JP6678147B2 - Danger sign determination device, danger sign determination system, vehicle, and program - Google Patents

Description

  The present invention relates to a danger sign determination device, a danger sign determination system, a vehicle, and a program.

  Conventionally, a technique for determining dangerous driving has been known. Patent Literature 1 describes a technique for determining whether or not a driver has performed a dangerous act in driving. Patent Literature 2 discloses a technique for determining a safe driving degree of a driver from a passing characteristic value of an intersection of a host vehicle. Patent Literature 3 discloses a technique for calculating an evaluation value of a driving technique from the number of times of sudden braking operation.

JP-A-11-120488 (published on April 30, 1999) JP-A-2015-76000 (released on April 20, 2005) Japanese Patent Application Laid-Open No. 2015-97051 (released on May 21, 2015)

  However, in the above-described related art, even if the dangerous driving can be determined ex post facto, the sign of danger cannot be determined in advance.

  Therefore, an object of one embodiment of the present invention is to realize a technique capable of determining a sign of danger.

  In order to solve the above problem, a danger sign determination apparatus according to an aspect of the present invention includes a captured image acquisition unit configured to acquire a captured image including a head of a driver of at least one of a vehicle and another vehicle. A behavior obtaining unit that obtains a behavior including a swing angle of the driver by referring to the captured image; a danger sign determination unit that determines a danger sign by referring to the behavior of the driver; And an output unit that outputs the result of the judgment of the sign of the failure.

  According to the above configuration, it is possible to realize a technology capable of determining a sign of danger.

  In order to solve the above problem, the danger sign determination device according to aspect 2 of the present invention further includes a traveling state acquisition unit that acquires a traveling state of the at least one vehicle, and the danger sign determination unit includes The danger sign may be determined by further referring to the state.

  According to the above configuration, it is possible to realize a technology capable of determining a sign of danger based on the running state of the vehicle.

  In order to solve the above-mentioned problem, in the danger sign determination apparatus according to the third aspect of the present invention, the behavior acquiring unit refers to at least one of the driver's line of sight and face direction, and the driver's swing angle May be obtained.

  According to the above configuration, it is possible to realize a technique capable of determining a sign of danger based on at least one of a driver's line of sight and a face direction.

  In order to solve the above-mentioned problem, in the danger sign determination device according to the fourth aspect of the present invention, the danger sign determination unit refers to the behavior of the driver and the traveling state to determine the driver's concentration of driving. The output unit may calculate and output the driving concentration.

  According to the above configuration, it is possible to realize a technology capable of determining a sign of danger based on the behavior of the driver and the running state of the vehicle. By integrally evaluating the behavior of the driver and the traveling state of the vehicle, the danger sign determination device according to the present embodiment can more accurately determine the danger sign.

  In order to solve the above problem, in the danger sign determination apparatus according to the fifth aspect of the present invention, the danger sign determination unit refers to the swing angle and the traveling state to determine the degree of safety confirmation of the driver. After calculating, the output unit may output the safety confirmation degree.

  According to the above configuration, it is possible to realize a technology capable of determining a sign of danger based on the driver's swing angle and the running state of the vehicle. By integrally evaluating the driver's swing angle and the running state of the vehicle, the danger sign determination device according to this aspect can more accurately determine the danger sign.

  In order to solve the above problem, in the danger sign determination device according to aspect 6 of the present invention, the danger sign determination unit calculates danger sensitivity from the driving concentration level and the safety confirmation level, and outputs the danger sensitivity. May output the risk sensitivity.

  According to the above configuration, it is possible to realize a technique for calculating danger sensitivity.

  In order to solve the above-mentioned problem, in the danger sign determination device according to the seventh aspect of the present invention, the danger sign determination unit determines that at least one of the driving concentration level, the safety confirmation level, and the danger sensitivity is at least one index. When the value falls below the threshold value, it may be determined that there is a sign of danger.

  According to the above configuration, it is possible to realize a technique for determining a sign of danger based on at least one of the driving concentration, the safety confirmation, and the risk sensitivity.

  In order to solve the above-described problem, a danger sign determination system according to an aspect 8 of the present invention includes the danger sign determination apparatus according to any one of the aspects 1 to 7, and a notification unit. May be notified to at least one of the driver and the manager of the driver.

  According to the above configuration, it is possible to realize a technique of notifying the driver and / or the manager of the result of the danger sign determination.

  In order to solve the above problem, the danger sign determination system according to aspect 9 of the present invention further includes a storage unit and an output unit, and the output unit supplies the determination result of the danger sign to the storage unit. Acquiring the judgment result of the sign of danger under certain conditions from the storage unit, and referring to the judgment result of the sign of danger under the certain conditions, the danger sign judgment unit calculates the driving skill of the driver. The notification unit may calculate, and notify the driver's driving skill to at least one of the driver and his / her manager.

  According to the above configuration, it is possible to realize a technique of notifying the driver's driving skill to at least one of the driver and the manager thereof.

  In order to solve the above problem, a danger sign determination system according to an aspect 10 of the present invention includes the danger sign determination device according to the aspect 7, a storage unit, and an output unit, wherein the output unit includes the danger sign Is supplied to the storage unit, and the storage unit obtains the determination result of the danger sign under certain conditions supplied from the danger sign determination device and another danger sign determination device, and calculates a threshold. And the threshold calculation unit may calculate the threshold with reference to the determination result of the sign of danger under the certain condition.

  According to the above configuration, the threshold value calculation unit calculates the threshold value based on the determination result of the danger sign under certain conditions stored in the storage unit. Thus, in the danger sign determination system according to this aspect, a threshold value that is more suited to the current situation can be calculated using the result of the danger sign determination under certain conditions stored in the storage unit.

  In order to solve the above-mentioned problem, in the danger sign determination system according to aspect 11 of the present invention, the danger sign determination unit determines a danger sign of the driver of the other vehicle, and the notifying unit determines the danger of the own vehicle. At least one of the driver and the manager of the other vehicle may be notified of a sign of danger of the driver of the other vehicle.

  According to the above configuration, it is possible to realize a technology of notifying a driver of the own vehicle and / or its manager of a sign of danger of another vehicle.

  In order to solve the above problems, a vehicle according to an aspect 12 of the present invention includes the danger sign determination apparatus according to any one of the aspects 1 to 7, or the danger sign determination system according to any of the aspects 8 to 11. You may.

  According to the above configuration, it is possible to realize a vehicle equipped with a danger sign determination device or a danger sign determination system.

  In order to solve the above problem, a program according to an aspect 13 of the present invention is a program for causing a computer to function as the danger sign determination apparatus according to any of the aspects 1 to 7, It may be a program for causing a computer to function as the danger sign determination unit.

  According to the above configuration, the same effect as in the first aspect is exerted.

  According to one embodiment of the present invention, a technique capable of determining a sign of danger can be realized.

It is a block diagram showing a schematic structure of a danger sign determination device concerning Embodiment 1 of the present invention. FIG. 2 is a diagram illustrating an example of imaging by an imaging unit according to the first embodiment of the present invention. It is a figure showing example 1 of judgment of a danger sign concerning Embodiment 1 of the present invention. It is a figure showing example 2 of judgment of a sign of danger concerning Embodiment 1 of the present invention. It is a flowchart which shows the flow of the danger sign determination processing which concerns on Embodiment 1 of this invention. It is a figure which shows the notification example 1 of the evaluation result of the driving skill which concerns on Embodiment 1 of this invention. It is a figure which shows the notification example 2 of the evaluation result of the driving skill which concerns on Embodiment 1 of this invention. It is a figure showing the example of a notice of the danger sign concerning Embodiment 1 of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the configuration described in the present embodiment is not intended to limit the scope of the present invention to only that, unless otherwise specified, but is merely an illustrative example. Further, for convenience of explanation, members having the same functions as the members described in each embodiment are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

  In the present application, the “sign of danger” of the own vehicle or the other vehicle refers to a state in which the own vehicle or the other vehicle is likely to cause an accident or be involved in the accident. As will be described later, for example, a state in which there is a sign of danger with respect to the own vehicle is, for example, a state in which the driver's concentration of the driver of the own vehicle or another vehicle is low, or a degree of safety confirmation of the driver of the own vehicle or another vehicle is low. Refers to a state in which the risk sensitivity is reduced, or a state in which the risk sensitivity is reduced.

  Also, in the present application, the own vehicle refers to a vehicle that is owned or managed by a user of the danger sign determination device, the danger sign determination system, the vehicle, or the program according to the embodiment of the present invention. The other vehicle refers to all vehicles other than the own vehicle. The user of the danger sign determination apparatus, the danger sign determination system, the vehicle, or the program according to the embodiment of the present invention may be a driver of the vehicle, an administrator managing the driver, or the like.

[Embodiment 1]
(Configuration of danger sign determination device 1 and danger sign determination system 400)
With reference to FIG. 1, the configurations of the danger sign determination device 1 and the danger sign determination system 400 will be described. FIG. 1 is a block diagram showing the configuration of the danger sign determination device 1 and the danger sign determination system 400. As illustrated in FIG. 1, the danger sign determination device 1 includes a traveling state acquisition unit 14, a reference data acquisition unit 4, a captured image acquisition unit 5, a behavior acquisition unit 6, and a danger sign determination unit 7. The traveling state acquisition unit 14 includes a position information acquisition unit 2 and a vehicle behavior acquisition unit 3.

  The danger sign determination system 400 includes a danger sign determination device 1, a camera 8 (imaging unit), a driver notification unit 9, a data server 10, a threshold value calculation unit 11, and an administrator notification unit 13.

  In the present embodiment, the danger sign determination device 1, the camera 8, and the driver notification unit 9 are provided in the own vehicle 100, and the data server 10, the threshold calculation unit 11, and the administrator notification unit 13 are located outside the vehicle. Is provided. In addition, the camera 8 is provided so as to be able to capture an area including the face of the driver of the own vehicle 100 or another vehicle, and the driver notification unit 9 and the administrator notification unit 13 provide the driver 200 and the administrator with the driver 200 and the administrator, respectively. Other members may be provided on the vehicle or outside the vehicle as long as the members are provided so as to be able to notify or display.

  The danger sign determination device 1 can be configured as, for example, a drive recorder including the camera 8. Further, the danger sign determination device 1 may be a smartphone including a camera 8 in which a program described below is installed.

  The captured image acquisition unit 5 acquires a captured image captured by the camera 8 and supplies the captured image to the behavior acquisition unit 6.

  FIG. 2 shows an example of imaging by the camera 8. The camera 8 provided in the host vehicle 100 captures an image of an area 300 including the head of the driver 200. The region 300 may be a region including at least the head of the driver 200, but may be a region including the head of the driver 200 and a part of the chest. When the camera 8 captures an image of a region including a part of the head and the chest of the driver 200, the behavior acquisition unit 6 described below performs not only the behavior based on the captured image of the head but also a part of the head and the chest. Can be acquired.

  Further, the camera 8 may capture an image of a driver of another vehicle. When the camera 8 captures an image of the driver 200 of the host vehicle 100, the camera 8 captures an image of an area 300 in the host vehicle. When capturing the driver of another vehicle, the camera 8 captures an image of the outside of the host vehicle. When the camera 8 captures an image of a driver of another vehicle, the danger sign determination unit 7 can determine a danger sign of the other vehicle, as described later.

  The camera 8 may acquire a plurality of captured images at different times. According to this configuration, the behavior acquisition unit 6 described below can more accurately acquire the behavior of the driver 200 with reference to a plurality of captured images captured by the same camera 8 at different times. .

  The imaging unit is an optical detection element, and may be a camera capable of imaging in the visible light region or a camera capable of imaging outside the visible light region. A plurality of cameras 8 may be provided for one danger sign determination device. In the present embodiment, the imaging unit is provided in the own vehicle 100, but a mode in which the imaging unit is provided in another vehicle is also included in the scope of the present embodiment.

  The behavior acquisition unit 6 specifies the behavior of the driver 200 with reference to the captured image, and acquires the behavior. The behavior acquisition unit 6 supplies the acquired behavior to the danger sign determination unit 7. More specifically, the behavior acquiring unit 6 acquires at least the line of sight and the face direction of the driver 200 as the behavior of the driver 200 based on the captured image. In addition, the driver 200 may acquire at least one of the blink of the driver 200 and the movement of the hand as the behavior of the driver 200 in addition to the line of sight and the direction of the face. When the behavior acquisition unit 6 acquires the movement of the hand of the driver 200, the danger sign determination unit 7, which will be described later, can evaluate whether the driver 200 is not driving while operating the smartphone, for example.

  The behavior acquiring unit 6 may acquire the behavior of the occupant other than the driver 200 in addition to the behavior of the driver 200. For example, the behavior obtaining unit 6 obtains a face of a child, a pet, or the like of the driver 200, so that the danger sign determination unit 7 described later evaluates whether the driver 200 is driving while holding the child and the pet. be able to.

  In the present application, the term “behavior” refers to the behavior of a driver of the own vehicle 100 or another vehicle, and an occupant other than the driver of the own vehicle 100 or another vehicle, and “vehicle behavior” indicating the behavior of the vehicle. Are clearly distinguished.

  The behavior acquiring unit 6 may acquire the behavior of the driver 200 not only when the driver 200 is driving the own vehicle 100 but also when not driving the own vehicle 100. For example, the behavior sign acquisition unit 6 acquires the behavior before the driver 200 starts driving, or the behavior when the driver 200 is suspended, so that the danger sign determination unit 7 described below can make the driver 200 suitable for driving. It can be determined in advance that the patient is not in a state of extreme stress (extreme tension, seizure, panic, etc.). When the camera 8 captures an image of a driver of another vehicle, the behavior acquiring unit 6 acquires the behavior of the driver of another vehicle.

  The position information acquisition unit 2 acquires the position information of the own vehicle 100 and the map information, and supplies them to the vehicle behavior acquisition unit 3. The position information acquisition unit 2 acquires the position information of the vehicle 100 and the map information using, for example, a GPS (Global Positioning System). When the behavior acquiring unit 6 acquires the behavior of the driver of another vehicle, the position information acquiring unit 2 acquires the position information of another vehicle and the map information. When the vehicle body behavior can be predicted from the position information of the own vehicle 100 and the map information, the position information obtaining unit supplies the position information of the own vehicle 100 and the map information to the reference data obtaining unit 4 and the output unit 15. May be.

  The vehicle behavior acquisition unit 3 acquires the vehicle behavior of the own vehicle 100 with reference to the position information of the own vehicle 100 and the information on the behavior of the own vehicle 100, and supplies the acquired vehicle behavior to the reference data acquisition unit 4. The information on the behavior of the own vehicle 100 may be control information of the own vehicle 100 acquired using a digital tachograph or the like, or an image of the situation outside the own vehicle acquired using an imaging unit such as a drive recorder. The control information of the own vehicle 100 includes, for example, the yaw rate, speed, acceleration, jerk (time change of acceleration) of the own vehicle 100, lighting / non-lighting of the light, the position of the shift lever, On / Off of the parking brake, left and right. Turn signal On / Off, foot brake On / Off, and the like.

  Examples of the vehicle behavior acquired by the vehicle behavior acquisition unit 3 include straight ahead, right / left turn, lane change, temporary stop, parking / stopping, parking, turning, retreating, and the like. The vehicle behavior acquisition unit 3 acquires the vehicle behavior or predicts a later-occurring vehicle behavior by referring to the position information and the map information of the own vehicle 100. For example, when the own vehicle 100 is located on a right-turn road and the steering operation of the own vehicle 100 is performed clockwise, the vehicle behavior obtaining unit 3 determines that the own vehicle 100 is turning right. Judge. Further, for example, when the own vehicle 100 is located on a straight road without a side road and the own vehicle 100 is traveling, the vehicle behavior acquisition unit 3 determines that the own vehicle 100 is traveling straight, and It is predicted that the vehicle 100 will continue to travel straight for a while.

  In the present application, the running state of the host vehicle 100 refers to the position information of the host vehicle 100 and the vehicle behavior. The reference data acquisition unit 4, which will be described later, may acquire the reference data by referring to both the position information and the vehicle behavior of the own vehicle 100 as the traveling state of the own vehicle 100, or only the position information of the own vehicle 100, Alternatively, the reference data may be acquired with reference to only the vehicle behavior.

  The reference data acquisition unit 4 refers to the vehicle behavior and acquires reference data corresponding to the vehicle behavior. The reference data is data indicating an exemplary behavior of the driver corresponding to each vehicle behavior. For example, when the vehicle behavior acquisition unit 3 is acquiring a lane change as a vehicle behavior, the reference data acquisition unit 4 acquires data that sufficiently confirms the surrounding safety as reference data corresponding to the lane change. The user can set the reference data based on, for example, basic operations such as safety confirmation required in a general driving license skill test. For example, the user can set reference data based on exemplary behaviors such as turning right or left at an intersection, passing through a signalized intersection, or stopping according to traffic regulations. The user may set different reference data according to the type of vehicle such as a bus or a normal passenger car.

(Danger sign determination unit 7)
The danger sign determination unit 7 refers to the reference data and the behavior of the driver 200, and compares the reference data with the behavior of the driver 200 to determine a danger sign. The danger sign determination unit 7 first uses the driver's 200 behavior as an index (hereinafter, also simply referred to as an index) for determining a danger sign from the behavior of the driver 200 as a driving concentration degree a, a safety confirmation degree b, and a danger sensitivity c. Is calculated. Hereinafter, a method of calculating each index will be described.

(Calculation of driving concentration)
In the present application, the driving concentration degree is an index for determining whether the driver 200 looks forward without looking aside during traveling. Here, “forward” indicates an area including the traveling direction of the vehicle 100. The danger sign determining unit 7 refers to the line of sight and face of the driver 200 and the traveling state of the host vehicle 100 to calculate a forward visual recognition time during which the driver 200 is traveling. The danger sign determination unit 7 calculates the driving concentration of the driver 200 with reference to the reference data and the time of visually recognizing the driver traveling forward. The details of the method of calculating the driving concentration will be described later using an example.

(Calculation of safety confirmation degree)
Further, in the present application, the degree of safety confirmation is an index for determining whether or not the driver 200 has sufficiently confirmed the safety of the surroundings when the driver 200 turns right or left or changes lanes.

  The danger sign determining unit 7 calculates the swing angle of the driver 200 from the line of sight and the face direction of the driver 200. The danger sign determination unit 7 calculates the degree of safety confirmation of the driver 200 with reference to the reference data and the swing angle of the driver 200. The details of the method of calculating the degree of safety confirmation will be described later with an example.

(Calculation of risk sensitivity)
The danger sign determination unit 7 calculates the danger sensitivity of the driver 200 using the driving concentration and the safety confirmation. In one example, the risk sensitivity is calculated by the following equation (1).
c = a × b Equation (1)
In the above equation (1), a indicates the degree of driving concentration, b indicates the degree of safety confirmation, and c indicates danger sensitivity.

The method of calculating the risk sensitivity is not limited to the above, and for example, can be calculated by the following equation (2). The meaning of each symbol is the same as in the above formula (1).
c = a + b Expression (2)
When calculating the risk sensitivity, the danger sign determination unit 7 may use the external factor d as a variable in addition to the driving concentration degree a and the safety confirmation degree b. The external factors may include, for example, a road form of a traveling route described later, characteristics of the traveling route, a sign of danger of another vehicle, and weather such as rain and snow that impedes visibility.

  The danger sign determination unit 7 determines whether the danger sensitivity exceeds a threshold. If at least one of the driving concentration, the safety confirmation degree, and the danger sensitivity is below the threshold value, the danger sign determination unit 7 determines that there is a danger sign. The danger sign determining unit 7 supplies the result of the danger sign determination to the output unit 15. The danger sign determination unit 7 can set a threshold value according to conditions set by the user, characteristics of the traveling route, and the like. In addition, the threshold value may be a threshold value calculated by the threshold value calculation unit 11, which will be described later, received every predetermined period.

  The output unit 15 supplies the driver's notification unit 9 and the data server 10 (storage unit) with the determination result of the degree of driving concentration, the degree of safety confirmation, the danger sensitivity, and the sign of danger. Note that the output unit 15 may be a device that transmits information to the driver notification unit 9 and the data server 10 by wire or wireless, for example.

  The driver notification unit 9 notifies the driver 200 of the danger sign when receiving the result of the determination that there is a danger sign from the output unit 15. The driver notifying unit 9 may be a display unit that notifies by a video, a speaker that notifies by a warning sound, or a vibration generating device that notifies by a vibration. The timing at which the driver notification unit 9 performs the notification is not particularly limited, but may be, for example, immediately after determining the danger sign, or may be at predetermined intervals. In addition, the driver notification unit 9 may notify the driver 200 of a caution based on the characteristics of the traveling route, as described later. In the present application, the term “notification unit” refers to the driver notification unit 9 and the administrator notification unit 13 described later. When the driver notification unit 9 is a display unit that gives notification by video, the driver notification unit 9 displays a display screen shown in FIG. May be notified.

  Further, the driver notification unit 9 refers to the position information and the map information of the vehicle 100 supplied from the position information acquisition unit 2 and notifies the driver 200 of information on the road form of the traveling route to the driver 200. The information on the road form includes, for example, information indicating that there is a right / left turn ahead. Thereby, the driver notification unit 9 can assist the driving operation of the driver 200.

  The driver notification unit 9 may be provided so that the driver 200 of the vehicle 100 can be notified. The driver notification unit 9 is provided, for example, in the host vehicle 100. In the present embodiment, the driver notification unit 9 is provided outside the danger sign determination device 1, but the driver notification unit 9 may be provided in the danger sign determination device 1. Further, a plurality of driver notification units 9 may be provided. For example, the driver notification unit 9 may be provided in both the vehicle 100 and the workplace of the driver 200.

  The data server 10 acquires the driving concentration level, the safety confirmation level, the risk sensitivity, and the judgment result of the sign of danger, and stores each index and the judgment result of the sign of danger. In addition, the judgment result of each index and the sign of danger is supplied to the threshold value calculation unit 11.

  The data server 10 may be connected to a plurality of vehicles via a network. In that case, the data server 10 acquires the respective indicators and the judgment result of the danger sign from the own vehicle 100 and the plurality of vehicles, and stores each index and the judgment result of the danger sign. The threshold calculation unit 11 receives from the data server 10 the indices of a plurality of vehicles and the determination result of the sign of danger. According to this configuration, the threshold value calculation unit 11 can calculate the threshold value with reference to each index and a sign of danger for a plurality of vehicles.

  The threshold calculation unit 11 refers to the determination result of the driving concentration, the safety confirmation degree, the danger susceptibility, and the danger sign under certain conditions, and calculates a threshold for each index used for the determination of the danger sign. The threshold calculation unit 11 supplies the calculated threshold to the danger sign determination unit 7 at predetermined intervals.

  Further, the threshold value calculation unit 11 supplies the manager notification unit 13 with the determination results of the degree of driving concentration, the degree of safety confirmation, the risk sensitivity, and the sign of danger under certain conditions.

  The administrator notification unit 13 notifies the administrator of the driver 200 of at least one of the driving concentration level, the safety confirmation level, the danger sensitivity, and the danger sign. The administrator notification unit 13 may be a display unit that provides notification by video, a speaker that provides notification by a warning sound, or a vibration generation device that provides notification by vibration. The timing at which the administrator notification unit 13 performs the notification is not particularly limited, but may be, for example, immediately after a danger sign has been determined, or may be at predetermined intervals. When the driver 200 is a taxi driver, for example, the manager of the driver 200 may be a manager of a taxi company in which the driver 200 is employed.

  The administrator notification unit 13 notifies the administrator of the determination result of the sign of danger of the own vehicle 100 driven by the driver 200 and the index for determining the sign of danger. You can know the signs of danger. Thus, the administrator can appropriately notify the driver 200 of a sign of danger of the vehicle 100. In addition, the administrator can use the determination result of the sign of danger of the own vehicle 100 and each index for vehicle allocation. For example, when the administrator is notified by the administrator notification unit 13 that the driver's concentration of the driver 200 is decreasing, the administrator takes a break from the driver 200, and instead replaces the driver that is maintained in a state where the driver's concentration is high. , Can be allocated to areas where driving is frequently performed.

  Further, the danger sign determination unit 7 obtains, from the output unit 15, the determination results of the driving concentration, the safety confirmation degree, the danger sensitivity, and the danger sign stored under constant conditions, which are stored in the data server 10, and refers to them. Then, the driving skill of the driver 200 can be evaluated.

  The danger sign determination unit 7 calculates the driving skill of the driver 200 based on, for example, a determination result of a danger sign in a predetermined period. For example, during a predetermined period, the smaller the number of times that it is determined that there is a sign of danger, the more the danger sign determination unit 7 evaluates that the driving skill of the driver 200 is higher. Further, for example, the danger sign determination unit 7 evaluates that the driving skill of the driver 200 is higher as the average value of each index over a predetermined period is higher.

  The danger sign determination unit 7 supplies the evaluation result of the driving skill of the driver 200 to the output unit 15. The output unit 15 supplies the evaluation result of the driving skill to at least one of the driver notification unit 9 and the administrator notification unit 13. Thus, the driver 200 and the manager can objectively evaluate the driving skill of the driver 200.

  FIG. 6 is a diagram illustrating a notification example 1 of the evaluation result of the driving skill. FIG. 6 is an example of notification when the driver 200 is traveling safely. As shown in FIG. 6, the driver notification unit 9 and the administrator notification unit 13 may display the evaluation result of the driving skill of the driver 200 by numerical values or charts.

  FIG. 6A is a diagram illustrating an example in which the results of safe driving of the driver 200 are displayed as a pie chart. The danger sign determination unit 7 calculates the ratio of the time during which the driver 200 is performing safe driving to the total traveling time of the driver 200 within the predetermined period, and supplies the calculated ratio to the output unit 15. The danger sign determination unit 7 determines the time during which it is determined that there is no danger sign of the own vehicle 100 as “safe”, the danger sign of the own vehicle 100 as well as the average value of the safety concentration condition of the driver 200 described later, The time when the average value of the driving performance is equal to or more than a predetermined value is “caution”, there is a sign of danger relating to the vehicle 100, and the average value of the safety concentration condition of the driver 200 or the average value of the driving performance is the predetermined value. Are classified as “dangerous”. The danger sign determination unit 7 creates a pie chart indicating the ratio of the time of each section to the total travel time of the driver 200 within the predetermined period, and supplies the pie chart to the output unit 15.

  FIGS. 6B and 6C are diagrams illustrating an example of displaying a result of evaluating the driving skill of the driver 200 in a plurality of items as a radar chart. As shown in FIG. 6B, the danger sign determination unit 7 determines and operates the driver 200 with reference to the behavior of the driver 200 and the vehicle behavior in addition to the driving concentration, the risk sensitivity, and the safety confirmation degree. Is evaluated as "judgment / operation". Further, the danger sign determination unit 7 refers to the behavior of the driver 200 and the vehicle behavior to evaluate the accuracy of the operation of the driver 200 as “operation accuracy”. The danger sign determining unit 7 supplies the determination / operation and the operation accuracy to the output unit 15. Note that the five indices shown in FIG. 6B are collectively referred to as a safety concentration condition.

  As shown in FIG. 6C, the danger sign determination unit 7 evaluates the starting operation, the accelerator operation, the brake operation, and the steering operation of the driver 200 with reference to the control information of the own vehicle 100, and outputs the result. 15 may be supplied. Also, the danger sign determination unit 7 refers to the traveling speed of the host vehicle 100 and the position information of the host vehicle to evaluate whether the driver 200 is driving at a legal speed and supplies the output to the output unit 15. Good. The five indices shown in FIG. 6C are collectively referred to as driving operation performance.

  FIG. 6D is a graph showing a time change of the average value of the safety concentration condition and the average value of the driving operation performance of the driver 200 on a predetermined day. The vertical axis in FIG. 6D is divided into three, and indicates that the operation of the driver 200 is classified into “safe”, “caution”, and “danger” from the top.

  FIG. 7 is a diagram illustrating a notification example 2 of the evaluation result of the driving skill. FIG. 7 is an example of notification when a sign of danger is determined for the travel of the driver 200.

  FIG. 7A is a diagram illustrating an example in which the results of safe driving of the driver 200 are displayed as a pie chart. In this example, the ratio of the time during which the danger sign determination unit 7 determines that there is no danger sign for the vehicle 100 is as short as 39%. Is displayed along with a pie chart to indicate that the track record is low.

  FIG. 7B and FIG. 7C are diagrams showing display examples of the above-mentioned safety centralized condition and driving operation performance. In this example, the safety concentration condition and the driving performance over two predetermined periods are compared by showing two radar charts.

  FIG. 7D is a graph showing the average value of the driver's intensive concentration condition, the average value of the driving operation performance, and the change over time of the driver 200 on a predetermined day, similarly to FIG. 6D. In this example, since the driver 200 performed the dangerous driving, the driver notification unit 9 and the administrator notification unit 13 display the occurrence time and location of the dangerous driving.

  The output unit 15 supplies the driving skill evaluation result to the driver notification unit 9 and the data server 10. The driver notification unit 9 displays the evaluation result of the driving skill to the driver. The data server 10 supplies the received driving skill evaluation result to the threshold calculating unit 11, and the threshold calculating unit 11 supplies the received driving skill evaluation result to the administrator notification unit 13. The administrator notification unit 13 displays the evaluation result of the driving skill to the administrator. In addition, the output unit 15 may directly supply the evaluation result of the driving skill to the administrator notification unit 13. The data server 10 may be provided in the vehicle, or may be provided separately from the vehicle.

(Example of judgment of danger sign 1)
FIG. 3 is a diagram illustrating a first example of determination of a sign of danger according to the present embodiment. FIG. 3A is a table illustrating an example of determining the degree of driving concentration, the degree of safety confirmation, the risk sensitivity, and the sign of danger.

  First, the scoring criteria for each index will be described. The danger sign determination unit 7 evaluates the driving concentration degree in two stages of −1 or +1. The danger sign determining unit 7 refers to the line of sight and face of the driver 200 and the traveling state of the host vehicle 100 to calculate a forward visual recognition time during which the driver 200 is traveling. The danger sign determination unit 7 determines that the driving concentration degree is +1 when the forward visual recognition time during the traveling of the driver 200 exceeds a predetermined time. If the forward viewing time is equal to or less than the predetermined time, it is determined that the driving concentration degree is -1. The method of setting the predetermined time is not particularly limited, but, for example, the threshold value calculation unit 11 can set the predetermined time using the driving concentration accumulated in the data server 10.

  FIG. 3B is a table illustrating an example of a criterion for scoring the safety confirmation degree. The danger sign determination unit 7 evaluates the degree of safety confirmation on a five-point scale and scores it from +1 to +10. The danger sign determination unit 7 scores the safety confirmation degree in five stages according to the swing angle. If the driver 200 has swung sufficiently in accordance with the vehicle behavior, the danger sign determination unit 7 determines that the degree of safety confirmation is high. The danger sign determination unit 7 compares the behavior of the driver 200 with the reference data to determine which of the five stages the behavior of the driver 200 corresponds to. The danger sign determination unit 7 determines that there is a danger sign if the danger sensitivity falls below the threshold. In this example, the danger sign determination unit 7 determines that there is a danger sign when the danger sensitivity becomes +5 or less.

  In this example, the travel route is recorded using GPS. In Table 3 (a), the bottom row shows how to handle each data and how to notify a sign of danger.

  The example (1) in Table 3 (a) is an example of a result of determining a sign of danger when the driver 200 is operating normally, in other words, in normal times. The driving concentration of the driver 200 was +1 and the safety confirmation degree was +6 or more. Therefore, the danger sensitivity of the driver 200 is +6 or more, and the danger sign determination unit 7 has determined that there is no danger sign.

  Example (2) is a determination example in a case where the host vehicle 100 is turning left and there is a danger of being involved. The vehicle behavior acquisition unit 3 acquires a left turn as the vehicle behavior, and supplies the left turn to the reference data acquisition unit 4. The reference data obtaining unit 4 supplies the reference data at the time of the left turn to the danger sign determining unit 7. In this example, since the surrounding confirmation at the time of the driver 200 making a left turn was insufficient, the danger sign determination unit 7 scored the driver 200's safety confirmation degree as low as +2. Further, the danger sign determination unit 7 calculates the driving concentration of the driver 200 as +1. Therefore, the danger sensitivity of the driver 200 is +2, and the danger sign determination unit 7 has determined that there is a danger sign. The driver notifying unit 9 and the manager notifying unit 13 have notified the driver 200 and its manager that there is a sign of danger.

  Example (3) is a determination example when the driver 200 is performing inattentive driving. In this example, since the driver 200 did not have enough time to look forward, the danger sign determination unit 7 calculated the driving concentration of the driver 200 as -1. Further, the danger sign determination unit 7 calculates the degree of safety confirmation of the driver 200 as +2. Therefore, the danger sensitivity of the driver 200 is -2, and the danger sign determination unit 7 has determined that there is a danger sign. The driver notifying unit 9 and the manager notifying unit 13 have notified the driver 200 and its manager that there is a sign of danger.

  Example (4) is a determination example in a case where there is no danger in driving of the driver 200 but driving of the preceding vehicle is dangerous. In this example, the driving concentration of the driver 200 is +1 and the safety confirmation degree is +6. Therefore, the danger sensitivity is +6, and the danger sign determination unit 7 has determined that there is no danger sign in the operation of the driver 200. However, the driver of the preceding vehicle obtained from the captured image of the preceding vehicle, which is another vehicle, has a low risk sensitivity. Therefore, the administrator notification unit 13 has notified the administrator of the danger of the own vehicle 100. Thereby, the administrator can warn the driver 200 that driving the preceding vehicle is dangerous.

  The danger sign determination unit 7 supplies information on danger susceptibility and the traveling route to the output unit 15, and the output unit 15 supplies data and information on the danger sensitivity and the traveling route to the data server 10. The data server 10 has accumulated the supplied data.

(Example 2 of judgment of danger sign)
FIG. 4 is a diagram illustrating an example 2 of determining a danger sign according to the present embodiment. The scoring criteria for the driving concentration level and the safety confirmation level are the same as in the above-described determination example 1. However, in this example, the danger sign determination unit 7 sets a danger sensitivity threshold in consideration of the characteristics of the traveling route as the external factor d.

  Example (5) is a determination example when the driver 200 is traveling in the school zone. In the school zone, since the child may suddenly jump out, the danger sign determination unit 7 sets the danger sensitivity threshold to a high value of +8. The driver notification unit 9 has notified the driver 200 that the child should be careful to jump out.

  Example (6) is a determination example in a case where the driver 200 is traveling at a low speed in a heavy traffic area. When driving at a low speed, the driver 200 may be careless in the forward direction. In this example, the driving concentration of the driver 200 and the safety confirmation degree are both reduced. The driver notification unit 9 and the administrator notification unit 13 notify the driver 200 and the administrator of the driver 200 and the administrator of the driver 200, respectively, that the vehicle 100 has a danger sign.

  Example (7) is a determination example when the driver 200 is traveling on a highway. In this example, the driving concentration degree and the safety confirmation degree of the driver 200 are both high, so the danger sign determination unit 7 has determined that the danger sensitivity is equal to or more than the threshold value +5. However, when traveling on the highway, the driver 200 may be bored, so the driver notification unit 9 and the administrator notification unit 13 are sensitive to the side interruption to the driver 200 and the administrator, respectively. Notified. The administrator also warned the driver 200 to be more sensitive to side interrupts.

  In the above examples (5) to (7), the danger sign determination unit 7 supplies information on danger susceptibility and the travel route to the output unit 15, and the output unit 15 outputs the data on the danger susceptibility and the travel route. The information is supplied to the data server 10. The data server 10 stores the supplied data.

(Flow of danger sign determination processing)
The flow of the danger sign determination process will be described with reference to FIG. FIG. 5 is a flowchart illustrating the flow of the danger sign determination process. In the following, for simplicity of explanation, it is assumed that the danger sign determination device 1 acquires only a right or left turn as the vehicle behavior of the own vehicle 100. The details of each process are as described above.

(Step S002)
First, in Step S002, the captured image acquisition unit 5 acquires a captured image including the head of the driver 200 from the camera 8. The captured image acquiring unit 5 supplies the acquired captured image to the behavior acquiring unit 6.

(Step S003)
Next, in step S003, the position information acquisition unit 2 acquires the position information and the map information of the vehicle 100. The position information acquisition unit 2 supplies the acquired position information and map information to the vehicle behavior acquisition unit 3. The vehicle behavior acquisition unit 3 acquires the vehicle behavior of the own vehicle 100 with reference to the position information. The vehicle behavior acquisition unit 3 supplies the vehicle behavior to the reference data acquisition unit 4. The reference data acquisition unit 4 refers to the vehicle behavior and acquires reference data corresponding to the vehicle behavior. The reference data acquisition unit 4 supplies the reference data to the danger sign determination unit 7.

(Step S004)
Next, in step S004, the behavior acquiring unit 6 detects the behavior of the driver 200 including the line of sight of the driver 200 and the direction of the face with reference to the captured image. The behavior acquisition unit 6 supplies the behavior of the driver 200 to the danger sign determination unit 7.

(Step S005)
Next, in step S005, the danger sign determination unit 7 refers to the behavior of the driver 200, and calculates the forward visual recognition time while the driver 200 is traveling.

(Step S006)
Next, in step S006, the danger sign determination unit 7 calculates the driving concentration degree with reference to the calculated forward visual recognition time during traveling and the reference data.

(Step S010)
Next, in step S010, when the danger sign determining unit 7 obtains a right / left turn of the vehicle by the vehicle behavior obtaining unit 3, the process proceeds to step S012. If the vehicle behavior acquisition unit 3 has not acquired the right or left turn of the vehicle, the process returns to step S003.

(Step S014)
Next, in step S014, the danger sign determination unit 7 calculates the degree of safety confirmation of the driver 200 with reference to the behavior of the surroundings safety confirmation when the driver 200 turns right and left and reference data.

  The processing of steps S004 to S006 and the processing of steps S008 to S014 may be performed in parallel. Further, the processing of steps S008 to S014 may be performed before the processing of steps S004 to S006.

(Step S016)
Next, in step S016, the danger sign determination unit 7 calculates danger sensitivity from the driving concentration level and the safety confirmation level. The method of calculating the risk sensitivity is as described above.

(Step S018)
Next, in step S018, the danger sign determination unit 7 supplies the calculated danger sensitivity to the data server 10. The data server 10 accumulates risk sensitivity.

(Step S020)
Next, in step S020, the danger sign determination unit 7 determines whether the danger sensitivity is below a threshold. If the risk sensitivity is lower than the threshold, the process of step S022 is subsequently performed. If the danger sensitivity is equal to or greater than the threshold, the process returns to step S002.

(Step S022)
Next, in step S022, the driver notifying unit 9 and the manager notifying unit 13 notify the driver 200 and its manager that the danger sensitivity of the driver 200 is reduced and there is a sign of danger.

[Example of software implementation]
The control block (especially the danger sign determination unit 7) of the danger sign determination device 1 may be realized by a logic circuit (hardware) formed on an integrated circuit (IC chip) or the like, or may be realized by software. .

  In the latter case, the danger sign determination device 1 includes a computer that executes instructions of a program that is software for realizing each function. This computer includes, for example, one or more processors and a computer-readable recording medium storing the program. Then, in the computer, the object of the present invention is achieved by the processor reading the program from the recording medium and executing the program. As the processor, for example, a CPU (Central Processing Unit) can be used. Examples of the recording medium include “temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, and a programmable logic circuit. Further, a RAM (Random Access Memory) for expanding the program may be further provided. Further, the program may be supplied to the computer via an arbitrary transmission medium (a communication network, a broadcast wave, or the like) capable of transmitting the program. Note that one embodiment of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

  The present invention is not limited to the embodiments described above, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

REFERENCE SIGNS LIST 1 danger sign determination device 2 position information acquisition unit 3 vehicle behavior acquisition unit 4 reference data acquisition unit 5 captured image acquisition unit 6 behavior acquisition unit 7 danger sign determination unit 8 camera 9 driver notification unit 10 data server 11 threshold calculation unit 13 administrator Notification unit 14 Running state acquisition unit 15 Output unit 100 Own vehicle 200 Driver 400 Danger sign determination system

Claims (10)

A captured image acquisition unit that acquires a captured image including a part of the head and chest of the driver of at least one of the vehicle and the other vehicle,
A behavior acquisition unit that acquires the behavior of the driver including the swing angle of the driver and the behavior of an occupant other than the driver with reference to the captured image,
A danger sign determination unit that determines a danger sign,
An output unit that outputs a determination result of the sign of danger,
With
The vehicle further includes a traveling state acquisition unit that acquires a traveling state of the at least one vehicle,
The danger sign determination unit refers to the behavior of the driver when the driver is driving, and the traveling state, and calculates the driver's driving concentration,
The danger sign determination unit evaluates the behavior of the driver with respect to the occupant from the behavior of the occupant acquired by the behavior acquisition unit,
The danger sign determination unit refers to the behavior of the driver before the driver starts driving, the behavior of the driver with respect to the occupant , and the degree of driving concentration compared with a predetermined threshold. Judge,
The danger sign determination device, wherein the output unit further outputs the driving concentration level. The danger sign according to claim 1, wherein the behavior acquisition unit acquires the behavior of the driver including a swing angle of the driver with reference to at least one of a line of sight and a face direction of the driver. Judgment device. The danger sign determining unit calculates the safety confirmation degree of the driver with reference to the swing angle and the traveling state, and compares the safety confirmation degree with a predetermined threshold, and the driver starts driving. With reference to the previous behavior of the driver, the behavior of the driver with respect to the occupant , and the driving concentration compared with a predetermined threshold value, determine a sign of danger,
The danger sign determination device according to claim 1, wherein the output unit further outputs the safety confirmation degree. The danger sign determination unit calculates danger sensitivity from the driving concentration degree and the safety confirmation degree, and the danger sensitivity compared with a predetermined threshold value, the safety confirmation degree compared with a predetermined threshold value, the driver The behavior of the driver before starting driving, the behavior of the driver with respect to the occupant , and the driving concentration compared with a predetermined threshold, to determine a sign of danger,
The danger sign determination apparatus according to claim 3, wherein the output unit further outputs the danger sensitivity.   The danger sign determination unit determines that there is a danger sign when at least one of the driving concentration degree, the safety confirmation degree, and the danger sensitivity index falls below a threshold value. Item 6. The danger sign determination device according to Item 4. A danger sign determination device according to any one of claims 1 to 5,
Notification section,
With
The danger sign determination system, wherein the notifying unit notifies the driver and / or its manager of the result of the danger sign determination. Further comprising a storage unit,
The output unit supplies the determination result of the sign of danger to the storage unit,
The danger sign determination unit refers to the determination result of the danger sign under certain conditions acquired from the storage unit, and calculates the driving skill of the driver,
7. The danger sign determination system according to claim 6, wherein the notifying unit notifies the driver or his / her manager of at least one of the driving skills of the driver. The danger sign determination unit determines a danger sign of the driver of the other vehicle,
The danger sign determination system according to claim 6 or 7, wherein the notification unit notifies at least one of a driver of the own vehicle and a manager thereof of a danger sign of the driver of the other vehicle.   A vehicle comprising the danger sign determination device according to any one of claims 1 to 5, or the danger sign determination system according to any one of claims 6 to 8.   A program for causing a computer to function as the danger sign determination device according to any one of claims 1 to 5, wherein the captured image acquisition unit, the behavior acquisition unit, the danger sign determination unit, the output unit, A program for causing a computer to function as the running state acquisition unit.

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