JP7342743B2 - 安全運転判定装置 - Google Patents
安全運転判定装置 Download PDFInfo
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- JP7342743B2 JP7342743B2 JP2020042076A JP2020042076A JP7342743B2 JP 7342743 B2 JP7342743 B2 JP 7342743B2 JP 2020042076 A JP2020042076 A JP 2020042076A JP 2020042076 A JP2020042076 A JP 2020042076A JP 7342743 B2 JP7342743 B2 JP 7342743B2
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- 238000003384 imaging method Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
- B60R21/01566—Devices for warning or indicating mode of inhibition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
- A61B5/1114—Tracking parts of the body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
- A61B5/163—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state by tracking eye movement, gaze, or pupil change
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- 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
- B60W2540/20—Direction indicator values
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
- G06T2207/30201—Face
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30268—Vehicle interior
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- General Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Child & Adolescent Psychology (AREA)
- Transportation (AREA)
- Psychiatry (AREA)
- Hospice & Palliative Care (AREA)
- Educational Technology (AREA)
- Developmental Disabilities (AREA)
- Psychology (AREA)
- Human Computer Interaction (AREA)
- Social Psychology (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Traffic Control Systems (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Description
図1は、本発明に係る車両Sの構成を示す図である。車両Sは、撮像装置1と、状態情報検出装置2と、警報装置3と、安全運転判定装置4とを有する。
状態特定部421は、車両Sの前方の道路の画像、車両Sのウインカが作動しているか否かの情報、及び車両Sの速度を示す状態情報を状態情報検出装置2から取得する。状態特定部421は、取得した状態情報に基づいて、運転者が前方不注視状態であることが許容される状態か否かを判定する。状態特定部421は、判定結果を角度値算出部422に通知する。
角度値算出部422は、撮像装置1が撮像した撮像画像に基づいて角度値を算出する。角度値算出部422は、進行方向に対する運転者のヨー方向(図2(b))の顔向き角度と、進行方向に対する運転者のピッチ方向(図2(a))の顔向き角度との少なくとも一方の顔向き角度を示す角度値を算出する。
以上のとおり、制御部42は、車両Sの状態を特定する状態特定部421と、車両Sの運転者の顔向き方向の角度値を算出する角度値算出部422とを有する。角度値算出部422は、状態特定部421が特定した状態が、前方不注視状態であることが許容される状態である場合に、算出した角度値又は角度値と基準角度値との差が閾値未満となる値を運転者の角度値として判定部423に通知する。判定部423は、取得した運転者の角度値に基づいて前方不注視状態であるか否かを判定する。
2 状態情報検出装置
3 警報装置
4 安全運転判定装置
41 記憶部
42 制御部
421 状態特定部
422 角度値算出部
423 判定部
424 警告部
Claims (3)
- 車両の運転者を撮像装置によって撮像して前記車両の進行方向を基準にしたときの前記運転者の顔向き角度を示す角度値を取得し、取得した前記角度値に基づいて前記運転者が前方不注視状態であるか否かを判定する安全運転判定装置であって、
前記車両の状態を特定する状態特定部と、
前記進行方向に対する前記運転者のヨー方向の顔向き角度と、前記進行方向に対する前記運転者のピッチ方向の顔向き角度との少なくとも一方の顔向き角度を示す角度値を算出する角度値算出部と、
前記角度値と基準角度値との差が閾値以上である場合に、前記運転者が前方不注視状態であるか否かを判定する判定部と、
を有し、
前記状態特定部は、前記車両がウインカを出し始めてから閾値時間を経過してもウインカを出している場合、前記車両の状態が、前記運転者が前方不注視状態であることが許容されない状態であると特定し、
前記角度値算出部は、前記状態特定部が特定した前記状態が、前記運転者が前方不注視状態であることが許容されない状態である場合に、算出した前記角度値を前記判定部に入力し、前記状態特定部が特定した前記状態が、前記運転者が前方不注視状態であることが許容される状態である場合に、前記基準角度値との差が前記閾値未満の値を前記角度値として前記判定部に入力する、
安全運転判定装置。 - 前記状態特定部は、前記車両が停止中の場合、又は前記車両が減速中であり、かつ閾値速度以下である場合に、前記車両の状態が、前記運転者が前方不注視状態であることが許容される状態であると特定する、
請求項1に記載の安全運転判定装置。 - 前記状態特定部は、前記車両がウインカを出している場合、又は前記車両がカーブ路を走行している場合に、前記車両の状態が、前記運転者が前方不注視状態であることが許容される状態であると特定する、
請求項1又は2に記載の安全運転判定装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020042076A JP7342743B2 (ja) | 2020-03-11 | 2020-03-11 | 安全運転判定装置 |
DE112021001564.8T DE112021001564T5 (de) | 2020-03-11 | 2021-03-09 | Sicherfahrbestimmungsgerät |
US17/908,901 US20240198946A1 (en) | 2020-03-11 | 2021-03-09 | Safe driving determination apparatus |
PCT/JP2021/009366 WO2021182482A1 (ja) | 2020-03-11 | 2021-03-09 | 安全運転判定装置 |
CN202180018901.1A CN115398506B (zh) | 2020-03-11 | 2021-03-09 | 安全驾驶判定装置 |
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JP2020042076A JP7342743B2 (ja) | 2020-03-11 | 2020-03-11 | 安全運転判定装置 |
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JP2021144418A JP2021144418A (ja) | 2021-09-24 |
JP7342743B2 true JP7342743B2 (ja) | 2023-09-12 |
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US (1) | US20240198946A1 (ja) |
JP (1) | JP7342743B2 (ja) |
CN (1) | CN115398506B (ja) |
DE (1) | DE112021001564T5 (ja) |
WO (1) | WO2021182482A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007072629A (ja) | 2005-09-05 | 2007-03-22 | Toyota Motor Corp | 車載警報装置 |
JP2012218551A (ja) | 2011-04-07 | 2012-11-12 | Toyota Motor Corp | 衝突回避制御装置及び方法 |
WO2013051306A1 (ja) | 2011-10-06 | 2013-04-11 | 本田技研工業株式会社 | 脇見検出装置 |
JP2019070876A (ja) | 2017-10-05 | 2019-05-09 | いすゞ自動車株式会社 | 安全運転支援装置及び安全運転支援方法 |
JP2019091275A (ja) | 2017-11-15 | 2019-06-13 | オムロン株式会社 | 脇見判定装置、脇見判定方法及び脇見判定のためのプログラム |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWM310851U (en) * | 2006-10-31 | 2007-05-01 | Kwang Yang Motor Co | Device for restoring motorcycle indicator switch to normal off-position |
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 |
-
2020
- 2020-03-11 JP JP2020042076A patent/JP7342743B2/ja active Active
-
2021
- 2021-03-09 US US17/908,901 patent/US20240198946A1/en active Pending
- 2021-03-09 DE DE112021001564.8T patent/DE112021001564T5/de active Pending
- 2021-03-09 WO PCT/JP2021/009366 patent/WO2021182482A1/ja active Application Filing
- 2021-03-09 CN CN202180018901.1A patent/CN115398506B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007072629A (ja) | 2005-09-05 | 2007-03-22 | Toyota Motor Corp | 車載警報装置 |
JP2012218551A (ja) | 2011-04-07 | 2012-11-12 | Toyota Motor Corp | 衝突回避制御装置及び方法 |
WO2013051306A1 (ja) | 2011-10-06 | 2013-04-11 | 本田技研工業株式会社 | 脇見検出装置 |
JP2019070876A (ja) | 2017-10-05 | 2019-05-09 | いすゞ自動車株式会社 | 安全運転支援装置及び安全運転支援方法 |
JP2019091275A (ja) | 2017-11-15 | 2019-06-13 | オムロン株式会社 | 脇見判定装置、脇見判定方法及び脇見判定のためのプログラム |
Also Published As
Publication number | Publication date |
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CN115398506A (zh) | 2022-11-25 |
DE112021001564T5 (de) | 2023-01-19 |
WO2021182482A1 (ja) | 2021-09-16 |
JP2021144418A (ja) | 2021-09-24 |
CN115398506B (zh) | 2023-11-28 |
US20240198946A1 (en) | 2024-06-20 |
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