JP4502844B2 - Warning device and warning method - Google Patents

Description

  The present invention relates to a warning device and a warning method, and more particularly, to a warning device and a warning method for issuing a warning when a driver is not operating properly.

  In general, risk factors around a running vehicle are grasped by the driver's own observation and attention. However, risk factors may be overlooked depending on the driver's psychological and physical condition. In that case, an accident may occur. In addition, even if you are driving with sufficient caution, you may get an accident if you are driven by an inadvertent driver of another vehicle.

In order to prevent oversight of risk factors, the gaze area where the driver should look is predicted based on the driving environment of the vehicle, and whether or not the actually detected gaze area of the driver matches the gaze area where the eye should be looked at There is known a technique for determining whether or not and issuing a warning in case of nonconformity (for example, Patent Document 1). Thus, when it is determined that the driver does not see the area where there is a risk factor, the driver can be alerted.
JP 2002-83400 A

  However, in the in-vehicle information processing apparatus described in Patent Document 1, when an inattentive driver does not look at the dangerous area, the driver can be alerted, but the inadvertent driver cannot drive. It is not possible to call attention to drivers of surrounding vehicles that exist around the attention vehicle. Therefore, the driver of the surrounding vehicle cannot grasp whether or not the driver of another vehicle (for example, careless vehicle) is driving with attention to the risk factor, and is more careful than necessary. There was a problem that had to be.

  The present invention has been made to solve such a problem, and a driver of an inadvertent vehicle pays attention to a risk factor without driving the driver of a surrounding vehicle more than necessary. The purpose is to prevent accidents by being able to grasp whether or not there is.

In order to solve the above-described problems, in the present invention, the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle is detected, information indicating the traveling state of the line-of-sight detection target vehicle, and surrounding vehicles existing around the line-of-sight detection target vehicle A predetermined range including the driver predicted line-of-sight direction that the driver should look at is predicted based on the information indicating the traveling state, and it is determined whether or not the detected actual line-of-sight direction of the driver is compatible with the predetermined range . Then, warning information for calling attention is output to the surrounding vehicles according to the determination result.

According to the present invention configured as described above, it is possible to make the peripheral vehicle recognize whether or not the driver of the line-of-sight detection target vehicle is looking in the direction in which the driver is looking. It is possible to grasp whether or not the driver of the detection target vehicle is driving while paying attention to the risk factor, and it is not necessary to pay more attention to the gaze detection target vehicle. Moreover, since the driver of a surrounding vehicle can grasp | ascertain the improper driving | operation by the driver of a gaze detection target vehicle, it can avoid the gaze detection target vehicle which is driving improperly, and prevents an accident. be able to. Furthermore, since the predetermined range including the driver predicted line-of-sight direction can be changed in accordance with the movement of the line-of-sight detection target vehicle, it is possible to further clarify the target to which the driver of the line-of-sight detection vehicle should pay attention.

(First embodiment)
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment of the invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a warning device 1 according to the first embodiment. Here, the warning device 1 according to the first embodiment is mounted on a line-of-sight detection target vehicle.

  In FIG. 1, reference numeral 2 denotes a line-of-sight sensor, which is attached toward the driver in front of the driver in the line-of-sight detection target vehicle. The line-of-sight sensor 2 includes, for example, an infrared irradiation device and an infrared camera. The infrared irradiation device irradiates infrared rays near the driver's face, and the infrared camera captures an image near the driver's face.

  Reference numeral 3 denotes a gaze direction detection unit, which uses an image of the vicinity of the driver's face of the gaze detection target vehicle captured by the gaze sensor 2 and uses a known technique to describe the driver's actual gaze direction (hereinafter referred to as a real gaze direction). ) And outputs information on the actual line-of-sight direction. Here, when detecting the driver's actual line-of-sight direction, preferably, the driver's face direction is detected by detecting the driver's face direction from an image near the driver's face. More preferably, a corneal reflection method that irradiates the driver's eyeball with infrared rays and acquires the actual line-of-sight direction based on the distance between the reflected image generated on the corneal surface and the pupil is used.

  Reference numeral 4 denotes a gaze direction predicting unit which inputs information indicating the traveling state of the gaze detection target vehicle and predicts a direction in which the driver should turn his gaze based on the information (hereinafter referred to as a driver predicted gaze direction). . In addition, the line-of-sight direction prediction unit 4 outputs information on the matching conditions including the predicted driver predicted line-of-sight direction. The driver predicted line-of-sight direction is a direction in which the driver should confirm safety. The information indicating the traveling state of the line-of-sight detection target vehicle includes driving information input from a driving device 9 described later, navigation information input from a navigation device 10 described later, and the like.

  Here, the line-of-sight direction prediction unit 4 has table information for determining a matching condition such as a driver predicted line-of-sight direction based on information indicating the traveling state of the line-of-sight detection target vehicle. Here, as the matching conditions, the driver predicted line-of-sight direction, a predetermined range including the driver predicted line-of-sight direction, and the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction within the predetermined range Includes time information. Here, the predetermined range is a range in which the driver should perform safety confirmation, and the range varies depending on an object to which the driver should pay attention. For example, when the driver predicted line-of-sight direction is on a road outside the vehicle, the predetermined range is widened, and when the driver predicted line-of-sight direction is a vehicle interior mirror or a door mirror outside the vehicle, the predetermined range is narrow. Become.

  The time information is, for example, a time rate indicating a ratio of a time in which the actual line-of-sight direction is included in a predetermined range to a predetermined time. The predetermined time is the time from the start of detection of the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle to the present. Here, the timing for starting the detection of the actual line-of-sight direction is such that the line-of-sight detection target vehicle performs a right turn, a left turn, a departure, a stop, etc., and a right / left turn turn signal is issued or the accelerator is operated for departure. The target vehicle for the line of sight detection enters the standby state where the hazard or brake is operated to stop the vehicle, or where the actual line of sight of the driver of the vehicle for the line of sight detection should be detected (for example, an intersection, a curve, a stop line, etc.) It is a state that has been. Further, the current time is a time point when it is determined whether or not the difference between the actual visual line direction and the driver predicted visual line direction is within a predetermined range.

  In addition, you may make it use not the time rate but the length of time as time information. For example, the determination may be made based on whether or not the time during which the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction is within a predetermined range is greater than or equal to a predetermined length. In addition, the time from the start of detection of the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle to the present is set as the predetermined time, but the present invention is not limited to this. For example, a predetermined time may not be included for a while after the detection of the actual gaze direction of the driver of the gaze detection target vehicle is started. Thereby, the difference between the actual visual line direction and the driver predicted visual line direction in a state closer to the current time is obtained. Moreover, although the time of determining whether the difference of a real gaze direction and a driver prediction gaze direction is in a predetermined range is made into the present, it is not limited to this. For example, it may be a time when the driver of the line-of-sight detection target vehicle tries to move the vehicle or a predetermined time.

  The table information is stored in association with the traveling condition of the line-of-sight detection target vehicle and the matching conditions such as the driver predicted line-of-sight direction. For example, as shown in FIG. 2A, the driver predicted line-of-sight direction enters the intersection from the left side with respect to a driving situation in which the current position of the line-of-sight detection target vehicle 50 is a right turn lane on the road 60 at the intersection. The table information defines that there are three directions, that is, a front direction B in which the peripheral vehicle 70 facing the left direction A with respect to the incoming peripheral vehicle 70 exists and a right direction C that is the traveling direction of the line-of-sight detection target vehicle 50. . In addition, predetermined ranges a, b, and c are defined by table information for each driver predicted line-of-sight direction A, B, and C, respectively. Further, predetermined time rates for the respective driver predicted line-of-sight directions A, B, and C are defined by the table information.

  Further, as illustrated in FIG. 2B, the driver predicted line-of-sight direction is the line-of-sight detection target vehicle 50 with respect to a traveling situation in which the current position of the line-of-sight detection target vehicle 50 is traveling on a road 60 with a right curve. It is defined by the table information that the direction is the right direction D, which is the traveling direction. In addition, a predetermined range d is defined by the table information with respect to the driver predicted line-of-sight direction D. Further, a predetermined time rate with respect to the driver predicted line-of-sight direction D is defined by the table information.

  Further, as shown in FIG. 2 (b), in response to a traveling situation in which the current position of the line-of-sight detection target vehicle 50 is traveling on a right curve road 60 and traveling at a speed faster than a predetermined speed. Thus, it is defined by the table information that the driver predicted line-of-sight direction is the far-right direction E that is the traveling direction of the line-of-sight detection target vehicle 50. Further, a predetermined range e is defined by the table information with respect to the driver predicted line-of-sight direction E. Further, a predetermined time rate with respect to the driver predicted line-of-sight direction E is defined by the table information.

  In addition, as shown in FIG. 3A, the driver predicted line-of-sight direction is the driving situation where the current position of the line-of-sight detection target vehicle 50 is traveling on the road 60 and the driver is operating the brake. The table information defines that there are two directions, that is, the front direction F, which is the traveling direction of the line-of-sight detection target vehicle 50, and the mirror surface direction G of the rear mirror 50a for confirming the rear vehicle. In addition, predetermined ranges f and g are defined by the table information for each driver predicted line-of-sight direction F and G, respectively. In addition, a predetermined time rate for each driver predicted line-of-sight direction F, G is defined by the table information.

  Further, as shown in FIG. 3B, the current position of the line-of-sight detection target vehicle 50 is the left side of the road 60 (in the case of left-hand traffic), and the vehicle starts while taking out the blinker to the right front from the stopped state. Assuming that the line-of-sight detection target vehicle 50 starts from the parked state with respect to the travel situation, the driver predicted line-of-sight direction is a left-right direction for confirming the forward H and the rear vehicles that are the direction of travel of the line-of-sight detection target vehicle 50 The table information defines that the door mirror (fender mirror) 50b has three mirror surface directions I and J. In addition, predetermined ranges h, i, and j are defined by the table information for each driver predicted line-of-sight direction H, I, and J, respectively. Further, predetermined time rates for the respective driver predicted line-of-sight directions H, I, and J are defined by the table information.

  The driving device 9 connected to the warning device 1 is operated to display the steering which changes the tire direction of the line-of-sight detection target vehicle 50 by changing the rudder angle, and whether the line-of-sight detection target vehicle 50 bends to the left or right. Turn signal, a brake that performs a braking operation to stop the line-of-sight detection target vehicle 50, an accelerator that performs an acceleration operation to drive the line-of-sight detection target vehicle 50, an ECU (Electric Computer Unit), and the like. Here, when the driver operates the steering, the turn signal, the brake, and the accelerator, driving information is output from the ECU of the driving device 9. The driving information is information indicating the movement of the line-of-sight detection target vehicle 50. For example, when the driver posts a right turn with a turn signal, driving information indicating that the line-of-sight detection target vehicle 50 turns right is output from the driving device 9. .

  The navigation device 10 connected to the warning device 1 also displays navigation information such as the current position of the line-of-sight detection target vehicle 50 and the planned route to the destination, the shape of the road 60 that is running, and the speed of the line-of-sight detection target vehicle 50. obtain. The navigation information is information indicating in what place and in what direction and at what speed the line-of-sight detection target vehicle 50 moves.

  Reference numeral 5 denotes a determination unit that inputs information on the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle 50 output from the line-of-sight detection unit 3, and includes a matching condition including the driver predicted line-of-sight direction output from the line-of-sight direction prediction unit 4 Enter the information. Then, as shown in FIG. 4, a difference between a driver predicted line-of-sight direction connecting a point (hereinafter referred to as a gaze point) that the driver gazes from the driver's eyeball and a driver's actual line-of-sight direction is detected, and the difference is predetermined. It is determined whether it is within the range. The determination unit 5 also includes information indicating a determination result as to whether or not the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction is within a predetermined range, and information on the matching condition output from the line-of-sight direction prediction unit 4 The information which shows the predetermined time rate contained in is output. Here, the predetermined range is determined by the information on the matching condition output from the line-of-sight direction prediction unit 4.

  When the driver's gazing point is a plane such as the room mirror 50a or the door mirror 50b, the determination unit 5 may compare the driver's actual line-of-sight direction and the driver's predicted line-of-sight direction as follows. As shown in FIG. 5, the determination unit 5 sets a cone connecting the driver's eyeball and a plane centered on the gazing point as a predetermined range, and determines whether or not the driver's actual line-of-sight direction is included in the predetermined range. judge. And the determination part 5 outputs the information which shows the determination result whether a driver | operator's real gaze direction is in a predetermined range.

  Reference numeral 6 denotes a control unit which inputs information indicating the determination result output from the determination unit 5 and information indicating a predetermined time rate, and the difference between the driver's actual gaze direction and the driver predicted gaze direction is within a predetermined range. It is checked whether or not a certain time is a predetermined time rate or more. Further, when the cone is within a predetermined range, the control unit 6 checks whether or not the time during which the driver's actual line-of-sight direction is within the predetermined range is equal to or greater than a predetermined time rate.

  When the control unit 6 determines that the time is equal to or less than a predetermined time rate, the control unit 6 is information that calls attention to the surrounding vehicle 70 existing around the line-of-sight detection target vehicle 50 (hereinafter referred to as warning information). Is output to the inter-vehicle communication unit 7. In the inter-vehicle communication unit 7, the warning information input from the control unit 6 is transmitted to the surrounding vehicle 70 by the terrestrial antenna 8 or the like.

  Here, in the surrounding vehicle 70, a warning sound or a warning image is generated based on the warning information received by the inter-vehicle communication unit, and the warning sound is output by a speaker or the warning image is output by a display device or the like. Thus, a warning is given to the driver of the vehicle that the driver of the vehicle 50 to be detected is not driving.

  FIG. 6 is a block diagram illustrating a configuration example of the navigation device 10 connected to the warning device 1 according to the first embodiment. In FIG. 6, reference numeral 11 denotes a map recording medium such as a DVD-ROM (Digital Versatile Disk Read Only Memory), which stores various types of map data necessary for map display and route search. Although the DVD-ROM 11 is used as a recording medium for storing the map data here, other recording media such as a CD-ROM (Compact Disk Read Only Memory) and a hard disk may be used. A DVD-ROM control unit 12 controls reading of map data from the DVD-ROM 11.

  Reference numeral 13 denotes a position measurement unit that measures the current position of the vehicle, and includes a self-contained navigation sensor, a GPS (Global Positioning System) receiver, a position calculation CPU, and the like. The self-contained navigation sensor is a vehicle speed sensor (distance sensor) that detects a moving distance and speed of a vehicle by outputting one pulse for each predetermined traveling distance, and a vibration gyro that detects a rotation angle (moving direction) of the vehicle. And an angular velocity sensor (relative direction sensor). The self-contained navigation sensor detects the relative position and direction of the vehicle by these vehicle speed sensor and angular velocity sensor, and also detects the speed of the own vehicle.

  The position calculation CPU calculates the absolute vehicle position (estimated vehicle position) and vehicle direction based on the relative position and direction data output from the self-contained navigation sensor. The GPS receiver receives radio waves transmitted from a plurality of GPS satellites with a GPS antenna, and performs a three-dimensional positioning process or a two-dimensional positioning process to calculate the absolute position and direction of the host vehicle (vehicle direction Is calculated based on the current position of the host vehicle and the position of the host vehicle before one sampling time ΔT).

  A map information memory 14 temporarily stores map data read from the DVD-ROM 11 under the control of the DVD-ROM control unit 12. That is, the DVD-ROM control unit 12 inputs information on the current vehicle position from the position measurement unit 13 and outputs an instruction to read out a predetermined range of map data including the current vehicle position, thereby displaying a map display or guidance route. Map data necessary for the search is read from the DVD-ROM 11 and stored in the map information memory 14.

  A processor (CPU) 15 controls the entire navigation device 10. Reference numeral 16 denotes a ROM which stores various programs (such as a guidance route search processing program). Reference numeral 17 denotes a RAM which temporarily stores data obtained during various processes and data obtained as a result of various processes. For example, the CPU 15 searches for the guide route with the lowest cost connecting the current location to the destination using the map data stored in the map information memory 14 according to the guide route search processing program stored in the ROM 16. Process.

  Reference numeral 18 denotes a guidance route memory, which stores guidance route data searched by the CPU 15. The guidance route data stores the position of each node and an intersection identification flag indicating whether or not each node is an intersection corresponding to each node from the current position to the destination.

  Reference numeral 19 denotes an information output unit, which is read from the current position and speed of the line-of-sight detection target vehicle 50 obtained by the position measurement unit 13 and the like, the planned route to the destination stored in the guide route memory 18, the DVD-ROM 11, and the like. Navigation information such as the shape of the running road 60 is output to the warning device 1. Reference numeral 20 denotes a bus, which is used for exchanging data between the various functional configurations described above.

  Next, the operation of the warning device 1 configured as described above and the processing procedure of the warning method will be described. FIG. 7 is a flowchart showing the operation and warning method of the warning device 1 according to the first embodiment.

  In FIG. 7, first, the line-of-sight direction prediction unit 4 inputs information indicating the traveling state of the line-of-sight detection target vehicle 50 (step S1). Specifically, driving information of the line-of-sight detection target vehicle 50 is input from the driving device 9, and navigation information is input from the navigation device 10. Then, the line-of-sight direction predicting unit 4 determines the driver predicted line-of-sight direction, a predetermined range including the driver predicted line-of-sight direction based on the table from the information indicating the traveling state of the line-of-sight detection target vehicle 50 input in step S1, and the driver's actual line of sight A predetermined time rate in which a difference between the direction and the driver predicted line-of-sight direction is within a predetermined range is determined, and information indicating the content is output to the determination unit 5 (step S2).

  The line-of-sight direction detection unit 3 detects the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle 50 using the line-of-sight sensor 2 (step S3).

  Further, in the determination unit 5, information indicating the driver predicted line-of-sight direction determined in step S2, information indicating a predetermined range including the driver predicted line-of-sight direction, and a difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction are predetermined. Information indicating a predetermined time ratio within the range of is input, and information on the actual line-of-sight direction of the driver detected in step S3 is input. And the determination part 5 is a predetermined range in which the difference between the driver's actual gaze direction detected by the gaze direction detection part 3 and the driver predicted gaze direction determined by the gaze direction prediction part 4 is determined in step S2. Information indicating the determination result and information indicating a predetermined time rate within which the difference between the actual visual line direction and the driver predicted visual line direction is within a predetermined range are output to the control unit 6 (Step S1). S4).

  The control unit 6 inputs information indicating the determination result and information indicating the time rate from the determination unit 5, and the time during which the difference between the actual line-of-sight direction and the driver predicted line-of-sight direction is within a predetermined range is equal to or less than the predetermined time rate. It is checked whether or not there is (step S5). If the control unit 6 determines that the time during which the difference between the actual line-of-sight direction and the driver predicted line-of-sight direction is within a predetermined range is not less than the predetermined time rate (NO in step S5), the process of step S1 Return to.

  On the other hand, when the control unit 6 determines that the time during which the difference between the actual gaze direction and the driver predicted gaze direction is within a predetermined range is equal to or less than the predetermined time rate (YES in step S5), the control unit 6 generates warning information and outputs it to the inter-vehicle communication unit 7. The inter-vehicle communication unit 7 transmits warning information to the surrounding vehicles 70 around the line-of-sight detection target vehicle 50 via the terrestrial antenna 8 (step S6). The peripheral vehicle 70 generates a warning sound or a warning image based on the warning information received by the inter-vehicle communication unit, outputs a warning sound using a speaker or the like, or outputs a warning image using a display device or the like. Warn other drivers.

  As described above in detail, according to the first embodiment, the gaze direction prediction unit 4 of the gaze detection target vehicle 50 predicts the driver predicted gaze direction based on the information indicating the traveling state of the gaze detection target vehicle 50. The gaze direction detection unit 3 of the gaze detection target vehicle 50 detects the driver's real gaze direction, and the compatibility between the detected driver's real gaze direction and the driver predicted gaze direction is determined by the gaze detection target vehicle 50 determination unit. Judge at 5. And according to the determination result by the determination part 5, the warning information which calls attention to the surrounding vehicle 70 is transmitted from the inter-vehicle communication part 7 of the gaze detection object vehicle 50. Accordingly, since attention can be drawn from the line-of-sight detection target vehicle 50 to the surrounding vehicle 70, the driver of the surrounding vehicle 70 is driving while paying attention to the risk factor of the driver of the line-of-sight detection target vehicle 50. It is not necessary to pay more attention to the line-of-sight detection target vehicle 50 than necessary. Moreover, since the driver of the surrounding vehicle 70 can grasp | ascertain the improper driving | operation by the careless driver of the gaze detection target vehicle 50, it can avoid the gaze detection target vehicle 50 driven improperly. , You can prevent accidents.

  Further, in the present embodiment, determination is made not only whether or not the actual gaze direction of the driver of the gaze detection target vehicle 50 and the driver predicted gaze direction are matched but also includes time information. As a result, it is possible to determine how much the driver of the line-of-sight detection target vehicle 50 is looking at the predicted driver's line-of-sight direction, so the driver of the surrounding vehicle 70 pays attention to the risk factor. It is possible to grasp in more detail whether or not the user is driving.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings. FIG. 8 is a block diagram illustrating a configuration of the warning device 21 according to the second embodiment. Here, the warning device 21 according to the second embodiment is mounted on a line-of-sight detection vehicle (for example, one of the surrounding vehicles 70) that detects the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle 50.

  In FIG. 8, reference numeral 22 denotes a camera, which is attached to the front of the line-of-sight detection vehicle in the traveling direction, for example, and captures a face image of the driver of the line-of-sight detection target vehicle 50. The line-of-sight direction detection unit 23 recognizes an image captured by the camera 22 by a known image recognition technique and detects the line-of-sight direction of the driver of the line-of-sight detection target vehicle 50. Here, when detecting the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle 50, preferably, the driver's face direction is detected from an image near the driver's face to acquire the driver's actual line-of-sight direction. More preferably, the actual line-of-sight direction of the driver is acquired from the image of the eyeball of the driver.

  Reference numeral 24 denotes a line-of-sight direction prediction unit, which inputs information indicating the traveling state of the line-of-sight detection target vehicle 50 received by the inter-vehicle communication unit 25 described later. Then, the line-of-sight direction prediction unit 24 predicts a direction (driver predicted line-of-sight direction) in which the driver of the line-of-sight detection target vehicle 50 should turn the line of sight according to the input information indicating the traveling state of the line-of-sight detection target vehicle 50. Further, the line-of-sight direction prediction unit 24 outputs information on the matching conditions including the predicted driver predicted line-of-sight direction. Here, the driver predicted line-of-sight direction is a direction in which the driver should perform safety confirmation. The information indicating the traveling state of the line-of-sight detection target vehicle 50 includes driving information input from the driving device of the line-of-sight detection target vehicle 50, navigation information input from the navigation device of the line-of-sight detection target vehicle 50, and the like.

  In addition, the line-of-sight direction prediction unit 24 has table information for determining a matching condition such as a driver predicted line-of-sight direction based on information indicating the traveling state of the line-of-sight detection target vehicle 50. Here, the matching condition includes a predetermined range including the driver predicted line-of-sight direction and time information when the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction is within the predetermined range. .

  The table information is stored in association with the traveling condition of the line-of-sight detection target vehicle 50 and the matching conditions such as the driver predicted line-of-sight direction. For example, as shown in FIG. 9A, the driver predicted line-of-sight direction is the opposite line-of-sight detection vehicle 80 with respect to the driving situation in which the current position of the line-of-sight detection target vehicle 50 is a right turn lane on the road 60 at the intersection. Table information defines that there are three directions: a front direction K in which the vehicle is present, a left direction L of the intersection, and a right direction M of the intersection, which is the traveling direction of the line-of-sight detection target vehicle 50. In addition, predetermined ranges k, l, and m are defined by table information for each driver predicted line-of-sight direction K, L, and M, respectively. In addition, predetermined time rates for the respective driver predicted line-of-sight directions K, L, and M are defined by the table information.

  Also, as shown in FIG. 9B, the driver predicted line-of-sight direction is the line-of-sight detection target vehicle with respect to a driving situation in which the current position of the line-of-sight detection target vehicle 50 exists on the road 60 at the intersection. The table information defines that there are three directions: a front direction N which is a traveling direction of 50, a left direction O of the intersection, and a right direction P of the intersection where the line-of-sight detection vehicle 80 exists. Here, predetermined ranges n, o, and p are defined by the table information for each driver predicted line-of-sight direction N, O, and P, respectively. In addition, a predetermined time rate for each driver predicted line-of-sight direction N, O, P is defined by the table information.

  The inter-vehicle communication unit 25 receives information indicating the traveling state of the line-of-sight detection target vehicle 50. The information indicating the traveling state is driving information acquired by the driving device of the line-of-sight detection target vehicle 50, navigation information acquired by the navigation device, or the like. For example, the driving device includes a steering wheel, a blinker, a brake, an accelerator, an ECU, and the like. Here, when the driver operates the steering, turn signal, brake, and accelerator, driving information is output from the ECU of the driving device. The driving information is information indicating the movement of the line-of-sight detection target vehicle 50.

  Further, the navigation apparatus acquires navigation information such as the current position of the line-of-sight detection target vehicle 50 and the planned route to the destination, the shape of the road 60 that is running, and the speed of the line-of-sight detection target vehicle 50. The navigation information is information indicating in what place and in what direction and at what speed the line-of-sight detection target vehicle 50 moves.

  Reference numeral 26 denotes a determination unit that receives information indicating the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle 50 output from the line-of-sight detection unit 23, and includes the driver predicted line-of-sight direction output from the line-of-sight direction prediction unit 24 Enter the condition information. Then, a difference between the driver predicted line-of-sight direction and the driver's actual line-of-sight direction is detected, and it is determined whether or not the difference is within a predetermined range. The determination unit 26 also includes information indicating a determination result as to whether or not the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction is within a predetermined range, and information on the matching conditions output from the line-of-sight direction prediction unit 24. The information which shows the predetermined time rate contained in is output. Here, the predetermined range is determined by the information on the matching condition output from the line-of-sight direction prediction unit 4.

  Reference numeral 27 denotes a control unit that inputs information indicating the determination result output from the determination unit 26 and information indicating a predetermined time rate, and the difference between the driver's actual gaze direction and the driver predicted gaze direction is within a predetermined range. It is checked whether or not a certain time is a predetermined time rate or more.

  When the control unit 27 determines that the time rate is equal to or less than the predetermined time rate, the control unit 27 generates warning instruction information for giving an instruction to generate warning information by a warning unit 28 described later. To the warning unit 28.

  The warning unit 28 generates warning information based on the warning instruction information input from the control unit 27, outputs a warning sound using a speaker or the like, or outputs a warning image using a display device or the like. A warning is issued to 80 drivers.

  Next, the operation of the warning device 21 configured as described above and the processing procedure of the warning method will be described. FIG. 10 is a flowchart showing the operation and warning method of the warning device 21 according to the second embodiment.

  In FIG. 10, first, the line-of-sight direction prediction unit 24 of the warning device 21 mounted on the line-of-sight detection vehicle 80 inputs information indicating the traveling state of the line-of-sight detection target vehicle 50 received by the inter-vehicle communication unit 25 (step S11). . Next, the line-of-sight direction prediction unit 24 determines the driver predicted line-of-sight direction, a predetermined range including the driver predicted line-of-sight direction, the actual line-of-sight direction, and the driver predicted line-of-sight direction based on the table from the information indicating the traveling state of the line-of-sight detection target vehicle 50. The time rate within which the difference is within a predetermined range is determined (step S12). The line-of-sight detection unit 23 detects the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle 50 (step S13).

  In the determination unit 26, the difference between the actual gaze direction of the driver of the gaze detection target vehicle 50 detected by the gaze direction detection unit 23 and the driver predicted gaze direction determined by the gaze direction prediction unit 24 is within a predetermined range. And information indicating the determination result is output to the control unit 27 (step S14).

  In the control unit 27, information indicating a determination result is input from the determination unit 26, and a time during which the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction of the line-of-sight detection target vehicle 50 is within a predetermined range is a predetermined time rate. It is checked whether or not the following is true (step S15). When the control unit 27 determines that the time during which the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction in the line-of-sight detection target vehicle 50 is within a predetermined range is not less than the predetermined time rate (in step S15) NO), the process returns to step S11.

  On the other hand, when the control unit 27 determines that the time during which the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction in the line-of-sight detection target vehicle 50 is within a predetermined range is equal to or less than a predetermined time rate (step In S15, the control unit 27 generates warning instruction information and outputs it to the warning unit 28. In the warning unit 28, when the warning instruction information is input from the control unit 27, the warning information is generated and output to the outside (inside the line-of-sight detection vehicle 80) (step S16).

  As described above in detail, according to the second embodiment, the gaze direction prediction unit 24 of the gaze detection vehicle 80 predicts the driver predicted gaze direction based on the information indicating the traveling state of the gaze detection target vehicle 50, The gaze direction detection unit 23 of the gaze detection vehicle 80 detects the real gaze direction of the driver of the gaze detection target vehicle 50, and the gaze detection vehicle 80 determines the compatibility between the detected real gaze direction of the driver and the driver predicted gaze direction. The determination unit 26 determines. The warning unit 28 of the line-of-sight detection vehicle 80 issues a warning according to the determination result by the determination unit 26. Accordingly, the driver of the line-of-sight detection vehicle 50 can alert the line-of-sight detection vehicle (own vehicle) 80 that the driver of the line-of-sight detection target vehicle 50 is not driving with caution. It can be determined whether or not the driver of the vehicle 50 is driving while paying attention to the risk factor, and it is not necessary to pay more attention to the line-of-sight detection target vehicle 50 than necessary. Further, since the driver of the line-of-sight detection vehicle 80 can grasp inappropriate driving by the careless driver of the line-of-sight detection target vehicle 50, it is possible to avoid the line-of-sight detection target vehicle 50 being driven inappropriately. And can prevent accidents.

  Further, in the present embodiment, determination is made not only whether or not the actual gaze direction of the driver of the gaze detection target vehicle 50 and the driver predicted gaze direction are matched but also includes time information. As a result, it is possible to determine how much the driver of the line-of-sight detection target vehicle 50 is looking at the driver's predicted line-of-sight direction, so that the driver of the line-of-sight detection vehicle 80 pays attention to the risk factor. It is possible to grasp in more detail whether or not the user is driving.

  In the first embodiment and the second embodiment, the control units 6 and 27 input information indicating the determination results output from the determination units 5 and 26, and the actual line-of-sight direction of the driver of the line-of-sight detection target vehicle 50 is input. It is examined whether or not the time during which the difference between the driver and the driver predicted line-of-sight direction is within a predetermined range is equal to or less than a predetermined time rate, but is not limited thereto. For example, the determination units 5 and 26 check whether the time during which the difference between the driver's actual gaze direction and the driver predicted gaze direction of the gaze detection target vehicle 50 is within a predetermined range is equal to or less than a predetermined time rate. May be.

  In the first embodiment, the control unit 6 generates warning information, but the present invention is not limited to this. For example, the determination unit 5 may generate warning information.

  In the first embodiment, the warning information is transmitted by the inter-vehicle communication unit 7, but the present invention is not limited to this. For example, the control unit 6 may generate warning instruction information and transmit it to the surrounding vehicle 70 by the inter-vehicle communication unit 7. Here, both the neighbors 70 who have received the warning instruction information generate warning information based on the warning instruction information, and output a warning voice or a warning image by a warning unit (not shown).

  In the second embodiment, the control unit 27 generates the warning instruction information, but the present invention is not limited to this. For example, the determination unit 26 may generate warning instruction information.

  In the first embodiment and the second embodiment, the determination units 5 and 26 determine whether or not the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction is within a predetermined range. However, it is not limited to this. For example, the determination units 5 and 26 may determine whether or not the difference between the driver's actual line-of-sight direction and the driver predicted line-of-sight direction is outside a predetermined range.

  In the first embodiment and the second embodiment, the driver's actual gaze direction is detected after the driver predicted gaze direction is determined, but the present invention is not limited to this. For example, the driver predicted line-of-sight direction may be determined after the actual line-of-sight direction of the driver is detected.

  Further, in the first embodiment and the second embodiment, it is determined whether or not the time during which the difference between the driver's actual line-of-sight direction and the driver's predicted line-of-sight direction is within a predetermined range is equal to or less than a predetermined time rate. Although the warning information is generated, the present invention is not limited to this. For example, the driver's actual line of sight at the moment when the vehicle enters a place where the actual line-of-sight direction of the driver should be detected (for example, an intersection, a curve, or a stop line), or at the moment when the vehicle performs a right turn, left turn, departure, stop, etc. The determination units 5 and 26 determine whether or not the difference between the direction and the driver predicted line-of-sight direction is within a predetermined range, and when it is determined that the difference is not within the predetermined range, the control units 6 and 27 display warning information. You may make it produce | generate.

  Moreover, in 2nd Embodiment, although the information which shows the driving | running | working condition of the eyes | visual_axis detection object vehicle 50 is received by the inter-vehicle communication part 25, it is not limited to this. For example, information indicating the traveling state of the line-of-sight detection target vehicle 50 may be acquired by the following method. First, the distance between the line-of-sight detection vehicle 80 and the line-of-sight detection target vehicle 50 and the direction of the line-of-sight detection target vehicle 50 viewed from the line-of-sight detection vehicle 80 are detected by a radar or a camera mounted on the line-of-sight detection vehicle 80. 50 positions and orientations are acquired. Further, map data around the line-of-sight detection target vehicle 50 is acquired by a navigation device mounted on the line-of-sight detection vehicle 80. Then, by comparing the position and direction of the line-of-sight detection target vehicle 50 with map data around the line-of-sight detection target vehicle 50, the state of the road where the line-of-sight detection target vehicle 50 exists (for example, the number of lanes on the road) As well as the direction of travel of each lane). In the determination unit 26 of the line-of-sight detection vehicle 80, a motion such as whether or not the line-of-sight detection target vehicle 50 makes a right turn is estimated according to the lane of the road on which the line-of-sight detection target vehicle 50 exists, and the driver predicted line-of-sight direction To be determined.

  In such a case, a part of information indicating the traveling state of the line-of-sight detection target vehicle 50, for example, only the position of the line-of-sight detection target vehicle 50 is acquired by a radar or camera mounted on the line-of-sight detection vehicle 80, The information may be received by the inter-vehicle communication unit 25.

  In the second embodiment, the warning unit 28 issues a warning by outputting a warning sound or a warning image, but the present invention is not limited to this. For example, warning information may be output from the warning unit 28 to the navigation device, a warning sound may be output from a speaker of the navigation device, or a warning image may be displayed on the display device of the navigation device.

  Further, in the second embodiment, the driver predicted line-of-sight direction of the line-of-sight detection target vehicle 50 is predicted by the line-of-sight direction prediction unit 24 of the line-of-sight detection vehicle 80, but is not limited thereto. For example, a line-of-sight direction prediction unit is provided in the line-of-sight detection target vehicle 50, thereby predicting the driver predicted line-of-sight direction. Then, as shown in FIG. 11, the inter-vehicle communication unit 25 may receive the driver predicted line-of-sight direction predicted by the line-of-sight detection target vehicle 50.

  Further, in the second embodiment, the line-of-sight direction prediction unit 24 determines the driver's predicted line-of-sight direction, a predetermined range including the driver's predicted line-of-sight direction based on the table information from the information indicating the traveling state of the line-of-sight detection target vehicle 50, the actual line of sight Although the time rate in which the difference between the direction and the driver predicted line-of-sight direction is within a predetermined range is determined, the present invention is not limited to this. For example, in addition to the information indicating the traveling state of the line-of-sight detection target vehicle 50, the predetermined range including the driver predicted line-of-sight direction of the line-of-sight detection target vehicle 50 is determined by adding information indicating the traveling state of the line-of-sight detection vehicle 80. You may do it.

  Specifically, as shown in FIG. 12A, when the line-of-sight detection target vehicle 50 turns right and the line-of-sight detection vehicle 80 goes straight or turns left, the line-of-sight detection target vehicle 50 and the line-of-sight detection vehicle 80 come into contact with each other. Since the possibility increases, the predetermined range k including the driver predicted line-of-sight direction K and the predetermined range m including the driver predicted line-of-sight direction M are widened. Similarly, when the line-of-sight detection target vehicle 50 goes straight or turns left and the line-of-sight detection vehicle 80 turns right, there is a high possibility that the line-of-sight detection target vehicle 50 and the line-of-sight detection vehicle 80 come into contact with each other. And a predetermined range m including the driver predicted line-of-sight direction M is widened.

  On the other hand, as shown in FIG. 12B, when the line-of-sight detection target vehicle 50 goes straight or turns left and the line-of-sight detection vehicle 80 goes straight or turns left, the line-of-sight detection target vehicle 50 and the line-of-sight detection vehicle 80 come into contact with each other. Since the possibility decreases, the predetermined range k ′ including the driver predicted line-of-sight direction K ′ and the predetermined range m ′ including the driver predicted line-of-sight direction M ′ are narrowed. In such a case, in addition to the information indicating the traveling state of the line-of-sight detection target vehicle 50, the driver predicted line-of-sight direction of the line-of-sight detection target vehicle 50 is shifted by adding information indicating the traveling state of the line-of-sight detection vehicle 80. Alternatively, the time rate in which the difference between the actual visual line direction and the driver predicted visual line direction is within a predetermined range may be changed. Here, the information indicating the traveling state of the line-of-sight detection vehicle 80 includes driving information input from the driving device, navigation information input from the navigation device, and the like. Accordingly, the driver predicted line-of-sight direction, the predetermined range including the driver predicted line-of-sight direction, and the time rate at which the difference between the actual line-of-sight direction and the driver predicted line-of-sight direction is within the predetermined range are changed according to the movement of the line-of-sight detection vehicle 80. Therefore, it is possible to further clarify the target to which the line-of-sight detection target driver 50 should pay attention.

  In addition, each of the first embodiment and the second embodiment described above is merely an example of a specific example for carrying out the present invention, and the technical scope of the present invention is limitedly interpreted by these. It must not be done. In other words, the present invention can be implemented in various forms without departing from the spirit or main features thereof.

  The present invention is useful for a warning device that issues a warning when the driver is not driving properly.

It is a block diagram which shows the structural example of the warning device by 1st Embodiment. It is a figure which shows the example of the driver prediction gaze direction of a gaze detection object vehicle carrying the warning device by 1st Embodiment, and a predetermined range. It is a figure which shows the other example of the driver estimated gaze direction of a gaze detection object vehicle carrying the warning device by 1st Embodiment, and a predetermined range. It is a figure which shows the comparative example of the driver estimated gaze direction of the warning device by 1st Embodiment and 2nd Embodiment, and the real gaze direction of a driver. It is a figure which shows the other comparative example of the driver estimated gaze direction of the warning device by 1st Embodiment and 2nd Embodiment, and the real gaze direction of a driver. It is a block diagram which shows the structural example of the navigation apparatus mounted in a gaze detection object vehicle. It is a flowchart which shows operation | movement and the warning method of the warning device by 1st Embodiment. It is a block diagram which shows the structural example of the warning device by 2nd Embodiment. It is a figure which shows the example of the driver's prediction gaze direction and predetermined range of the gaze detection target vehicle whose real gaze direction is detected by the gaze detection vehicle equipped with the warning device according to the second embodiment. It is a flowchart which shows operation | movement and the warning method of the warning device by 2nd Embodiment. It is a block diagram which shows the modification of the warning device by 2nd Embodiment. It is a figure which shows the modified example of the driver estimated gaze direction of a gaze detection target vehicle and a predetermined range detected by the gaze detection vehicle equipped with the warning device according to the second embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Warning apparatus 2 Gaze sensor 3,23 Gaze direction detection part 4,24 Gaze direction estimation part 5,26 Judgment part 6,27 Control part 7,25 Inter-vehicle communication part 28 Warning part

Claims (3)

A gaze direction detection unit that detects a real gaze direction that is an actual gaze direction of a driver of the gaze detection target vehicle in a surrounding vehicle that exists around the gaze detection target vehicle;
A line-of-sight direction that predicts a predetermined range including a driver-predicted line-of-sight direction in which a driver of the line-of-sight detection target vehicle should turn his / her line of sight based on information indicating the driving state of the line-of-sight detection target vehicle and information indicating the driving state of the surrounding vehicle A predictor;
A determination unit for determining compatibility between the actual line-of-sight direction and the predetermined range ;
A warning unit that outputs warning information to the surrounding vehicles;
A control unit that outputs the warning information by the warning unit according to a determination result by the determination unit;
A warning device comprising: The control unit causes the warning unit to output the warning information according to time information when the determination unit determines that the actual line-of-sight direction matches a predetermined range including the driver predicted line- of- sight direction. The warning device according to claim 1 . A first step of inputting information indicating a traveling state of the line-of-sight detection target vehicle in a line-of-sight direction prediction unit of a surrounding vehicle existing around the line-of-sight detection target vehicle;
Based on the information indicating the driving condition of the line-of-sight detection target vehicle input in the first step and the information indicating the driving condition of the surrounding vehicle, the driver predicted line-of-sight direction in which the driver of the line-of-sight detection target vehicle should turn his / her line of sight is determined. A second step of predicting a predetermined range including the gaze direction prediction unit;
A third step of detecting an actual gaze direction, which is an actual gaze direction of a driver of the gaze detection target vehicle, by a gaze direction detection unit of the surrounding vehicle;
A fourth step of determining the suitability between the predetermined range and the actual line-of-sight direction by a determination unit of the surrounding vehicle;
A fifth step of outputting warning information to the surrounding vehicle according to the result determined in the fourth step;
A warning method characterized by comprising:

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