver O is gazing at the mobile terminal which is the carry-on article A2, the configuration in which the mobile terminal warns the driver O about the inattentive driving will be described as an example. did. However, without being limited to such a configuration, for example, when the driver O is gazing at the navigation system NV which is the vehicle interior component A1, a warning about inattentive driving is displayed on the display of the navigation system NV. The navigation system NV may be configured to perform a warning operation such as generating a warning sound about inattentive driving from the speaker of the navigation system NV. Further, the steering wheel SW may be vibrated when the driver O is gazing at the steering wheel SW which is the vehicle interior component A1. Further, when the gaze target OBJ that the driver O is gazing at cannot be made to perform the warning operation, an article other than the gaze target OBJ may be made to perform the warning operation. For example, when the driver O is gazing at the mobile terminal which is the carry-on article A2, the navigation system NV may be made to perform a warning operation.

(5) The allocation of each functional unit of the driving support system 100 (control unit 10) shown in the above embodiment is merely an example, and a plurality of functional units may be combined or one functional unit may be further divided. Is also possible.

(6) The configurations disclosed in each of the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. With respect to other configurations, the embodiments disclosed herein are merely exemplary in all respects. Therefore, various modifications can be made as appropriate without departing from the gist of the present disclosure.

[Outline of the above embodiment]
The outline of the driving support system (100) described above will be described below.

The driving support system (100)
A line of sight to acquire the right line-of-sight direction (DR), which is the line-of-sight direction of the right eye of the driver (O) driving the vehicle (V), and the left line-of-sight direction (DL), which is the line-of-sight direction of the left eye of the driver (O). Direction acquisition unit (11) and
A gazing point information acquisition unit (12) for acquiring gazing point information which is information indicating the position of the gazing point (P) which is an intersection of the right visual line direction (DR) and the left visual line direction (DL).
The vehicle interior information acquisition unit (13) for acquiring vehicle interior information indicating the configuration inside the vehicle interior (R) of the vehicle (V), and
A gaze target determination unit (14) that determines a gaze target (OBJ) that the driver (O) is gazing at based on the gaze point information and the vehicle interior information.
Is equipped with.

According to this configuration, the gaze point information indicating the position of the gaze point (P), which is the intersection of the right gaze direction (DR) and the left gaze direction (DL), is used for determining the gaze target (OBJ). As a result, whether or not the gaze target (OBJ) is in the passenger compartment (R), and whether or not the gaze target (OBJ) is a vehicle interior component (A1) fixed in the passenger compartment (R). Can be determined. Therefore, even when the carry-on article (A2) brought in by the driver (O) exists in the passenger compartment (R), the gaze target (OBJ) that the driver (O) is gazing at is appropriately determined. it can.

Here, the gazing point information includes information indicating a gazing point distance (Lp) which is a distance from both eyes of the driver (O) to the gazing point (P), and the gazing point (P) is the driving. It is preferable that the information indicating the gazing point direction (Dp), which is the direction located with respect to both eyes of the person (O), is included.

According to this configuration, the gazing point distance (Lp), which is the distance from both eyes of the driver (O) to the gazing point (P), and the gazing point (P) are located with respect to both eyes of the driver (O). The gaze point direction (Dp), which is the direction, is used to determine the gaze target (OBJ). As a result, the gaze target (OBJ) can be determined more appropriately.

Further, the vehicle interior constituent article (A1) included in the vehicle interior information and located in the gazing-view direction (Dp) is defined as the gazing-view direction article (A1a), and both eyes of the driver (O). The distance from the article to the article in the gazing point direction (A1a) is defined as the article distance (La).
When the gaze target distance (Lp) is less than the article distance (La), the gaze target determination unit (14) does not include the gaze target (OBJ) in the vehicle interior information (A2). ), It is preferable.

According to this configuration, when the gaze point (P) is located between the driver (O) and the vehicle interior component (A1) in the gaze direction (Dp), the gaze target (OBJ) brings in the article (OBJ). It is determined to be A2). As a result, when there is a carry-on article (A2) between the driver (O) and the vehicle interior component (A1) in the gazing point direction (Dp), the gaze target (OBJ) is the carry-on article (A2). It is possible to accurately determine that there is.

In addition, the gaze target determination unit (14)
When the gazing point distance (Lp) is equal to or greater than the article distance (La) and the gazing point direction article (A1a) is the window (WD) of the vehicle (V), the gazing target (OBJ) Is determined to be outside the vehicle (V),
When the gazing point distance (Lp) is equal to or greater than the article distance (La) and the gazing point direction article (A1a) is not the window (WD) of the vehicle (V), the gazing target (OBJ) It is preferable to determine that is the vehicle interior component (A1).

According to this configuration, when the gazing point (P) is at the same position as the gazing point direction article (A1a) or at a position farther from the gazing point direction article (A1a) with respect to the driver (O), the gazing point is The driver (O) gazes at the outside of the vehicle (V) through the window (WD) of the vehicle (V) based on whether the directional article (A1a) is the window (WD) of the vehicle (V). It is determined whether the vehicle interior component (A1) is being watched. Thereby, it is possible to accurately determine whether the gaze target (OBJ) is outside the vehicle (V) or the vehicle interior component (A1).

Further, the vehicle interior constituent article (A1) included in the vehicle interior information and located in the gazing point direction (Dp) is defined as the gazing point direction article (A1a).
The gaze target determination unit (14)
When the gazing point distance (Lp) is less than the specified determination threshold value (TH) and the gazing point direction article (A1a) is the window (WD) of the vehicle (V), the gazing target (OBJ) ) Is a carry-on item (A2) that is not included in the vehicle interior information.
When the gazing point distance (Lp) is equal to or greater than the determination threshold value (TH) and the gazing point direction article (A1a) is the window (WD) of the vehicle (V), the gazing target (OBJ) It is preferable to determine that is outside the vehicle (V).

According to this configuration, when the window (WD) of the vehicle (V) exists in the gazing point direction (Dp), the gazing point distance (Lp) is less than the determination threshold value (TH). It is determined whether the driver (O) is gazing at the outside of the vehicle (V) or the brought-in article (A2) through the window (WD) of the vehicle (V). As a result, it is possible to accurately determine whether the gaze target (OBJ) is outside the vehicle (V) or the carry-on article (A2).

Further, the determination threshold value (TH) is equal to or greater than the distance (Lth1) from both eyes of the driver (O) to the front window (WDf) of the vehicle (V) and reaches the front end of the vehicle (V). It is preferable that the distance (Lth2) or less is set.

According to this configuration, the determination threshold value (TH) is set according to the position of the front window (WDf) of the vehicle (V) and the position of the front end portion of the vehicle (V). As a result, even if the accuracy of the acquired focal length (Lp) information is not high, it is possible to accurately determine whether the gaze target (OBJ) is outside the vehicle (V) or is a carry-on article (A2). It can be judged well.

Further, when the gaze target (OBJ) is a controllable article, the gaze target determination unit (14) gives the driver (O) a warning operation about inattentive driving to the gaze target (OBJ). It is preferable to set it.

According to this configuration, the driver (O) can effectively recognize the warning about inattentive driving.

The various technical features of the driving support system (100) described above are also applicable to driving support methods and driving support programs. For example, the driving assistance method can have steps with the characteristics of the driving assistance system (100) described above. Further, the driving support program can realize the function having the features of the driving support system (100) described above in the computer. As a matter of course, these methods and programs can also exert the effects of the above-mentioned driving support system (100). Further, various additional features exemplified as a preferred embodiment of the driving support system (100) can be incorporated into these driving support methods and driving support programs, and the methods and the programs are incorporated into the respective additional features. Corresponding action and effect can also be achieved.

The technique according to the present disclosure can be used in a technique for determining a gaze target that the driver is gazing at based on the gaze direction of the driver who drives the vehicle.

100: Reverse driving determination system 11: Line-of-sight direction acquisition unit 12: Gaze point information acquisition unit 13: Vehicle interior information acquisition unit 14: Gaze target determination unit OBJ: Gaze target A1: Vehicle interior component A1a: Gaze direction article A2: Bring-in article V: Vehicle R: Vehicle interior O: Driver DR: Right line-of-sight direction DL: Left line-of-sight direction P: Gaze point Lp: Gaze point distance Dp: Gaze point direction La: Article distance

Claims (9)

A line-of-sight direction acquisition unit that acquires the right line-of-sight direction, which is the line-of-sight direction of the driver's right eye, and the left line-of-sight direction, which is the line-of-sight direction of the driver's left eye.
A gazing point information acquisition unit that acquires gazing point information, which is information indicating the position of the gazing point, which is an intersection of the right visual line direction and the left visual line direction.
An vehicle interior information acquisition unit that acquires vehicle interior information indicating the configuration of the vehicle interior of the vehicle,
Based on the gaze point information and the vehicle interior information, a gaze target determination unit that determines the gaze target that the driver is gazing at, and a gaze target determination unit.
A driving support system equipped with. The gazing point information includes information indicating the gazing point distance, which is the distance from both eyes of the driver to the gazing point, and the gazing point direction, which is the direction in which the gazing point is located with respect to both eyes of the driver. The driving support system according to claim 1, which includes the information to be shown. The articles included in the vehicle interior information that are located in the gaze direction are defined as the gaze direction articles, and the distance from both eyes of the driver to the gaze direction articles is defined as the article distance.
The driving support according to claim 2, wherein the gaze target determination unit determines that the gaze target is a carry-on article that is not included in the vehicle interior information when the gaze target distance is less than the article distance. system. The gaze target determination unit
When the gazing point distance is equal to or greater than the article distance and the gazing point direction article is the window of the vehicle, it is determined that the gazing target is outside the vehicle.
The third aspect of the present invention, wherein when the gazing distance is equal to or greater than the article distance and the gazing direction article is not the window of the vehicle, it is determined that the gazing target is the vehicle interior constituent article. Driving support system. An article that is included in the vehicle interior information and is located in the gaze direction is defined as a gaze direction article.
The gaze target determination unit
When the gaze point distance is less than the specified determination threshold value and the gaze point direction article is the window of the vehicle, it is determined that the gaze target is a carry-on article not included in the vehicle interior information. ,
Any of claims 2 to 4, wherein it is determined that the gaze target is outside the vehicle when the gaze distance is equal to or greater than the determination threshold value and the gaze direction article is the window of the vehicle. The driving support system described in item 1. The driving support system according to claim 5, wherein the determination threshold value is set to be equal to or greater than the distance from both eyes of the driver to the front window of the vehicle and equal to or less than the distance to the front end of the vehicle. The gaze target determination unit according to any one of claims 1 to 6, wherein when the gaze target is a controllable article, the gaze target causes the gaze target to perform a warning operation for inattentive driving to the driver. Driving support system. A line-of-sight acquisition step for acquiring the right line-of-sight direction, which is the line-of-sight direction of the driver's right eye, and the left line-of-sight direction, which is the line-of-sight direction of the driver's left eye.
A gazing point information acquisition step for acquiring gazing point information, which is information indicating the position of the gazing point, which is an intersection of the right visual line direction and the left visual line direction,
The vehicle interior information acquisition step for acquiring vehicle interior information indicating the configuration of the vehicle interior of the vehicle, and
A gaze target determination step for determining the gaze target that the driver is gazing at based on the gaze point information and the vehicle interior information, and
A driving support method equipped with. A line-of-sight acquisition function for acquiring the right line-of-sight direction, which is the line-of-sight direction of the driver's right eye, and the left line-of-sight direction, which is the line-of-sight direction of the driver's left eye.
A gazing point information acquisition function for acquiring gazing point information, which is information indicating the position of the gazing point, which is an intersection of the right visual line direction and the left visual line direction,
An interior information acquisition function for acquiring interior information indicating the configuration of the interior of the vehicle, and
Based on the gaze point information and the vehicle interior information, a gaze target determination function for determining the gaze target that the driver is gazing at, and a gaze target determination function.
A driving support program that makes a computer realize.

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