JPH0569757A - Sleeping drive detector for vehicle - Google Patents

Abstract

PURPOSE:To provide a highly reliable sleeping drive detector by monitoring the consciousness condition of a driver from the lateral displacement of a vehicle to a driving sectional band completely. CONSTITUTION:A front traveling passage is shot with a camera 10 to pick up a traveling sectional band with a picture image processing device. A microcomputer 14 calculates a distance, that is, a lateral displacement between the vehicle and the traveling sectional band. Besides, the microcomputer 14 computes average deviation within a prescribed time to make a comparison with a threshold value. When the consciousness level of a driver begins to lower, the lateral displacement varies largely, thus increasing the average deviation. The variation of the average deviation meets the alpha wave variation of the driver well. If the average deviation exceeds the threshold value, a sleeping drive is judged to output a warning signal to a warning device 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drowsy driving detection device for a vehicle, and more particularly to a device for detecting a drowsiness driving occurrence based on a change in the distance between the vehicle and the traveling division zone.

[0002]

2. Description of the Related Art Conventionally, a drowsy driving detection device for detecting a drowsy driving of a driver has been proposed for the purpose of ensuring safety when driving on a highway. Such a drowsiness detection device is configured to detect the presence or absence of a drowsiness by detecting a change in the steering angle due to a decrease in driver's consciousness and a resulting change in the lateral displacement of the vehicle (distance from the traveling division zone). Is mainly used.

For example, in an alarm device for preventing a drowsiness during automatic driving disclosed in Japanese Patent Laid-Open No. 1-122734, a device for recognizing a traveling division zone on a protrusion such as a door mirror of an automobile, for example, a light emitting device / light receiving device. When a driver falls asleep or the like and approaches the traveling zone abnormally, the traveling zone is detected and an alarm device such as a buzzer is activated.

Alternatively, in the drowsy driving detection device disclosed in Japanese Patent Laid-Open No. 60-76425, a reference steering pattern is stored in a memory in advance, and when the steering pattern is different from the reference pattern, the drowsy driving is performed. To detect.

[0005]

However, in the configuration in which it is determined that a drowsiness drive has occurred when the vehicle abnormally approaches the traveling division zone, (1) In the case of a driver having a characteristic of traveling close to the traveling division zone (2) When traveling out-in-out on a curved track (3) When changing lanes without operating the turn signals, etc., it is determined that the driver is asleep while the driver is in a normal consciousness state. There was a problem that an alarm was issued.

Further, in the configuration in which the steering pattern is compared with the reference pattern, it is difficult to determine the reference steering pattern in the steering pattern having a large individual difference, and moreover, it is necessary to evaluate the degree of difference from the reference pattern. There was a problem that is difficult. The present invention has been made in view of the above problems of the prior art, and an object thereof is to provide a vehicle dozing drive detection device capable of reliably and quickly determining whether or not the vehicle is dozing and giving an alarm or the like. Especially.

[0007]

In order to achieve the above object, a vehicular doze driving detection apparatus according to the present invention is provided with a lateral displacement for detecting a lateral displacement of a vehicle from a traveling division zone as shown in FIG. The detection means 1, the calculation means 2 for calculating the standard deviation of the lateral displacement within a predetermined time, and the judgment means 3 for comparing the standard deviation with a threshold value and for judging when the threshold value is exceeded, dozing driving are performed. It is characterized by

[0008]

As described above, the doze driving detection apparatus of the present invention pays attention to the standard deviation of the lateral displacement of the vehicle, and when the standard deviation exceeds a predetermined value, the driver's consciousness is lowered, that is, the dozing driving occurs. It is judged that it did.

That is, as shown in FIG. 3, the lateral displacement of the vehicle is defined as the displacement from the center of the traveling lane determined by the traffic zone, and considering how this lateral displacement changes with time, the driver's consciousness is considered. When the vehicle is normal, the vehicle travels in the center of the traveling lane (or the edge of the traveling lane depending on the driver) with a small amount of fluctuation, as shown in FIG. Moreover, its standard deviation within a predetermined time becomes a relatively small value. However, when the driver's consciousness begins to decline, the vehicle makes a large meandering as it approaches or departs from the traveling zone in the traveling lane as shown in FIG. As shown in, the standard deviation has a large value.

Therefore, it becomes possible to detect the dozing driving from the magnitude of the standard deviation, that is, the magnitude of the frequency of deviation from the normal running.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a vehicle dozing driving detection apparatus according to the present invention will be described below with reference to the drawings.

FIG. 2 shows a block diagram of the configuration of this embodiment. A camera 10 is attached to a predetermined position of the vehicle, for example, an upper part of the room mirror 4 as shown in FIG. 9, and an image of the lower front is taken to take an image of a traveling division zone laid on the road. It is converted and stored in the frame memory 11a. Note that the camera 10 is attached to the upper part of the room mirror 4 in this way in order to obtain a good lens effect by arranging the lens in the wiping area of the wiper, which protects it from dust and water by disposing it inside the room. The image processing device (DSP) 12 extracts a white line portion indicating the traveling division zone from the digitized image signal and supplies it to the microcomputer 14 via the bus 13. The microcomputer 14 includes a CPU 14a, a ROM 14b in which a predetermined control program is stored, and a RAM 14c that stores a calculation result in the CPU 14a, and performs the following calculation to determine whether or not the driver is dozing.

That is, first, the image processing device (DSP) 1
The lateral displacement of the vehicle is detected from the image signal sent from the device 2. The lateral displacement is defined by the displacement from the center of the traveling lane as shown in FIG. 3, and can be calculated from the position or inclination of the traveling section white line in the image obtained by the camera 10. When the vehicle is traveling on a curved road or the like and the white line of the traveling section has a curvature, for example, as shown in Japanese Patent Laid-Open No. 3-139706, from the tangent line at two positions of the white line. First, the curvature may be obtained, and the lateral displacement calculated according to the curvature may be corrected to detect the accurate lateral displacement. Then, the detected lateral displacements are sequentially stored in the RAM1.
4c.

Next, the CPU 14a reads out the stored lateral displacement and calculates the standard deviation σ within a predetermined time. In this embodiment, the sampling frequency is 10H for the data of 4 to 5 minutes.
The standard deviation is calculated at z and a shift time of 10 seconds (a data string shifted by 10 seconds).

FIGS. 5 to 7 show changes in lateral displacement (A) at 12 minutes, 30 minutes, and 48 minutes after the start of operation, a histograph (B) at that time, and calculated standard deviation values. ing. After 12 minutes from the start of driving, the driver's fatigue level is low, and therefore the vehicle is traveling in a normal state of consciousness.
Although the value is as small as 2, the driver's fatigue decreases with the lapse of 30 minutes from the start of driving and 48 minutes from the start of the operation, and the level of consciousness decreases, the variation in lateral displacement increases, and the standard deviation is 0.30 each. , 0.40. This is because when the driver's consciousness level is lowered, the reaction in each step of the driving including the step of recognizing the vehicle surrounding environment, the step of determining the steering and accelerator operation amount, and the operation step is delayed.

In this way, when the driver's level of consciousness starts to decrease, the standard deviation increases, and therefore the driver's dozing driving can be detected from the increase in the standard deviation.

FIG. 8 shows a comparison between a change (A) in the appearance rate of the α wave in the brain waves of the driver and a change (B) in the standard deviation. In the figure, the horizontal axis indicates time, and the vertical axis indicates the appearance rate and standard deviation of α waves. The α wave is a brain wave that appears in a relaxed state in humans, and often appears when the driver becomes tired, loses mental tension, and begins to drow. In this example, time 5
The appearance rate of α waves increases from around 00 sec,
It shows a change that reaches a peak at ˜1300 seconds and then sharply decreases. The sharp decrease in 1500 sec is because the vehicle was off course because of drowsy driving, and the driver hurriedly operated the steering wheel.

With respect to the change of the α wave, the standard deviation starts to increase from about 500 seconds even in the change of the standard deviation of the lateral displacement shown in FIG.
It shows a characteristic of reaching a peak at ec and then rapidly decreasing at 1500 seconds, and the standard deviation of the lateral displacement is in good agreement with the α-wave which is an index of the driver's consciousness state, which is an extremely excellent parameter for determining the driver's dozing driving It is understood that it can be. Therefore, the CPU 14a compares the calculated standard deviation with a predetermined threshold value 0.35 stored in the ROM 14b, and when the standard deviation exceeds 0.35, it is determined that a drowsy driving has occurred and a buzzer or the like is generated. An alarm signal is output to the alarm device 16 to prompt the driver to awaken.

As described above, in the present embodiment, the standard deviation of the lateral displacement is used as a parameter, so that the driver's consciousness level can be accurately grasped and the occurrence of the dozing driving can be surely detected, and the highway etc. can be safely operated. It becomes possible to drive to.

In this embodiment, the threshold value for determining whether or not the driver is dozing is set in advance in a predetermined value and stored in the memory. It goes without saying that it is also possible to appropriately use a threshold value that matches the driving characteristics of the driver, such as setting the threshold value to twice the average value of the standard deviation values.

[0021]

As described above, according to the vehicle dozing drive detection device of the present invention, the driver's dozing drive can be reliably detected, and the driver is awakened to enable safe driving. effective.

[Brief description of drawings]

FIG. 1 is a configuration block diagram of the present invention.

FIG. 2 is a configuration block diagram of an embodiment of the present invention.

FIG. 3 is a lateral displacement explanatory view of the present invention.

FIG. 4 is an explanatory diagram of changes in lateral displacement during normal operation and abnormal operation.

FIG. 5 is an explanatory diagram showing a relationship between lateral displacement and standard deviation according to an embodiment of the present invention.

FIG. 6 is an explanatory diagram showing a relationship between lateral displacement and standard deviation according to an embodiment of the present invention.

FIG. 7 is an explanatory diagram showing a relationship between lateral displacement and standard deviation according to an embodiment of the present invention.

FIG. 8 is a graph showing a relationship between α-wave change and standard deviation change according to an embodiment of the present invention.

FIG. 9 is an explanatory diagram of camera arrangement according to an embodiment of the present invention.

[Explanation of symbols]

 10 camera 12 image processing device 14 microcomputer 16 alarm device

Claims (1)

[Claims] 1. A lateral displacement detecting means for detecting a lateral displacement of a vehicle from a traveling division zone, an arithmetic means for calculating a standard deviation of the lateral displacement within a predetermined time, and a comparison between the standard deviation and a threshold value. A drowsy driving detection device for a vehicle, comprising: a determining unit that determines that the vehicle is drowsy when the threshold value is exceeded.