KR102108856B1 - Method for limiting vehicle output based on driver condition estimation and apparatus using the same - Google Patents

Abstract

Disclosed is a method for limiting output of a vehicle based on driver condition estimation and an apparatus therefor. A method for limiting the output of a vehicle according to an embodiment of the present invention includes tracking a driver's foot gesture for operation of an acceleration / deceleration pedal of a vehicle based on a gesture sensor; Accumulating a warning count for limiting the output of the vehicle in consideration of the emotional state of the driver determined based on the foot gesture; And if the accumulated value of the warning count exceeds a preset warning threshold, limiting the output of the vehicle, and the warning count is additionally accumulated when a lane change failure for the vehicle is detected. .

Description

Vehicle output limiting method based on driver condition estimation and device therefor {METHOD FOR LIMITING VEHICLE OUTPUT BASED ON DRIVER CONDITION ESTIMATION AND APPARATUS USING THE SAME}

The present invention relates to a technique for automatically limiting the output of a vehicle, in particular, a technique capable of limiting the driving level of the vehicle by continuously detecting the driver's emotional change by continuously tracking the foot movement before the driver operates the acceleration / deceleration pedal It is about.

Current vehicles have significantly improved the power level of vehicles compared to the past through continuous improvement of powertrain performance. Therefore, the output of the vehicle can be drastically manipulated according to the driver's intention.

However, depending on the emotional state of the driver, a driving behavior that was not normally performed may be exhibited, and this may threaten the driver's own safety threat and the safety of another driver or pedestrian by engaging with the improved vehicle output.

Published Korean Patent No. 10-2007-0059678, published on June 12, 2007 (name: system and method for detecting vehicle and driver status)

An object of the present invention is to continuously prevent the occurrence of a dangerous situation of the driver or town electronics by continuously monitoring the change in the emotional state of the driver.

In addition, the object of the present invention is to provide a warning to an impatient or radical driver, but if the improvement does not improve, it is possible to reduce the risk that may occur due to the driver through the output control of the vehicle.

In addition, an object of the present invention is to manage a vehicle and a customer in consideration of each user for a vehicle used by a common user.

A method for limiting output of a vehicle according to the present invention for achieving the above object includes tracking a driver's foot gesture for operation of an acceleration / deceleration pedal of a vehicle based on a gesture sensor; Accumulating a warning count for limiting the output of the vehicle in consideration of the emotional state of the driver determined based on the foot gesture; And if the accumulated value of the warning count exceeds a preset warning threshold, limiting the output of the vehicle, and the warning count is additionally accumulated when a lane change failure for the vehicle is detected. .

At this time, the accumulated value may be initialized every predetermined unit time when the output limit is not executed.

At this time, the limiting step feedbacks the warning situation to the driver when the cumulative value exceeds a preset first warning threshold value, and outputs the cumulative value when the cumulative value exceeds a preset second warning threshold value. It is possible to provide feedback to the driver while limiting the output.

At this time, the accumulating step determines the emotion state in consideration of at least one of the movement speed of the foot between the pedals and the pedal operation pattern before operating the acceleration / deceleration pedal, but when the emotion state is determined to be a warning state, the warning count Can accumulate.

At this time, the accumulating step may determine the emotion state as the warning state when the moving speed of the foot between the pedals is equal to or greater than a preset reference speed and when the pedal operation pattern satisfies the warning condition. Can be.

At this time, the accumulating step may further determine the emotional state by further considering at least one of the interval information with the preceding vehicle in consideration of the speed of the vehicle and the pedal operating speed of the driver.

At this time, the limiting step limits the output of the vehicle for a preset output timeout period, but the preset output timeout period may be set inversely to the time taken until the accumulated value exceeds the preset warning threshold. have.

At this time, the output limit may correspond to at least one of a speed acceleration limit and a wheel operation limit.

At this time, the failure to change the lane may be determined in consideration of at least one of the direction indicator activation state, driving lane information, and the time required to change the lane.

At this time, the limiting step may automatically execute an additional option for the driver's mood change when the warning condition is fed back to the driver.

In addition, the vehicle output limiting device according to an embodiment of the present invention tracks the driver's foot gesture for the vehicle's acceleration / deceleration pedal operation based on the gesture sensor, and the driver's emotion determined based on the foot gesture A processor for accumulating warning counts for limiting the output of the vehicle in consideration of a state, and limiting the output of the vehicle when the accumulated value of the warning counts exceeds a preset warning threshold; And a memory for updating and storing the warning count and the preset warning threshold, and the warning count may be additionally accumulated when a lane change failure for the vehicle is detected.

At this time, the accumulated value may be initialized every predetermined unit time when the output limit is not executed.

At this time, the processor feedbacks the warning situation to the driver when the cumulative value exceeds a preset first warning threshold, and limits the output when the cumulative value exceeds a preset second warning threshold. While providing feedback to the driver about the output limit.

At this time, the processor determines the emotion state in consideration of at least one of the movement speed of the foot between the pedals and the pedal operation pattern before operating the acceleration / deceleration pedal, but accumulates the warning count when the emotion state is determined to be a warning state. can do.

At this time, the processor may determine the emotional state as the warning state when the movement speed of the foot between the pedals is equal to or greater than a preset reference speed and when the pedal operation pattern satisfies a warning condition. .

At this time, the processor may determine the emotional state by further considering at least one of the interval information with the preceding vehicle in consideration of the speed of the vehicle and the pedal operating speed of the driver.

At this time, the processor limits the output of the vehicle for a preset output time limit, but the preset output time limit may be set inversely to the time taken until the accumulated value exceeds the preset warning threshold.

At this time, the output limit may correspond to at least one of a speed acceleration limit and a wheel operation limit.

At this time, the failure to change the lane may be determined in consideration of at least one of the direction indicator activation state, driving lane information, and the time required to change the lane.

At this time, when the processor feeds back the warning situation to the driver, the driver may automatically execute an additional option for the driver to change mood.

According to the present invention, it is possible to prevent the driver or town electronics from being in danger by continuously monitoring the change in the emotional state of the driver.

In addition, the present invention provides a warning to an impatient or extreme driver, but if the improvement is not possible, it is possible to reduce the risk that may occur due to the driver through output control of the vehicle.

In addition, the present invention can manage a vehicle and a customer in consideration of each user for a vehicle used by a common user.

1 is an operation flowchart showing a method for limiting output of a vehicle according to an embodiment of the present invention.
2 to 4 are views showing an example of tracking a driver's foot gesture using a gesture sensor according to the present invention.
5 to 6 are views showing an example of a structure and a recognition result of a gesture sensor including one PD sensor and two infrared LED sensors according to the present invention.
7 to 8 are views showing an example of a structure and a recognition result of a gesture sensor including two PD sensors and one infrared LED sensor according to the present invention.
9 to 10 are views showing an example of detecting the position of the driver's foot in the sensor reaction area according to the present invention.
11 is a view showing an example of the speed of the extracted movement and the pedal occupancy time using the time difference generated when the driver's foot moves according to the present invention.
12 is a block diagram showing an output limiting device for a vehicle according to an embodiment of the present invention.
13 is an operation flow chart showing in detail a method for limiting output of a vehicle according to an embodiment of the present invention.
14 is a view showing a computer system according to an embodiment of the present invention.

If described in detail with reference to the accompanying drawings the present invention. Here, repeated descriptions, well-known functions that may unnecessarily obscure the subject matter of the present invention, and detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Therefore, the shape and size of elements in the drawings may be exaggerated for a more clear description.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an operation flowchart showing a method for limiting output of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, a method for limiting output of a vehicle according to an embodiment of the present invention tracks a driver's foot gesture for operating an acceleration / deceleration pedal of the vehicle based on a gesture sensor (S110).

At this time, the driver's foot gesture may include a direction in which the driver moves, a moving speed of the foot, a depth of stepping on the pedal, or a speed of pedaling before the driver presses the accelerator or deceleration pedal.

At this time, the gesture sensor may correspond to a sensor for detecting a foot gesture by tracking the foot movement of the driver. Therefore, as illustrated in FIGS. 2 to 3, the gesture sensors 210 and 310 according to an embodiment of the present invention are equipped with pedals 220-1 to 220-3 and 320-1 to 320-3 of a vehicle. It may be installed in a location capable of covering the movement line 330 of the driver's feet 200 and 300 based on the position.

In addition, the gesture sensor 410 operates at a position as illustrated in FIG. 4 to measure the depth at which the driver's foot 400 depresses the pedal 420. At this time, the gesture sensor 410 may also estimate the time that the driver occupies each pedal by extracting the speed at which the driver's foot 400 depresses and releases the pedal 420.

The gesture sensor may be configured using various types of sensors such as infrared, frequency, camera, 3D depth camera, and ultrasonic laser.

For example, the gesture sensor 510 according to an embodiment of the present invention, as shown in Figure 5, one PD (Photo Diode) sensor 511 and two infrared LED (Light Emitting Diode) sensor 512 , 513), it is possible to track the driver's foot gesture as shown in FIG.

 For another example, the gesture sensor 710 according to another embodiment of the present invention is composed of two PD sensors 712, 713 and one infrared LED sensor 711, as shown in FIG. As illustrated in FIG. 8, the driver's foot gesture may be tracked.

At this time, power consumption can be reduced by using the gesture sensor 710 with less infrared LED sensor as shown in FIG. 7.

At this time, it is possible to perform tracking by using the vehicle's accelerator and deceleration pedals (brake) as the main tracking target. For example, when driving the vehicle, the right foot can be mainly used as the main tracking target because the right and left pedals are operated using the right foot.

For example, referring to FIGS. 9 to 10, a detection signal value 920 corresponding to a driver's foot position using gesture sensing values 910 and 1010 that track the driver's foot in the response area of the gesture sensor, 1020). At this time, since the detection signal values 920 and 1020 include the position information of the driver's foot, it is possible to extract the occupying times 1110 and 1120 in which the driver's foot occupies each pedal as shown in FIG. 11. Do. In addition, the movement speed of the foot may be extracted using the time differences 1131 and 1132 indicated by the detection signal value.

As described above, the information sensed through the gesture sensor may be provided as an output limiting device according to an embodiment of the present invention based on a wireless network. Therefore, the gesture sensor and the output limiting device can perform communication based on a wireless or wired network.

In addition, in the method of limiting the output of a vehicle according to an embodiment of the present invention, a warning count for limiting the output of the vehicle is accumulated in consideration of the emotional state of the driver determined based on the foot gesture (S120).

At this time, before operating the acceleration / deceleration pedal, the emotional state is determined by considering at least one of the movement speed of the pedals between the pedals and the pedal operation pattern, but when the emotional state is determined to be a warning state, a warning count may be accumulated.

At this time, the warning state may correspond to a state in which it is determined that the current driver is not a proficient driver or that it is difficult to safely drive due to stress or other causes.

At this time, when the moving speed of the foot between the pedals is equal to or greater than a preset reference speed and when the pedal operation pattern satisfies at least one of the warning conditions, the emotional state may be determined as a warning state.

For example, when the driver operates the accelerator pedal and the deceleration pedal abruptly above a preset reference speed, it may be determined as a warning state.

For another example, if a situation in which the driver is unable to step on or off the accelerator pedal and the deceleration pedal before and after pedaling the vehicle is repeated several times, it is determined that the pedal operation pattern satisfies the warning condition and judged as a warning condition. You may.

At this time, the emotional state may be determined by further considering at least one of the distance information from the preceding vehicle in consideration of the speed of the vehicle and the pedal operating speed of the driver.

For example, when the driver presses the accelerator pedal to increase the speed of the vehicle in a state in which the distance from the preceding vehicle is closer than a predetermined inter-vehicle interval, the emotional state of the driver may be determined as a warning state.

For another example, the driver's emotional state may be determined as a warning state and the warning count may be accumulated even when the driver depresses or decelerates the acceleration / deceleration pedal.

At this time, the warning count may be additionally accumulated when a lane change failure for the vehicle is detected.

At this time, the failure to change the lane may be determined in consideration of at least one of the direction indicator activation state, driving lane information, and the time required to change the lane.

For example, if the driving lane is not changed for a predetermined lane change time after the turn signal is activated, the driver of the vehicle may determine that the lane change has failed.

For another example, even if the driver is driving without keeping the driving lane, it may be determined that the lane change has failed and the warning count may be accumulated.

In addition, the vehicle output limiting method according to an embodiment of the present invention limits the output of the vehicle when the accumulated value of the warning count exceeds a preset warning threshold (S130).

At this time, the output limit may correspond to at least one of a speed acceleration limit and a wheel operation limit.

For example, when the output limit is executed, the maximum hourly speed of the vehicle may be limited to not exceed 100 km / h, or the rapid acceleration may be suppressed while operating in the ECO mode. At this time, the type of output limitation is not particularly limited.

At this time, the cumulative value may be initialized every predetermined unit time when the output limit is not executed.

For example, it can be assumed that the preset unit time is 10 minutes and the preset warning threshold is 10 times. At this time, if the warning count is accumulated to less than 10 for 10 minutes while the driver is driving the vehicle, the output limit is not executed and the accumulated value can be reset to 0 again.

However, if the accumulated value exceeds the preset warning threshold within a unit time, the accumulated value can be maintained without initializing even while the output limit is executed. At this time, if the warning count is continuously accumulated even while the output limit is being executed, the intensity of the output limit may be improved by weighting the accumulated warning count while the output limit is being executed.

At this time, when the cumulative value exceeds the preset first warning threshold, the driver is fed back with a warning condition, and when the cumulative value exceeds the preset second warning threshold, output is limited to the driver while limiting output. Can provide feedback on

For example, when the accumulated value exceeds a preset first warning threshold, a light warning sound or a voice warning sound may be fed back to the driver through a display module, an audio module, a navigation module, and a steering vibration feedback installed in the vehicle.

At this time, when the warning situation is fed back to the driver, an additional option for the driver's mood may be automatically executed.

For example, an additional option of automatically playing the music preferred by the driver automatically or ventilating the vehicle in consideration of weather conditions may be automatically executed.

The output of the vehicle is limited during the preset output timeout period, but the preset output timeout period may be set inversely to the time taken until the accumulated value exceeds a preset warning threshold.

For example, the shorter the time it takes for the accumulated value to exceed the preset warning threshold, the longer the preset output timeout period can be set. That is, the shorter the time it takes for the cumulative value to exceed the preset warning threshold, it is determined that the driver's emotional state has changed rapidly, and the output time limit can be increased for safer driving.

In addition, although not shown in FIG. 1, the method for limiting the output of a vehicle according to an embodiment of the present invention can transmit and receive information necessary for limiting the output of the vehicle through a communication network such as a network.

In addition, although not shown in FIG. 1, in the method of limiting the output of a vehicle according to an embodiment of the present invention, various information generated in the process of limiting the output of the vehicle may be stored in a separate storage module.

Through such a method of limiting the output of the vehicle, the emotional state change of the driver can be continuously monitored to prevent the danger situation of the driver or the town electronics from occurring.

In addition, a warning is given to an impatient or radical driver, but if improvement is not made, the risk that may be caused by the driver may be reduced through output control of the vehicle.

12 is a block diagram showing a vehicle output limiting device according to an embodiment of the present invention.

Referring to FIG. 12, an apparatus for limiting output of a vehicle according to an embodiment of the present invention includes a communication unit 1210, a processor 1220, and a memory 1230.

The communication unit 1210 serves to transmit and receive information necessary for limiting the output of the vehicle through a communication network such as a network. In particular, the communication unit 1210 according to an embodiment of the present invention may receive information sensed from the gesture sensor and provide control commands for controlling the vehicle to the vehicle control module.

The processor 1220 tracks the driver's foot gesture for the vehicle's acceleration / deceleration pedal operation based on the gesture sensor.

At this time, the driver's foot gesture may include a direction in which the driver moves, a moving speed of the foot, a depth of stepping on the pedal, or a speed of pedaling before the driver presses the accelerator or deceleration pedal.

At this time, the gesture sensor may correspond to a sensor for detecting a foot gesture by tracking the foot movement of the driver. Therefore, as illustrated in FIGS. 2 to 3, the gesture sensors 210 and 310 according to an embodiment of the present invention are equipped with pedals 220-1 to 220-3 and 320-1 to 320-3 of a vehicle. It may be installed in a location capable of covering the movement line 330 of the driver's feet 200 and 300 based on the position.

In addition, the gesture sensor 410 operates at a position as illustrated in FIG. 4 to measure the depth at which the driver's foot 400 depresses the pedal 420. At this time, the gesture sensor 410 may also estimate the time that the driver occupies each pedal by extracting the speed at which the driver's foot 400 depresses and releases the pedal 420.

The gesture sensor may be configured using various types of sensors such as infrared, frequency, camera, 3D depth camera, and ultrasonic laser.

For example, the gesture sensor 510 according to an embodiment of the present invention, as shown in Figure 5, one PD (Photo Diode) sensor 511 and two infrared LED (Light Emitting Diode) sensor 512 , 513), it is possible to track the driver's foot gesture as shown in FIG.

 For another example, the gesture sensor 710 according to another embodiment of the present invention is composed of two PD sensors 712, 713 and one infrared LED sensor 711, as shown in FIG. As illustrated in FIG. 8, the driver's foot gesture may be tracked.

At this time, power consumption can be reduced by using the gesture sensor 710 with less infrared LED sensor as shown in FIG. 7.

At this time, it is possible to perform tracking by using the vehicle's accelerator and deceleration pedals (brake) as the main tracking target. For example, when driving the vehicle, the right foot can be mainly used as the main tracking target because the right and left pedals are operated using the right foot.

For example, referring to FIGS. 9 to 10, the detection signal values 920 corresponding to the driver's foot position using gesture sensing values 910 and 1010 that track the driver's foot within the response area of the gesture sensor, 1020). At this time, since the detection signal values 920 and 1020 include the position information of the driver's foot, it is possible to extract the occupying times 1110 and 1120 in which the driver's foot occupies each pedal as shown in FIG. 11. Do. In addition, the movement speed of the foot may be extracted using the time differences 1131 and 1132 indicated by the detection signal value.

As described above, the information sensed through the gesture sensor may be provided as an output limiting device according to an embodiment of the present invention based on a wireless network. Therefore, the gesture sensor and the output limiting device can perform communication based on a wireless or wired network.

In addition, the processor 1220 accumulates a warning count for limiting the output of the vehicle in consideration of the emotional state of the driver determined based on the foot gesture.

At this time, before operating the acceleration / deceleration pedal, the emotional state is determined by considering at least one of the movement speed of the pedals between the pedals and the pedal operation pattern, but when the emotional state is determined to be a warning state, a warning count may be accumulated.

At this time, the warning state may correspond to a state in which it is determined that the current driver is not a proficient driver or that it is difficult to safely drive due to stress or other causes.

At this time, when the moving speed of the foot between the pedals is equal to or greater than a preset reference speed and when the pedal operation pattern satisfies at least one of the warning conditions, the emotional state may be determined as a warning state.

For example, when the driver operates the accelerator pedal and the deceleration pedal abruptly above a preset reference speed, it may be determined as a warning state.

For another example, if a situation in which the driver is unable to step on or off the accelerator pedal and the deceleration pedal before and after pedaling the vehicle is repeated several times, it is determined that the pedal operation pattern satisfies the warning condition and judged as a warning condition. You may.

At this time, the emotional state may be determined by further considering at least one of the distance information from the preceding vehicle in consideration of the speed of the vehicle and the pedal operating speed of the driver.

For example, when the driver presses the accelerator pedal to increase the speed of the vehicle in a state in which the distance from the preceding vehicle is closer than a predetermined inter-vehicle interval, the emotional state of the driver may be determined as a warning state.

For another example, the driver's emotional state may be determined as a warning state and the warning count may be accumulated even when the driver depresses or decelerates the acceleration / deceleration pedal.

At this time, the warning count may be additionally accumulated when a lane change failure for the vehicle is detected.

At this time, the failure to change the lane may be determined in consideration of at least one of the direction indicator activation state, driving lane information, and the time required to change the lane.

For example, if the driving lane is not changed for a predetermined lane change time after the turn signal is activated, the driver of the vehicle may determine that the lane change has failed.

For another example, even if the driver is driving without keeping the driving lane, it may be determined that the lane change has failed and the warning count may be accumulated.

In addition, the processor 1220 limits the output of the vehicle when the accumulated value of the warning count exceeds a preset warning threshold.

At this time, the output limit may correspond to at least one of a speed acceleration limit and a wheel operation limit.

For example, when the output limit is executed, the maximum hourly speed of the vehicle may be limited to not exceed 100 km / h, or the rapid acceleration may be suppressed while operating in the ECO mode. At this time, the type of output limitation is not particularly limited.

At this time, the cumulative value may be initialized every predetermined unit time when the output limit is not executed.

For example, it can be assumed that the preset unit time is 10 minutes and the preset warning threshold is 10 times. At this time, if the warning count is accumulated to less than 10 for 10 minutes while the driver is driving the vehicle, the output limit is not executed and the accumulated value can be reset to 0 again.

However, if the accumulated value exceeds the preset warning threshold within a unit time, the accumulated value can be maintained without initializing even while the output limit is executed. At this time, if the warning count is continuously accumulated even while the output limit is being executed, the intensity of the output limit may be improved by weighting the accumulated warning count while the output limit is being executed.

At this time, when the cumulative value exceeds the preset first warning threshold, the driver is fed back with a warning condition, and when the cumulative value exceeds the preset second warning threshold, output is limited to the driver while limiting output. Can provide feedback on

For example, when the accumulated value exceeds a preset first warning threshold value, a light warning sound or a voice warning sound may be fed back to the driver through a display module installed in the vehicle, an audio module, a navigation module, and a steering vibration feedback.

At this time, when the warning situation is fed back to the driver, an additional option for the driver's mood may be automatically executed.

For example, an additional option of automatically playing the music preferred by the driver automatically or ventilating the vehicle in consideration of weather conditions may be automatically executed.

The output of the vehicle is limited during the preset output timeout period, but the preset output timeout period may be set inversely to the time taken until the accumulated value exceeds a preset warning threshold.

For example, the shorter the time it takes for the accumulated value to exceed the preset warning threshold, the longer the preset output timeout period can be set. That is, the shorter the time it takes for the cumulative value to exceed the preset warning threshold, it is determined that the driver's emotional state has changed rapidly, and the output time limit can be increased for safer driving.

The memory 1230 updates and stores warning counts and preset warning thresholds.

At this time, the warning count is accumulated and stored, but the accumulated value stored for each preset unit time may be initialized and stored.

In addition, as described above, the memory 1230 stores various information generated in the process of limiting the output of a vehicle according to an embodiment of the present invention.

According to an embodiment, the memory 1230 may be configured independently of the vehicle's output limiting device to support a function for limiting the vehicle's output. At this time, the memory 1230 may operate as a separate large-capacity storage, and may also include a control function for performing the operation.

On the other hand, a vehicle output limiting device is equipped with a memory to store information in the device. In one implementation, the memory is a computer-readable medium. In one implementation, the memory may be a volatile memory unit, and in other implementations, the memory may be a non-volatile memory unit. In one embodiment, the storage device is a computer-readable medium. In various different implementations, the storage device may include, for example, a hard disk device, an optical disk device, or some other mass storage device.

By using such an output limiting device of a vehicle, a risk that a driver may cause an accident due to stress or sudden emotional change can be reduced.

13 is a flowchart illustrating in detail a method for limiting output of a vehicle according to an embodiment of the present invention.

Referring to FIG. 13, a method for limiting output of a vehicle according to an embodiment of the present invention may first initialize a system for limiting output of a vehicle (S1302).

For example, a previously accumulated warning count value or output timeout may be initialized.

Thereafter, while tracking the driver's foot gesture (S1304), it is possible to monitor whether the lane changes while driving (S1310).

At this time, it is possible to determine whether the driver's emotional state is a warning state by determining a result of tracking a driver's foot gesture through a gesture sensor (S1306), and if it is a warning state, a warning count may be accumulated by 1 (S1308).

In addition, by determining the lane change monitoring result, it is determined whether the driver has failed the lane change (S1312), and the warning count can be accumulated by 1 even when the lane change has failed (S1308).

At this time, in step S1306 and step S1312, if the driver's emotional state is not a warning state or the lane change has not failed, it is possible to repeatedly return to the previous step and repeatedly perform foot gesture tracking or lane change monitoring. have.

After accumulating warning counts in step S1308, it is determined whether the preset unit time has ended (S1313), and if the preset unit time has ended, the system for limiting the output of the vehicle may be reinitialized and executed again. (S1302).

In addition, if the predetermined unit time has not ended as a result of the determination in step S1313, it may be determined whether the accumulated value of the warning count exceeds the second warning threshold (S1314).

If the cumulative value of the warning count exceeds the second warning threshold as a result of the determination in step S1314, the vehicle output may be limited (S1316). At this time, the output of the vehicle is limited by the output timeout period, but it is determined whether the output timeout period has been exceeded (S1318), and if the output timeout period has been exceeded, the output limitation may be canceled (S1320) and the system may be initialized (S1302). ).

In addition, if the output limit time is not exceeded as a result of the determination in step S1318, the vehicle output may be continuously restricted until the output time limit is reached (S1316).

In addition, if the cumulative value of the warning count does not exceed the second warning threshold as a result of the determination in step S1314, it may be determined whether the cumulative value of the warning count exceeds the first warning threshold (S1322).

If the cumulative value of the warning count exceeds the first warning threshold as a result of the determination in step S1322, the warning situation is fed back to the driver (S1324), and after automatically executing additional options for changing the driver's mood (S1326) ) Again, foot gesture tracking and lane change monitoring may be performed (S1304, S1310).

In addition, as a result of the determination in step S1322, even when the accumulated value of the warning count does not exceed the first warning threshold, foot gesture tracking and lane change monitoring may be performed again (S1304, S1310).

14 is a view showing a computer system according to an embodiment of the present invention.

14, an embodiment of the present invention may be implemented in a computer system such as a computer-readable recording medium. As shown in FIG. 14, computer system 1400 includes one or more processors 1410, memory 1430, user input device 1440, user output device 1450 and storage that communicate with each other via bus 1420. (1460). In addition, the computer system 1400 may further include a network interface 1470 connected to the network 1480. The processor 1410 may be a central processing unit or a semiconductor device that executes processing instructions stored in the memory 1430 or the storage 1460. The memory 1430 and the storage 1460 may be various types of volatile or nonvolatile storage media. For example, the memory may include ROM 1431 or RAM 1432.

Accordingly, an embodiment of the present invention may be implemented as a computer-implemented method or a non-transitory computer-readable medium having computer-executable instructions recorded thereon. When computer readable instructions are executed by a processor, computer readable instructions may perform a method in accordance with at least one aspect of the present invention.

As described above, the method and apparatus for limiting the output of a vehicle based on the estimation of the driver's condition according to the present invention are not limited to the configuration and method of the above-described embodiments, and the above embodiments are variously modified. All or part of each of the embodiments may be selectively combined to constitute this.

200, 300, 400: driver's feet 210, 310, 410, 510, 710: gesture sensor
220-1 ~ 220-3, 320-1 ~ 320-3, 420: Pedal
330: movement line 511, 712, 713: PD (Photo Diode) sensor
512, 513, 711: infrared light emitting diode (LED) sensor
910, 1010: gesture sensing value 920, 1020: detection signal value
1110, 1120: occupancy time 1131, 1132: time difference
1210: communication unit 1220: processor
1230: memory 1400: computer system
1410: processor 1420: bus
1430: memory 1431: ROM
1432: RAM 1440: user input device
1450: user output device 1460: storage
1470: network interface 1480: network

Claims (20)

Tracking a driver's foot gesture for the vehicle's acceleration / deceleration pedal operation based on the gesture sensor;
Accumulating a warning count for limiting the output of the vehicle in consideration of the emotional state of the driver determined based on the foot gesture; And
And when the cumulative value of the warning count exceeds a preset warning threshold, limiting the output of the vehicle.
The warning count is
A method for limiting output of a vehicle, characterized in that it is additionally accumulated when a lane change failure for the vehicle is detected. The method according to claim 1,
The cumulative value is
If the output limit is not executed, the vehicle output limit method characterized in that it is initialized every predetermined unit time. The method according to claim 2,
The limiting step
When the cumulative value exceeds a preset first warning threshold value, a warning condition is fed back to the driver, and when the cumulative value exceeds a preset second warning threshold value, output is sent to the driver while limiting the output. A method for limiting output of a vehicle, characterized by providing feedback on the limit. The method according to claim 1,
The accumulating step
Before operating the acceleration / deceleration pedal, the emotion state is determined by considering at least one of a movement speed of a pedal between the pedals and a pedal operation pattern, but accumulating the warning count when the emotion state is determined to be a warning state. How to limit the output of the vehicle. The method according to claim 4,
The accumulating step
When the moving speed of the foot between the pedals is equal to or greater than a preset reference speed, and when the pedal operation pattern satisfies at least one of the cases in which the warning condition is satisfied, the vehicle output is characterized by determining the emotional state as the warning state Limitation method. The method according to claim 4,
The accumulating step
A method for limiting output of a vehicle, characterized in that the emotional state is determined by further considering at least one of interval information with a preceding vehicle in consideration of the speed of the vehicle and a pedal operating speed of the driver. The method according to claim 2,
The limiting step
Limiting the output of the vehicle during a preset output timeout period, wherein the preset output timeout period is set inversely to a time taken until the accumulated value exceeds the preset warning threshold. Way. The method according to claim 1,
The output limit is
A vehicle power limiting method characterized in that it corresponds to at least one of a speed acceleration limit and a wheel operation limit. The method according to claim 1,
The above lane change failure
A method for limiting output of a vehicle, characterized in that it is determined in consideration of at least one of a turn signal activation state, driving lane information, and lane change time. The method according to claim 3,
The limiting step
When the warning situation is fed back to the driver, a method for limiting output of the vehicle, characterized in that automatically executing an additional option for the driver to change mood. Tracking a driver's foot gesture for the vehicle's acceleration / deceleration pedal operation based on a gesture sensor, and accumulating a warning count for limiting the output of the vehicle in consideration of the driver's emotional state determined based on the foot gesture, A processor that limits the output of the vehicle when the cumulative value of the warning count exceeds a preset warning threshold; And
And a memory for updating and storing the warning count and the preset warning threshold,
The warning count is
A device for limiting output of a vehicle, characterized in that it is additionally accumulated when a lane change failure for the vehicle is detected. The method according to claim 11,
The cumulative value is
When the output limit is not executed, the vehicle output limit device, characterized in that is initialized every predetermined unit time. The method according to claim 12,
The processor
When the cumulative value exceeds a preset first warning threshold value, a warning condition is fed back to the driver, and when the cumulative value exceeds a preset second warning threshold value, output is sent to the driver while limiting the output. Vehicle output limiting device, characterized in that to provide feedback on the limit. The method according to claim 11,
The processor
Before operating the acceleration / deceleration pedal, the emotion state is determined by considering at least one of a movement speed of a pedal between the pedals and a pedal operation pattern, but accumulating the warning count when the emotion state is determined to be a warning state. Vehicle power limiter. The method according to claim 14,
The processor
When the speed of movement of the foot between the pedals is equal to or greater than a preset reference speed and when the pedal operation pattern satisfies at least one of the conditions that satisfy the warning condition, the vehicle output is characterized by determining the emotional state as the warning state. Limiting device. The method according to claim 14,
The processor
The apparatus for limiting output of a vehicle, characterized in that the emotional state is determined by further considering at least one of an interval information with a preceding vehicle in consideration of the speed of the vehicle and a pedal operating speed of the driver. The method according to claim 12,
The processor
Limiting the output of the vehicle during a preset output timeout period, wherein the preset output timeout period is set inversely to a time taken until the accumulated value exceeds the preset warning threshold. Device. The method according to claim 11,
The output limit is
A vehicle output limiting device, characterized in that it corresponds to at least one of a speed acceleration limit and a wheel operation limit. The method according to claim 11,
The above lane change failure
A device for limiting output of a vehicle, characterized in that it is determined in consideration of at least one of a turn signal activation state, driving lane information, and lane change time. The method according to claim 13,
The processor
When the warning situation is fed back to the driver, the vehicle output limiting device, characterized in that automatically executes an additional option for the driver to change mood.

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