JP7302534B2 - 状態判定装置および状態判定方法 - Google Patents
状態判定装置および状態判定方法 Download PDFInfo
- Publication number
- JP7302534B2 JP7302534B2 JP2020095671A JP2020095671A JP7302534B2 JP 7302534 B2 JP7302534 B2 JP 7302534B2 JP 2020095671 A JP2020095671 A JP 2020095671A JP 2020095671 A JP2020095671 A JP 2020095671A JP 7302534 B2 JP7302534 B2 JP 7302534B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- predetermined range
- driver
- change rules
- range
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0872—Driver physiology
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Description
5 ECU
531 判定部
532 範囲変更部
Claims (3)
- 車両の運転者の視線方向または顔向きを示す動作対応値の分布する動作範囲が所定範囲に含まれる場合、前記運転者が漫然運転状態にあると判定する判定部と、
それぞれ異なる道路状況に関連づけてメモリに記憶され当該道路状況に応じて前記所定範囲に加えるべき変更をそれぞれ表す複数の変更ルールのうち、地図情報に表される、前記車両の自己位置における前記車両の周囲の道路状況に合致する道路状況に関連づけられた変更ルールに従って前記所定範囲を広げる範囲変更部と、
を備え、
前記複数の変更ルールは、前記車両の前方にカーブのある前記道路状況に関連づけて、前記カーブの向きに前記所定範囲を広げることを含み、または、
前記複数の変更ルールは、前記車両の前方で勾配が変化する前記道路状況に関連づけて、前記勾配が変化する向きに前記所定範囲を広げることを含み、または、
前記複数の変更ルールは、前記車両の前方に設置物が検出される前記道路状況に関連づけて、前記運転者の位置から前記設置物が検出される位置に向けて前記所定範囲を広げることを含み、または、
前記範囲変更部は、前記車両の車速が大きいほど前記所定範囲を大きく広げる、
状態判定装置。 - 前記複数の変更ルールが、前記車両の前方で勾配が変化する前記道路状況に関連づけて、前記勾配が変化する向きに前記所定範囲を広げることを含む場合において、前記複数の変更ルールは、前記車両の前方にカーブのある前記道路状況にさらに関連づけて、前記カーブの曲率半径が小さいほど前記所定範囲を大きく広げることをさらに含む、請求項1に記載の状態判定装置。
- 車両の運転者の視線方向または顔向きを示す動作対応値の分布する動作範囲が所定範囲に含まれる場合、前記運転者が漫然運転状態にあると判定し、
それぞれ異なる道路状況に関連づけてメモリに記憶され当該道路状況に応じて前記所定範囲に加えるべき変更をそれぞれ表す複数の変更ルールのうち、地図情報に表される、前記車両の自己位置における前記車両の周囲の道路状況に合致する道路状況に関連づけられた変更ルールに従って前記所定範囲を広げる、ことを含み、
前記複数の変更ルールは、前記車両の前方にカーブのある前記道路状況に関連づけて、前記カーブの向きに前記所定範囲を広げることを含み、または、
前記複数の変更ルールは、前記車両の前方で勾配が変化する前記道路状況に関連づけて、前記勾配が変化する向きに前記所定範囲を広げることを含み、または、
前記複数の変更ルールは、前記車両の前方に設置物が検出される前記道路状況に関連づけて、前記運転者の位置から前記設置物が検出される位置に向けて前記所定範囲を広げることを含み、または、
前記所定範囲の変更において、前記車両の車速が大きいほど前記所定範囲を大きく広げる、
状態判定方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020095671A JP7302534B2 (ja) | 2020-06-01 | 2020-06-01 | 状態判定装置および状態判定方法 |
CN202110574853.6A CN113753057A (zh) | 2020-06-01 | 2021-05-26 | 状态判定装置及状态判定方法 |
US17/331,724 US11919522B2 (en) | 2020-06-01 | 2021-05-27 | Apparatus and method for determining state |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020095671A JP7302534B2 (ja) | 2020-06-01 | 2020-06-01 | 状態判定装置および状態判定方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021189852A JP2021189852A (ja) | 2021-12-13 |
JP7302534B2 true JP7302534B2 (ja) | 2023-07-04 |
Family
ID=78706646
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020095671A Active JP7302534B2 (ja) | 2020-06-01 | 2020-06-01 | 状態判定装置および状態判定方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11919522B2 (ja) |
JP (1) | JP7302534B2 (ja) |
CN (1) | CN113753057A (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11922706B2 (en) * | 2022-01-17 | 2024-03-05 | Veoneer Us, Llc | Systems and methods for dynamic attention area |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009244959A (ja) | 2008-03-28 | 2009-10-22 | Toyota Motor Corp | 運転支援装置、運転支援方法 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0796768A (ja) * | 1993-09-27 | 1995-04-11 | Nissan Motor Co Ltd | 前方注視度検知装置 |
JP4186749B2 (ja) * | 2003-08-11 | 2008-11-26 | トヨタ自動車株式会社 | 脇見判定装置 |
JP5353416B2 (ja) * | 2009-04-27 | 2013-11-27 | トヨタ自動車株式会社 | ドライバ状態監視装置及び車両制御装置 |
US9460601B2 (en) * | 2009-09-20 | 2016-10-04 | Tibet MIMAR | Driver distraction and drowsiness warning and sleepiness reduction for accident avoidance |
JP6047318B2 (ja) | 2012-07-06 | 2016-12-21 | 矢崎総業株式会社 | ドライバ状態検出装置及びドライバ状態報知装置 |
JP6617602B2 (ja) * | 2016-02-24 | 2019-12-11 | 株式会社デンソー | 漫然運転検出システム及び漫然運転検出方法 |
JP6915502B2 (ja) * | 2017-11-09 | 2021-08-04 | トヨタ自動車株式会社 | ドライバ状態検出装置 |
JP6812952B2 (ja) * | 2017-11-15 | 2021-01-13 | オムロン株式会社 | 脇見判定装置、脇見判定方法、およびプログラム |
CN110638474A (zh) * | 2019-09-25 | 2020-01-03 | 中控智慧科技股份有限公司 | 一种驾驶状态检测的方法、系统、设备及可读存储介质 |
-
2020
- 2020-06-01 JP JP2020095671A patent/JP7302534B2/ja active Active
-
2021
- 2021-05-26 CN CN202110574853.6A patent/CN113753057A/zh active Pending
- 2021-05-27 US US17/331,724 patent/US11919522B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009244959A (ja) | 2008-03-28 | 2009-10-22 | Toyota Motor Corp | 運転支援装置、運転支援方法 |
Non-Patent Citations (2)
Title |
---|
平嶋亮啓、堀口由貴男、中西弘明、椹木哲夫,光学流動を考慮した顕著性マップによるドライバ注視領域の推定,第33回ファジィシステムシンポジウム講演論文集,日本,日本知能情報ファジィ学会,2017年,第553-558頁,https://doi.org/10.14864/fss.33.0_553 |
石田眞二、松田泰明,カーブ区間における線形誘導標示板がドライバーの視線挙動に与える影響,交通工学論文集,2020年6巻1号,日本,一般社団法人交通工学研究会,2020年01月01日,第1-10頁,https://doi.org/10.14954/jste.6.1_1 |
Also Published As
Publication number | Publication date |
---|---|
CN113753057A (zh) | 2021-12-07 |
US11919522B2 (en) | 2024-03-05 |
JP2021189852A (ja) | 2021-12-13 |
US20210370956A1 (en) | 2021-12-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7052663B2 (ja) | 物体検出装置、物体検出方法及び物体検出用コンピュータプログラム | |
JP6933457B2 (ja) | 認識結果提示装置、認識結果提示方法及び自律移動体 | |
JP4173902B2 (ja) | 車両周辺監視装置 | |
AU2016397318B2 (en) | Passenger counting device, system, method and program | |
EP3150961B1 (en) | Stereo camera device and vehicle provided with stereo camera device | |
CN111507162B (zh) | 基于车辆间通信的协作的盲点警告方法及装置 | |
JP2009205191A (ja) | 駐車スペース認識装置 | |
JP7302534B2 (ja) | 状態判定装置および状態判定方法 | |
JP4270010B2 (ja) | 物体危険判定装置 | |
JP2018073275A (ja) | 画像認識装置 | |
JP5291524B2 (ja) | 車両周辺監視装置 | |
JP2004364112A (ja) | 車両周辺表示装置 | |
JP2023152109A (ja) | 地物検出装置、地物検出方法及び地物検出用コンピュータプログラム | |
JP2023104680A (ja) | ドライバモニタ装置、ドライバモニタ方法及びドライバモニタ用コンピュータプログラム | |
JP2022012829A (ja) | ドライバモニタ装置及びドライバモニタ方法 | |
JP7360304B2 (ja) | 画像処理装置および画像処理方法 | |
US20230394702A1 (en) | Device, method, and computer program for estimating seat position | |
JP2024030017A (ja) | 物体検出装置、物体検出方法、および物体検出用コンピュータプログラム | |
JP2004334784A (ja) | 確認動作検出装置及び警報システム | |
JP2022125719A (ja) | 物体検出装置 | |
JP7478995B2 (ja) | 携帯端末、ナビゲーション方法、及び、コンピュータプログラム | |
JP2023177049A (ja) | 腕検出装置 | |
CN117734719A (zh) | 通知装置和通知方法 | |
JP2022178541A (ja) | 点灯状態検出装置 | |
JP2010011311A (ja) | 車両用撮影装置および撮影方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20211013 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220914 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220927 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20221128 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230117 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230320 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20230523 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20230605 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7302534 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |