JP6699831B2 - 運転意識推定装置 - Google Patents
運転意識推定装置 Download PDFInfo
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- JP6699831B2 JP6699831B2 JP2016091401A JP2016091401A JP6699831B2 JP 6699831 B2 JP6699831 B2 JP 6699831B2 JP 2016091401 A JP2016091401 A JP 2016091401A JP 2016091401 A JP2016091401 A JP 2016091401A JP 6699831 B2 JP6699831 B2 JP 6699831B2
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Description
この運転意識推定装置では、運転意識の高い運転者は車両の走行する道路の延在方向に顔を向けると共に道路の延在方向の状況を視認するために眼球のサッカード回数が多くなると考えられることから、運転者が道路の延在方向を向いている間における所定時間当たりの眼球のサッカード回数に基づいて運転構え度を適切に推定することができる。
この運転意識推定装置によれば、運転意識の高い運転者は車両の前後加速度の変化を予測して身構えることで頭部ピッチ角が小さくなると考えられるので、車両の前後加速度に対する頭部ピッチ角に基づいて運転構え度を適切に推定することができる。
この運転意識推定装置によれば、運転構え度と走行環境要求度との比較結果を余裕度として算出することで、一つの指標を用いて注意喚起の実行を判断することができる。
この運転意識推定装置によれば、運転構え度を走行環境要求度と比較した比較結果に基づいて運転者が手動運転可能な状況であるか否かを判定するので、運転者の運転意識を考慮して運転者が手動運転可能な状況であるか否かを適切に判定することができる。
以下、本実施形態に係る運転意識推定装置100の構成について説明する。図1に示すように、運転意識推定装置100は、装置を統括的に管理するECU[Electronic Control Unit]20を備えている。
次に、本実施形態に係る運転意識推定装置100の注意喚起処理について図2を参照して説明する。図2は、運転意識推定装置100の注意喚起処理を示すフローチャートである。図2に示すフローチャートは、車両が走行中である場合に実行される。
続いて、本実施形態に係る運転意識推定装置100の手動運転可否判定処理について図3を参照して説明する。図3は、運転意識推定装置100の手動運転可否判定処理を示すフローチャートである。図3に示すフローチャートは、自動運転ECU7から自動運転の終了の信号を受信した場合に実行される。
以下、運転構え度の推定処理について説明する。図4(a)は、運転構え度の推定の一例を示すフローチャートである。図4(a)に示すフローチャートは、運転構え度の推定が行われるときに実行される。
以下、運転意識推定装置100の走行環境要求度の推定処理について説明する。図5(a)は、走行環境要求度の推定の一例を示すフローチャートである。図5(a)に示すフローチャートは、走行環境要求度の推定が行われるときに実行される。
以上説明した本実施形態に係る運転意識推定装置100によれば、車両の運転意識の高い運転者は運転意識の低い運転者と比べて車両の周囲の走行環境に対する反応が異なると考えられるため、走行環境に対する運転者の反応から運転者の運転意識に関する運転構え度を適切に推定することができる。従って、この運転意識推定装置では、適切に推定された運転構え度を走行環境から運転者に求められる走行環境要求度と比較した比較結果に基づいて注意喚起を行うことで、運転者の運転意識を考慮して運転者へ車両の運転に関する注意喚起を適切に行うことができる。
次に、本発明の変形例に係る運転意識推定装置200について図面を参照して説明する。図8は、変形例に係る運転意識推定装置200を示すブロック図である。図8に示すように、運転意識推定装置200は、上述した実施形態と比べて、シート圧センサ8、グリップ圧センサ9、心電センサ10、通信部11を更に備えている。なお、運転意識推定装置200は、シート圧センサ8、グリップ圧センサ9、心電センサ10、通信部11の全てを必ずしも備える必要はない。
CVRR=(R−R間隔の標準偏差/R−R間隔の平均値)×100
走行環境要求度=定数γ1×√((他車両N2の車速−車両Mの車速)^2 )+定数γ2×1/(他車両N1とN2の車間距離L1 )…(1)
走行環境要求度=(定数δ1×√((他車両N2の車速−車両Mの車速)^2)+定数δ2×1/(他車両N1とN2の車間距離L2))×定数δ3(1/(距離Ls/車両Mの車速))…(2)
走行環境要求度=定数ε1×(1/障害物と車両との縦方向TTC)×定数ε2×(1/障害物と車両との横方向距離)×定数ε3(障害物の横方向速度)…(3)
なお、縦方向とは車両の前後方向、横方向は車両の車幅方向を意味する。
Claims (5)
- 車両の運転者を撮像した運転者画像を取得する運転者画像取得部と、
前記車両の周囲の走行環境を認識する走行環境認識部と、
前記運転者画像及び前記走行環境に基づいて、前記走行環境に対する前記運転者の反応から前記運転者の運転意識に関する運転構え度を推定する運転構え度推定部と、
前記走行環境に基づいて、前記走行環境から前記運転者に求められる前記運転構え度に対する指標である走行環境要求度を推定する走行環境要求度推定部と、
前記運転構え度と前記走行環境要求度との比較結果に基づいて、前記運転者へ前記車両の運転に関する注意喚起を実行する注意喚起部と、
前記運転構え度と前記走行環境要求度との比較結果を余裕度として算出する余裕度算出部と、
を備え、
前記車両は複数の自動運転レベルを切り替えて自動運転可能であり、
前記注意喚起部は、前記余裕度が余裕度閾値未満の場合に前記注意喚起を実行し、
前記余裕度閾値は、前記車両における前記自動運転レベルが高いほど小さい値となる、運転意識推定装置。 - 前記運転構え度推定部は、前記運転者画像及び前記走行環境に基づいて前記運転者が前記車両の走行する道路の延在方向を向いている間における所定時間当たりの眼球のサッカード回数を算出し、前記サッカード回数に基づいて前記運転構え度を推定する、請求項1に記載の運転意識推定装置。
- 車両の運転者を撮像した運転者画像を取得する運転者画像取得部と、
前記車両の周囲の走行環境を認識する走行環境認識部と、
前記車両の走行の状態を認識する車両状態認識部と、
前記運転者画像及び前記車両状態に基づいて、前記車両状態に対する前記運転者の反応から前記運転者の運転意識に関する運転構え度を推定する運転構え度推定部と、
前記走行環境に基づいて、前記走行環境から前記運転者に求められる前記運転構え度に対する指標である走行環境要求度を推定する走行環境要求度推定部と、
前記運転構え度と前記走行環境要求度との比較結果に基づいて、前記運転者へ前記車両の運転に関する注意喚起を実行する注意喚起部と、
前記運転構え度と前記走行環境要求度との比較結果を余裕度として算出する余裕度算出部と、
を備え、
前記車両は複数の自動運転レベルを切り替えて自動運転可能であり、
前記注意喚起部は、前記余裕度が余裕度閾値未満の場合に前記注意喚起を実行し、
前記余裕度閾値は、前記車両における前記自動運転レベルが高いほど小さい値となる、運転意識推定装置。 - 前記車両状態認識部は、前記車両状態として前記車両の前後加速度を認識し、
前記運転構え度推定部は、前記運転者画像及び前記車両の前後加速度に基づいて、前記車両の前後加速度に対する前記運転者の頭部ピッチ角から前記運転構え度を推定する、請求項3に記載の運転意識推定装置。 - 前記車両は自動運転を実行する自動運転ECUを備えており、
前記自動運転ECUが自動運転を終了するときに、前記運転構え度と前記走行環境要求度との比較結果に基づいて、前記運転者が手動運転可能な状況であるか否かを判定する手動運転可否判定部を更に備える、請求項1〜4のうち何れか一項に記載の運転意識推定装置。
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