JP6785175B2 - Driver monitoring method and driver monitoring device - Google Patents

Description

The present invention relates to a driver monitoring method for detecting a driver's face-facing angle and a driver monitoring device, and more particularly to a technique for correcting an angle formed by a front-back direction of a moving body and an imaging direction of a camera.

As a conventional driver monitor device, for example, the one disclosed in Patent Document 1 is known. In Patent Document 1, the area including the driver's face is imaged by using a camera provided in front of the driver's seat, and the movement of the position of a feature point such as an eye is detected to detect the area visually recognized by the driver. Is disclosed to be detected accurately.

Japanese Unexamined Patent Publication No. 2005-66023

In the conventional example disclosed in Patent Document 1 described above, a camera is provided in front of the driver's seat, and the front-rear direction of the vehicle coincides with the image pickup direction of the camera. Therefore, the driver moves in the front-rear direction by changing the seat position or the like. Even if this is the case, the orientation of the driver's face can be detected with high accuracy. However, if the camera is not provided in front of the driver, that is, if the camera is provided at a predetermined installation angle in a plan view with respect to the front-rear direction of the vehicle, the seat position moves in the front-rear direction. Since the direction of the feature point with respect to the imaging direction changes, the direction of the driver's face cannot be detected with high accuracy.

The present invention has been made to solve such a conventional problem, and an object of the present invention is the driver's face even when the image pickup direction of the camera is tilted with respect to the front-rear direction of the moving body. It is an object of the present invention to provide a driver monitoring method capable of detecting an orientation angle with high accuracy, and a driver monitoring device.

In order to achieve the above object, the present invention sets a reference point in an image captured by the camera, and when the driver is facing forward in the traveling direction of the moving body, the reference point in the image captured by the camera is set. And, the reference angle is corrected based on the position deviation of the feature point set in the driver from the position in the image.

In the driver monitoring method and the driver monitoring device according to the present invention, it is possible to detect the face orientation angle of the driver with high accuracy even when the image pickup direction of the camera is tilted with respect to the front-rear direction of the moving body.

FIG. 1 is a block diagram showing a configuration of a driver monitor device according to an embodiment of the present invention. FIG. 2 is an explanatory diagram showing mounting positions of each component of the driver monitor device according to the embodiment of the present invention. FIG. 3 is an explanatory diagram showing the positional relationship between the camera position provided near the driver's seat, the reference point, and the feature point of the driver. FIG. 4A is an explanatory diagram showing the relationship between the normal viewing angle range R1 when the deviation angle does not occur and the face orientation range R2 when the driver is driving normally. FIG. 4B is an explanatory diagram showing the relationship between the normal viewing angle range R1 when a deviation angle occurs and the face orientation range R2 when the driver is driving normally. FIG. 5 is an explanatory diagram showing the positional relationship between the camera position, the reference point, the feature point of the driver, and the photographing surface. FIG. 6A is an explanatory diagram showing the positional relationship between the camera, the reference point, and the feature point. FIG. 6B is an explanatory diagram showing the relationship between the focal length f of the camera and the shooting distance L. FIG. 7 is a flowchart showing a processing procedure of the driver monitoring device according to the embodiment of the present invention. FIG. 8 is a flowchart showing the calculation process of the offset angle shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a driver monitor device according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram showing mounting positions of each component in a vehicle (moving body). As shown in FIG. 1, the driver monitor device according to the present embodiment includes a driver monitor 11, an operation controller 12, an alarm device 13, an HMI controller 14, a display 15, and a memory 16.

The driver monitor 11 includes a camera 21 (a camera installed so that the driver can be imaged) that captures an area including the driver's face, and the driver's face, the vehicle, is obtained from the driver's face image captured by the camera 21. The angle with respect to the traveling direction of the camera (this is referred to as a "face-facing angle") is detected. Then, the detected angle data is transmitted to the operation controller 12. As the camera 21, for example, an optical camera equipped with an image sensor such as CCD or CMOS can be used. Further, the driver monitor 11 determines the imaging direction of the camera 21 and the front-rear direction of the vehicle based on the positional deviation between the reference point in the screen imaged by the camera 21 and the position of the feature point set in the driver in the screen. It has a function as a correction unit that corrects the installation angle (reference angle), which is the angle between the two. The "screen" described in the present embodiment is an image captured by the camera 21 displayed on the display 15.

The camera 21 is arranged so that the image pickup surface faces the driver side, and the image pickup direction is tilted by a predetermined installation angle (φ described later) in a plan view with respect to the front-rear direction of the vehicle. Is located in.

The driving controller 12 performs various controls related to the driving of the vehicle. In the present embodiment, when the driver's face-facing angle data output from the driver monitor 11 is acquired, the driving controller 12 is based on the face-facing angle data. To determine whether to output an alarm. For example, when the driver turns to the left or right beyond the preset threshold angle with respect to the angle (reference angle) when the driver is facing forward in the traveling direction, the alarm device 13 and the HMI controller 14 are used. Output an alarm signal request.

The alarm device 13 has, for example, a speaker, and when an alarm request signal is given, it outputs a voice such as "Looking aside. Look ahead" to alert the driver.
The HMI controller 14 outputs an alarm signal to the display 15 when an alarm signal request is given by the operation controller 12.

The display 15 has a function of displaying various information provided to the driver. In the present embodiment, when an alarm signal is given from the HMI controller 14, "It is an inattentive driving. Look ahead." The driver is alerted by displaying a character image such as.
The memory 16 stores audio signals output from the alarm device 13 and character image data to be displayed on the display 15. Further, as will be described later, the angle (installation angle) of the camera 21 in the shooting direction with respect to the front-rear direction of the vehicle, the position information of the feature points of the driver, and the like are stored.

Then, the driver monitor device according to the present embodiment captures the driver's face image with the camera 21 mounted on the driver monitor 11, and further, the feature points included in the face image (for example, between the two eyes, the nose, and the like. The driver's face orientation angle is obtained based on the change in the position of the ears, etc.). Then, when it is determined that the face-facing angle exceeds the threshold angle, the driver determines that the driver is in the inattentive state and issues an alarm to notify the driver that the inattentive state is in the inattentive state.

Each function shown by the driver monitor 11, the operation controller 12, and the HMI controller 14 of the present embodiment may be implemented by one or a plurality of processing circuits. The processing circuit includes a processing device including an electric circuit. Processing devices also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.

[Explanation that an error occurs in the face orientation angle]
As described above, the camera 21 used in the present embodiment is provided at a position where the imaging direction is tilted by the installation angle φ in a plan view with respect to the front-rear direction of the vehicle.

In order to match the positional relationship between the shooting area of the camera 21 and the driver, a reference is set in the front-rear direction of the vehicle seat, and the feature points when the driver faces forward in the traveling direction of the vehicle (for example, between the two eyes). The position of the point (point, nose) is set as the reference point (q1 shown in FIG. 3). Further, the imaging direction of the camera 21 is set so that the reference point q1 is located at the center of the screen when the driver is imaged by the camera 21. That is, the reference point q1 is set in the screen. By setting in this way, the face orientation angle can be detected based on the change in the face image of the driver (change in the image of the eyes, nose, mouth, etc.) captured by the camera 21.

However, when the driver faces forward in the traveling direction of the vehicle, the feature point of the driver is not always located at the reference point q1 on the screen, and in reality, the seat position is appropriately moved back and forth to a suitable position. Often move to. Therefore, there is a gap between the reference point q1 and the characteristic point of the driver when driving the vehicle. If the driver's face angle is detected in this state, a large error will occur. Hereinafter, the reason why the face orientation angle has an error will be described in detail.

FIG. 3 is a diagram schematically showing a plan view of the vicinity of the driver's seat of the vehicle, and reference numeral Z indicates steering. In FIG. 3, the front-rear direction of the vehicle is indicated by reference numeral d1. Further, the above-mentioned reference point is set to q1. Therefore, the direction from the camera 21 toward the reference point q1 is the imaging direction of the camera 21, and this imaging direction is d2. The angle formed by the front-back direction d1 and the imaging direction d2 is the installation angle φ.

Further, the camera 21 is set so that the characteristic point of the driver when the seat is the reference position and the driver is facing forward in the traveling direction of the vehicle is located at the center of the screen imaged by the camera 21. There is. Therefore, when the driver is imaged by the camera 21 at this position, the characteristic points of the driver (for example, the midpoint between the two eyes and the nose) are located at the center of the imaged screen. In the present embodiment, an example in which the reference point q1 is aligned with the center of the screen is shown as an example, but the present invention is not limited to the center of the screen.

Then, when the driver turns his face to the left or right in this state, the positions of the eyes, nose, mouth, etc. included in the image captured by the camera 21 change. Based on the image change, the change in the face orientation angle of the driver can be obtained by using a well-known image processing technique (for example, the technique disclosed in JP-A-2003-233803).

Then, the range of the face orientation angle (face orientation angle that is not looking aside) allowed in normal driving is set to the "normal viewing angle range", and when the driver's face orientation angle deviates from the normal viewing angle range, the driver looks aside. Is determined to be. FIG. 4A is an explanatory diagram showing the relationship between the normal viewing angle range R1 and the face orientation range R2 when the driver is driving normally. For example, the installation angle φ of the camera 21 is 25 degrees. Since the face orientation range R2 is housed inside the normal viewing angle range R1, it is not determined to be inattentive at the normal face orientation angle. Further, when the driver's face direction angle is in the direction of the point p1, it is out of the normal viewing angle range R1, so it is determined that the driver is looking aside.

Here, when the position of the driver moves in the front-rear direction (d1 direction shown in FIG. 3) due to the movement of the seat or the like and the feature point of the driver does not match the reference point q1 (for example, the feature point is at the point q2 in FIG. 3). If it is moved), the driver's face orientation angle will shift. That is, the driver's face orientation angle shifts depending on the position in the front-rear direction during driving. For example, the angle θ offset (offset angle described later) shown in FIG. 3 is set to 20 degrees. As a result, as shown in FIG. 4B, the face orientation range R2 when the driver is driving normally is deviated from the normal viewing angle range R1. That is, the driver's face orientation angle deviates by "20 degrees-25 degrees = -5 degrees". Therefore, the region indicated by the reference numeral R3 is erroneously determined to be inattentive even though the driver has a normal face orientation angle. Further, even when the driver's face direction angle is the direction of the point p1, it is determined that this direction is inside the normal viewing angle range R1, and inattentiveness may not be detected.

This is because the driver's feature point q2 (referred to as the "current feature point q2") moves by a distance P in the front-rear direction d1 with respect to the reference point q1 shown in FIG. 3, and the reference point is moved from the camera 21. This is due to the occurrence of a shift angle δθ between the imaging direction d2 facing q1 and the direction d3 (current feature point direction) facing the current feature point q2 from the camera 21.

In the present embodiment, the shift angle δθ is calculated, and the shift angle δθ is used to correct the angle formed by the vehicle's front-rear direction d1 and the camera 21's imaging direction d2, thereby increasing the driver's face-facing angle. Detect with precision. As a result, even when the driver moves in the front-rear direction with respect to the reference position due to the change in the seat position, the face-facing range R2 of the driver is within the normal viewing angle range R1 as shown in FIG. 4A. It detects the driver's inattentiveness with high accuracy.

[Explanation of calculation method of deviation angle δθ]
Next, the procedure for calculating the deviation angle δθ described above will be described. FIG. 5 is a diagram showing a photographing surface K1 including a reference point q1 imaged by the camera 21 in FIG. 3 described above. The screen imaged by the camera 21 is an area of the photographing surface K1. When the driver moves backward by adjusting the seat position or the like and the feature point moves to the current feature point q2 behind the point q1 by a distance P, the current feature point q2 is projected onto the point q3 on the photographing surface K1.

FIG. 6A is an explanatory diagram showing the relationship between the imaging direction d2 of the camera 21 and the photographing surface K1, and FIG. 6B is an explanatory diagram showing the photographing magnification of the camera 21. As shown in FIGS. 6A and 6B, the distance from the camera 21 to the point q1 is the shooting distance L, the focal length of the camera 21 is f, and the shooting magnification is α. The shooting magnification α can be expressed by the following equation (1) from the shooting distance L and the focal length f.
α = f / (L−f)… (1)

Since it is necessary to constantly monitor the behavior of the driver moving back and forth, left and right, and up and down, the optical system of the driver monitoring device generally has a wide angle, that is, a short focal length. In this case, since the focal length f is extremely small with respect to the shooting distance L (f << L), the denominator of the equation (1) can be replaced with "L". In FIG. 6B, the focal length f is exaggerated with respect to the shooting distance L in order to promote understanding. Therefore, the following equation (2) can be obtained.
α = f / L ... (2)

Further, assuming that the distance between the points q1 and q3 shown in FIG. 6A (the amount of misalignment on the screen captured by the camera 21) is δX, the amount of misalignment on the sensor of the camera 21 is the distance δX. Multiply the shooting magnification α to obtain “α ・ δX”. That is, assuming that the pixel size of the camera 21 is "d", the position shift of (α · δX / d) pixels occurs on the sensor of the camera 21.

That is, when a feature point is detected at a position (corresponding to the point q3) deviated by N pixels from the center of the screen (corresponding to the reference point q1) on the screen imaged by the camera 21, the following (3) ) Formula holds.
δX = N · d / α… (3)

Further, since there is a relationship of δX = L · tan (δθ), the deviation angle δθ can be obtained by the following equation (4).
δθ = tan ^-1 ((N · d) / (α · L))… (4)
Since the deviation angle δθ is extremely close to zero, the equation (4) may be calculated by replacing “tan ^-1 ” with “sin ^-1 ”.

Further, as shown in FIG. 5, if the angle formed by the front-rear direction d1 and the current feature point direction d3 is the offset angle θoffset, the offset angle θoffset can be obtained by the following equation (5).
θ offset ＝ φ ＋ δθ… (5)
Since the deviation angle δθ is in the positive direction in the counterclockwise direction in the figure, it is negative in the example shown in FIG.
That is, the installation angle φ (reference angle which is the angle formed by the imaging direction and the front-back direction) can be corrected by using the deviation angle δθ, and the offset angle θ offset which is the corrected reference angle can be obtained.

Alternatively, as shown in FIG. 5, the vertical distance from the camera 21 to the front-rear direction d1 is defined as the distance A, the distance from the camera 21 to the point q1 in the front-rear direction d1 is defined as the distance B, and the deviation angle δθ is used. Since the distance P can be obtained, the offset angle θ offset can be obtained by the following equation (6) using the distances A, B, and P.
θ offset = tan ^-1 (A / (B + P))… (6)

In this way, the deviation angle δθ and the offset angle θoffset can be obtained. Then, by using the offset angle θ offset to correct the face orientation angle (before correction) detected when the driver is driving the vehicle, an accurate face orientation angle can be obtained.

For example, when the driver's face orientation angle (before correction) θout is detected with the center of the imaging surface of the camera 21 aligned with the reference point q1, "θout−θoffset" is calculated and the calculation result is calculated as the face. By setting the orientation angle θd, the face orientation angle of the driver can be calculated with high accuracy. Then, when it is determined that the calculated face orientation angle θd is larger than the preset threshold angle, the driver can determine that he / she is looking aside.

[Explanation of processing procedure]
Next, a specific processing procedure of the driver monitoring device according to the present embodiment will be described with reference to the flowcharts shown in FIGS. 7 and 8.

First, in step S11 shown in FIG. 7, the driver monitor 11 determines whether or not the ignition of the vehicle is on, and if it is on (YES in step S11), the camera 21 in step S12. The current feature point q2 on the screen to be imaged with is set. As described above, the current feature point q2 is the position of the feature point when the driver moves in the front-rear direction by adjusting the position of the seat or the like and the driver faces forward in the traveling direction of the vehicle. In the present embodiment, as the timing for setting the current feature point q2, the average of the feature points in the screen in which the driver is imaged during the predetermined time T1 after the ignition is turned on (from the start of operation) is set as the current feature point. .. In the time zone immediately after the ignition is turned on, it is highly possible that the driver has not started driving and the driver is facing forward in the direction of travel. Therefore, by detecting the feature points on the screen captured in this time zone, It is possible to set the current feature point q2 with high accuracy.

In step S13, the driver monitor 11 performs arithmetic processing of the offset angle θ offset.

Hereinafter, the calculation processing procedure of the offset angle θ offset will be described with reference to the flowchart shown in FIG.
In step S31, the driver monitor 11 detects the position of the reference point q1 and the position of the point q3 (see FIG. 5) on the sensor of the camera 21.
In step S32, the driver monitor 11 calculates the number of pixels N from the reference point q1 to the point q3 on the sensor.

In step S33, the driver monitor 11 calculates the amount of misalignment δX, which is the distance between the reference point q1 and the point q3 on the screen imaged by the camera 21 on the photographing surface K1 according to the above equation (3). To do.
In step S34, the driver monitor 11 calculates the distance P of the driver's current feature point q2 from the reference point q1 based on the misalignment amount δX.

In step S35, the driver monitor 11 calculates the deviation angle δθ according to the above equation (4).
In step S36, the driver monitor 11 calculates the offset angle θ offset by the above-mentioned equation (5) or (6).

When the offset angle θ offset is calculated, in step S14 of FIG. 7, the driver monitor 11 detects the face orientation angle (before correction) θ out from the driver image captured by the camera 21. As a method for detecting the face orientation angle, a well-known technique can be used as described above.
In step S15, the driver monitor 11 calculates the driver's face orientation angle θd by subtracting the offset angle θoffset calculated in the process of step S13 from the face orientation angle (before correction) θout.

In step S16, the driver monitor 11 compares the absolute value of the driver's face-facing angle θd with the preset threshold angle, and if | θd | ≧ (threshold angle), the driver is looking aside. Is determined, and an alarm command is output in step S17. When the alarm command is output, the alarm device 13 shown in FIG. 1 issues an alarm to the driver by voice, light, or the like. Further, an image indicating an alarm is displayed on the display 15. As a result, the driver can be made aware that he is looking aside. In FIG. 4A, when the inattentiveness determination angle is not symmetrical, two different threshold angles (first threshold angle and second threshold angle) are set, and (first threshold angle) ≧ θd ≧ (third). It is also possible to set (2 threshold angles).

In step S18, the driver monitor 11 determines whether or not the ignition on of the vehicle has been turned off, and if it is turned off, the driver monitor 11 ends this process.

In this way, in the driver monitor device according to the present embodiment, the reference point q1 is set in the screen imaged by the camera 21. Further, when the driver moves in the front-rear direction due to the movement of the seat or the like, the position of the feature point when the driver faces forward in the traveling direction at the moved position is defined as the current feature point q2. Then, the positional deviation δX between the reference point q1 and the point q3 that projects the current feature point q2 on the screen is obtained. Based on the misalignment δX, the installation angle φ (reference angle), which is the angle formed by the front-rear direction d1 of the vehicle and the image pickup direction d2 of the camera 21, is corrected. That is, a shift angle δθ, which is an angle formed by the imaging direction d2 facing the reference point q1 from the camera 21 and the current feature point direction d3 facing the current feature point q2 from the camera 21, is calculated, and this shift angle δθ is used. The offset angle θ offset, which is the angle obtained by correcting the installation angle φ, is calculated. Therefore, the installation angle φ can be corrected with high accuracy.

Then, when the driver's face angle (before correction) θout is detected, “θout−θoffset” is calculated, and the calculation result is set as the driver's face angle θd. Therefore, the face orientation angle of the driver can be calculated with high accuracy. As a result, for example, the driver can be alerted by detecting inattentive driving and issuing an alarm signal from the alarm device 13 or displaying an image indicating the alarm on the display 15.

Further, the installation angle φ can be corrected with higher accuracy by setting the position of the feature point on the screen imaged by the camera 21 as the reference point q1 when the driver faces forward in the traveling direction at the reference position. Is possible.

Further, the displacement amount δX between the reference point q1 and q3 is calculated, and further, the deviation angle δθ is calculated using the relationship δX = L · tan (δθ). Therefore, the deviation angle δθ can be calculated with high accuracy, and the face orientation angle θd of the driver can be obtained with high accuracy.

Further, in the present embodiment, when the face facing angle of the driver exceeds a preset threshold angle, it is determined that the driver is inattentive driving and an alarm is issued. Therefore, when the driver drives aside, it is possible to promptly call attention.

Further, since the average of the feature points included in the plurality of screens imaged within a predetermined time after the ignition is turned on is set as the current feature point q2, the current feature point q2 can be set with high accuracy, and the face can be set. The accuracy of orientation detection can be improved.

[First modification of setting the current feature point]
Next, a first modification of the method of setting the current feature point position will be described. In the first modification, the average of the feature points of the driver is calculated for each time zone divided by a fixed time, and the latest average is used as the current feature point. In this setting method, the current feature points are updated every time a certain time elapses, so that the detection accuracy can be maintained even when a change with time occurs.

[Second modification of setting the current feature point]
Next, a second modification of the method of setting the current feature point will be described. In the second modification, the feature points of the driver are detected at regular time intervals, and the position of the feature points detected at the latest time is set as the current feature point. With this setting method, it is not necessary to calculate the average, so that the calculation load can be reduced.

[Third modification example of setting the current feature point]
Furthermore, as a third modification of the method of setting the current feature point, an announcement "Set the initial position from now. Please face the front." Is made, and then the feature point when the driver faces the front. The position of is set as the current feature point. By doing so, it becomes possible to set the current feature point more reliably.

Although the driver monitoring method and the driver monitoring device of the present invention have been described above based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part is an arbitrary configuration having the same function. Can be replaced with one.
For example, when the face orientation angle exceeds the threshold angle, the display of the display displaying the navigation image or the television image is stopped, so that the driver can be used as a function to prevent the driver from looking at the display for a long time.

Further, it can be used as an input means using the face orientation angle. For example, when the driver turns laterally by a certain angle or more, it can be used as a function of operating a winker in that direction.

Further, in the above-described embodiment, as shown in FIG. 2, the vehicle in which the steering wheel is installed on the right side has been described, but it can also be applied to the vehicle in which the steering wheel is installed on the left side. Further, in the above-described embodiment, the vehicle has been described as an example of the moving body, but the present invention is not limited to this, and can be applied to other moving bodies such as railways and aircraft. is there.

11 Driver monitor 12 Operation controller 13 Alarm 14 HMI controller 15 Display 16 Memory 21 Camera d1 Front-back direction d2 Imaging direction d3 Current feature point direction f Focal length K1 Shooting surface L Shooting distance q1 Reference point q2 Current feature point q3 points (reference) The point where the current feature point direction d3 on the photographing surface K1 including the point q1 intersects)
R1 Normal viewing angle range Z Steering α Shooting magnification δX Positional deviation amount δθ Displacement angle θoffset Offset angle θd Face orientation angle θout Face orientation angle (before correction)

Claims (7)

It is a driver monitoring method that detects the face-facing angle of a moving driver.
A reference point is set in the image captured by the camera installed so that the driver can be imaged.
When the driver is facing forward in the traveling direction of the moving body, the position of the reference point in the image captured by the camera and the position of the feature point set in the driver in the image are displaced. Based on this, a driver monitoring method comprising correcting a reference angle, which is an angle formed by an image pickup direction of the camera and a front-rear direction of the moving body. The reference point
The first aspect of claim 1, wherein when the driver is facing forward in the traveling direction of the moving body at a predetermined reference position, the driver is set to the position of the feature point in the image captured by the camera. Driver monitoring method. Using the corrected reference angle, the face orientation angle of the driver is detected.
The driver monitoring method according to claim 1 or 2, wherein when the detected face-facing angle exceeds a preset threshold angle, the driver determines that the driver is inattentive driving. The average of the positions of the feature points included in a plurality of images captured within a predetermined time from the start of operation of the moving body is the position in the image of the feature points when the driver is facing forward in the traveling direction of the moving body. The driver monitoring method according to any one of claims 1 to 3, wherein the driver monitoring method is characterized. The driver calculates the average of the positions of the feature points included in a plurality of images for each time zone divided by a preset fixed time, and the driver calculates the average of the positions of the feature points calculated in the latest time zone of the moving body. The driver monitoring method according to any one of claims 1 to 3, wherein the feature point is positioned in an image when facing forward in the traveling direction. When the position of the feature point included in the image captured by the camera is detected at regular time intervals and the position of the feature point detected at the latest time is directed forward in the traveling direction of the moving body. The driver monitoring method according to any one of claims 1 to 3, wherein the feature point is located in an image. A driver monitoring device that detects the face-facing angle of a moving driver.
A camera with the driver installed so that it can take pictures
A reference point was set in the image captured by the camera, and when the driver was facing forward in the traveling direction of the moving body, the reference point in the image captured by the camera and the driver were set. A correction unit that corrects a reference angle, which is an angle between the imaging direction of the camera and the front-back direction of the moving body, based on the positional deviation of the feature points in the image.
A driver monitoring device characterized by being equipped with.

Images