JP4420002B2 - 視線先推定装置 - Google Patents
視線先推定装置 Download PDFInfo
- Publication number
- JP4420002B2 JP4420002B2 JP2006249732A JP2006249732A JP4420002B2 JP 4420002 B2 JP4420002 B2 JP 4420002B2 JP 2006249732 A JP2006249732 A JP 2006249732A JP 2006249732 A JP2006249732 A JP 2006249732A JP 4420002 B2 JP4420002 B2 JP 4420002B2
- Authority
- JP
- Japan
- Prior art keywords
- driver
- line
- sight
- target
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 claims description 56
- 238000011156 evaluation Methods 0.000 claims description 18
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 claims description 3
- 238000000034 method Methods 0.000 description 66
- 230000000007 visual effect Effects 0.000 description 27
- 239000000284 extract Substances 0.000 description 5
- 210000003128 head Anatomy 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 1
- 230000004434 saccadic eye movement Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
Description
Claims (2)
- 運転者の視線先を推定する視線先推定装置であって、
運転者の視線方向を検出する視線方向検出手段と、
車両周辺に存在する物標の位置情報を検出する物標検出手段と、
運転者と前記物標検出手段との相対位置情報を取得する相対位置取得手段と、
運転者が物標の方向に視線を向けている可能性を評価する評価手段と、
前記視線方向検出手段で検出した運転者の視線方向と前記物標検出手段で検出した物標の位置とが重なる物標を検出して運転者の視線先を推定する視線先推定手段と
を備え、
前記評価手段は、前記物標検出手段で検出した物標が運転者の視線方向に複数存在し、車両が走行中の場合、車両走行中の複数の異なる時刻における運転者の視線方向と物標の位置とが重なる物標に基づいて運転者の視線を向けている可能性を評価し、
前記視線先推定手段は、重なる物標を検出するときに前記相対位置取得手段で取得した相対位置情報を考慮し、かつ、前記評価手段の評価結果に基づいて運転者が視線を向けている可能性が高い物標に基づいて運転者の視線先を推定することを特徴とする視線先推定装置。 - 前記評価手段は、前記物標検出手段で検出した物標が運転者の視線方向に複数存在し、車両が停止中の場合、運転者から物標までの距離が最も短い物標を運転者が視線を向けている物標とする請求項1に記載する視線先推定装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006249732A JP4420002B2 (ja) | 2006-09-14 | 2006-09-14 | 視線先推定装置 |
PCT/IB2007/003548 WO2008032220A2 (en) | 2006-09-14 | 2007-09-13 | Sight-line end estimation device and driving assist device |
DE602007012899T DE602007012899D1 (de) | 2006-09-14 | 2007-09-13 | Vorrichtung zur einschätzung eines sichtlinienendes und antriebsunterstützungsvorrichtung |
US12/309,731 US7859652B2 (en) | 2006-09-14 | 2007-09-13 | Sight-line end estimation device and driving assist device |
CN2007800300447A CN101500874B (zh) | 2006-09-14 | 2007-09-13 | 视线终点估计装置和驾驶辅助装置 |
EP07825699A EP2061687B1 (en) | 2006-09-14 | 2007-09-13 | Sight-line end estimation device and driving assist device |
KR1020097002948A KR101095234B1 (ko) | 2006-09-14 | 2007-09-13 | 시선처 추정 장치 및 운전 지원 장치 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006249732A JP4420002B2 (ja) | 2006-09-14 | 2006-09-14 | 視線先推定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008071162A JP2008071162A (ja) | 2008-03-27 |
JP4420002B2 true JP4420002B2 (ja) | 2010-02-24 |
Family
ID=39092298
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006249732A Expired - Fee Related JP4420002B2 (ja) | 2006-09-14 | 2006-09-14 | 視線先推定装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7859652B2 (ja) |
EP (1) | EP2061687B1 (ja) |
JP (1) | JP4420002B2 (ja) |
KR (1) | KR101095234B1 (ja) |
CN (1) | CN101500874B (ja) |
DE (1) | DE602007012899D1 (ja) |
WO (1) | WO2008032220A2 (ja) |
Families Citing this family (50)
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JP4231884B2 (ja) * | 2006-09-27 | 2009-03-04 | 株式会社デンソーアイティーラボラトリ | 注視対象物検出装置および注視対象物検出方法 |
JP5082834B2 (ja) * | 2007-12-27 | 2012-11-28 | オムロン株式会社 | 脇見検出装置および方法、並びに、プログラム |
JP5024165B2 (ja) * | 2008-04-02 | 2012-09-12 | トヨタ自動車株式会社 | 視認物体推定装置 |
JP2010018148A (ja) * | 2008-07-10 | 2010-01-28 | Bosch Corp | 車両の誤発進防止装置 |
JP5040851B2 (ja) * | 2008-08-07 | 2012-10-03 | トヨタ自動車株式会社 | 脇見運転判定装置 |
WO2011075392A1 (en) * | 2009-12-18 | 2011-06-23 | Honda Motor Co., Ltd. | A predictive human-machine interface using eye gaze technology, blind spot indicators and driver experience |
JP5488105B2 (ja) * | 2010-03-26 | 2014-05-14 | マツダ株式会社 | 車両の運転支援装置 |
JP5529660B2 (ja) * | 2010-07-20 | 2014-06-25 | パナソニック株式会社 | 瞳孔検出装置及び瞳孔検出方法 |
EP2604180A4 (en) * | 2010-08-09 | 2017-07-05 | National University Corporation Shizuoka University | Gaze point detection method and gaze point detection device |
US8558718B2 (en) | 2010-09-20 | 2013-10-15 | Honda Motor Co., Ltd. | Method of controlling a collision warning system using line of sight |
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CN102510480B (zh) * | 2011-11-04 | 2014-02-05 | 大连海事大学 | 驾驶员视线自动校准和跟踪系统 |
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DE102012214852B4 (de) * | 2012-08-21 | 2024-01-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Selektieren von Objekten in einem Umfeld eines Fahrzeugs |
KR20140064388A (ko) * | 2012-11-20 | 2014-05-28 | 현대모비스 주식회사 | 차량의 차선 유지 제어 방법 및 이를 구현하는 차선 유지 제어 장치 |
KR20140070861A (ko) * | 2012-11-28 | 2014-06-11 | 한국전자통신연구원 | 멀티 모달 hmi 제어 장치 및 방법 |
KR102017884B1 (ko) * | 2013-02-06 | 2019-10-22 | 한국전자통신연구원 | 운전자 집중도 분석 장치 및 방법 |
JP5988170B2 (ja) * | 2013-11-29 | 2016-09-07 | アイシン精機株式会社 | 車両挙動制御装置および車両挙動制御システム |
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-
2006
- 2006-09-14 JP JP2006249732A patent/JP4420002B2/ja not_active Expired - Fee Related
-
2007
- 2007-09-13 US US12/309,731 patent/US7859652B2/en active Active
- 2007-09-13 WO PCT/IB2007/003548 patent/WO2008032220A2/en active Application Filing
- 2007-09-13 DE DE602007012899T patent/DE602007012899D1/de active Active
- 2007-09-13 EP EP07825699A patent/EP2061687B1/en active Active
- 2007-09-13 KR KR1020097002948A patent/KR101095234B1/ko active IP Right Grant
- 2007-09-13 CN CN2007800300447A patent/CN101500874B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN101500874B (zh) | 2012-07-25 |
US7859652B2 (en) | 2010-12-28 |
EP2061687A2 (en) | 2009-05-27 |
WO2008032220A3 (en) | 2008-05-22 |
KR20090039771A (ko) | 2009-04-22 |
WO2008032220A2 (en) | 2008-03-20 |
EP2061687B1 (en) | 2011-03-02 |
KR101095234B1 (ko) | 2011-12-20 |
US20090237644A1 (en) | 2009-09-24 |
DE602007012899D1 (de) | 2011-04-14 |
JP2008071162A (ja) | 2008-03-27 |
WO2008032220A8 (en) | 2009-03-26 |
CN101500874A (zh) | 2009-08-05 |
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