JP4978722B2 - 速度制御装置 - Google Patents
速度制御装置 Download PDFInfo
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- JP4978722B2 JP4978722B2 JP2010186413A JP2010186413A JP4978722B2 JP 4978722 B2 JP4978722 B2 JP 4978722B2 JP 2010186413 A JP2010186413 A JP 2010186413A JP 2010186413 A JP2010186413 A JP 2010186413A JP 4978722 B2 JP4978722 B2 JP 4978722B2
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/163—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state by tracking eye movement, gaze, or pupil change
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
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- G—PHYSICS
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/18—Eye characteristics, e.g. of the iris
- G06V40/19—Sensors therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement
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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
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
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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
- 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
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- Biomedical Technology (AREA)
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- Ophthalmology & Optometry (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
16:車両運動検出部
26:速度制御ECU
28:駆動力制御アクチュエータ
30:制動力制御アクチュエータ
32:制御スイッチ
34:顔画像撮影カメラ
Claims (11)
- 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が前記注視点を注視しているものとして、当該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、前記注視点から周囲に放射状に拡がる発散成分を算出する発散成分算出手段と、
前記注視点を含む所定のエリア内における、前記発散成分算出手段によって算出された発散成分の総量を求める総量算出手段と、
前記総量算出手段によって算出された発散成分の総量が一定となるように、前記移動体の速度を制御する速度制御手段と、を備えることを特徴とする速度制御装置。 - 前記運動検出手段は、前記移動体の周囲の環境として、前記所定のエリア内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に記載の速度制御装置。
- 前記所定のエリアを、前記移動体のフロントガラスの範囲に対応するように設定することを特徴とする請求項1又は請求項2に記載の速度制御装置。
- 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、
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、
前記車両の前後方向、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、前記車両の前後方向、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又は請求項3に記載の速度制御装置。 - 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、静止物体の位置の変化に基づいて、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又は請求項2に記載の速度制御装置。 - 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が前記移動体の進行方向を視ているものとして、前記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速度制御装置。
- 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速度制御装置。 - 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速度制御装置。 - 前記速度制御手段は、前記移動体の運転者により制御開始が指示されると前記移動体の速度制御を開始するものであり、前記移動体の運転者によって制御開始が指示されたときに前記総量算出手段によって算出された発散成分の総量を目標値として、その後に前記総量算出手段によって算出される発散成分の総量が目標値に近づくように、前記移動体の速度を制御する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速度制御装置。
- 前記速度制御手段は、速度制御を開始した後に、前記移動体の運転者により速度の増減操作が行われたことに応じて、目標値とする発散成分の総量を更新することを特徴とする請求項9に記載の速度制御装置。
- 速度制御手段による速度制御が開始された後に、前記運転者により前記移動体の速度を調節する速度調節部材の操作が行われたとき、前記速度制御手段は、自身の速度制御による速度と、前記速度調節部材の操作による速度とのいずれか小さい方の速度となるように、前記移動体の速度を制御することを特徴とする請求項9又は請求項10に記載の速度制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010186413A JP4978722B2 (ja) | 2010-08-23 | 2010-08-23 | 速度制御装置 |
US13/199,199 US8489252B2 (en) | 2010-08-23 | 2011-08-22 | Apparatus for controlling speed of mobile object |
DE201110081372 DE102011081372A1 (de) | 2010-08-23 | 2011-08-23 | Vorrichtung zum Steuern einer Geschwindigkeit eines mobilen Objekts |
CN201110249943.4A CN102371995B (zh) | 2010-08-23 | 2011-08-23 | 用于控制运动物体的速度的设备 |
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JP2010186413A JP4978722B2 (ja) | 2010-08-23 | 2010-08-23 | 速度制御装置 |
Publications (2)
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JP2012041021A JP2012041021A (ja) | 2012-03-01 |
JP4978722B2 true JP4978722B2 (ja) | 2012-07-18 |
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JP2010186413A Expired - Fee Related JP4978722B2 (ja) | 2010-08-23 | 2010-08-23 | 速度制御装置 |
Country Status (4)
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US (1) | US8489252B2 (ja) |
JP (1) | JP4978722B2 (ja) |
CN (1) | CN102371995B (ja) |
DE (1) | DE102011081372A1 (ja) |
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2010
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2011
- 2011-08-22 US US13/199,199 patent/US8489252B2/en active Active
- 2011-08-23 DE DE201110081372 patent/DE102011081372A1/de not_active Withdrawn
- 2011-08-23 CN CN201110249943.4A patent/CN102371995B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
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US8489252B2 (en) | 2013-07-16 |
US20120046803A1 (en) | 2012-02-23 |
DE102011081372A1 (de) | 2012-03-08 |
CN102371995A (zh) | 2012-03-14 |
JP2012041021A (ja) | 2012-03-01 |
CN102371995B (zh) | 2014-10-15 |
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