JPWO2019171452A1 - Driving support system equipped with driving support device, driving support method and driving support device - Google Patents

Driving support system equipped with driving support device, driving support method and driving support device Download PDF

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JPWO2019171452A1
JPWO2019171452A1 JP2020504513A JP2020504513A JPWO2019171452A1 JP WO2019171452 A1 JPWO2019171452 A1 JP WO2019171452A1 JP 2020504513 A JP2020504513 A JP 2020504513A JP 2020504513 A JP2020504513 A JP 2020504513A JP WO2019171452 A1 JPWO2019171452 A1 JP WO2019171452A1
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conversation
driver
concentration
warning
driving support
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JP7098265B2 (en
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政生 村上
政生 村上
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Mitsubishi Electric Corp
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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
    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

従来例おいては、運転者の会話の継続時間によって漫然運転と判定しているため、運転者の会話への集中度が低い場合にも、運転者の会話への集中度が高い場合にも一律の警告を行うことしかできない。この発明においては、運転者の会話への集中度に応じた適切な警告が可能となる。In the conventional example, since it is determined that the driver is driving indiscriminately based on the duration of the conversation of the driver, the degree of concentration on the conversation of the driver is low or the degree of concentration on the conversation of the driver is high. You can only give a uniform warning. In the present invention, it is possible to give an appropriate warning according to the degree of concentration of the driver on the conversation.

Description

この発明は運転支援装置、運転支援方法及び運転支援装置を備えた運転支援システムに関する。 The present invention relates to a driving support device, a driving support method, and a driving support system including the driving support device.

例えば、運転者の会話の継続時間から、運転者が漫然運転であるかを判定し、漫然運転と判定した場合に、運転者に警報を行う装置が存在する（下記特許文献）。 For example, there is a device that determines whether or not the driver is driving indiscriminately based on the duration of the conversation of the driver, and gives an alarm to the driver when the driver is determined to be involuntarily driving (the following patent document).

特開平８−１９２６５５号公報 Japanese Unexamined Patent Publication No. 8-192655

上記従来例においては、運転者の会話の継続時間によって漫然運転と判定しているため、運転者の会話への集中度が低い場合にも、運転者の会話への集中度が高い場合にも一律の警告を行うことしかできない。したがって、会話への集中度が高いときには警告に気付きづらく、会話の集中度が低いときには警告を煩わしいと感じる問題がある。 In the above-mentioned conventional example, since it is determined that the driver is driving indiscriminately based on the duration of the conversation of the driver, the degree of concentration on the conversation of the driver is low and the degree of concentration on the conversation of the driver is high. You can only give a uniform warning. Therefore, there is a problem that the warning is hard to notice when the concentration of conversation is high, and the warning is annoying when the concentration of conversation is low.

この発明は上記した問題点を解決するためになされたものであり、運転者の会話への集中度に応じた適切な警告を行うことが可能な運転支援装置の提供を目的とする。 The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a driving support device capable of giving an appropriate warning according to the degree of concentration of the driver in conversation.

この発明に係る運転支援装置は、自車両の内部に設けられ、運転者の顔を撮像する撮像装置が所定の間隔で撮像する画像に基づいて運転者の発話間隔を算出する発話間隔算出部と、発話間隔に基づいて、運転者の会話への集中度を判定する会話集中度判定部と、会話への集中度に応じて前記自車両が注意喚起地点に接近したことを示す警告を変更する警告制御部と、
を備える。The driving support device according to the present invention includes a utterance interval calculation unit that is provided inside the own vehicle and calculates the utterance interval of the driver based on the images captured by the image pickup device that images the driver's face at predetermined intervals. , Change the conversation concentration determination unit that determines the driver's concentration on the conversation based on the utterance interval, and the warning indicating that the own vehicle has approached the alert point according to the concentration on the conversation. Warning control unit and
To be equipped.

この発明の運転支援装置は、運転者の会話への集中度に応じた適切な警告が可能となる。 The driving support device of the present invention enables an appropriate warning according to the degree of concentration of the driver in conversation.

本実施の形態1に係る運転支援装置を用いた運転支援システムの構成例を示すブロック図である。It is a block diagram which shows the configuration example of the driving support system using the driving support device which concerns on Embodiment 1. 図２Ａ及び図２Ｂは、この発明の実施の形態１に係る運転支援装置のハードウェア構成例を示す図である。2A and 2B are diagrams showing a hardware configuration example of the driving support device according to the first embodiment of the present invention. 本実施の形態１に係る運転支援装置の警告制御処理の動作を示すフローチャートである。It is a flowchart which shows the operation of the warning control processing of the driving support device which concerns on Embodiment 1.

以下、この発明を実施するための形態について、図を参照して説明する。なお、各図中の同一又は相当する部分には同一の符号を付しており、その重複説明は適宜に簡略化ないし省略する。 Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The same or corresponding parts in each drawing are designated by the same reference numerals, and the duplicated description thereof will be appropriately simplified or omitted.

実施の形態1
図１は本実施の形態1に係る運転支援装置を備えた運転支援システムの構成例を示すブロック図である。
図１に示すように、運転支援システムは、運転者の顔を撮像する撮像装置１０と、運転者に注意喚起が必要な地点（例えば、渋滞している地点や事故多発地点、車線減少地点）の情報を記憶した注意喚起地点ＤＢ（Ｄａｔａｂａｓｅ）２０と、自車両の位置を取得する自車両位置取得部３０と、撮像装置１０の撮像した画像から運転者の会話への集中度を判定し、注意喚起地点、自車両の位置及び運転者の会話への集中度に基づいて運転者に対して警告を行うか否かを判断する運転支援装置４０と、運転支援装置４０が警告を行うと判定した場合に、運転者に対して警告を行う警告装置５０とを備えている。Embodiment 1
FIG. 1 is a block diagram showing a configuration example of a driving support system including the driving support device according to the first embodiment.
As shown in FIG. 1, the driving support system includes an imaging device 10 that captures the driver's face and a point that requires the driver to be alerted (for example, a congested point, an accident-prone point, or a lane reduction point). The attention level DB (Database) 20 that stores the above information, the own vehicle position acquisition unit 30 that acquires the position of the own vehicle, and the image captured by the image pickup device 10 determine the degree of concentration of the driver in the conversation. A driving support device 40 that determines whether or not to give a warning to the driver based on the alert point, the position of the own vehicle, and the degree of concentration of the driver in conversation, and a determination that the driving support device 40 gives a warning. It is provided with a warning device 50 that warns the driver in the event of such a situation.

撮像装置１０は、自車両の内部の前方（例えば、ダッシュボード、インストルメントパネル）に設けられており、運転者の顔の画像（顔画像）を所定の間隔おきに撮像する。撮像装置１０の一例としては、ＣＣＤ（ｃｈａｒｇｅ−ｃｏｕｐｌｅｄ−ｄｅｖｉｃｅ）や赤外線カメラが挙げられる。
注意喚起地点ＤＢ２０は、書き換え可能な不揮発性の記憶装置（例えば、ハードディスクドライブや、フラッシュメモリ）によって構成されている。この注意喚起地点ＤＢ１０には、例えば、渋滞している地点や事故が多発している地点、車線が減少する地点、路面が凍結している凍結地点等、運転者に注意喚起が必要な地点（注意喚起地点）が記憶される。The image pickup device 10 is provided in front of the inside of the own vehicle (for example, a dashboard, an instrument panel), and captures an image (face image) of the driver's face at predetermined intervals. Examples of the image pickup apparatus 10 include a CCD (charge-coupled-device) and an infrared camera.
The alert point DB 20 is composed of a rewritable non-volatile storage device (for example, a hard disk drive or a flash memory). In this alert point DB10, for example, a point where traffic congestion occurs, a point where accidents occur frequently, a point where lanes decrease, a frozen point where the road surface is frozen, and other points where the driver needs to be alerted ( Attention point) is memorized.

自車両位置取得部３０は、例えば、自車両に設けられたＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｇ Ｓｙｓｔｅｍ）（不図示）から自車両の位置情報を取得する。
警告装置５０は、注意喚起地点ＤＢ２０および自車両位置取得部３０に接続され、自車両が注意喚起地点に対して所定の距離に接近したこと判定した場合には、運転者に対して注意喚起地点に接近していることを示す警告メッセージまたは警告アイコンを提示する。The own vehicle position acquisition unit 30 acquires the position information of the own vehicle from, for example, GPS (Global Positionig System) (not shown) provided in the own vehicle.
The warning device 50 is connected to the warning point DB 20 and the own vehicle position acquisition unit 30, and when it is determined that the own vehicle has approached a predetermined distance to the warning point, the warning point is given to the driver. Present a warning message or warning icon indicating that you are approaching.

運転支援装置４０は、運転者の発話間隔を検出する発話間隔検出部４１と、発話間隔に基づいて運転者の会話への集中度を判定する会話集中度判定部４２と、運転者の会話への集中度に応じて自車両が注意喚起地点に接近したことを運転者に示す警告を変更するように警告装置５０を制御する警告制御部４３とを備えている。 The driving support device 40 includes an utterance interval detection unit 41 that detects the driver's utterance interval, a conversation concentration determination unit 42 that determines the degree of concentration of the driver in the conversation based on the utterance interval, and a driver's conversation. It is provided with a warning control unit 43 that controls the warning device 50 so as to change the warning indicating to the driver that the own vehicle has approached the warning point according to the degree of concentration.

発話間隔算出部４１は、撮像装置１０が所定の間隔おきに撮像した運転者の顔の画像を取得し、当該画像に基づいて運転者の口の開閉動作を検出する。更に、発話間隔検出部４１は、運転者の口の開閉動作が停止したことを検出した場合、次に運転者の口の開閉動作が行われるまでの時間（発話間隔）Ｔをカウントする。そして、発話間隔検出部４１は、カウントした発話間隔Ｔを会話集中度判定部４２に出力する。 The utterance interval calculation unit 41 acquires an image of the driver's face captured by the imaging device 10 at predetermined intervals, and detects the opening / closing operation of the driver's mouth based on the image. Further, when the utterance interval detection unit 41 detects that the opening / closing operation of the driver's mouth has stopped, the utterance interval detecting unit 41 counts the time (speech interval) T until the next opening / closing operation of the driver's mouth is performed. Then, the utterance interval detection unit 41 outputs the counted utterance interval T to the conversation concentration determination unit 42.

会話集中度判定部４２は、発話間隔算出部４１から発話間隔Ｔが出力された場合、発話間隔Ｔが運転者の通常の発話間隔Ｔｊよりも短い状態（Ｔ＜Ｔｊ）が予め定められた回数（ｎ回）以上連続しているか否かを判定する。そして、発話間隔Ｔが運転者の通常の発話間隔Ｔｊよりも短い状態（Ｔ＜Ｔｊ）がｎ回以上連続していると判定した場合は、発話間隔Ｔに基づいて運転者の会話への集中度（会話集中度）を算出する。そして、会話集中度判定部４２は、当該会話集中度を警告制御部４３に出力する。
なお、上記した通常発話間隔とは、例えば、現在までの運転者の発話間隔の平均値や運転者が自車両のイグニッションスイッチをＯＮにしてから予め定められた時間の発話間隔の平均値である。When the utterance interval T is output from the utterance interval calculation unit 41, the conversation concentration determination unit 42 sets a predetermined number of times (T <Tj) in which the utterance interval T is shorter than the driver's normal utterance interval Tj. It is determined whether or not it is continuous (n times) or more. When it is determined that the utterance interval T is shorter than the driver's normal utterance interval Tj (T <Tj) n times or more in a row, the driver concentrates on the conversation based on the utterance interval T. Calculate the degree (conversation concentration). Then, the conversation concentration determination unit 42 outputs the conversation concentration to the warning control unit 43.
The above-mentioned normal utterance interval is, for example, the average value of the utterance interval of the driver up to now or the average value of the utterance interval of a predetermined time after the driver turns on the ignition switch of the own vehicle. ..

次に、会話集中度の判定方法について説明する。
会話集中度の判定方法は、運転者の発話間隔Ｔが運転者の通常の発話間隔Ｔｊよりも短い状態（Ｔ＜Ｔｊ）がｎ回以上連続している場合、運転者の発話間隔Ｔと通常発話間隔Ｔｊとの差分ΔＴｎを算出する。さらに、予め定められた２つの閾値Ｔ１、Ｔ２（Ｔ１＜Ｔ２）と差分ΔＴｎとを比較し、運転者の会話集中度を３段階に判定する。つまり、ΔＴｎ＜Ｔ１の場合は、運転者の会話集中度はレベル１（軽度不注意状態）であると判定する。Ｔ１≦ΔＴｎ≦Ｔ２の場合は、運転者の会話集中度はレベル２（中度不注意状態）であると判定する。Ｔ２＜ΔＴｎの場合は、運転者の会話集中度はレベル３（重度不注意状態）であると判定する。
なお、上記では会話集中度を３段階に分ける方法について説明したが、これは一例であり、閾値の設定の仕方に応じて任意の段階に分けることが可能である。Next, a method for determining the degree of conversation concentration will be described.
The method for determining the degree of conversation concentration is that when the driver's utterance interval T is shorter than the driver's normal utterance interval Tj (T <Tj) n times or more in a row, the driver's utterance interval T and the normal The difference ΔTn from the utterance interval Tj is calculated. Further, the two predetermined threshold values T1 and T2 (T1 <T2) are compared with the difference ΔTn, and the conversation concentration of the driver is determined in three stages. That is, when ΔTn <T1, it is determined that the driver's conversation concentration is level 1 (mild careless state). When T1 ≦ ΔTn ≦ T2, it is determined that the driver's conversation concentration is level 2 (moderate careless state). When T2 <ΔTn, it is determined that the driver's conversation concentration is level 3 (severe careless state).
In the above description, the method of dividing the conversation concentration into three stages has been described, but this is an example, and it is possible to divide the conversation concentration into arbitrary stages according to the method of setting the threshold value.

警告制御部４３は、会話集中度判定部４２から会話集中度が出力されると、会話集中度に応じて自車両が注意喚起地点に接近していることを示す警告の音量、警告を報知するタイミング、警告の回数及び警告の頻度の内、少なくとも一つを変更するように警告装置５０を制御する。
つまり、運転者は会話の集中度が高いほど警告に気付きづらくなるため、運転者の会話への集中度が高いほど警告の音量を上げる、警告を報知するタイミングを早める、警告の回数を増やす、または、警告の頻度を高くすることで運転者が気付きやすい警告を行う。When the conversation concentration level 42 outputs the conversation concentration level, the warning control unit 43 notifies the warning volume and the warning indicating that the own vehicle is approaching the attention alert point according to the conversation concentration level. The warning device 50 is controlled to change at least one of the timing, the number of warnings, and the frequency of warnings.
In other words, the higher the concentration of conversation, the harder it is for the driver to notice the warning.Therefore, the higher the concentration of the driver's conversation, the higher the volume of the warning, the earlier the timing of warning notification, and the greater the number of warnings. Alternatively, by increasing the frequency of warnings, warnings that are easily noticed by the driver are given.

なお、運転支援装置４０が自車両の車速を取得する車速取得部（不図示）を更に備える構成とし、車速が予め定められた閾値以上な場合のみ、警告制御４３が警告装置５０の制御を行うようにしてもよい。 The driving support device 40 is further provided with a vehicle speed acquisition unit (not shown) for acquiring the vehicle speed of the own vehicle, and the warning control 43 controls the warning device 50 only when the vehicle speed is equal to or higher than a predetermined threshold value. You may do so.

次に、運転支援装置４０のハードウェア構成例を説明する。
図２Ａ及び図２Ｂは、運転支援装置４０のハードウェア構成例を示す図である。
運転支援装置４０における発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３の各機能は、処理回路によって実現される。即ち、運転支援装置４０は上記各機能を実現するための処理回路を備える。当該処理回路は、図２Ａに示すように専用のハードウェアである処理回路１００ａであってもよいし、図２Ｂに示すようにメモリ１００ｃに格納されているプログラムを実行するプロセッサ１００ｂであってもよい。Next, a hardware configuration example of the driving support device 40 will be described.
2A and 2B are diagrams showing a hardware configuration example of the driving support device 40.
Each function of the utterance interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43 in the driving support device 40 is realized by the processing circuit. That is, the driving support device 40 includes a processing circuit for realizing each of the above functions. The processing circuit may be a processing circuit 100a which is dedicated hardware as shown in FIG. 2A, or may be a processor 100b which executes a program stored in the memory 100c as shown in FIG. 2B. Good.

図２Ａに示すように、発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３が専用のハードウェアである場合、処理回路１００ａは、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ Ｓｐｅｃｉｆｉｃ Ｉｎｔｅｇｒａｔｅｄ Ｃｉｒｃｕｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ−ｐｒｏｇｒａｍｍａｂｌｅ Ｇａｔｅ Ａｒｒａｙ）、またはこれらを組み合わせたものが該当する。発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３の各部の機能それぞれ処理回路で実現してもよいし、各部の機能をまとめて１つの処理回路で実現してもよい。 As shown in FIG. 2A, when the speech interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43 are dedicated hardware, the processing circuit 100a is, for example, a single circuit, a composite circuit, or programmed. A processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-programmable Gate Array), or a combination thereof is applicable. The functions of the utterance interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43 may be realized by each processing circuit, or the functions of each unit may be collectively realized by one processing circuit.

図２Ｂに示すように、発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３がプロセッサ１００ｂである場合、各部の機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせにより実現される。ソフトウェアまたはファームウェアはプログラムとして記述され、メモリ１００ｃに格納される。プロセッサ１００ｂは、メモリ１００ｃに記憶されたプログラムを読み出して実行することにより、発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３の各機能を実現する。即ち、発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３は、プロセッサ１００ｂにより実行されるときに、後述する図3に示す各ステップが結果的に実行されることになるプログラムを格納するためのメモリ１００ｃを備える。また、これらのプログラムは、発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３の手順または方法をコンピュータに実行させるものであるともいえる。 As shown in FIG. 2B, when the utterance interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43 are processors 100b, the functions of each unit are realized by software, firmware, or a combination of software and firmware. Firmware. The software or firmware is described as a program and stored in the memory 100c. The processor 100b realizes each function of the utterance interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43 by reading and executing the program stored in the memory 100c. That is, the utterance interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43 execute a program in which each step shown in FIG. 3, which will be described later, is eventually executed when the processor 100b executes the program. A memory 100c for storing is provided. Further, it can be said that these programs cause the computer to execute the procedure or method of the utterance interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43.

ここで、プロセッサ１００ｂとは、例えば、ＣＰＵ（Central Processing Unit）、処理装置、演算装置、プロセッサ、マイクロプロセッサ、マイクロコンピュータ、またはＤＳＰ（Ｄｉｇｉｔａｌ Ｓｉｇｎａｌ Ｐｒｏｃｅｓｓｏｒ）などのことである。メモリ１００ｃは、例えば、ＲＡＭ（Ｒａｎｄｏｍ Ａｃｃｅｓｓ Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ Ｏｎｌｙ Ｍｅｍｏｒｙ）、フラッシュメモリ、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ Ｐｒｏｇｒａｍｍａｂｌｅ ＲＯＭ）、ＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ ＥＰＲＯＭ）等の不揮発性または揮発性の半導体メモリであってもよいし、ハードディスク、フレキシブルディスク等の磁気ディスクであってもよいし、ミニディスク、ＣＤ（Ｃｏｍｐａｃｔ Ｄｉｓｃ）、ＤＶＤ（Ｄｉｇｉｔａｌ Ｖｅｒｓａｔｉｌｅ Ｄｉｓｃ）等の光ディスクであってもよい。 Here, the processor 100b is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic unit, a processor, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like. The memory 100c may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Program ROM), or an EPROM (Electrically EPROM). However, it may be a magnetic disk such as a hard disk or a flexible disk, or an optical disk such as a mini disk, a CD (Compact Disc), or a DVD (Digital Versaille Disc).

なお、発話間隔算出部４１、会話集中度判定部４２及び警告制御部４３の各機能について、一部を専用のハードウェアで実現し、一部をソフトウェアまたはファームウェアで実現するようにしてもよい。このように、運転支援装置４０における処理回路１００ａは、ハードウェア、ソフトウェア、ファームウェア、または、これらの組み合わせによって、上述の各機能を実現することができる。 Some of the functions of the utterance interval calculation unit 41, the conversation concentration determination unit 42, and the warning control unit 43 may be realized by dedicated hardware, and some may be realized by software or firmware. As described above, the processing circuit 100a in the driving support device 40 can realize each of the above-mentioned functions by hardware, software, firmware, or a combination thereof.

次に、運転支援装置４０における警告制御の動作について図３を用いて説明する。
図３は、実施の形態１に係る警告制御の動作を示すフローチャートである。Next, the operation of the warning control in the driving support device 40 will be described with reference to FIG.
FIG. 3 is a flowchart showing the operation of the warning control according to the first embodiment.

発話間隔算出部４１は、撮像装置１０が所定の間隔で撮像する運転者の顔の画像（顔画像）を取得し（ステップＳＴ１）、取得した顔画像から運転者の発話間隔Ｔを算出する（ステップＳＴ２）。会話集中度判定部４２は、ステップＳＴ２で算出した発話間隔Ｔが通常発話間隔Ｔｊよりも短い状態（Ｔ＜Ｔｊ）が予め定められた回数（ｎ回）以上連続しているかを判定し（ステップＳＴ３）、発話間隔Ｔが通常発話間隔Ｔｊよりも短い状態（Ｔ＜Ｔｊ）がｎ回以上連続していない場合（ステップＳＴ３；ＮＯ）、ステップＳＴ１の処理に戻る。一方、発話間隔Ｔが通常発話間隔Ｔｊよりも短い状態（Ｔ＜Ｔｊ）がｎ回以上連続する場合（ステップＳＴ３；ＹＥＳ）、発話間隔Ｔに基づいて運転者の会話への集中度（会話集中度）を判定する（ステップＳＴ４）。警告制御部４３は、ステップＳＴ４で判定した会話集中度に応じた警告を行うように警告装置５０を制御する（ステップＳＴ５）。そして、ステップＳＴ１の処理に戻る。 The utterance interval calculation unit 41 acquires a driver's face image (face image) imaged by the imaging device 10 at a predetermined interval (step ST1), and calculates the driver's utterance interval T from the acquired face image (step ST1). Step ST2). The conversation concentration determination unit 42 determines whether the state (T <Tj) in which the utterance interval T calculated in step ST2 is shorter than the normal utterance interval Tj is continuous for a predetermined number of times (n times) or more (step). In ST3), if the state in which the utterance interval T is shorter than the normal utterance interval Tj (T <Tj) is not continuous n times or more (step ST3; NO), the process returns to step ST1. On the other hand, when the utterance interval T is shorter than the normal utterance interval Tj (T <Tj) n times or more continuously (step ST3; YES), the degree of concentration of the driver on the conversation (conversation concentration) based on the utterance interval T. Degree) (step ST4). The warning control unit 43 controls the warning device 50 so as to give a warning according to the conversation concentration determined in step ST4 (step ST5). Then, the process returns to the process of step ST1.

以上のように、実施の形態１によれば、自車両の内部に設けられた運転者の顔を撮像する撮像装置１０が所定の間隔で撮像する画像に基づいて運転者の発話間隔Ｔを算出する発話間隔算出部４１と、運転者の発話間隔Ｔに基づいて運転者の会話への集中度を判定する会話集中度判定部４２と、会話への集中度に応じて自車両が注意喚起地点に接近したことを示す警告を変更する警告制御部４３と、を備える構成としたので、運転者の会話への集中度に応じた警告を行うことが可能となり、運転者の会話への集中度に応じた適切な警告が可能となる。これによって、運転者が警告を聞き逃すことを抑制することができる。 As described above, according to the first embodiment, the driver's speech interval T is calculated based on the images captured by the image pickup device 10 for capturing the driver's face provided inside the own vehicle at predetermined intervals. The speech interval calculation unit 41, the conversation concentration determination unit 42 that determines the driver's concentration on the conversation based on the driver's speech interval T, and the own vehicle as a warning point according to the concentration on the conversation. Since the configuration is provided with a warning control unit 43 that changes the warning indicating that the vehicle has approached, it is possible to give a warning according to the degree of concentration of the driver on the conversation, and the degree of concentration on the driver's conversation. Appropriate warnings can be given according to the situation. As a result, it is possible to prevent the driver from missing the warning.

１０ 撮像装置、２０ 注意喚起地点ＤＢ、３０ 自車両位置取得部、４０ 運転支援装置、４１ 発話間隔算出部、４２ 会話集中度判定部、４３ 警告制御部、５０ 警告装置、１００ａ 処理回路、１００ｂ プロセッサ、１００ｃ メモリ 10 Imaging device, 20 Attention point DB, 30 Own vehicle position acquisition unit, 40 Driving support device, 41 Speech interval calculation unit, 42 Conversation concentration determination unit, 43 Warning control unit, 50 Warning device, 100a processing circuit, 100b processor , 100c memory

Claims (6)

自車両の内部に設けられた運転者の顔を撮像する撮像装置が所定の間隔で撮像する画像に基づいて運転者の発話間隔を算出する発話間隔算出部と、
前記発話間隔に基づいて、前記運転者の会話への集中度を判定する会話集中度判定部と、
前記会話への集中度に応じて前記自車両が注意喚起地点に接近したことを示す警告を変更する警告制御部と、
を備える運転支援装置。An utterance interval calculation unit that calculates the utterance interval of the driver based on the images taken by the image pickup device that images the driver's face provided inside the own vehicle at predetermined intervals.
A conversation concentration determination unit that determines the concentration of the driver on conversation based on the utterance interval, and a conversation concentration determination unit.
A warning control unit that changes a warning indicating that the own vehicle has approached the alert point according to the degree of concentration in the conversation.
A driving support device equipped with. 前記警告制御部は、前記運転者の会話への集中度に応じて前記警告の音量、前記警告を報知するタイミング、前記警告の頻度及び前記警告の回数の内、少なくとも一つを変更する請求項１記載の運転支援装置。 The claim that the warning control unit changes at least one of the volume of the warning, the timing of notifying the warning, the frequency of the warning, and the number of times of the warning according to the degree of concentration of the driver in conversation. The driving support device according to 1. 前記会話集中度判定部は、前記会話間隔が前記運転者の通常の発話間隔よりも短い状態が予め定められた回数連続した場合に、前記発話間隔に基づいて前記運転者の会話への集中度を判定する請求項１記載の運転支援装置。 The conversation concentration determination unit determines the degree of concentration of the driver in conversation based on the utterance interval when the conversation interval is shorter than the normal utterance interval of the driver for a predetermined number of consecutive times. The driving support device according to claim 1. 前記会話集中度判定部は、前記発話間隔を予め定められた複数の閾値と比較することで、前記会話への集中度を複数段階に判定する請求項３に記載の運転支援装置。 The driving support device according to claim 3, wherein the conversation concentration determination unit determines the concentration on the conversation in a plurality of stages by comparing the utterance interval with a plurality of predetermined threshold values. 自車両の内部に設けられた運転者の顔を撮像する撮像装置が所定の間隔で撮像する画像に基づいて運転者の発話間隔を算出するステップと、
前記発話間隔に基づいて、前記運転者の会話への集中度を判定するステップと、
前記会話への集中度に応じて前記自車両が注意喚起地点に接近したことを示す警告を変更するステップと、
を備える運転支援方法。A step of calculating the driver's utterance interval based on an image captured at a predetermined interval by an imaging device provided inside the own vehicle that captures the driver's face.
A step of determining the degree of concentration of the driver in conversation based on the utterance interval,
A step of changing the warning indicating that the own vehicle has approached the alert point according to the degree of concentration in the conversation, and
Driving support method equipped with. 自車両の内部に設けられた運転者の顔を撮像する撮像装置と、
前記自車両が注意喚起地点に接近したことを前記運転者に警告する警告装置と、
前記撮像装置の撮像した画像から前記運転者の会話への集中度を判定し、前記会話への集中度に応じて前記警告を変更する運転支援装置と、
を備える運転支援システム。An imaging device installed inside the vehicle that captures the driver's face,
A warning device that warns the driver that the own vehicle has approached the warning point, and
A driving support device that determines the degree of concentration of the driver in conversation from the image captured by the image pickup device and changes the warning according to the degree of concentration in the conversation.
Driving support system equipped with.
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