JPH097100A - Driver's gaze point predicting device and vehicle drive support system using the same - Google Patents
Driver's gaze point predicting device and vehicle drive support system using the sameInfo
- Publication number
- JPH097100A JPH097100A JP7175400A JP17540095A JPH097100A JP H097100 A JPH097100 A JP H097100A JP 7175400 A JP7175400 A JP 7175400A JP 17540095 A JP17540095 A JP 17540095A JP H097100 A JPH097100 A JP H097100A
- Authority
- JP
- Japan
- Prior art keywords
- driver
- vehicle
- gazing point
- detected
- predicted
- 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.)
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Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、乗用車やトラックなど
の各種の車両に搭載される運転者注視点予測装置及びこ
れを用いた車両用運転支援システムに関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driver's gazing point prediction device mounted on various vehicles such as passenger cars and trucks, and a vehicle driving assistance system using the device.
【０００２】[0002]
【従来技術】乗用車やトラックなどの各種の車両につい
ては、運転の安全性や快適性の向上を目的として、各種
の運転支援システムが開発されつつある。例えば、レー
ダー装置や撮影装置を利用して周辺の他の車両などの物
体を検出し、これらが自車両の走行状況に照らして障害
となり得るか否かを判定し、障害になり得る場合には運
転者に警報を発する運転支援装置が特開平 6ー215300号
公報などに開示されている。2. Description of the Related Art For various vehicles such as passenger cars and trucks, various driving support systems are being developed for the purpose of improving driving safety and comfort. For example, by using a radar device or an imaging device to detect objects such as other vehicles in the vicinity, it is determined whether or not these may be obstacles in the light of the driving situation of the own vehicle, and if they are obstacles, A driving support device for issuing a warning to a driver is disclosed in Japanese Patent Laid-Open No. 6-215300.
【０００３】また、特開昭63ー243816号公報や特開昭64
ー83424 号公報などに開示されたように、車速や演算に
よって求めた予測走行軌跡などの表示データをフロント
ガラスの前方に虚像として表示するヘッドアップ型表示
装置を備えた運転支援装置も知られている。このヘッド
アップ型の表示装置では、ドライバーが前方の光景に重
ね合わせた状態で表示データを目視することができる。
このため、ドライバーにとっては、従来のように速度計
やナビゲーション装置の案内画面などを読み取るために
視線の一部を前方の光景からそらす必要がなくなり、安
全性と快適性が向上する。In addition, JP-A-63-243816 and JP-A-64
-A driver assistance device equipped with a head-up type display device that displays the display data such as the vehicle speed and the predicted traveling path obtained by calculation as a virtual image in front of the windshield is also known, as disclosed in Japanese Patent No. 83424. There is. With this head-up type display device, the display data can be viewed by the driver in a state of being superimposed on the front scene.
Therefore, it is not necessary for the driver to deviate part of the line of sight from the front scene in order to read the speedometer or the guidance screen of the navigation device as in the related art, and safety and comfort are improved.
【０００４】特開平 5ー147456号公報には、運転者の注
視点が車速の増加と共に遠方に移動することを考慮し
て、車速の増加と共に車速などのヘッドアップ表示デー
タを高い位置に移動させるという技術が開示されてい
る。また、特開平 6ー230132号公報には、障害物検出装
置で検出した障害物に関連して生じるおそれのある危険
をヘッドアップ表示装置を利用して運転者に通知する際
に、赤外線カメラで運転者の顔面を撮影することによっ
て運転者の注視点を検出し、この注視点の方向に危険マ
ークをヘッドアップ表示するという技術が開示されてい
る。In Japanese Unexamined Patent Publication No. 5-147456, the head-up display data such as the vehicle speed is moved to a higher position as the vehicle speed increases in consideration of the fact that the driver's gazing point moves farther as the vehicle speed increases. That technology is disclosed. Further, in Japanese Patent Laid-Open No. 6-230132, an infrared camera is used to notify a driver of a danger that may occur in relation to an obstacle detected by an obstacle detection device by using a head-up display device. A technique is disclosed in which a driver's gazing point is detected by photographing the driver's face, and a danger mark is head-up displayed in the direction of the gazing point.
【０００５】[0005]
【発明が解決しようとする課題】上記特開平 5ー147456
号公報に開示された従来技術は、車両が直線状の道路を
走行しており、従って運転者が真っ直ぐ前方を注視して
いる場合には合理的である。しかしながら、車両がカー
ブを走行中であれば、運転者の注視点は遠近のみならず
左右方向にも移動するため、データのヘッドアップ表示
位置が運転者の実際の注視点から左右方向にずれてしま
うという問題がある。DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
The prior art disclosed in the publication is reasonable when the vehicle is traveling on a straight road and therefore the driver is looking straight ahead. However, if the vehicle is traveling on a curve, the driver's gaze point moves not only in perspective but also in the left-right direction, so the head-up display position of the data deviates in the left-right direction from the driver's actual gaze point. There is a problem that it ends up.
【０００６】また、上記特開平 6ー230132号公報に開示
された赤外線カメラ撮影した運転者の顔面から注視点を
検出する従来技術は、車両がカーブを走行中でも利用で
きるが、赤外線カメラや画像処理装置などが必要になる
ため装置が高価になるという問題がある。従って、本発
明の一つの目的は、比較的安価な構成のもとで運転者の
注視点を遠近のみならず左右方向についても予測できる
運転者注視点予測装置を提供することにある。Further, the conventional technique disclosed in Japanese Patent Laid-Open No. 6-230132, which detects the gazing point from the driver's face photographed by the infrared camera, can be used even while the vehicle is driving on a curve, but the infrared camera and the image processing are used. There is a problem that the device becomes expensive because a device or the like is required. Therefore, an object of the present invention is to provide a driver's gazing point prediction device that can predict the gazing point of a driver not only in perspective but also in the left and right directions with a relatively inexpensive structure.
【０００７】[0007]
【課題を解決するための手段】本発明の運転者注視点予
測装置は、車速や車体のヨーレイトなどの車両の走行状
態から車両の予測走行軌跡を算定する予測走行軌跡算定
手段と、この算定された予測走行軌跡と前記検出された
車速などの車両の走行状態とから運転者の注視点を予測
する注視点予測手段とを備えている。A driver's gazing point prediction device of the present invention is a predictive traveling locus calculating means for calculating a predicted traveling locus of a vehicle from a traveling state of the vehicle such as a vehicle speed and a yaw rate of a vehicle body. Further, there is provided a gazing point prediction means for predicting a gazing point of the driver from the predicted traveling locus and the traveling state of the vehicle such as the detected vehicle speed.
【０００８】[0008]
【作用】検出された車速とヨーレイトとから直線状だけ
でなく曲線状をも含む車両の予測走行軌跡の算定が可能
となり、この算定がマイクロコンピュータなどで構成さ
れる予測走行軌跡算定手段によって実行される。そし
て、この算定された予測走行軌跡と検出された車速とか
らかなりの精度で運転者の注視点の予測が可能となり、
この予測が同じくマイクロコンピュータなどで構成され
る注視点予測手段によって実行される。以下、本発明を
実施例と共に更に詳細に説明する。[Function] From the detected vehicle speed and yaw rate, it is possible to calculate the predicted traveling locus of the vehicle including not only the straight line but also the curved line, and this calculation is executed by the predicted traveling locus calculation means including a microcomputer or the like. It Then, it becomes possible to predict the gazing point of the driver with considerable accuracy from the calculated predicted travel path and the detected vehicle speed,
This prediction is executed by a gazing point prediction means which is also composed of a microcomputer or the like. Hereinafter, the present invention will be described in more detail with reference to examples.
【０００９】[0009]
【実施例】図１は、本発明の一実施例の運転者注視点予
測装置を含む車両用運転支援装置の構成を示すブロック
図であり、１は車速センサ、２はヨーレイト・センサ、
３は予測走行軌跡算定部、４は運転者注視点予測部、５
は障害物検出部、６はヘッドアップ型表示部、７は警報
発生部、８は運転者注視点検出部、９は赤外線カメラ、
１０はブザーである。1 is a block diagram showing the structure of a vehicle driving support system including a driver's gazing point prediction system according to one embodiment of the present invention. 1 is a vehicle speed sensor, 2 is a yaw rate sensor,
3 is a predicted travel locus calculation unit, 4 is a driver's gazing point prediction unit, 5
Is an obstacle detection unit, 6 is a head-up type display unit, 7 is an alarm generation unit, 8 is a driver's gazing point detection unit, 9 is an infrared camera,
10 is a buzzer.
【００１０】予測走行軌跡算定部３は、ディジタルプロ
セッサなどで構成されており、車速センサ１で検出され
た車速と、ヨーレイト・センサ２で検出された車体のヨ
ーレイトとから車両の予測走行軌跡を算定する。ここ
で、車体のヨーレイトは、図２に示すように、水平面
（ｘーｙ平面）内の車体の重心位置に立てた鉛直線（ｚ
軸）の回りの車体の回転角速度のことである。図２に示
すように、車体が一定の車速Ｖｏで前進しながら一定の
ヨーレイトγｏで回転しているものとする。図２におい
て、ｘーｙ平面の原点に重心が存在した車体が任意の時
間ｔ後に到達する位置をＰT ( ｘT ，ｙT ）とする。車
体の横すべりを無視すれば、ｔ後の到達点ＰT において
車体の中心線がｘ軸となす角度（ヨー角φ）は次式で与
えられる。 φ＝γｏ・ｔ (1)The predicted traveling locus calculation unit 3 is composed of a digital processor or the like, and calculates the predicted traveling locus of the vehicle from the vehicle speed detected by the vehicle speed sensor 1 and the yaw rate of the vehicle body detected by the yaw rate sensor 2. To do. Here, the yaw rate of the vehicle body is, as shown in FIG. 2, a vertical line (z that is set at the center of gravity of the vehicle body in a horizontal plane (xy plane)).
Axis) is the angular velocity of rotation of the vehicle body around the axis. As shown in FIG. 2, it is assumed that the vehicle body is rotating at a constant yaw rate γo while moving forward at a constant vehicle speed Vo. In FIG. 2, the position where the vehicle body whose center of gravity exists at the origin of the xy plane reaches after an arbitrary time t is P T (x T , y T ). If the side slip of the vehicle body is ignored, the angle (yaw angle φ) formed by the center line of the vehicle body with the x axis at the reaching point P T after t is given by the following equation. φ = γo ・ t (1)
【００１１】従って、 ｘT ＝∫0 T Vo cosφ dt ＝ ( Vo/γo) sinγoT (2) ｙT ＝∫0 T Vo sinφ dt ＝ ( Vo/γo)( 1 − cosγoT ) (3) このように、車速Ｖｏとヨーレイトγｏとを一定と近似
することにより、この車体が任意の時間ｔ後に到達する
位置ＰT ( ｘT ，ｙT ）、すなわち車両の予測走行軌跡
を、(2) 式と(3) 式とから容易に算定できる。Therefore, x T = ∫ 0 T Vo cosφ dt = (Vo / γo) sinγoT (2) y T = ∫ 0 T Vo sinφ dt = (Vo / γo) (1 − cosγoT) (3) , And the vehicle speed Vo and the yaw rate γo are approximated to be constant, the position P T (x T , y T ) at which this vehicle body arrives after an arbitrary time t, that is, the predicted travel locus of the vehicle is expressed by the formula (2) and ( 3) It can be easily calculated from the equation.
【００１２】車体の横すべりを考慮して更に正確な予測
走行軌跡を算定することもできる。例えば、本出願人が
先に出願した特開昭64ー83424 号公報に記載されている
ように、路面摩擦係数センサや横すべり角センサなどを
利用して車体の横すべりを考慮したより正確な予測走行
軌跡を算定することもできる。予測走行軌跡算定部３は
上述のようにして算定した車両の予測走行軌跡を運転者
注視点予測部４に通知する。It is also possible to calculate a more accurate predicted travel locus in consideration of the side slip of the vehicle body. For example, as described in Japanese Patent Application Laid-Open No. 64-83424 filed by the applicant of the present invention, a more accurate predictive running considering a side slip of a vehicle body by using a road surface friction coefficient sensor or a side slip angle sensor. The trajectory can also be calculated. The predicted travel locus calculation unit 3 notifies the driver's gazing point prediction unit 4 of the predicted travel locus of the vehicle calculated as described above.
【００１３】運転者注視点予測部４は、ディジタルプロ
セッサなどで構成されており、予測走行軌跡算定部３か
ら受け取った車両の予測走行軌跡と、車速センサ１から
受け取った車速とに基づき運転者注視点を予測する。す
なわち、運転者注視点予測部４は、車速が増加するほど
運転者の注視点を車両の予測走行軌跡に沿って車両の前
方に移動させる。図３の（Ａ）と（Ｂ）とに例示するよ
うに、車両の予測走行軌跡Ｒが直線状であれば、車速が
増加するほど運転者の注視点Ｐをこの直線上の遠方に予
測する。また、図４の（Ａ）と（Ｂ）とに例示するよう
に、車両の予測走行軌跡Ｒが曲線状であれば、車速が増
加するほど運転者の注視点Ｐをこの曲線上の遠方に予測
する。The driver's gazing point prediction unit 4 is composed of a digital processor or the like, and is based on the predicted traveling locus of the vehicle received from the predicted traveling locus calculation unit 3 and the vehicle speed received from the vehicle speed sensor 1. Predict the perspective. That is, the driver's gazing point prediction unit 4 moves the gazing point of the driver toward the front of the vehicle along the predicted travel path of the vehicle as the vehicle speed increases. As illustrated in (A) and (B) of FIG. 3, if the predicted travel locus R of the vehicle is linear, the gazing point P of the driver is predicted to be farther on this straight line as the vehicle speed increases. . Further, as illustrated in FIGS. 4A and 4B, if the predicted travel locus R of the vehicle is curved, the gazing point P of the driver becomes farther on this curve as the vehicle speed increases. Predict.
【００１４】障害物検出部５は、レーザ光や電波を少し
ずつ異なる角度で車両前方に放射すると共に障害物で生
じたレーザ光や電波の反射波を受信して各障害物までの
距離を測定するレーダー装置などから構成されている。
この障害物検出部５で検出された障害物情報は、ヘッド
アップ型表示部６と警報発生部７とに通知される。The obstacle detection unit 5 emits laser light and radio waves to the front of the vehicle at slightly different angles and receives the reflected waves of the laser light and radio waves generated by the obstacles to measure the distance to each obstacle. It is composed of a radar device and so on.
The obstacle information detected by the obstacle detection unit 5 is notified to the head-up type display unit 6 and the alarm generation unit 7.
【００１５】ヘッドアップ型表示部６は、点滅する赤枠
の表示データなどを作成し、これを障害物検出部５で検
出された車両前方の障害物に重なり合うようにヘッドア
ップ表示する。警報発生部７は、障害物検出部５で検出
された障害物の位置と、運転者注視点予測部４で予測さ
れた運転者の注視点とを比較し、両者が互いに離間して
いるほど大きな音量の警報をブザー１０から発生させ
る。The head-up type display unit 6 creates display data of a blinking red frame and the like, and displays it in a head-up manner so as to overlap the obstacle ahead of the vehicle detected by the obstacle detection unit 5. The alarm generation unit 7 compares the position of the obstacle detected by the obstacle detection unit 5 with the gazing point of the driver predicted by the driver gazing point prediction unit 4, and the farther they are from each other, A loud alarm is generated from the buzzer 10.
【００１６】例えば、図３の（Ａ）や図４の（Ａ）に例
示するように、○枠で囲んだ×印で示す障害物が注視点
Ｐの近傍の箇所に検出された場合には、運転者がこの障
害物の存在に気付いているとの推定に基づきブザー１０
からは比較的低音量の警報音が発生される。これに対し
て、図３の（Ｂ）や図４の（Ｂ）に例示するように、○
枠で囲んだ×印で示す障害物が注視点Ｐからかなり離れ
た箇所に検出された場合には、運転者がこの障害物の存
在を気付いていないとの推定に基づきブザー１０からは
比較的高音量の警報音が発生される。For example, as shown in FIG. 3A and FIG. 4A, when an obstacle indicated by a cross surrounded by a circle is detected at a position near the gazing point P, Buzzer 10 based on the assumption that the driver is aware of the presence of this obstacle.
Generates a relatively low volume alarm sound. On the other hand, as illustrated in FIG. 3B and FIG.
When an obstacle indicated by an X in a frame is detected at a position far away from the gazing point P, the buzzer 10 relatively determines that the driver is not aware of the existence of the obstacle. A loud alarm sound is generated.
【００１７】運転者注視点検出部８は、赤外線カメラ９
で撮影した運転者の顔面の状況から運転者の注視点を検
出し、これを警報発生部７に通知する。警報発生部７
は、運転者注視点検出部８から通知された運転者の注視
点の検出値と、運転者注視点予測部４から通知された運
転者の注視点の予測値とを比較する。警報発生部７は、
上記比較の結果、所定値以上の大きな両者の差異が所定
値以上の長期間にわたって持続した場合には、よそ見運
転や居眠り運転などの何らかの異常が発生したものと見
做し、ブザー１０から警報音を発生させる。The driver's gazing point detecting section 8 is provided with an infrared camera 9
The point of gaze of the driver is detected from the situation of the driver's face photographed in (3) and the alarm generation unit 7 is notified of this. Alarm generator 7
Compares the detected value of the driver's gazing point notified from the driver gazing point detection unit 8 with the predicted value of the driver's gazing point notified from the driver gazing point prediction unit 4. The alarm generator 7 is
As a result of the above comparison, when a large difference between the two is greater than a predetermined value and continues for a long period of more than the predetermined value, it is considered that some abnormality such as looking away or drowsy driving has occurred, and the buzzer 10 sounds an alarm. Generate.
【００１８】ヘッドアップ型表示部６は、車速センサ１
から通知された車速を、運転者注視点予測部４から通知
された運転者の注視点の方向に表示する。The head-up type display unit 6 includes a vehicle speed sensor 1
The vehicle speed notified from is displayed in the direction of the driver's gazing point notified from the driver gazing point prediction unit 4.
【００１９】以上、車両の予測走行軌跡を算定するため
の車両の走行状態を車速と車体のヨーレイトだけで決定
する構成を例示した。しかしながら、車体の横すべりの
影響を考慮して路面摩擦係数や、操舵角などを車両の走
行状態を決定する物理量として追加し、更に詳細な予測
走行軌跡を算定する構成とすることもできる。In the above, the configuration in which the traveling state of the vehicle for calculating the predicted traveling locus of the vehicle is determined only by the vehicle speed and the yaw rate of the vehicle body has been illustrated. However, it is also possible to add a road surface friction coefficient, a steering angle, etc. as physical quantities that determine the traveling state of the vehicle in consideration of the influence of side slip of the vehicle body, and to calculate a more detailed predicted traveling locus.
【００２０】また、検出した障害物の位置が予測した運
転者の注視点から離れているほど大きな音量の警報を発
生する構成を例示した。しかしながら、検出した障害物
の位置が予測した運転者の注視点から離れているほど、
赤色など運転者の注意を喚起しやすい表示色でヘッドア
ップ表示による警告を行う構成とすることもできる。Further, a configuration has been exemplified in which the alarm of a larger volume is generated as the detected obstacle position is farther from the predicted gazing point of the driver. However, the farther the detected obstacle position is from the driver's gaze point of prediction,
The head-up display may be used to warn the driver in a display color such as red that easily draws the driver's attention.
【００２１】[0021]
【発明の効果】以上詳細に説明したように、本発明の運
転者注視点予測装置は、車両の走行状態からその予測走
行軌跡を算定し、この算定された予測走行軌跡と上記検
出された走行状態とから運転者の注視点を予測する構成
であるから、比較的安価な構成のもとで運転者の注視点
を遠近のみならず左右方向についても予測できる。As described above in detail, the driver's gaze point prediction device of the present invention calculates the predicted traveling locus from the traveling state of the vehicle, and the calculated predicted traveling locus and the detected traveling. Since the driver's gazing point is predicted from the state, the driver's gazing point can be predicted not only in perspective but also in the left-right direction under a relatively inexpensive structure.
【００２２】また、本発明の運転者注視点予測装置を利
用することにより、実施例として示した安全走行、ある
いは快適走行などのための各種の有用な車両用運転支援
システムを実現できる。Further, by using the driver's gaze point prediction device of the present invention, various useful vehicle driving support systems for safe driving, comfortable driving, etc. can be realized.
【図１】本発明の位置実施例の運転者注視点予測装置を
含む車両用運転支援システムの構成を示すブロック図で
ある。FIG. 1 is a block diagram showing a configuration of a vehicle driving support system including a driver's gazing point prediction device of a position embodiment of the present invention.
【図２】車速と車体のヨーレイトとから車両の予測走行
軌跡を算定する方法を説明するための概念図である。FIG. 2 is a conceptual diagram for explaining a method of calculating a predicted travel locus of a vehicle from a vehicle speed and a yaw rate of a vehicle body.
【図３】直線上の予測走行軌跡上に車速に応じて遠ざか
るような運転者の注視点を予測する様子を説明するため
の概念図である。FIG. 3 is a conceptual diagram for explaining how to predict a gazing point of a driver who is going away on a straight predicted travel locus according to a vehicle speed.
【図４】曲線上の予測走行軌跡上に車速に応じて遠ざか
るような運転者の注視点を予測する様子を説明するため
の概念図である。FIG. 4 is a conceptual diagram for explaining how to predict a gazing point of a driver who is going away on a curve on a predicted traveling path according to a vehicle speed.
１ 車速センサ ２ ヨーレイト・センサ ３ 予測走行軌跡算定部 ４ 運転者注視点予測部 ５ 障害物検出部 ６ ヘッドアップ型表示部 ７ 警報発生部 ８ 運転者注視点検出部 ９ 赤外線カメラ 1 Vehicle speed sensor 2 Yaw rate sensor 3 Predicted travel trajectory calculation unit 4 Driver gaze point prediction unit 5 Obstacle detection unit 6 Head-up type display unit 7 Alarm generation unit 8 Driver gaze point detection unit 9 Infrared camera
─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成７年１０月２６日[Submission date] October 26, 1995
【手続補正１】[Procedure amendment 1]
【補正対象書類名】図面[Document name to be amended] Drawing
【補正対象項目名】全図[Correction target item name] All figures
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【図１】 FIG.
【図２】 [Fig. 2]
【図３】 [Figure 3]
【図４】 FIG. 4
Claims (5)
行状態から車両の予測走行軌跡を算定する予測走行軌跡
算定手段と、 この算定された予測走行軌跡と前記検出された車両の走
行状態とから運転者の注視点を予測する注視点予測手段
とを備えたことを特徴とする運転者注視点予測装置。1. A predictive traveling locus calculating means for detecting a traveling state of a vehicle and calculating a predicted traveling locus of the vehicle from the detected traveling state, and the calculated predicted traveling locus and the detected traveling state of the vehicle. A driver's gazing point prediction device comprising: a gazing point prediction means for predicting a driver's gazing point from the above.
行状態から車両の予測走行軌跡を算定する予測走行軌跡
算定手段と、この算定された予測走行軌跡と前記検出さ
れた車両の走行状態とから運転者の注視点を予測する注
視点予測手段とを備えた運転者注視点予測部と、 車両前方の障害物を検出する障害物検出部と、 この障害物検出部で検出された障害物に関する警告をこ
の障害物の位置と前記運転者注視点予測部で予測された
運転者注視点の位置が離れているほど明瞭に運転者に通
知する警報発生部とを備えたことを特徴とする車両用運
転支援システム。2. A predictive traveling locus calculating means for detecting a traveling state of a vehicle and calculating a predicted traveling locus of the vehicle from the detected traveling state, a predicted traveling locus calculated and the traveling state of the detected vehicle. The driver's gazing point prediction unit equipped with a gazing point prediction means for predicting the driver's gazing point from, an obstacle detection unit for detecting an obstacle in front of the vehicle, and an obstacle detected by this obstacle detection unit. An alarm generation unit for notifying the driver more clearly as the position of the obstacle and the position of the driver's gazing point predicted by the driver's gazing point prediction unit are farther apart is provided. Vehicle driving support system.
行状態から車両の予測走行軌跡を算定する予測走行軌跡
算定手段と、この算定された予測走行軌跡と前記検出さ
れた車両の走行状態とから運転者の注視点を予測する注
視点予測手段とを備えた運転者注視点予測部と、 運転者の顔面の撮影結果又は運転者の頭部の角度の検出
結果に基づき前記運転者の注視点を検出する運転者注視
点検出部と、 前記運転者注視点予測部で予測された運転者の注視点
と、前記運転者注視点検出部で検出された運転者の注視
点とが所定程度以上異なる場合には運転者に警報を発す
る警報発生部とを備えたことを特徴とする車両用運転支
援システム。3. A predictive traveling locus calculating means for detecting a traveling state of a vehicle and calculating a predicted traveling locus of the vehicle from the detected traveling state, a calculated predicted traveling locus and the detected traveling state of the vehicle. And a driver's gazing point prediction unit that includes a gazing point prediction unit that predicts the driver's gazing point from the driver's face image or the driver's head angle detection result. The driver's gazing point detection unit that detects the gazing point, the driver's gazing point predicted by the driver gazing point prediction unit, and the driver's gazing point detected by the driver gazing point detection unit are predetermined. A vehicle driving support system, comprising: an alarm generation unit for issuing an alarm to a driver when the difference is more than a certain degree.
イトとから検出されることを特徴とする運転者注視点予
測装置。4. The driver's gazing point prediction device according to claim 1, wherein the traveling state of the vehicle is detected from the traveling speed of the vehicle and the yaw rate of the vehicle body.
イトとから検出されることを特徴とする車両用運転支援
システム。5. The vehicle driving assistance system according to claim 1, wherein the running state of the vehicle is detected from a running speed of the vehicle and a yaw rate of a vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7175400A JPH097100A (en) | 1995-06-19 | 1995-06-19 | Driver's gaze point predicting device and vehicle drive support system using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7175400A JPH097100A (en) | 1995-06-19 | 1995-06-19 | Driver's gaze point predicting device and vehicle drive support system using the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH097100A true JPH097100A (en) | 1997-01-10 |
Family
ID=15995438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7175400A Pending JPH097100A (en) | 1995-06-19 | 1995-06-19 | Driver's gaze point predicting device and vehicle drive support system using the same |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH097100A (en) |
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