JP2021028803A - Reference position determining device - Google Patents

Abstract

To provide a reference position determining device for appropriately updating a reference position of a driver's face position.SOLUTION: A reference position determining device 1 comprises: a face position information acquisition unit 121 that acquires face position time-series data indicating a time change of a driver's face position in a captured image of a driver driving a vehicle V; a vehicle speed information acquisition unit 122 that acquires vehicle speed time-series data indicating a time change of a vehicle speed of the vehicle; a section setting unit 124 that sets a section of time-series data for determining a reference position of the driver's face position with the acquisition of new time-series data by the face position information acquisition unit 121 and the vehicle speed information acquisition unit 122, including the new time-series data; and a reference position determination unit 125 that determines a reference position of a face position based on face position statistics obtained from the face position of the face position time-series data corresponding to the vehicle speed that is equal to or higher than a predetermined vehicle speed in the vehicle speed time-series data in the section set by the section setting unit 124 when the section setting unit 124 sets the section.SELECTED DRAWING: Figure 1

Description

The present invention relates to a reference position determining device that determines a range reference for determining a driver's condition based on the position of a face.

A technique for determining a driver's condition as an abnormal condition when the face of the driver driving the vehicle is not within a predetermined reference range is disclosed (see, for example, Patent Document 1).

JP-A-2017-77817

The position of the driver's face may change depending on the posture of the driver and the condition of the road on which the vehicle travels, even if the driver is not in an abnormal state. Therefore, when the state judgment range for judging the driver's state is set based on the reference position that does not depend on the change in the position of the driver's face, the state judgment range is not included when the position of the driver's face changes. There is. In this case, the state determining device for determining the driver's state may erroneously determine that the driver is in an abnormal state even though the driver is in a normal state.

Therefore, the present invention has been made in view of these points, and an object of the present invention is to provide a technique for reducing erroneous determination that the driver is in an abnormal state even though the driver is in a normal state. And.

In the first aspect of the present invention, the face position information acquisition unit that acquires face position time series data indicating the time change of the driver's face position in the captured image of the driver who drives the vehicle, and the vehicle. A vehicle speed information acquisition unit that acquires vehicle speed time series data indicating a time change of the vehicle speed, a section setting unit that sets a section of time series data for determining a reference position of the driver's face position, and the section. Among the vehicle speed time series data in the section set by the setting unit, the face position based on the statistic of the face position obtained by the face position of the face position time series data corresponding to the vehicle speed equal to or higher than the predetermined vehicle speed. The section setting unit is provided with a reference position determining unit for determining the reference position of the position of the above, and the section setting unit is triggered by the acquisition of new time series data by the face position information acquisition unit and the vehicle speed information acquisition unit. A section including the new time-series data is set, and the reference position determination unit provides a reference position determination device that determines a new reference position when the section setting unit sets the section.

For example, in the reference position determining unit, the number of the face positions within a predetermined range is the second among the plurality of face positions indicated by the face position time series data corresponding to the vehicle speed equal to or higher than the predetermined vehicle speed. If there are more than the number, a new reference position is determined.

The reference position determining device further includes a road information acquisition unit that acquires road information indicating the condition of the road on which the vehicle travels, and the reference position determining unit has the face corresponding to a vehicle speed that is equal to or higher than the predetermined vehicle speed. When the number of the face positions included in the predetermined range determined according to the situation indicated by the road information is the second number or more among the plurality of face positions indicated by the position time series data, a new number is used. The reference position may be determined.

For example, when the determined reference position is included in the usage determination range for determining whether or not to use the determined reference position as a reference for the face position, the reference position determining unit determines as a new reference position.

For example, the reference position determining unit is based on statistics obtained from time-series data excluding the time-series data acquired by the face position information acquisition unit and the vehicle speed information acquisition unit while the vehicle's turn signal is operating. To determine the reference position.

According to the present invention, it is possible to reduce the possibility that the driver erroneously determines that the driver is in an abnormal state even though the driver is in a normal state.

It is a figure which shows the structure of the vehicle which concerns on embodiment. It is a schematic diagram which shows the face position time series data. It is a schematic diagram which shows the vehicle speed time series data. It is a flowchart which shows the flow of the process of determining a reference position of a face position. It is a flowchart which shows the flow of the process of updating a reference position. It is a flowchart which shows the flow of the process of accumulating the face position time series data in a section.

[Structure of vehicle V according to the embodiment]
FIG. 1 is a diagram showing a configuration of a vehicle V according to an embodiment. The vehicle V according to the embodiment includes a reference position determining device 1, a camera module 2, a vehicle speed sensor 3, and a gradient detecting unit 4.

The camera module 2 includes an imaging device that generates an captured image including the face of the driver of the vehicle. The camera module 2 detects the position of the driver's face included in the captured image. Then, the camera module 2 outputs face position information indicating the detected face position. The face position information is position coordinate information indicating the X coordinate and the Y coordinate of the face position in the captured image. The face position information may include information indicating the orientation of the face. The information indicating the orientation of the face is yaw indicating the rotation angle about the top and bottom of the face and pitch indicating the rotation angle about the left and right of the face. Further, the face position information may include coordinates in the depth direction.

The vehicle speed sensor 3 is a sensor that detects the vehicle speed of the vehicle V. The vehicle speed sensor 3 outputs vehicle speed information indicating the detected vehicle speed.

The gradient detection unit 4 includes a gyro sensor that detects the inclination of the vehicle with respect to the horizontal direction. The gradient detection unit 4 outputs gradient information indicating whether the road on which the vehicle travels is an upslope, a downslope, or a flatness based on the inclination of the vehicle V detected by the gyro sensor. Further, the gradient detection unit 4 may detect the inclination angle of the road and output the gradient information including the detected inclination angle.

The reference position determining device 1 is a device that determines a reference for setting a range for determining the state of the driver. The reference position determining device 1 acquires the position of the driver's face from the camera module 2, and each time the position of the driver's face is acquired, the reference position of the face position is determined based on the position of the face within a predetermined period. decide. Hereinafter, the configuration of the reference position determining device 1 will be described.

The reference position determining device 1 includes a storage unit 11 and a control unit 12. The storage unit 11 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, and the like. The storage unit 11 stores a program executed by the control unit 12.

The control unit 12 is a computing resource including a processor such as a CPU (Central Processing Unit). By executing the program stored in the storage unit 11, the control unit 12 serves as the face position information acquisition unit 121, the vehicle speed information acquisition unit 122, the road information acquisition unit 123, the section setting unit 124, and the reference position determination unit 125. To realize the function of.

The face position information acquisition unit 121 acquires face position information indicating the position of the driver's face from the camera module 2. The face position information acquisition unit 121 stores the acquired face position information in the storage unit 11 in association with the time information indicating the time when the face position information is acquired. Specifically, the face position information acquisition unit 121 stores the time information and the face position information in the storage unit 11 as face position time series data associated with each other.

FIG. 2 is a schematic diagram showing face position time series data. As shown in FIG. 2, the face position time series data is a driver driving the vehicle V in which the time information indicating the time when the face position was acquired and the position coordinate information indicating the face position in the captured image are associated with each other. It is data which shows the time change of the position of the driver's face in the captured image.

The face position information acquisition unit 121 acquires the face position time series data stored in the storage unit 11. Specifically, the face position information acquisition unit 121 acquires the position time series data including the new face position information after storing the new face position information acquired from the camera module 2 as the face position time series data. ..

The vehicle speed information acquisition unit 122 acquires vehicle speed information indicating the vehicle speed of the vehicle V from the vehicle speed sensor 3. The vehicle speed information acquisition unit 122 stores the acquired vehicle speed information in the storage unit 11 in association with the time information indicating the time when the vehicle speed information is acquired. Specifically, the vehicle speed information acquisition unit 122 stores the time information and the vehicle speed information in the storage unit 11 as vehicle speed time series data associated with each other.

FIG. 3 is a schematic diagram showing vehicle speed time series data. As shown in FIG. 3, the vehicle speed time series data is data indicating a time change of the vehicle speed of the vehicle V in which the time information indicating the time when the vehicle speed information is acquired is associated with the vehicle speed information.

The vehicle speed information acquisition unit 122 acquires the vehicle speed time series data stored in the storage unit 11. Specifically, the vehicle speed information acquisition unit 122 stores new vehicle speed information acquired from the vehicle speed sensor 3 as vehicle speed time series data, and then acquires vehicle speed time series data including the new vehicle speed information.

The road information acquisition unit 123 acquires road information indicating the condition of the road on which the vehicle V travels. For example, the road information acquisition unit 123 acquires slope information indicating the slope of the road as road information from the slope detection unit 4. Further, the road information acquisition unit 123 may acquire gradient information including the inclination angle of the road.

The section setting unit 124 sets a section of time series data for determining a reference position of the position of the driver's face. The section setting unit 124 sets a section including the new time-series data when the face position information acquisition unit 121 and the vehicle speed information acquisition unit 122 acquire new time-series data. The length of the section is determined, for example, to be a length including the number of faces required to statistically determine the reference position of the face position. The number that can statistically determine the reference position of the face position is, for example, 180. The length of the section containing 180 data is 3 minutes when the position of the face is acquired once per second.

When the section setting unit 124 acquires face position time series data including new face position information (face position (xj, yj) associated with time tj shown in FIG. 2) by the face position information acquisition unit 121. , Set the section P including the new face position information. Further, when the vehicle speed information acquisition unit 122 acquires vehicle speed time series data including new vehicle speed information (vehicle speed Vj associated with time tj shown in FIG. 3), the section setting unit 124 includes the new vehicle speed information. Set the section P.

The reference position determination unit 125 uses the time-series data in the section P set by the section setting unit 124 to obtain the face position statistics obtained from the time-series data satisfying the integration conditions for calculating the face position statistics. Determine the reference position of the face position based on the amount. The face position statistic is the mean, median, or mode of the face position. Hereinafter, a case where the average value is calculated as a statistic will be described.

The reference position determination unit 125 determines the position of the face obtained from the face position of the face position time series data corresponding to the vehicle speed that is equal to or higher than the integrated determination vehicle speed among the vehicle speed time series data in the section P set by the section setting unit 124. Determine the reference position of the face position based on the statistics. The integrated determination vehicle speed is a vehicle speed for determining whether or not to include the face position associated with the time when the vehicle speed is acquired in the integrated value for calculating the reference position of the face position. The specific value of the integrated determination vehicle speed is, for example, 60 km / h.

Changes in the driver's posture and road conditions indicate that when the vehicle travels on a road that can travel at a vehicle speed higher than the integrated judgment vehicle speed (for example, an expressway), it travels on a road that cannot travel at a vehicle speed higher than the integrated judgment vehicle speed (for example, a general road). It will be smaller than when you do. Therefore, the reference position determination unit 125 determines the reference position based on the position of the face corresponding to the vehicle speed equal to or higher than the integrated determination vehicle speed, so that the position of the face in a state where the change in the posture of the driver or the road condition is small is small. The reference position can be determined.

A more specific description will be given with reference to the examples shown in FIGS. 2 and 3. First, the reference position determination unit 125 determines whether or not the vehicle speed Vj associated with the time tj in the section P in the vehicle speed time series data shown in FIG. 3 is equal to or higher than the integrated determination vehicle speed. Next, when the vehicle speed Vj is equal to or higher than the integrated determination vehicle speed, the reference position determination unit 125 determines that the face position (xj, yj) associated with the time tj in the section P in the face position time series data shown in FIG. It is determined whether or not it is included in the integration determination range. The integration determination range is a range for determining whether or not to include the face position in the integration value. The range for determination is a range reduced by a predetermined ratio with respect to the size of the captured image. The specific value of the predetermined ratio is, for example, 10%.

Then, when the face position (xj, yj) is included in the integration determination range, the reference position determination unit 125 adds the face position to the integration value for calculating the reference position. The reference position determination unit 125 determines whether or not each vehicle speed included in the section P in the vehicle speed time series data is equal to or higher than the integrated determination vehicle speed, and the face position corresponding to each of the plurality of vehicle speeds equal to or higher than the integrated determination vehicle speed. Is added to the integrated value. When the reference position determination unit 125 adds the face position to the integrated value, the reference position determination unit 125 adds the x-coordinate value of the face position to the integrated value for determining the reference position of the x-coordinate of the face position. Further, the reference position determination unit 125 adds the value of the y-coordinate of the face position to the integrated value for determining the reference position of the y-coordinate of the face position.

When the face position information acquisition unit 121 acquires information indicating the orientation of the face, the reference position determination unit 125 determines whether or not the orientation of the face is within a predetermined angle range. When the face orientation is within the predetermined angle range, the reference position determining unit 125 adds the face position, which is the face orientation within the predetermined angle range, to the integrated value. The predetermined angle range is a range for determining whether or not to include the face position in the integrated value, and different ranges for yaw and pitch are set.

The reference position determination unit 125 determines a new reference position when the section setting unit 124 sets the section P. In the following description, when the reference position determining unit 125 determines a new reference position, the reference position may be updated. For example, the reference position determination unit 125 refers based on whether or not the number of face positions satisfying a predetermined condition among the face positions in the section P set by the section setting unit 124 is equal to or greater than the number of determinations. Decide whether to update the position.

Specifically, the reference position determination unit 125 determines that the number of face positions within the integration determination range is among the plurality of face positions indicated by the face position time series data corresponding to the vehicle speed equal to or higher than the integration determination vehicle speed. If there are more than the number of judgments, the reference position is updated. The number of determinations is the number of data required to determine whether or not to update the reference position. The specific value of the number of face positions required to determine whether to update the reference position is, for example, 120. The 120 face positions correspond to face position time series data for 2 minutes when the face positions are acquired once per second.

The reference position determination unit 125 may determine whether or not to update the reference position based on the road information. For example, the reference position determination unit 125 updates the reference position when the number of face positions included in the integration determination range determined according to the situation indicated by the road information acquired by the road information acquisition unit 123 is equal to or greater than the number of determinations. .. The reference position determination unit 125 does not update the reference position when the number of face positions included in the integration determination range determined according to the situation indicated by the road information is less than the number of determinations.

When the slope of the road is a downward slope, the driver is in a forward leaning posture, so that the vertical change in the position of the face is large. Therefore, the reference position determination unit 125 updates the reference position when the slope of the road is a downward slope and the number of face positions included in the integration determination range widened as the inclination angle increases is equal to or greater than the number of determinations. Specifically, in the case of a downward slope, the reference position determining unit 125 sets an integration determination range in which at least one of the upward and downward ranges is widened as the inclination angle increases.

For example, the reference position determining unit 125 sets an integration determination range in which the range in the upward or downward direction is widened according to the installation position of the imaging device. Specifically, when the image pickup device is installed at a position higher in the vertical direction than the position of the driver's face, the reference position determination unit 125 sets an integration determination range in which the downward range is widened. Further, when the image pickup device is installed at a position lower in the vertical direction than the position of the driver's face, the reference position determination unit 125 sets an integration determination range in which the range in the upward direction is widened. By doing so, the reference position determination unit 125 can determine the reference position according to the posture of the driver corresponding to the downward slope.

When the slope of the road is an uphill slope, the driver is in a posture of being pressed against the seat, so that the change in the face position is small. Therefore, when the slope of the road indicated by the road information is an uphill slope, the reference position determination unit 125 determines the reference position when the number of face positions included in the integration determination range narrowed as the inclination angle increases is equal to or greater than the number of determinations. To update. Specifically, the reference position determination unit 125 is the reference position when the number of face positions included in the integration determination range in which the range in the vertical direction is narrowed as the inclination angle becomes larger is equal to or greater than the number of determinations. To update. By doing so, the reference position determining unit 125 can determine the reference position according to the posture of the driver corresponding to the uphill slope.

The reference position determination unit 125 updates the reference position when it is included in the use determination range for determining whether or not the determined reference position is used as the reference for the face position. The usage determination range is a range for determining whether or not to update the reference position, and is a range narrower than the integration determination range. The reference position determination unit 125 does not update the reference position when the reference position is not included in the usage determination range.

(Reason for narrowing the usage judgment range than the integration judgment range)
Due to the influence of individual differences for each driver and differences in the light environment when the face is imaged, the range in which the acquired face positions are distributed tends to be wide, so narrowing the integration judgment range will result in a sufficient number of face positions. It may not be possible to obtain it. Therefore, it is necessary to widen the integration judgment range so that a sufficient number of face positions can be acquired. However, when the integration judgment range is widened, face position time series data such that the distribution of face positions has two or more peaks. May be acquired. A reference position determined based on bimodal face position time series data with two peaks in the face position distribution may not be appropriate as a reference position for the driver's face position. In response to such a problem, the reference position determining device 1 can acquire a sufficient number of face positions for statistically determining the reference position by making the usage determination range narrower than the integration determination range. It is possible and it is possible to suppress updating to an inappropriate reference position.

The reference position determination unit 125 may determine a reference position in which the amount of change between the new reference position and the reference position determined in the past is small, based on the calculated reference position and the reference position determined in the past. .. For example, the reference position determination unit 125 determines the sum of the calculated reference position multiplied by the first coefficient and the previously determined reference position multiplied by the second coefficient as the new reference position. The sum of the first coefficient and the second coefficient is, for example, 1. By doing so, the reference position determining device 1 can reduce the amount of change in the reference position when the reference position is updated. Therefore, the reference position determining unit 125 can change the reference position significantly in a situation where, for example, the driver operates the switches of the vehicle or visually recognizes the left and right sides of the vehicle and the position of the face changes significantly. Can be suppressed.

When the number of data included in the vehicle speed time series data and the face position time series data acquired after the engine of the vehicle V is changed from the stopped state to the operating state is equal to or greater than the number of determinable determination units, the reference position determining unit 125 is used. The reference position may be determined. The determinable determination number is a number at which a statistic based on the face position time series data can obtain a statistically significant result. The specific value of the determinable determination number is 180, for example, when the time series data is acquired once per second.

The reference position determination unit 125 determines the reference position based on the position of the driver's face when the number of data contained in at least one of the vehicle speed time series data and the face position time series data is less than the decidable number. Instead, the predetermined standard position is used as the reference position. The standard position is determined by statistics based on the positions of the faces of multiple drivers. Further, the standard position may be the center of the captured image.

[Flow of processing to determine the reference position]
FIG. 4 is a flowchart showing a flow of processing for determining a reference position of a face position. The face position information acquisition unit 121 acquires face position time series data (step S1). The vehicle speed information acquisition unit 122 acquires vehicle speed time series data (step S2). Either step S1 or step S2 may be executed first, or may be executed in parallel.

The reference position determination unit 125 determines whether or not the number of face position time-series data and the number of vehicle speed time-series data are equal to or greater than the decidable determination number (step S3). The reference position determination unit 125 updates the reference position when the number of acquired face position time series data and the number of data included in the vehicle speed time series data are equal to or greater than the decidable number (Yes in step S3). Is executed (step S4). When the number of time-series data is less than the number of decidable determinations (No in step S3), the reference position determination unit 125 determines the standard position stored in the storage unit 11 in advance as the reference position (step S5).

FIG. 5 is a flowchart showing a flow of processing for updating the reference position. First, the section setting unit 124 sets the section of the time series data for determining the reference position of the position of the driver's face (step S21). Subsequently, the reference position determination unit 125 executes a process of integrating the face position time series data in the section set by the section setting unit 124 (step S22). Hereinafter, the flow of the process of accumulating the face position time series data in the section will be described with reference to FIG.

FIG. 6 is a flowchart showing a flow of processing for accumulating face position time series data in a section. First, the reference position determining unit 125 determines whether or not the vehicle speed indicated by the vehicle speed time series data in the section is equal to or higher than the integrated determination vehicle speed (step S31). When the vehicle speed indicated by the vehicle speed time series data in the section is equal to or higher than the integrated determination vehicle speed (Yes in step S31), the reference position determination unit 125 of the face position time series data corresponding to the vehicle speed corresponding to the integrated determination vehicle speed or more. It is determined whether or not the position is within the integration determination range (step S32).

When the face position is within the integration determination range (Yes in step S32), the reference position determination unit 125 adds the face position to the integration value (step S33). When the vehicle speed is less than the integration determination vehicle speed (No in step S31), or when the face position corresponding to the vehicle speed equal to or higher than the integration determination vehicle speed is not within the integration determination range (No in step S32), the reference position determination unit 125 is used. The position of the face is not added to the integrated value (step S34).

Then, the reference position determination unit 125 determines whether or not it is determined whether or not to add to the integrated value for all the time series data in the section set by the section setting unit 124 (step S35). When the reference position determination unit 125 determines for all the time series data in the section (Yes in step S35), the reference position determination unit 125 ends the process of integrating the face position time series data in the section. If the reference position determination unit 125 has not determined all the time series data in the section (No in step S35), the reference position determination unit 125 integrates the face position time series data in the section until it determines all the time series data in the section. Repeat the process of

The explanation will be continued by returning to the flowchart of FIG. When the reference position determination unit 125 finishes the process of accumulating the face position time series data in the section, it determines whether or not the number of the integrated time series data is equal to or more than the determination number (step S23). When the number of integrated time series data is equal to or greater than the number of determinations (Yes in step S23), the reference position determination unit 125 operates based on the integrated value calculated in the process of integrating the face position time series data in the section. The reference position of the position of the person's face is calculated (step S24). For example, the reference position determination unit 125 calculates the average value of the face positions obtained by dividing the integrated value calculated in the integration process by the number of time series data in the section. Then, the reference position determination unit 125 sets the average value of the values obtained by integrating the x-coordinate values of the face position as the x-coordinate value of the reference position, and sets the average value of the integrated values of the y-coordinate values of the face position as the value. Let it be the y-coordinate value of the reference position.

The reference position determination unit 125 determines whether or not the calculated reference position is within the use determination range (step S25). When the calculated reference position is within the usage determination range (Yes in step S25), the reference position determination unit 125 updates the reference position (step S26). The reference position determination unit 125 determines the reference position when the number of calculated time series data is less than the number of determinations (No in step S23) or when the calculated reference position is not within the usage determination range (No in step S25). Do not update (step S27).

[Effect of reference position determining device 1 according to the embodiment]
As described above, first, the reference position determining device 1 acquires face position time series data indicating a time change of the driver's face position and vehicle speed time series data indicating a time change of the vehicle speed of the vehicle V. Next, the reference position determining device 1 sets a section including the new time series data when the new time series data is acquired. Then, the reference position determining device 1 updates the reference position based on the time series data in the section including the new time series data, triggered by the setting of the section. In this way, by appropriately updating the reference position by the reference position determining device 1, it is possible to appropriately set the state determination range for determining the driver's condition according to the posture of the driver and the condition of the road on which the vehicle travels. Will be. Therefore, it is possible to reduce that the state determination device for determining the driver's condition erroneously determines the driver's condition.

(Modification example 1)
The road information acquisition unit 123 may acquire road information indicating a road condition from an external device via a communication unit included in the vehicle V. For example, the road information acquisition unit 123 acquires map information including gradient information indicating the gradient of the road as road information. In this case, the reference position determining device 1 acquires the position of the vehicle V based on the signal acquired from the GPS (Global Positioning System) receiver of the vehicle V, and the gradient information at the position corresponding to the acquired position of the vehicle V. The slope of the road on which the vehicle V travels is specified based on the slope indicated by.

(Modification 2)
The reference position determining device 1 may determine whether or not to add each of the x-coordinate value and the y-coordinate value of the face position to the integrated value by using different integrated determination vehicle speeds. For example, when the vehicle speed corresponding to the face position is equal to or higher than the integrated determination vehicle speed corresponding to the x direction, the reference position determining unit 125 adds the x-coordinate value to the integrated value, and the vehicle speed corresponding to the face position is y. If the vehicle speed is equal to or higher than the integrated judgment vehicle speed corresponding to the direction, the y-coordinate value is added to the integrated value. By doing so, the reference position determining device 1 can separately determine the reference positions in the x direction and the y direction. Therefore, the reference position determining device 1 can determine one reference position faster than the other.

(Modification 3)
As for the position of the driver's face, when the vehicle V turns right or left, the change in the position of the face becomes large so that the driver can check the left and right or the rear of the vehicle. In this way, if the position of the face with a large change is included in the integrated value, the reference position may change significantly. Therefore, the reference position determining device 1 does not use the time series data acquired while the direction indicator of the vehicle V is operating. Specifically, the reference position determination unit 125 is a statistic obtained from time series data excluding the time series data acquired by the face position information acquisition unit 121 and the vehicle speed information acquisition unit 122 while the direction indicator of the vehicle V is operating. Determine the reference position based on the quantity. By doing so, since the reference position determining device 1 does not use the position of the face with a large face change, the change in the reference position can be reduced.

(Modification example 4)
The reference position determination unit 125 may store the determined reference position in the storage unit 11 for each driver. The reference position determination unit 125 stores the reference position in association with the identification information that identifies the driver. The identification information is, for example, feature information indicating the facial features of the driver specified by the camera module 2. In this case, the reference position determining device 1 acquires the feature information indicating the facial features of the driver specified by the camera module 2 as the identification information. Then, the reference position determination unit 125 stores the determined reference position as the driver-specific standard position in the storage unit 11 in association with the acquired identification information.

When the number of data included in the vehicle speed time series data and the face position time series data acquired after the engine of the vehicle V is changed from the stopped state to the operating state is less than the determinable determination number, the reference position determining unit 125 The driver-specific standard position associated with the identification information is determined as the reference position. Specifically, the reference position determination unit 125 determines the driver-specific standard position associated with the identification information acquired after the engine of the vehicle V is changed from the stopped state to the operating state as the reference position. By doing so, the reference position determining unit 125 responds to the driver in the past from the time when the engine of the vehicle V is changed from the stopped state to the operating state until the time series data equal to or more than the decidable determination number is acquired. The reference position determined in the above can be used.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. is there. For example, all or a part of the device can be functionally or physically distributed / integrated in any unit. Also included in the embodiments of the present invention are new embodiments resulting from any combination of the plurality of embodiments. The effect of the new embodiment produced by the combination has the effect of the original embodiment.

1 Reference position determination device 2 Camera module 3 Vehicle speed sensor 4 Gradient detection unit 11 Storage unit 12 Control unit 121 Face position information acquisition unit 122 Vehicle speed information acquisition unit 123 Road information acquisition unit 124 Section setting unit 125 Reference position determination unit

Claims (5)

A face position information acquisition unit that acquires face position time-series data indicating a time-dependent change in the position of the driver's face in an captured image of the driver who drives the vehicle.
A vehicle speed information acquisition unit that acquires vehicle speed time series data indicating a time change of the vehicle speed of the vehicle,
A section setting unit for setting a section of time series data for determining a reference position of the driver's face position, and a section setting unit.
Based on the statistic of the face position obtained by the face position of the face position time series data corresponding to the vehicle speed which is equal to or higher than the predetermined vehicle speed among the vehicle speed time series data in the section set by the section setting unit. A reference position determining unit that determines the reference position of the face position, and
With
The section setting unit sets a section including the new time-series data when the face position information acquisition unit and the vehicle speed information acquisition unit acquire new time-series data.
The reference position determining unit determines a new reference position when the section setting unit sets the section.
Reference position determining device. In the reference position determining unit, among the plurality of face positions indicated by the face position time series data corresponding to the vehicle speed corresponding to the predetermined vehicle speed or higher, the number of the face positions within the predetermined range is the second or more. If so, determine a new reference position,
The reference position determining device according to claim 1. It also has a road information acquisition unit that acquires road information indicating the condition of the road on which the vehicle travels.
The reference position determining unit is within the predetermined range determined according to the situation indicated by the road information among the plurality of face positions indicated by the face position time series data corresponding to the vehicle speed equal to or higher than the predetermined vehicle speed. When the number of the facial positions included is the second number or more, a new reference position is determined.
The reference position determining device according to claim 2. When the determined reference position is included in the use determination range for determining whether or not to use the determined reference position as a reference for the face position, the reference position determining unit determines as a new reference position.
The reference position determining device according to any one of claims 1 to 3. The reference position determining unit is based on statistics obtained from time-series data excluding the time-series data acquired by the face position information acquisition unit and the vehicle speed information acquisition unit while the vehicle's turn signal is operating. Determine the reference position,
The reference position determining device according to any one of claims 1 to 4.

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