JP4978721B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP4978721B2 JP4978721B2 JP2010186412A JP2010186412A JP4978721B2 JP 4978721 B2 JP4978721 B2 JP 4978721B2 JP 2010186412 A JP2010186412 A JP 2010186412A JP 2010186412 A JP2010186412 A JP 2010186412A JP 4978721 B2 JP4978721 B2 JP 4978721B2
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- 230000033001 locomotion Effects 0.000 claims description 114
- 238000001514 detection method Methods 0.000 claims description 40
- 230000002207 retinal effect Effects 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 6
- 210000001508 eye Anatomy 0.000 claims description 5
- 210000005252 bulbus oculi Anatomy 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 description 16
- 238000000034 method Methods 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000001525 retina Anatomy 0.000 description 3
- 230000004256 retinal image Effects 0.000 description 3
- 235000002673 Dioscorea communis Nutrition 0.000 description 2
- 241000544230 Dioscorea communis Species 0.000 description 2
- 208000035753 Periorbital contusion Diseases 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- 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
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/23—Head-up displays [HUD]
- B60K35/235—Head-up displays [HUD] with means for detecting the driver's gaze direction or eye points
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/149—Instrument input by detecting viewing direction not otherwise provided for
-
- 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
- B60W2040/0872—Driver physiology
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- 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
- B60W2540/22—Psychological state; Stress level or workload
-
- 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
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
-
- 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
- B60W2540/225—Direction of gaze
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
16:車両運動検出部
26:運転支援ECU
28:操舵アクチュエータ
30:顔画像撮影カメラ
Claims (9)
- 移動体の運転者の注視点を設定する注視点設定手段と、
前記移動体の運転者に対する、その移動体の周囲の環境の運動を検出する運動検出手段と、
前記運動検出手段によって検出された周囲環境の運動を、前記移動体の運転者の網膜球面を模擬した座標系に投影し、その投影した運動における、前記移動体の運転者の前記注視点への視線方向を軸として、その軸回りで回転する運動成分を算出する回転運動成分算出手段と、
前記回転運動成分算出手段によって算出された回転運動成分の大きさが等しい等ポテンシャルラインを前記移動体の目標軌道として設定する目標軌道設定手段と、
前記目標軌道設定手段によって設定された目標軌道に基づいて、運転支援を行う支援手段と、を備えることを特徴とする運転支援装置。 - 前記移動体は、道路を走行する車両であって、
前記運動検出手段は、前記移動体の周囲の環境として、車両の走行方向における道路の路面上に複数のポイントを設定し、当該複数のポイントの運動を検出することを特徴とする請求項1に記載の運転支援装置。 - 前記運動検出手段は、
道路地図を記憶した道路地図記憶手段と、
前記車両の現在位置を検出する現在位置検出手段と、
前記車両の横方向及び上下方向の運動を検出する車両運動検出手段と、を備え、
前記道路地図及び前記車両の現在位置から定められる仮想の走行環境において、前記車両の横方向及び上下方向の運動を用いて、前記車両の運転者に対する前記複数のポイントの相対的な運動を検出することを特徴とする請求項2に記載の運転支援装置。 - 前記目標軌道設定手段は、前記車両の正面から前記注視点へ向けて伸びる等ポテンシャルラインを前記移動体の目標軌道として設定することを特徴とする請求項1乃至請求項3のいずれか一項に記載の運転支援装置。
- 前記運動検出手段は、
移動体の周囲環境に存在する物体の位置を周囲環境として取得する物体検出手段を備え、
前記物体検出手段によって取得された物体のうち、静止物体の位置に基づいて、前記移動体の運転者に対する周囲環境の運動を検出することを特徴とする請求項1に記載の運転支援装置。 - 前記注視点設定手段は、前記運動検出手段によって検出された周囲環境の運動を、前記移動体の運転者の網膜球面を模擬した座標系に投影した場合に、その運動が最も小さくなる点を、前記注視点として設定することを特徴とする請求項1乃至請求項5のいずれか一項に記載の運転支援装置。
- 前記移動体の運転者の眼球を含む画像を撮像する運転者カメラを備え、
前記注視点設定手段は、前記運転者カメラによって撮像された運転者の眼球を含む画像を解析することで前記注視点を設定することを特徴とする請求項1乃至請求項5のいずれか一項に記載の運転支援装置。 - 前記移動体に搭載され、移動体の進行方向の画像を連続的に撮像する前方カメラを備え、
前記注視点設定手段は、前記前方カメラが撮像した画像上のオプティカルフローに基づいて前記注視点を設定することを特徴とする請求項1乃至請求項5のいずれか一項に記載の運転支援装置。 - 前記支援手段は、前記移動体の現在の運動状態から現在軌道を予測し、それら目標軌道と現在軌道との比較に基づいて前記移動体の軌道制御を行うことを特徴とする請求項1乃至請求項8のいずれか一項に記載の運転支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010186412A JP4978721B2 (ja) | 2010-08-23 | 2010-08-23 | 運転支援装置 |
FR1157445A FR2963916B1 (fr) | 2010-08-23 | 2011-08-22 | Appareil pour faire fonctionner un objet mobile |
US13/199,190 US8401714B2 (en) | 2010-08-23 | 2011-08-22 | Apparatus for supporting drive of mobile object based on target locus thereof |
DE102011081370.5A DE102011081370B4 (de) | 2010-08-23 | 2011-08-23 | Vorrichtung zur Unterstützung der Fahrt eines mobilen Objekts auf der Grundlage von dessen Sollortskurve |
CN201110249940.0A CN102407849B (zh) | 2010-08-23 | 2011-08-23 | 基于移动对象的目标轨迹来支持移动对象的驾驶的设备 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010186412A JP4978721B2 (ja) | 2010-08-23 | 2010-08-23 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
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JP2012041020A JP2012041020A (ja) | 2012-03-01 |
JP4978721B2 true JP4978721B2 (ja) | 2012-07-18 |
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Family Applications (1)
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JP2010186412A Expired - Fee Related JP4978721B2 (ja) | 2010-08-23 | 2010-08-23 | 運転支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8401714B2 (ja) |
JP (1) | JP4978721B2 (ja) |
CN (1) | CN102407849B (ja) |
DE (1) | DE102011081370B4 (ja) |
FR (1) | FR2963916B1 (ja) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
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RU2557132C1 (ru) * | 2011-08-31 | 2015-07-20 | Тойота Дзидося Кабусики Кайся | Устройство управления приведением в движение транспортного средства |
FR3006817B1 (fr) * | 2013-06-10 | 2016-11-18 | Hispano Suiza Sa | Dispositif et procede d'assistance d'un systeme de generation electrique d'un aeronef |
JP6108974B2 (ja) * | 2013-06-14 | 2017-04-05 | 日立オートモティブシステムズ株式会社 | 車両制御システム |
JP5947279B2 (ja) * | 2013-12-20 | 2016-07-06 | 株式会社デンソー | 進路推定装置,及びプログラム |
JP6206258B2 (ja) * | 2014-03-06 | 2017-10-04 | 富士通株式会社 | 軌跡推定装置、軌跡推定方法およびプログラム |
JP6281405B2 (ja) * | 2014-05-12 | 2018-02-21 | 株式会社デンソー | 運転支援装置 |
EP2950294B1 (en) * | 2014-05-30 | 2019-05-08 | Honda Research Institute Europe GmbH | Method and vehicle with an advanced driver assistance system for risk-based traffic scene analysis |
US9747812B2 (en) | 2014-10-22 | 2017-08-29 | Honda Motor Co., Ltd. | Saliency based awareness modeling |
JP6390525B2 (ja) | 2015-06-04 | 2018-09-19 | 株式会社デンソー | 運転支援装置 |
JP6723836B2 (ja) * | 2016-06-03 | 2020-07-15 | 株式会社デンソーテン | レーダ装置および信号処理方法 |
KR101896790B1 (ko) * | 2016-11-08 | 2018-10-18 | 현대자동차주식회사 | 운전자 집중도 판정 장치, 그를 포함한 시스템 및 그 방법 |
JP6919349B2 (ja) * | 2017-06-09 | 2021-08-18 | 株式会社アイシン | 走行支援システム |
US11237554B2 (en) * | 2018-03-08 | 2022-02-01 | Steering Solutions Ip Holding Corporation | Driver readiness assessment system and method for vehicle |
FR3087734B1 (fr) * | 2018-10-24 | 2020-11-27 | Institut De Recherche Tech Systemx | Procede d'aide a la conduite, systeme et vehicule associes |
US11479245B2 (en) * | 2019-02-14 | 2022-10-25 | Honda Motor Co., Ltd. | Semi-autonomous vehicle control system and method of controlling a semi-autonomous vehicle |
GB2583898B (en) * | 2019-04-17 | 2021-09-08 | Jaguar Land Rover Ltd | Control system for driver monitoring and steering control |
US20210064030A1 (en) * | 2019-08-27 | 2021-03-04 | Yu-Sian Jiang | Driver assistance for a vehicle and method for operating the same |
CN113408331A (zh) * | 2020-03-17 | 2021-09-17 | 株式会社斯巴鲁 | 注视对象检测装置 |
US12085944B2 (en) * | 2021-03-02 | 2024-09-10 | Yujin Robot Co., Ltd. | Moving path planning apparatus and method for robot |
DE102021129244A1 (de) * | 2021-11-10 | 2023-05-11 | Bayerische Motoren Werke Aktiengesellschaft | Fahrassistenzsystem und Verfahren zum Betreiben eines Fahrassistenzsystems |
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JP2009292409A (ja) * | 2008-06-09 | 2009-12-17 | Yazaki Corp | ヘッドアップディスプレイ装置 |
JP4735676B2 (ja) * | 2008-08-06 | 2011-07-27 | 株式会社デンソー | 走行支援装置 |
JP2010186412A (ja) | 2009-02-13 | 2010-08-26 | Hitachi Ltd | 文書管理方法及び管理装置 |
-
2010
- 2010-08-23 JP JP2010186412A patent/JP4978721B2/ja not_active Expired - Fee Related
-
2011
- 2011-08-22 US US13/199,190 patent/US8401714B2/en active Active
- 2011-08-22 FR FR1157445A patent/FR2963916B1/fr not_active Expired - Fee Related
- 2011-08-23 DE DE102011081370.5A patent/DE102011081370B4/de not_active Expired - Fee Related
- 2011-08-23 CN CN201110249940.0A patent/CN102407849B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE102011081370B4 (de) | 2021-03-18 |
DE102011081370A1 (de) | 2012-05-03 |
CN102407849A (zh) | 2012-04-11 |
US20120046802A1 (en) | 2012-02-23 |
FR2963916A1 (fr) | 2012-02-24 |
US8401714B2 (en) | 2013-03-19 |
JP2012041020A (ja) | 2012-03-01 |
FR2963916B1 (fr) | 2019-06-21 |
CN102407849B (zh) | 2014-09-03 |
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